Triggering
3
2
1
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
App
Index
6-65
IM 701310-01E
Frame Format and Trigger Point
The following figure shows the frame and trigger point of each frame.
Data Frame
1
11
1 1 1
4
15
8N (0≤N≤8)
1 1 1
ID 28-18
Arbitration Field
Control Field
Data Field
CRC Field
ACK
Data Frame
DLC
3-0
CRC
Sequence
Data
7
EOF
(1)
(2)
(3)
(4)
(5)
Positions (1) to (5) above are trigger points for the following conditions.
(1) Mode: SOF
(2) Mode: ID X*, Frame (RTR): Don’t care, ACK: Don’t care
(3) Mode: ID X*, Frame (RTR): Data,
Data Field: Don’t care,
ACK: Don’t care
(4) Mode: ID X*, Frame (RTR): Data,
Data Field: Not Don’t care, ACK: Don’t care
(5) ACK: Not Don’t care
* ID X: ID Std/Data, ID Ext/Data, or ID/Data OR
• Standard format
1
11
1 1 1
4
8N (0≤N≤8)
15
1 1 1
7
1 1
18
ID 28-18
ACK
Data Frame
ID 17-0
DLC
3-0
CRC
Sequence
EOF
Data
(1)
(2)
(3)
(4)
(5)
• Extended format
Arbitration Field
Control Field
Data Field
CRC Field
Recessive
Dominant
Recessive
Dominant
SOF
SOF
SRR
R
TR
IDE
IDE
RB0
ACK Boundary
ACK slot
CRC Boundary
ACK Boundary
ACK Slot
CRC Boundary
R
TR
RB0
RB1
Remote Frame
1
11
1 1 1
4
15
1 1 1
ID 28-18
Arbitration Field
Control Field
CRC Field
ACK
Remote Frame
DLC
3-0
CRC
Sequence
7
EOF
(1)’
(2)’
(3)’
(4)’
• Standard format
1
11
1 1 1
4
15
1 1 1
7
1 1
18
ID 28-18
ACK
Remote Frame
ID 17-0
DLC
3-0
CRC
Sequence
EOF
(1)’
(2)’
(3)’
(4)’
• Extended format
Arbitration Field
Control Field
CRC Field
Recessive
Dominant
Recessive
Dominant
SOF
R
TR
IDE
RB0
ACK Boundary
ACK Slot
CRC Boundary
SOF
SRR
IDE
R
TR
RB0
RB1
ACK Boundary
ACK Slot
CRC Boundary
Positions (1)’ to (5)’ above are trigger points for the following conditions.
(1)’ Mode: SOF
(2)’ Mode: ID X*, Frame(RTR): Don’t care, ACK: Don’t care
(3)’ Mode: ID X*, Frame(RTR): Remote,
ACK: Don’t care
(4)’ ACK: Not Don’t care
* ID X: ID Std/Data, ID Ext/Data, or ID/Data OR
Error Frame
Error Frame
Data Frame or
Remote Rrame
Error Flag
Error Boundary
8
6 ≤
Error Flag
≤ 12
Recessive
Dominant
If the mode is set to Error Frame, the
trigger point is the 6th error flag bit.
6.16 Triggering on a CAN Bus Signal