Message Formats - NEC UPD703116 User Manual

11.7.2 Message formats

Four types of frames are used in CAN protocol messages. The output conditions for each type of frame are as
follows.
• Data frame: Frame used for transmit data
• Remote frame: Frame used for transmit requests from receiving side
• Error frame: Frame that is output when an error has been detected
• Overload frame: Frame that is output when receiving side is not ready
Remark Dominant (D):
Recessive (R): Recessive in wired OR
In the figure shown below, (D) = 0 and (R) = 1.
(1) Data frame and remote frame
<1> Data frame
A data frame is the frame used for transmit data.
This frame is composed of seven fields.
R
D
<1> <2>
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CHAPTER 11 FCAN CONTROLLER
Dominant in wired OR
Figure 11-8. Data Frame
Data frame
<3> <4>
User's Manual U14492EJ5V0UD
<5> <6> <7> <8>
Interframe space
End of frame (EOF)
ACK field
CRC field
Data field
Control field
Arbitration field
Start of frame (SOF)