Chapter 6 Applied Instructions Selecting 2.0B mode: (Here is the introduction of receiving data from 2 slaves. For other data, increase the number of D 1 ) 8. D 2 and D 3 are the receiving-completed flag and error flag respectively. The two flags will judge if the data receiving is completed or an error occurs based on the current communication state when the instruction is scanned. If the data receiving is completed or an error occurs, the flags will change to On. The two flags will be cleared and change to Off automatically every time the instruction is enabled. 9. When the instruction is set to the master mode, using the receiving timeout setting in HWCONFIG is recommended.
So D 3 will change to On and the error code 2 will be recorded in SR659 if the communication packet has not been received fully within the specified period of time. If the receiving timeout time is set to 0, it indicates that the communication timeout is not limited and the status can be applied to the slave mode. Note : The communication control right can not be released until the instruction is disabled by manual when the 6_ method in which there is no limit to the communication timeout is adopted. 10. There is no limit to the number of times of using the instruction. But only one CAN communication command is not be enabled. allowed to be sent every time.
If one command is being sent or received currently, the next CANRS instruction can 11. Here is the CAN BUS format and every bit of content for Msg. ID is explained as below. As 2.0A protocol is selected and the value of S 2 is 16#0123, the Msg. ID content is shown in the following table. As 2.0B protocol is selected, the value of S 2 is set to 16#1234 (Lo-word) and S 2 +1 is 16#0567 (Hi-word), the Msg. ID content is shown in the following table. 12. If the operand D 1 is declared in a variable, using the Word-type matrix is recommended. 6-599 Response Data from the second Data from the first slave sequence slave D100 D101 D102 D103 D104 ~ D111 (Lower 8 bits) D112~D122 D1 No.
Receiving Packet number Msg. ID （Lo-word） Msg. ID （Hi-word） Data Length Data1 ~ Data8 ID, Length, Data Description Bit No. 15 ~ 11 10 ~ 8 7 ~ 4 3 ~ 0 S2 value (16bits) - 1 2 3 Bit No. 31 ~ 29 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 0 S2 value (32bits) - 0 5 6 7 1234