Technical data

HN.50.Y1.02 3
The example above shows the structure of a
joystick COB.
1. A COB is started by sending a 0 (start of
frame).
2. An identification code (COB-ID) is sent and
through bit arbitration the message having
the lowest bit identification code is allowed
to continue.
3. RTR (Remote Transmission Request)
specifies whether the sender wishes to
receive or send data to the message
receiver.
4. DLC specifies the length of the data field.
5. The data field contains information on, for
example, joystick data.
6. The CRC field is used as a safety control
for finding bit error.
7. The receipt field is a position in which all
other components acknowledge receiving a
message.
Prop 1 Prop 4Prop 3 Prop 1-4 Push 1 Push 2Prop 2
Start of frame
Identifica-
tion code
RTR (Remote
Transmission Request)
DLC (Data
Length Code)
Data field CRC
Receipt field
Push...