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4 Message Communications
4-2
CJ-series User Defined CAN Unit Operation Manual for NJ-series CPU Unit (W517)
4-1
Overview
Message communications enable messages to be sent between nodes on a CAN network when
required by system conditions. The messages can be sent between CPUs, between an OMRON CPU
and a User Defined CAN unit, or between slaves. They can be used to send/receive data, read time
data, error histories, and other data or control operation, e.g., refreshing with user-specified values.
To operate a CAN network, the User Defined CAN Unit must be configured using message communica-
tions. Bus parameters, configuration data and defining parameterization data are set with message
communications in the user program (see
4-2 Unit Configuration and Control
for more information).
Message communications are sent using the SendCmd instruction for NJ-series controllers.
Overall Structure
Command Codes
Command codes are represented by a 2-byte hexadecimal code. Commands always begin with a 2-
byte command code and any parameters that are required follow the command code. More informa-
tion about command codes and parameters can be found in the following pages.
4-1-1
Outline of Message Communications
Command Code
Name
Type
Page
2902
Configure Memory Areas
User Defined
CAN Unit
2903
Configure 11-Bit ID Output Message Buffer
2904
Configure 29-Bit ID Output Message Buffer
2905
Configure 11-Bit ID Input Message Buffer
2906
Configure 29-Bit ID Input Message Buffer
2907
Direct Transmit of an 11-Bit ID Can Message
2908
Direct Transmit of a 29-Bit ID Can Message
2909
Setting the CAN Bit Rate and Sample Point
2102
Error Log Read
General Service
2103
Error Log Clear
NJ-Series CPU Unit
Us er Defined CAN Unit
Command Code Command Data
Message
function
CAN Network
Message
CAN Message Communications
SendCmd
instruction
(2902, 2903,
2904, 2905,
2906, 2907,
2908, 2909,
2102, 2103,
0501) (Hex)
Response Code Response Data
FINS Header
Command Code
FINS Header
Summary of Contents for CJ1W-CORT21
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