4-36
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
1
11 1 1 1
4
15
8N (0≤N≤8)
1 1 1
ID 10-0
Arbitration Field Control Field Data Field
CRC Field ACK
CAN Data Frame
DLC
3-0
CRC
Sequence
Data
7
EOF
(1)
(2)
(3)
(4)
(6)
(5)
Recessive
Dominant
SOF
RT
R
IDE r0
ACK
Delimiter
ACK slot
CRC
Delimiter
• Extended format
1
11
1 1 1
4
8N (0≤N≤8)
15
1 1 1 7
1 1
18
ID 28-18
ACK
CAN Data Frame
ID 17-0
DLC
3-0
CRC
Sequence
EOF
Data
(1)
(2)
(3)
(4)
(6)
(5)
Arbitration Field
Control Field Data Field
CRC Field
SOF
SRR IDE
ACK
Delimiter
ACK Slot
CRC
Delimiter
RT
R
r0
r1
Positions (1) to (6) above are trigger points for the following conditions.
(1) SOF
(2) ID
(3) Data Frame (when DLC = 0)
(4) Data Frame (when DLC ≠ 0)
(5) CRC Error
(6) ACK
Remote Frame (Remote Frame)
• Standard format
1
11
1 1 1
4
15
1 1 1
ID 10-0
Arbitration Field Control Field
CRC Field
ACK
Remote Frame
DLC
3-0
CRC
Sequence
7
EOF
(1)′
(2)′
(3)′
(5)′
(4)′
Recessive
Dominant
SOF
RT
R
IDE r0
ACK
Delimiter
ACK Slot
CRC
Delimiter
• Extended 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)′
(5)′
(4)′
Arbitration Field
Control Field
CRC Field
SOF
SRR IDE
RT
R
r0
r1
ACK
Delimiter
ACK Slot
CRC
Delimiter
Positions (1)’ and (5)’ above are trigger points for the following conditions.
(1)’ SOF
(2)’ ID
(3)’ Remote Frame (when DLC = 0)
(4)’ CRC Error
(5)’ ACK
4 Triggering