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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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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