Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 144

FX -CAN User's Manual
3U
2. Destination Parameter
The Destination parameter defines the destination for the corresponding source parameter data. It consists of
two bytes, with the node ID in the high byte and the PDO number in the low byte.
• Node ID
The node ID range is 1 to 127.
The local FX
• RPDO number
The RPDO number setting range is 1 to 255.
The Destination node COB-ID is checked before the Source data is written to the communication
parameter.
Example:
Destination parameter = H0203
The Source data will be bound to RPDO #3 of Node 2.
Note
An error message will be generated if the destination parameter is not configured.
Assign Additional TPDO COB-IDs to the Local Node
By default every CANopen
COB-IDs for Data transmission are by default reserved for nodes 1 to 127. If it is necessary to transmit more
than 4 PDOs (more than 16 words) from one node, this node must occupy COB-IDs of other (unused)
stations. It is recommended to use the identifier of higher number stations for this purpose (127, 126, 125,
etc). The lower the used COB-ID is, the higher the priority of the messages. Thus, assigning the COB-ID of
TPDO4 from node 127 to highly important data should be avoided because all other TPDO COB-IDs have a
higher priority for transmission on the CANopen
This command assigns the COB-ID of an unused TPDO of the Source Node to the defined TPDO of the local
Node. Ensure that the Source Node doesn't exist in the network or that the Source Node TPDO is
deactivated.
• Mode B TPDO/RPDO COB-ID Setup scenarios
138
-CAN can be specified by its actual node number or by using "0".
3U
®
node uses four COB-IDs to exchange its data with other CANopen
Not used
Source Node
(TPDO)
7.2 PDO Mapping/Binding of the Network for CANopen
®
bus.
COB-ID set
FX -CAN =
3U
Destination
Node (TPDO)
®
7 CANopen 405 Mode
®
405 Mode
®
stations. All