diff --git a/docs/can-protocol.md b/docs/can-protocol.md
index fe24cab4..7be636e8 100644
--- a/docs/can-protocol.md
+++ b/docs/can-protocol.md
@@ -35,7 +35,6 @@ Be careful that you don't assign too many nodeIDs per PDO group.  Four CAN Simpl
 CMD ID | Name | Sender | Signals | Start byte
 --:    | :--  | :--  | :-- | :--
 0x000 | CANOpen NMT Message\*\* | Master | - | - | -
-0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | -
 0x001 | ODrive Heartbeat Message | Axis | Axis Error<br>Axis Current State | 0<br>4
 0x002 | ODrive Estop Message | Master | - | - | -
 0x003 | Get Motor Error\* | Axis  | Motor Error | 0
@@ -59,6 +58,7 @@ CMD ID | Name | Sender | Signals | Start byte
 0x015 | Get Sensorless Estimates\* | Master | Sensorless Pos Estimate<br>Sensorless Vel Estimate | 0<br>4
 0x016 | Reboot ODrive | Master\*\*\* | | 
 0x017 | Get Vbus Voltage | Master\*\*\* | Vbus Voltage | 0
+0x700 | CANOpen Heartbeat Message\*\* | Slave | - | - | -
 
 \* Note: These messages are call & response.  The Master node sends a message with the RTR bit set, and the axis responds with the same ID and specified payload.  
 \*\* Note:  These CANOpen messages are reserved to avoid bus collisions with CANOpen devices.  They are not used by CAN Simple.