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what is the content of canopen data frame and its length?

Published date: 15 November 2018

Canopen data frame consists of :
SOF start of frame (1bit)
Arbitration field (12 or 32bits depending on whether 11 or 29 bit identifier is used)
Control field (6bits)
Data field (depends on mapping, each variable takes 2bytes, max 4variables so 8bytes max)
CRC (16bits)
ACK (2bts)
EOF end of frame + intermission (7+3bits)

Total: 47bits + data (number of variables mapped). 
2bytes per variable

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