CAN in AutomationCANopen
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What is the CANopen protocol frame format?
From what fields is the CANopen frame consisted of and what is their purpose when it comes down to communication?
CAN in AutomationCANopen
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Top answer
The CANopen message format is based on the CAN standard frame format. When the CAN protocol standard is used, the data is transferred into frames that are consisted of:
- 11-bit or 29-bit CAN-ID
- Remote transfer bit (RTR)
- The data length field of 4 bits
- Data partition ranging between 0-8 bytes of data
The COB-ID that is referred to CANopen, it is consisting of the CAN-ID and the control bits.
In CANopen is using the 11-bit CAN-ID that is split into two parts:
- 4-bit function code
- 7-bit CANopen Node ID
The 7-bit size of the Node ID limitation is restricting the number of devices that the CANopen network can support - up to 127 nodes.
In order to prevent conflicts, all of the COB IDs have to be unique.
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