COP884BC Datasheet, PDF (30/57 Pages) National Semiconductor (TI) – 8-Bit CMOS ROM Based Microcontrollers with 2k Memory, Comparators, and CAN Interface

Frame Formats (Continued)
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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
An error frame can start anywhere in the middle of a frame.
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INT = Intermission
Suspend Transmission is only for error passive nodes.
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An overload frame can only start at the end of a frame.
FIGURE 23. CAN Control Frames
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