DS012067-54

DS012067-55

A remote frame is identical to a data frame, except that the RTR bit is “recessive”, and there is no data field.

IDE = Identifier Extension Bit

The IDE bit in the standard format is transmitted “dominant”, whereas in the extended format the IDE bit is “recessive” and the id is expanded to 29 bits.

r = recessive

d = dominant

FIGURE 22. CAN Data Transmission Frames

DS012067-56

An error frame can start anywhere in the middle of a frame.

DS012067-57

INT = Intermission

Suspend Transmission is only for error passive nodes.

DS012067-58

An overload frame can only start at the end of a frame.

FIGURE 23. CAN Control Frames

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