Omron CJ1W-CORT21 Operation Manual page 10

Section 2 Nomenclature and Installation
2-1 Nomenclature and Installation .............................................................................................. 2-2
2-1-1 Nomenclature and Functions ..................................................................................................... 2-2
2-1-2 Switch Settings ........................................................................................................................... 2-5
2-2 Installing the User Defined CAN Unit .................................................................................... 2-8
2-2-1 System Configuration Precautions ............................................................................................. 2-8
2-2-2 Mounting .................................................................................................................................... 2-8
2-2-3 Handing Precautions .................................................................................................................. 2-9
2-2-4 External Dimensions .................................................................................................................. 2-9
2-2-5 Unit States ................................................................................................................................ 2-10
Section 3 Data Exchange with the CPU Unit
3-1 Data Exchange with the CPU Unit ......................................................................................... 3-2
3-1-1 Data Flow ................................................................................................................................... 3-2
3-1-2 Accessing From the User Program ............................................................................................ 3-5
3-2 Device Variable for CJ-series Unit ........................................................................................ 3-8
3-2-1 Enable CAN Communications .................................................................................................... 3-8
3-2-2 Status Communication ............................................................................................................... 3-9
3-2-3 Number of Delayed Messages ................................................................................................. 3-12
3-2-4 Number of Received Messages Waiting to be Processed ....................................................... 3-12
Section 4 Message Communications
4-1 Overview .................................................................................................................................. 4-2
4-1-1 Outline of Message Communications ........................................................................................ 4-2
4-2 Unit Configuration and Control ............................................................................................. 4-4
4-2-1 Configure Memory Areas (2902) ................................................................................................ 4-4
4-2-2 Configure 11-Bit ID Output Message Buffer (2903) ................................................................. 4-10
4-2-3 Configure 29-Bit ID Output Message Buffer (2904) ................................................................. 4-12
4-2-4 Configure 11-Bit ID Input Message Buffer (2905) .................................................................... 4-14
4-2-5 Configure 29-Bit ID Input Message Buffer (2906) .................................................................... 4-16
4-2-6 Direct Transmit of an 11-bit ID CAN Message (2907) .............................................................. 4-17
4-2-7 Direct Transmit of an 29-bit ID CAN Message (2908) .............................................................. 4-19
4-2-8 Setting the CAN Bit Rate and Sample Point (2909) ................................................................. 4-21
4-2-9 Error Log Read (2102) ............................................................................................................. 4-22
4-2-10 Error Log Clear (2103) ............................................................................................................. 4-23
Section 5 Communications Timing
5-1 Performance ............................................................................................................................ 5-2
5-1-1 I/O Refresh Time ........................................................................................................................ 5-2
5-1-2 Output Message Evaluation Time .............................................................................................. 5-2
5-1-3 Input Message Processing Time ................................................................................................ 5-4
5-1-4 CAN Interface ............................................................................................................................. 5-5
5-1-5 I/O Response Time .................................................................................................................... 5-5
5-1-6 Transmission of CAN Messages ................................................................................................ 5-8
5-1-7 Reception of CAN Messages ..................................................................................................... 5-9
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CJ-series User Defined CAN Unit Operation Manual for NJ-series CPU Unit (W517)