ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 16)

2.9 Representation of Numbers
CAN communication delivers numerical data stored in binary form. Integers are stored
by their binary representation, while floating-point numbers are stored according to the
IEEE representation. SimplIQ digital servo drives support three types of data: short
integers (two bytes), long integers (four bytes) and floating-point numbers (four bytes).
These multiple-byte numbers are stored in the CAN messages according to CAN
standards, using the “little endian” (Intel-type) convention. With this method, the
number is inverted before storage: The most significant byte of the number receives the
lowest address and the least significant byte receives the highest address. More
information about the little endian method is provided in the
Appendix of this manual.
Example:
The following is an 8-byte CAN message:
Bytes 0 - 1 0x1234
Bytes 2 - 3 0x5678
Bytes 4 - 7 0x9abcdef0
The CAN message data field will be as follows:
Byte Contents
0 0x34
1 0x12
2 0x78
3 0x56
4 0xf0
5 0xde
6 0xbc
7 0x9a
CANopen DS 301 Implementation Guide CANopen Basics
MAN-CAN301IG (Ver. 2.1)
2-7