ECAN-240-FD (Modbus TCP to 2-port CAN FD Gateway) User Manual
Version 1.0.0
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53
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5.1.2.1 CAN/CAN FD Tx Message Format
The content of CAN/CAN FD Tx message in the Tx FIFO is described in below tale. Each
CAN/CAN FD Tx message will occupy 36 words space of the Modbus address.
CAN Tx Frame Format
Word
No
Description
Note
1, 2
Bit 8~31:Reserved
Bit 7: fdf (CAN FD format, 0:CAN or 1: CANFD)
Bit 6: brs (Bit Rate Switch, 1:Switch)
Bit 5: xtd (CAN Frame Type, 0:STD or 1:EXT)
Bit 4: rtr (CAN Frame Type, 0:DATA or 1:REMOTE)
Bit 0~3: dlc ( Data Length Code)
*NOTE1
STD: standard frame
EXT: extended frame
3, 4
Bit 29~31: Reserved
Bit 0~28: id (CAN Frame Identifier)
5
CAN Data 0, 1 (High Byte: Data0, Low Byte: Data 1)
6
CAN Data 2, 3
7
CAN Data 4, 5
8
CAN Data 6, 7
9
CAN Data 8, 9
No used for CAN
frame
10
CAN Data 10, 11
11
CAN Data 12, 13
12
CAN Data 14, 15
13
CAN Data 16, 17
14
CAN Data 18, 19
15
CAN Data 20, 21
16
CAN Data 22, 23
17
CAN Data 24, 25
18
CAN Data 26, 27
19
CAN Data 28, 29
20
CAN Data 30, 31
21
CAN Data 32, 33
22
CAN Data 34, 35
23
CAN Data 36, 37
24
CAN Data 38, 39
25
CAN Data 40, 41
26
CAN Data 42, 43
27
CAN Data 44, 45
28
CAN Data 46, 47
29
CAN Data 48, 49
30
CAN Data 50, 51
31
CAN Data 52, 53
32
CAN Data 54, 55
