Canopen data frame consists of :
SOF start of frame (1bit)
Arbitration field (12 or 32bits depending on whether 11 or 29 bit identifier is used)
Control field (6bits)
Data field (depends on mapping, each variable takes 2bytes, max 4variables so 8bytes max)
CRC (16bits)
ACK (2bts)
EOF end of frame + intermission (7+3bits)
Total: 47bits + data (number of variables mapped).
2bytes per variable
SOF start of frame (1bit)
Arbitration field (12 or 32bits depending on whether 11 or 29 bit identifier is used)
Control field (6bits)
Data field (depends on mapping, each variable takes 2bytes, max 4variables so 8bytes max)
CRC (16bits)
ACK (2bts)
EOF end of frame + intermission (7+3bits)
Total: 47bits + data (number of variables mapped).
2bytes per variable
Gepubliceerd voor:Schneider Electric Belgium
