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13
13.3 CAN Protocol
13.3.1 CAN Protocol Frame
There are four types of frames which are handled by CAN protocol:
(1) Data frame
(2) Remote frame
(3) Error frame
(4) Overload frame
Frames are separated from each another by an interframe space.
Data frame
Standard format
1
Extended format
1
SOF
Remote frame
Standard format
1
Extended format
1
SOF
Figure 13.3.1 CAN Protocol Frames (1)
1
11
6
0-64
11
18
1 1
1
Arbitration
field
6
16
1
11
1 1
1
11
18
Arbitration
field
Numbers in each field denote the number of bits.
13-53
2
16
6
0-64
16
CRC field
Data field
Control field
7
2
16
6
2
ACK field
CRC field
Control field
CAN MODULE
13.3 CAN Protocol
7
2
7
EOF
ACK field
7
EOF
Ver.0.10
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