Delta AS Series Programming Manual page 987

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14. See CANRS communication sequence diagram and explanation.
：The CANRS instruction is enabled. If no other CANRS instruction occupies the control right, the flags D
D are cleared and then the data are sent out right away.
3
：The data sending is completed and meanwhile the data receiving starts. After the receiving is completed, the
completion flag D
：The instruction sends data again after you clear the flag D
：As the receiving timeout occurs, D
：If an error is found, you can disable the instruction. Alternatively, you can have the instruction resend data after
clearing the flag D
_6
Example 1
Master Mode
Using the CANRS instruction, the 6-byte data in D10~D15 are transmitted to the slave and the response data from the
slave are stored in the devices starting from D100. M100 changes to On when the sending and receiving are over.
See the explanation of relevant parameters.
Master mode_MsgID=2
Communication mode
Communication ID
Sent-data length
Starting device where sent
data are stored
6 - 7 0 8
changes to On.
2
changes to On.
3
.
3
enable
disable
CANRS

S
4

D
1
D
2
D
3
0= master mode, waits to receive the response from the slave after sending out
data.
The MsgID of the sent message
D0=1
6 BYTE
D10
.
2




and
2
disable
