Mitsubishi Electric FX3U-CAN, Руководство пользователя

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9 CAN Layer 2 Mode
9.1 Receive/Transmit Process Data
167
FX
3U
-CAN User's Manual
1
Introduc
tion
2
Specifi
cations
3
Inst
allati
on
4
Wi
rin
g
5
Introduc
tion of
Functions
6
All
ocation of
B
uff
er
Memor
ies
7
Interface and D
evice P
rofile
(40
5 mode)
8
Lift Appl
icati
on
P
ro
file
(417 M
ode)
9
CAN
Layer 2
Mode
10
Comm
and
Interface
9. CAN Layer 2 Mode
This chapter describes the data transfer locations and setting, etc. of the 11 bit/29 bit CAN-ID Layer 2 mode.
In the 11 bit/29 bit CAN-ID Layer 2 mode, the FX
3U
-CAN can send/receive up to 42 pre-defined messages.
Moreover, Layer 2 messages can be sent via CIF.
Difference between 11 bit/29 bit CAN-ID Layer 2 Modes
The bit numbers of the CAN-ID used in 11 bit/29 bit CAN-ID Layer 2 modes differ between 11 bit and 29 bit.
Note
• To ensure that the FX
3U
-CAN module can handle the CAN Layer 2 message in a consistent way, it is
necessary to set BFM #20 bit 0 to ON before reading the received message (FROM) and after writing the
transmitted message (TO) to the module.
→
For BFM #20 bit 0, refer to Section 6.4
• To activate the 11 bit/29 bit CAN-ID Layer 2 mode, write into BFM #21 the value K11 or K29, set BFM #22
to K1 to store the BFM configuration and reset the module.
→ For module reset, refer to Section 6.8
• BFMs (#0 to #19, #27, #50 to #59, #750 to #859, #900 to #963, and #3000 to #3539), which are active in
the CANopen
®
405 mode or CANopen
®
417 mode, are not active and not accessible in CAN Layer 2
Mode.
9.1 Receive/Transmit Process Data
The data transfer locations of the 11 bit/29 bit CAN-ID Layer 2 mode are as follows.
Note
The following settings of each message have to be defined in Layer 2 configuration mode, before shifting to
the Layer 2 online mode.
• The CAN-ID LW, CAN-ID HW and transmitting data byte number (in RTR/new/DLC) in the following BFMs
• Layer 2 message configuration in BFM #1100 to #1276
Sets the parameters (transmitting/receiving message, etc.) for each message.
→
For Layer 2 message configuration in BFM #1100 to #1267, refer to Section 9.3
BFM No. Name
Description
Initial
value Read/
Write
Stored to
Flash ROM
High Byte Low Byte
BFM #0 to #19 Reserved - - -
BFM #100 CAN-ID 1 LW 11/29 bit CAN-Identifier low word
Layer 2
message 1
HFFFF R/W *1
BFM #101 CAN-ID 1 HW 29 bit CAN-Identifier high word HFFFF R/W
*1
BFM #102 RTR / new / DLC
High Byte: Remote Transmission Request
Low Byte: Data length count
H0 R/W
*1
BFM #103
Data bytes
2nd data byte 1st data byte H0
R/W
*2
-
BFM #104 4th data byte 3rd data byte H0
R/W
*2
-
BFM #105 6th data byte 5th data byte H0
R/W
*2
-
BFM #106 8th data byte 7th data byte H0
R/W
*2
-
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