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| - | ==== Why using RTRs is not advised? ==== | ||
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| - | RTR means //Remote Transmission Request// - a CAN frame requesting another node to send a requested frame. | ||
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| - | CiA, especially the Special Interest Group CANopen is not recommending using RTR Messages. You may ask: why? | ||
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| - | The CiA has a paper explaining the contras and giving advice for better solutions. CiA AN 802 V1.0: //CANopen statement on the use of RTR-messages// | ||
| - | It can be downloaded free of charge after a registration at http:// | ||
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| - | In short the main topics: | ||
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| - | * The number of transmit messages buffers supporting CAN remote frames is limited on most so-called | ||
| - | * Implementation of a CAN driver handling RTR is much more complex. On some controllers impossible. | ||
| - | * Some CAN controllers react different on the //data length code// in the RTR frame and the data frame. This is due to differences in the CAN implementation. | ||
