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