Omron C200HW-CORT21-V1, Operation Manual

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Receiving a user defined CAN message
Section 5-8
80
Example
The following example shows how the NMT command ‘Start_Remote_Node’
is transmitted to node 2. In this example, the Machine number is set to ‘1’.
Note that the C200H syntax of the IOWR instruction is used.
All NMT commands have the identifier value 0000h. The first data byte
indicates the function (‘Start_Remote_Node’ = 01h) and the second data byte
the Node ID of the targeted node (Node ID = 02h).
If the Node ID is set to 00h, the command will be transmitted to all nodes.
13.00
IOWR (-)
Start_Node_2 #0003
DM0400
#1003
255.06 12.00
EQ_FLAG ERROR
PLC memory address Contents Meaning
DM0400 0000 ID = 0000h
!
NMT command
DM0401 0002 Data length = 2 bytes
DM0402 0201 Data byte 1 = 01h, Data byte 2 = 02h
5-8 Receiving a user defined CAN message
Control code #0004
The C200HW-CORT21-V1 can receive arbitrary CAN messages with a
combination of the IOWR instruction and the I/O refresh. If it is not required
that the CANopen protocol is active at the same time, IR n.00 can be set to
‘0’.
The frame of a CAN message is shown in the picture below.
* Identifier (11 bits) * Data length (DLC) Data byte 1 Data byte 8 *
* Frame control bits, not important for this function
The IOWR instruction is used to instruct the Unit:
•
to receive messages with specific identifier(s)
•
to transfer the received message to a specific PLC area.