Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 64

FX -CAN User's Manual
3U
1. Object H1400 to H144F
1) Sub-index H01: RPDO COB-ID
Bit No.
Bit 0 to 10
Bit 11 to 28
Bit 29
Bit 30
Bit 31
2) Sub-index H02: RPDO transmission type
Value (hex)
3) Sub-index H03: RPDO inhibit time
For RPDOs, the inhibit time has no function.
4) Sub-index H05: RPDO event-timer
The RPDO event timer is used for deadline monitoring.
When the time elapsed without receiving an event driven object (transmission type is set to HFE or HFF)
an EMCY with the error code H8250 will be sent.
The value is a multiple of 1ms. The value 0 disables the event-timer.
2. Object H1600 to H164F Sub-index H01 to H08: RPDO mapping parameter
The default mapping is to unsigned 16 bit objects.
Example:
To map the first unsigned 16bit data of RPDO1 to BFM0, set Index H1600 Sub-index H01 to HA5800110.
This stands for Object Dictionary Index HA580, Sub-index H01 and a data size of 16bit.
Item
Index Index of the mapped Object
Sub-index Sub-index of the mapped Object
Length Bit length of the mapped Object
58
31 30
Valid Reserved
Item
11-bit CAN-ID of the CAN base frame
11-bit CAN-ID
- Bit 11 to 28 fixed to OFF (0).
- Bit 29 fixed to OFF (0).
Reserved
This bit fixed to OFF (0).
OFF (0): Valid
Valid
ON (1):
Synchronous
00 to F0 Received PDO data will be processed after the next SYNC message,
independent of the transmission rate specified by the transmission type.
F1 to FD Reserved
FE Event-driven (Function Mode 405)
FF Event-driven (Function Mode 417)
31 ... 16
Index
Description
29 28 ... 11 10 ... 0
H0 H0000 11-bit CAN-ID
Description
→ For COB-ID, refer to Subsection 5.6.1
Invalid
Description
→ For emergency error code, refer to Section 6.23
15 ... 8 7 ... 0
Sub-index Length
5 Introduction of Functions
5.6 Communication Profile Area
→ Refer to Subsection 7.1.2