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13-95

32180 Group User’s Manual (Rev.1.0)

CAN MODULE

13.9 Precautions about 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

Figure 13.9.1 Opertion Flow when Aborting Remote Frame Transmission

(2) When canceling remote frame receiving

Figure 13.9.2 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.

Ye s

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