FUJITSU CAN-Motor Board MB91F267N - Manual (Page 86)

AN07-00180-3E
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1. Data frame
Transfer format for data transmit. It consists of seven fields.
Field name Description
Start of frame (SOF) 1-bit field containing “0” that indicates the start of a data
frame
Arbitration field Field that determines the priority of the data. This field is
also called the ID field and there are two types of format;
standard format and extended format. The standard format is
12 bits and extended format is 32 bits.
Control field 6-bit field that indicates the length of the data field.
Data field 0-byte to 8-byte field that stores real data.
CRC field 16-bit field that serves to allow a check of the transmitted
frame validity.
ACK field 2-bit field that is used to notify of successful reception.
End of frame (EOF) 7-bit field containing “1” that indicates the end of the data
frame.
2. Remote frame
Usually, in CAN, a form of transmit of communication information to a node is generally used,
but it is also allowed to request a specific node to transmit specific data. For this purpose, the
remote frame is available.
The remote frame has almost the same configuration with the data frame; it consists of six fields
except the data field. The control field of the remote frame indicates the length of the data field
for the requested data.
3. Error frame
Transfer format immediately sent on error detection on a node. The error frame consists of two
fields.
Field name Description
Error flag 6-bit to 12-bit field that indicates the error type.
Error delimiter 8-bit field containing “1” that indicates the end of the error
frame.