
SUMMARY OF PRECAUTIONS
Appendix 4
Appendix 4-28
32185/32186 Group Hardware Manual
Rev.1.10 REJ09B0235-0110 May 15, 07
Appendix 4.12 Notes on CAN Module
Note for cancelation of transmit and receive CAN remote frame
When aborting remote frame transmission or canceling remote frame receiving, make sure that the RA (Remote
Active) bit is cleared to "0" after writing "H'00" or "H'0F" to the CAN Message Slot Control Register.
(1) When aborting remote frame transmission
Appendix Figure 4.12.1 Opertion Flow when Aborting Remote Frame Transmission
(2) When canceling remote frame receiving
Appendix Figure 4.12.2 Opertion Flow when Canceling Remote Frame Receiving
RA (Remote Active)
bit = "0"
Complete transmission
abort
Note 1: H'00 or H'0F can be used.
No
Yes
Start transmission abort
Write H'00 or H'0F to
CAN message slot
control register
(Note 1)
Read CAN message
slot control register
Complete receiving
abort
No
Yes
Start receiving abort
Write H'00 or H'0F to
CAN message slot
control register
(Note 1)
Read CAN message
slot control register
RA (Remote Active)
bit = "0"
Note 1: H'00 or H'0F can be used.