diff --git a/esphome/components/canbus/automation.h b/esphome/components/canbus/automation.h
index 5c4c0a88b2..8d0e0aada3 100644
--- a/esphome/components/canbus/automation.h
+++ b/esphome/components/canbus/automation.h
@@ -21,8 +21,6 @@ template<typename... Ts> class CanbusSendAction : public Action<Ts...>, public P
 
   void set_can_id(uint32_t can_id) { this->can_id_ = can_id; }
 
-  TEMPLATABLE_VALUE(float, data)
-
   void play(Ts... x) override {
     if (this->static_) {
       this->parent_->send_data(this->can_id_, this->data_static_);
@@ -33,9 +31,7 @@ template<typename... Ts> class CanbusSendAction : public Action<Ts...>, public P
   }
 
  protected:
-  Canbus *parent_;
   uint32_t can_id_;
-
   bool static_{false};
   std::function<std::vector<uint8_t>(Ts...)> data_func_{};
   std::vector<uint8_t> data_static_{};
diff --git a/esphome/components/canbus/canbus.cpp b/esphome/components/canbus/canbus.cpp
index 3324906d24..31bbb81af1 100644
--- a/esphome/components/canbus/canbus.cpp
+++ b/esphome/components/canbus/canbus.cpp
@@ -19,28 +19,28 @@ void Canbus::dump_config() { ESP_LOGCONFIG(TAG, "Canbus: sender_id=%d", this->se
 void Canbus::send_data(uint32_t can_id, const std::vector<uint8_t> data) {
   struct can_frame can_message;
 
-  //uint8_t size = static_cast<uint8_t>(data.size());
-  //ESP_LOGD(TAG, "size=%d", size);
-  // if (size > CAN_MAX_DLC)
-  //   size = CAN_MAX_DLC;
-  // can_message.can_dlc = size;
-  // can_message.can_id = this->sender_id_;
-
-  // for (int i = 0; i < size; i++) {
-  //   can_message.data[i] = data[i];
-  //   ESP_LOGD(TAG, "data[%d] = %02x", i, can_message.data[i]);
-  // }
-
+  uint8_t size = static_cast<uint8_t>(data.size());
+  ESP_LOGD(TAG, "size=%d", size);
+  if (size > CAN_MAX_DLC)
+    size = CAN_MAX_DLC;
+  can_message.can_dlc = size;
   can_message.can_id = this->sender_id_;
-  can_message.can_dlc = 8;
-  can_message.data[0] = 0x00;
-  can_message.data[1] = 0x01;
-  can_message.data[2] = 0x02;
-  can_message.data[3] = 0x03;
-  can_message.data[4] = 0x04;
-  can_message.data[5] = 0x05;
-  can_message.data[6] = 0x06;
-  can_message.data[7] = 0x07;
+
+  for (int i = 0; i < size; i++) {
+    can_message.data[i] = data[i];
+    ESP_LOGD(TAG, "data[%d] = %02x", i, can_message.data[i]);
+  }
+
+  // can_message.can_id = this->sender_id_;
+  // can_message.can_dlc = 8;
+  // can_message.data[0] = 0x00;
+  // can_message.data[1] = 0x01;
+  // can_message.data[2] = 0x02;
+  // can_message.data[3] = 0x03;
+  // can_message.data[4] = 0x04;
+  // can_message.data[5] = 0x05;
+  // can_message.data[6] = 0x06;
+  // can_message.data[7] = 0x07;
   //this->dump_frame_(&can_message);
 
   this->send_message_(&can_message);