Overview; Outline Of Message Communications - Omron CJ1W-CORT21 Operation Manual

4 Message Communications
4-1

Overview

Message communications enable messages to be sent between nodes on a CAN network when
required by system conditions. The messages can be sent between CPUs, between an OMRON CPU
and a User Defined CAN unit, or between slaves. They can be used to send/receive data, read time
data, error histories, and other data or control operation, e.g., refreshing with user-specified values.
To operate a CAN network, the User Defined CAN Unit must be configured using message communica-
tions. Bus parameters, configuration data and defining parameterization data are set with message
communications in the user program (see 4-2 Unit Configuration and Control for more information).
4-1-1

Outline of Message Communications

Message communications are sent using the SendCmd instruction for NJ-series controllers.
 Overall Structure
NJ-Series CPU Unit
SendCmd
instruction
(2902, 2903,
2904, 2905,
2906, 2907,
2908, 2909,
2102, 2103,
0501) (Hex)
FINS Header
 Command Codes
Command codes are represented by a 2-byte hexadecimal code. Commands always begin with a 2-
byte command code and any parameters that are required follow the command code. More informa-
tion about command codes and parameters can be found in the following pages.
Command Code
2902
2903
2904
2905
2906
2907
2908
2909
2102
2103
4-2
FINS Header Command Code Command Data
Command Code Response Code Response Data
CAN Network
Name
Configure Memory Areas
Configure 11-Bit ID Output Message Buffer
Configure 29-Bit ID Output Message Buffer
Configure 11-Bit ID Input Message Buffer
Configure 29-Bit ID Input Message Buffer
Direct Transmit of an 11-Bit ID Can Message
Direct Transmit of a 29-Bit ID Can Message
Setting the CAN Bit Rate and Sample Point
Error Log Read
Error Log Clear
CJ-series User Defined CAN Unit Operation Manual for NJ-series CPU Unit (W517)
Us er Defined CAN Unit
Message
function
CAN Message Communications
Type
User Defined
CAN Unit
General Service
Message
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