Canopen ® 405 Mode - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
®
12.1 CANopen
When using CANopen
To set the Object Dictionary and the TPDO/RPDO mapping, the use of CANopen
recommended.
→ For further information on data transfer location and PDO mapping, refer to Chapter 7
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
405 Mode
®
405 mode, the outline of the communication setting procedure is as follows.
→ For further information on CANopen
→ For further information on the Object Dictionary, refer to Chapter 5
1) Set the following.
• Function mode (BFM #21)
2) Store setting to Flash ROM. (BFM #22)
3) FX -CAN restart
3U
4) Set the following.
• Baud rate (BFM #24)
• Watchdog timer (BFM #26)
• Node address (BFM #27)
5) Store setting to Flash ROM. (BFM #22)
6) FX -CAN restart
3U
1) Set the following required function.
• NMT master/Flying Master
2) Save the Object Dictionary.
FX -CAN restart
3U
1) Set the following required functions.
• Heartbeat / the Node Guarding (either settings are possible.)
• TIME
• Layer Setting Services (LSS)
• NMT Master:
- Set up NMT Slave assignment H1F81
- Set up NMT Slave identification data H1F84 to H1F88
- Set up Boot time
Note:
When using FX -CAN as the Producer of the TIME message, parameters have to be set
3U
in BFM #50 to #59 in the program used for normal operation.
2) Set the TPDO/RPDO mapping.
Save the Object Dictionary.
Shift the NMT state to OPERATIONAL.
When FX -CAN is NMT Master, shift the NMT state of NMT slave into OPERATIONAL.
3U
The TPDO/RPDO data and Emergency Message, etc. can be exchanged to CAN bus.
12 Communication Settings Procedure
refer to the manual of the software to be used
→ For further information on BFMs, refer to Chapter 6
→ For further information on the CIF, refer to Chapter 10
→ For example program, refer to Chapter 13
Refer to Subsection 5.6.11 and Section 10.6
For Module restart, refer to Section 6.8
Refer to Section 5.6, Section 5.8 and Section 6.18
Refer to Subsection 5.6.11 and Section 10.6
For example program, refer to Chapter 13
®
12.1 CANopen 405 Mode
®
configuration software is
®
configuration software,
Refer to Chapter 6
Refer to Chapter 6
Refer to Chapter 6
Refer to Section 5.8
Refer to Chapter 7
Refer to Section 5.8
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