- Only 11-bit CAN-IDs are currently supported.
- With CANopen, the data are always sent over the bus in little-endian format.
CAN messages are described often in this chapter; these are written in the following format:
583 | 41 09 10 00 1E 00 00 00
183R | DLC=0
Where the following convention is used:
- All numbers are written in hexadecimal notation; due to the abbreviated notation, the leading
- Normal data message: The CAN-ID of the CAN message is prefixed with
583(i.e., 583h or 1411d) in the above example. The data and the CAN-ID are separated from the data with a pipe character.
- RTR message (remote transmission request): If an
Rfollows the CAN-ID instead of the data, the length of the DLC (Download Content) is specified; in the above example, the length of the DLC is 0.