4-43
IM DLM3054-01EN
Frame Format and Trigger Point
The following figures illustrate the formats and trigger points of the various frames.
Data Frame (Data Frame)
• Standard format
CAN FD (ISO 11898-1: 2015)
SOF
1
11
1 1 1 1 1 1 4
3
1
Arbitration Field
Control Field
Data Field
ACK
CAN FD Data Frame (Standard)
Sequence
CRC
Recessive
Dominant
IDE
ACK slot
17|21
1|2 1|2
1 7
EOF
DATA
DLC
ESI
BRS
r0
CRC Delimiter
ACK Delimiter
FDF
r1
8N
(0
≤
N
≤
64)
CRC Field
ID 10-0
Stuff Count
Parity
Stuf
f Bit
Count
(1)
(2)(3)
(4) (5)
(7) (8)
(6)
CAN FD (non-ISO)
1
11
1 1 1 1 1 1
1
4 8N (0
≤
N
≤
64)
Arbitration Field
Control Field
Data Field
CRC Field ACK
CAN FD Data Frame
ACK Delimiter
CRC Delimiter
17|21 1|21|2
ESI
BRS
r0
FDF
r1
DLC
CRC
Sequence
Data
7
EOF
(1)
(2)(3)
(4) (5)
(7) (8)
(6)
Recessive
Dominant
SOF
IDE
ACK slot
ID 10-0
• Extended format
CAN FD (ISO 11898-1: 2015)
1
11
1 1 1 1 1
7
1
4
1 1
18
ID 28-18
ACK
ID 17-0
CRC
Sequence
EOF
Data
(1)
(2)
(3)
(4) (5)
(6)
(7) (8)
Arbitration Field
DLC
ESI
BRS
FDF r0
r1
ACK Slot
ACK Delimiter
CAN FD Data Frame
17|21
1|2 1|2
CRC Delimiter
8N
(0
≤
N
≤
64)
Control Field
Data Field
CRC Field
SOF
SRR IDE
3
1
Stuff Count
Parity
Stuf
f Bit
Count
CAN FD (non-ISO)
1
11
1 1 1 1 1
7
1
4
1 1
18
ID 28-18
ACK
ID 17-0
CRC
Sequence
EOF
Data
(1)
(2)
(3)
(4) (5)
(6)
(7) (8)
Arbitration Field
DLC
ESI
BRS
FDF r0
r1
ACK Slot
ACK Delimiter
CAN FD Data Frame
17|21
1|2 1|2
CRC Delimiter
8N
(0
≤
N
≤
64)
Control Field
Data Field
CRC Field
SOF
SRR IDE
Positions (1) to (8) above are trigger points for the following conditions.
(1) SOF
(5) Data Frame (when Size = 0)
(2) ID
(6) Data Frame (when Size ≠ 0)
1
(3) FDF
(7) CRC Error
2
(4) ESI
(8) ACK
*3
1 Where the data patterns match.
2 If the CAN FD standard (FD Standard) is set to ISO, the detected point for both stuff count and CRC
sequence errors are at the CRC Delimiter position.
3 If both CRC Delimiter and ACK Slot are 2 bits long, the trigger point is the second bit of ACK Slot.
The detected point when you use the search feature of the instrument is the ACK Delimiter position
regardless of the CRC Delimiter or ACK Slot condition.
4 Triggering