Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 209

FX -CAN User's Manual
3U
5
Check if the MELSEC_STlite CANopen node is in pre-operational mode
NodeNMTStatus[2]
6
Check if the MELSEC_STlite CANopen node is in operational mode
NodeNMTStatus[2]
7
Check the heartbeat status of all nodes
CheckHeartbeatStatus
8
Check if the MELSEC_STlite slave node has an active Heartbeat signal
NodeHeartbeatStatus[2]
9
Configure the start up behaviour of the CANopen master device
StartupConfigurationValue
ExecNMTMasterConfig
10
If a NMT Master setup command execution is completed, reset its execution signal
NMTMasterSetCompleted
11
If a NMT Master setup command execution error occurs, increase the command error counter
NMTMasterSetError
12
If a NMT Master setup command execution is completed, increase the command complete counter and move to the next command
NMTMasterSetCompleted
NMTMasterSetError
EQ
H7F
EQ
H5
HeartbeatStatusRead
HeartbeatStatus
Enable NodeHeartbeatStatus
K0 HeadAddress
EQ
H2
FX3UMasterSetup
NMTMasterSettings
K0 HeadAddress SettingsCompleted
K1 NodeAddress SettingsError
StartUpConfiguration
StartMasterSetup
RST
EN ENO
d
ExecNMTMasterConfig
INCP
EN ENO
d NMTMasterSetErrorCount
AND
OUT
EN ENO
d MELSEC_STlitePreOperational
OUT
EN ENO
d MELSEC_STliteOperational
NodeHeartbeatStatus
OUT
EN ENO
d MELSEC_STliteHeartbeatActive
NMTMasterSetCompleted
NMTMasterSetError
INCP
EN ENO
d NMTMasterSetOkCount
SET
EN ENO
d CheckNMTStatus
SET
EN ENO
d HeartbeatProducerSetting
13 Program Example
13.3 Program
11
12
13
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