Delta AS Series Programming Manual page 986

Selecting 2.0B mode: (Here is the introduction of receiving data from 2 slaves. For other data, increase the number
of D )
1
Response
sequence
D No. D100
1
Receiving
Description Packet
number
9. D and D are the receiving-completed flag and error flag respectively. The two flags will judge if the data receiving
2 3
is completed or an error occurs based on the current communication state when the instruction is scanned. If the
data receiving is completed or an error occurs, the flags will change to On. The two flags will be cleared and
change to Off automatically every time the instruction is enabled.
10. When the instruction is set to the master mode, using the receiving timeout setting in HWCONFIG is
recommended. So D will change to On and the error code 2 will be recorded in SR659 if the communication
3
packet has not been received fully within the specified period of time.
If the receiving timeout time is set to 0, it indicates that the communication timeout is not limited and the status can
be applied to the slave mode.
Note: The communication control right can not be released until the instruction is disabled by manual when the
method in which there is no limit to the communication timeout is adopted.
11. There is no limit to the number of times of using the instruction. But only one CAN communication command is
allowed to be sent every time. If one command is being sent or received currently, the next CANRS instruction can
not be enabled.
12. Here is the CAN BUS format and every bit of content for Msg. ID is explained as below.
As 2.0A protocol is selected and the value of S
Bit No. 15 ~ 11
S value (16bits)
2
As 2.0B protocol is selected, the value of S
ID content is shown in the following table.
Bit No. 31 ~ 29
S value (32bits)
2
13. If the operand D is declared in a variable, using the Word-type matrix is recommended.
1
Data from the first slave
D101 D102
Msg. ID（Lo- Msg. ID（Hi-
word） word）
is 16#0123, the Msg. ID content is shown in the following table.
2
10 ~ 8 7 ~ 4
- 1 2
is set to 16#1234 (Lo-word) and S
2
28 27 ~ 24
- 0 5
Cha p ter 6 App l ied Ins truc tio ns
D104 ~ D111
D103
(Lower 8 bits)
Data
Data1 ~ Data8
Length
3 ~ 0
3
+1 is 16#0567 (Hi-word), the Msg.
2
23 ~ 20 19 ~ 16 15 ~ 0
6 7 1234
Data from the second
slave
D112~D122
ID, Length, Data
6 - 7 0 7
6_