Figure 3-1 Can Message Structure - tecan cavro xlp 6000 Operating Manual

Figure 3-1
Cavro® XLP 6000 Modular Syringe Pump Operating Manual, 734237-C, en
Represent the length of the data block. Data blocks can be from zero to eight
bytes in length. Any message that requires more than eight bytes must be
sent in a series of multi-frame messages. The receiving unit then assembles
the separate frames into one long string.
CAN Message Construction
Each message frame begins with the Message ID (MID). The data block (up to 8
bytes in length) follows the MID and length information. The MID makes up three
nibbles that are transmitted first in a message frame. The bits are grouped as
shown in Figure 3-1, 'CAN Message Structure".
CAN Message Structure
Direction
This is the direction bit. It lets the devices on the bus know whether the current
message is to or from the master. "0" means that the message is from master
to slave; "1" means the message is from the slave to the master.
Note: Peer-to-peer messaging is not supported.
Group
This is the group number (0 - 7). Each type device on the CAN bus has a
group assignment. The XLP 6000 is assigned to group 2. The group number
"1" is reserved for the boot request procedure.
3 - Software Communication
Communication Protocols
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