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5 Communications Timing
5-8
CJ-series User Defined CAN Unit Operation Manual for NJ-series CPU Unit (W517)
The following figure shows the sequence of direct transmitting a CAN message using message com-
mand 2907 or 2908.
After the content of the message command is transferred to the User Defined CAN Unit, the unit imme-
diately relays the contained message to the CAN transmission interface. The actual transmission delay
of the message depends on the bus load and the message priority (identifier). Refer to
for the message delay time on the bus. The time required for an output to be set or a value in the
Output Node to be changed depends on the characteristics of the Output node.
The minimum time between the execution of the message command in the user program and the mes-
sage being transmitted on the bus is 0.5 milliseconds. Depending on the configuration, (message com-
mand 2902) this time can be sufficient longer and up to a maximum of 20 milliseconds.
5-1-6
Transmission of CAN Messages
Transmitting With Direct Transmit Mode
CPU
2907, 2908
CORT21
Bus
Output Node
t
UDC
t
RF
t
PE
t
RF
t
UDC
: The transmission time of a user defined CAN message
t
RF
: The I/O Refresh time
t
PE
: The Program Execution time
Summary of Contents for CJ1W-CORT21
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Page 140: ...Appendices A 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517...
Page 141: ...Index 1 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 I Index...
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