Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 11

FX -CAN User's Manual
3U
6.4 [BFM #20] Data Exchange Control ............................................................................................. 111
6.5 [BFM #21] Function Mode........................................................................................................... 112
6.6 [BFM #22] Save/Restore Configuration ...................................................................................... 113
6.7 [BFM #24] Baud Rate.................................................................................................................. 114
6.8 [BFM #25] Communication Status .............................................................................................. 114
6.9 [BFM #26] FROM/TO Watchdog................................................................................................. 116
6.10 [BFM #27] Node Address.......................................................................................................... 116
6.11 [BFM #29] Error Status ............................................................................................................. 116
6.12 [BFM #30] Module ID Code....................................................................................................... 116
6.13 [BFM #35] CAN Transmission Error Counter............................................................................ 117
6.14 [BFM #36] CAN Reception Error Counter ................................................................................. 117
6.15 [BFM #37] Baud Rate Display................................................................................................... 117
6.16 [BFM #38] Sampling Point Display............................................................................................ 117
6.17 [BFM #39] BFM Setting Error Display ....................................................................................... 117
6.18 [BFM #40] BFM Initialisation/Online Mode Write Error Display................................................. 117
6.19 [BFM #50 to #59] Time Stamp .................................................................................................. 118
6.20 [BFM #70] NMT Start all Nodes delay....................................................................................... 119
6.21 [BFM #71] SDO Time out.......................................................................................................... 119
6.22 [BFM #601 to #727] NMT State ................................................................................................ 120
6.23 [BFM #750 to #859] Emergency Message Buffer ..................................................................... 121
6.24 [BFM #900 to #963] NMT Error Control Status ......................................................................... 123
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7. CANopen
7.1 Data Transfer Location for CANopen
7.1.1 Direct TO BFM Access to the CANopen
7.1.2 Direct FROM BFM access to the CANopen
7.2 PDO Mapping/Binding of the Network for CANopen
7.2.1 TPDO mapping table ................................................................................................................... 129
7.2.2 RPDO mapping table................................................................................................................... 132
7.2.3 Mode 0 mapping.......................................................................................................................... 135
7.2.4 Mode A mapping ......................................................................................................................... 135
7.2.5 Mode B COB-ID mapping............................................................................................................ 136
7.2.6 Mode B COB-ID Mapping Errors ................................................................................................. 140
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8. CANopen
8.1 Buffer Memories Lists of Lift Application ..................................................................................... 141
8.2 Lift Number.................................................................................................................................. 152
8.3 Virtual Input/Output Mapping ...................................................................................................... 152
8.3.1 Virtual input mapping................................................................................................................... 152
8.3.2 Virtual output mapping................................................................................................................. 155
8.4 Door Control Word/Door Status Word......................................................................................... 159
8.4.1 Door control word ........................................................................................................................ 159
8.4.2 Door status word ......................................................................................................................... 160
8.5 Door Position............................................................................................................................... 161
8.6 Light Barrier Status ..................................................................................................................... 161
8.7 Position Value ............................................................................................................................. 161
8.8 Speed Value Car......................................................................................................................... 162
8.9 Acceleration Value Car ............................................................................................................... 162
8.10 Control Word/Status Word ........................................................................................................ 162
8.10.1 Control word .............................................................................................................................. 162
8.10.2 Status word................................................................................................................................ 164
8.11 Modes of operation/Modes of operation display ....................................................................... 165
8.11.1 Modes of operation.................................................................................................................... 165
8.11.2 Modes of operation display........................................................................................................ 165
405 Mode
417 Mode
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405 Mode....................................................................... 124
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405 Object................................................................. 124
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405 Object............................................................ 126
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405 Mode ............................................... 128
Table of Contents
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