Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 23

FX -CAN User's Manual
3U
6. Network management (hereinafter called NMT)
• General NMT services
• Node guarding Master/Slave
• Heartbeat Consumer/Producer
7. The command interface
The Command Interface (CIF) can be used to access the Object Dictionary of the local node or a network
node and is located in the BFM. Access is performed by commands for SDO read/write, special direct
command for Node Guarding, Heartbeat, PDO Mapping or Emergency Messages.
8. NMT master
The network management provides services for controlling the network behaviour of CANopen
®
defined in CiA
controlled by services provided by an NMT master.
9. Flying master
The flying master mechanism provides services for a hot stand-by NMT master within a CANopen
10.Configuration manager
The Configuration manager provides mechanisms for configuration of CANopen
network.
11.SYNC producer
The SYNC producer broadcasts the SYNC object. The SYNC service provides the basic network
synchronization mechanism.
12.Layer setting services master (hereinafter called LSS) according to standard CiA
With this service, an LSS slave device that is sealed against harsh environments and that does not have any
hardware components like DIP-switches for setting the node-ID or bit timing parameters can be configured
via the CAN Bus.
13.MPDO for Lift Application Profile
An MPDO provides direct write access to objects of a CANopen device's object dictionary.
The size of the data of these objects is limited to a maximum of 4 bytes.
®
301 and CiA 302. All CANopen
®
devices of a network referred to as NMT slaves are
1 Introduction
1.1 Outline
®
devices as
®
network.
® ®
devices in a CANopen
®
305 V2.2
17
1
2
3
4
5
6
7
8
9
10