Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 10

FX -CAN User's Manual
3U
5. Introduction of Functions
5.1 Functions List ................................................................................................................................ 33
5.2 Function Modes............................................................................................................................. 33
5.3 Object Dictionary........................................................................................................................... 34
5.4 Command Interface....................................................................................................................... 34
5.5 Data Type Definition Area ............................................................................................................. 35
5.6 Communication Profile Area ......................................................................................................... 35
5.6.1 CAN-ID / COB-ID........................................................................................................................... 55
5.6.2 Error Register ............................................................................................................................... 56
5.6.3 Pre-defined error field.................................................................................................................... 56
5.6.4 SDO............................................................................................................................................... 56
5.6.5 RPDO / TPDO ............................................................................................................................... 57
5.6.6 MPDO............................................................................................................................................ 64
5.6.7 SYNC............................................................................................................................................. 65
5.6.8 Node guarding ............................................................................................................................... 66
5.6.9 Heartbeat....................................................................................................................................... 67
5.6.10 TIME ............................................................................................................................................ 68
5.6.11 Store parameters......................................................................................................................... 68
5.6.12 Restore default parameters ......................................................................................................... 69
5.6.13 EMCY .......................................................................................................................................... 69
5.7 Error Behaviour ............................................................................................................................. 71
5.8 Network Management ................................................................................................................... 72
5.8.1 CANopen
5.8.2 Protocol Boot-Up ........................................................................................................................... 73
5.8.3 Protocol NMT (Node control)......................................................................................................... 73
5.8.4 NMT slave identification ................................................................................................................ 74
5.8.5 NMT master startup....................................................................................................................... 74
5.8.6 NMT slave startup ......................................................................................................................... 78
5.8.7 NMT slave assignment .................................................................................................................. 80
5.8.8 NMT Bootup / Error Event handling............................................................................................... 82
5.8.9 Request NMT ................................................................................................................................ 83
5.8.10 Request node guarding ............................................................................................................... 84
5.8.11 Flying Master ............................................................................................................................... 84
5.8.12 LSS.............................................................................................................................................. 87
5.8.13 Configuration manager ................................................................................................................ 87
5.9 Device Profile CiA
5.10 Application Profile CiA
5.10.1 Lift number................................................................................................................................... 94
5.10.2 Virtual input mapping................................................................................................................... 95
5.10.3 Virtual output mapping................................................................................................................. 97
5.10.4 Door control word ...................................................................................................................... 100
5.10.5 Door status word ....................................................................................................................... 101
5.10.6 Light barrier status..................................................................................................................... 103
5.10.7 Control word .............................................................................................................................. 103
5.10.8 Status word................................................................................................................................ 105
5.10.9 Modes of operation.................................................................................................................... 106
5.10.10 Modes of operation display...................................................................................................... 106
5.10.11 Target position......................................................................................................................... 106
5.10.12 Load value ............................................................................................................................... 106
5.10.13 Load signalling......................................................................................................................... 106
6. Allocation of Buffer Memories
6.1 Buffer Memories (BFM) Lists ...................................................................................................... 107
6.2 How to Read/Write from/to Buffer Memory ................................................................................. 110
6.2.1 Direct specification of buffer memory (FX
6.2.2 FROM/TO instructions................................................................................................................. 110
6.3 Receive/Transmit Process Data.................................................................................................. 111
4
®
Boot-Up Procedure and NMT states........................................................................... 72
®
405 V2.0 for IEC 61131-3 Programmable Devices....................................... 89
®
417 V2.1 for Lift Control Systems......................................................... 91
/FX /FX5U/FX5UC only) ................................... 110
3U 3UC
Table of Contents
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