Chapter 4 Programming; 4.1 Communication Example Of Layer 2 Message Mode; System Configuration - Mitsubishi Electric MELSEC iQ-R Series User Manual

4
PROGRAMMING
This chapter describes programming in the Layer 2 message mode.
For data communication in the CANopen 405 mode, refer to the following.
 MELSEC iQ-R CANopen Module User's Manual (Startup)
4.1
Communication Example of Layer 2 Message
Mode
This section describes a communication example of message transmission and reception using layer 2 messages.

System configuration

(1)
(1) Programmable controller system (Master side)
• Power supply module: R61P
• CPU module: R04CPU
• CAN node: RJ71CN91 (start I/O number: 0000H to 001FH)
(2) Programmable controller system (Slave side)
• Power supply module: R61P
• CPU module: R04CPU
• CAN node: RJ71CN91 (start I/O number: 0000H to 001FH)
Setting details
The following is CAN node setting details.
■Parameter settings
Target node
CAN node (1)
CAN node (2)
■Message settings
CAN-ID
0501H
0581H
0601H
0601H
0681H
0681H
4 PROGRAMMING
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4.1 Communication Example of Layer 2 Message Mode

Item
Baud rate
Data frame type
Baud rate
Data frame type
Frame type Data length
Data frame 8 bytes
Data frame 8 bytes
Remote frame 
Data frame 8 bytes
Remote frame 
Data frame 8 bytes
(2)
Description
1000kbps
Standard format (11-bit CAN-ID)
1000kbps
Standard format (11-bit CAN-ID)
RTR Transmit node
response
Disabled CAN node (1)
Disabled CAN node (2)
 CAN node (2)
Enabled CAN node (1)
 CAN node (1)
Enabled CAN node (2)
Receive node
CAN node (2)
CAN node (1)
CAN node (1)
CAN node (2)
CAN node (2)
CAN node (1)