Can Layer 2 Mode; Receive/Transmit Process Data - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
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
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
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.
• 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.
• BFMs (#0 to #19, #27, #50 to #59, #750 to #859, #900 to #963, and #3000 to #3539), which are active in
®
the CANopen
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.
BFM No.
BFM #0 to #19
BFM #100
BFM #101
BFM #102
BFM #103
BFM #104
BFM #105
BFM #106
-CAN module can handle the CAN Layer 2 message in a consistent way, it is
3U
®
405 mode or CANopen 417 mode, are not active and not accessible in CAN Layer 2
→ For Layer 2 message configuration in BFM #1100 to #1267, refer to Section 9.3
Name
High Byte
Reserved
CAN-ID 1 LW 11/29 bit CAN-Identifier low word
CAN-ID 1 HW 29 bit CAN-Identifier high word
High Byte: Remote Transmission Request
RTR / new / DLC
Low Byte: Data length count
2nd data byte
4th data byte
Data bytes
6th data byte
8th data byte
9.1 Receive/Transmit Process Data
-CAN can send/receive up to 42 pre-defined messages.
3U
→ For BFM #20 bit 0, refer to Section 6.4
→ For module reset, refer to Section 6.8
Description
Low Byte
Layer 2
1st data byte
message 1
3rd data byte
5th data byte
7th data byte
9 CAN Layer 2 Mode
Initial Read/ Stored to
value Write Flash ROM
- - -
*1
HFFFF R/W
*1
HFFFF R/W
*1
H0 R/W
*2
H0 -
R/W
*2
H0 -
R/W
*2
H0 -
R/W
*2
H0 -
R/W
167
1
2
3
4
5
6
7
8
9
10