Chapter 1 Functions; Overview Of Canopen And Can - Mitsubishi Electric MELSEC iQ-R Series User Manual

1
FUNCTIONS
1.1

Overview of CANopen and CAN

This section describes overview of CANopen and CAN.
Function modes
The RJ71CN91 has three function modes. Available functions and buffer memory assignment vary depending on the function
mode. ( Page 154 Buffer Memory)
The following table lists and describes the overview of the function modes.
Function mode
CANopen 405 mode
11-bit CAN-ID Layer 2 message
mode
29-bit CAN-ID Layer 2 message
mode
The following table shows availability of functions in each function mode.
: Available, : Not available
Function
NMT
SDO
PDO
SYNC
TIME
EMCY
Node guarding
Heartbeat
Operation setting at error occurrence
Layer 2 message transmission and receive
CPU module STOP transition message
Overview
This mode is used to communicate with CANopen nodes. CAN nodes cannot be used.
This mode is used to communicate with CAN nodes. CANopen nodes cannot be used.
The standard format (11-bit CAN-ID) is used for communications.
This mode is used to communicate with CAN nodes. CANopen nodes cannot be used.
The extended format (29-bit CAN-ID) is used for communications.
CANopen 405 mode











11-bit CAN-ID Layer 2 message mode, 29-
bit CAN-ID Layer 2 message mode











1 FUNCTIONS
1.1 Overview of CANopen and CAN
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