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Mitsubishi Electric MELSEC iQ-R Series User Manual

Canopen module.
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MELSEC iQ-R CANopen Module
User's Manual (Startup)
-RJ71CN91

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Table of Contents

   Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series

  • Page 1 MELSEC iQ-R CANopen Module User's Manual (Startup) -RJ71CN91...
  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable controller system, refer to the MELSEC iQ-R Module Configuration Manual.
  • Page 4 [Design Precautions] WARNING ● For the operating status of each station after a communication failure, refer to manuals relevant to the network. Incorrect output or malfunction due to a communication failure may result in an accident. ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely.
  • Page 5 [Design Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction due to noise. ●...
  • Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use applicable solderless terminals and tighten them within the specified torque range. If any spade solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
  • Page 8 [Startup and Maintenance Precautions] WARNING ● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction. ● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock. Lock the control panel so that only qualified maintenance personnel can operate it. ●...
  • Page 10: Conditions Of Use For The Product

    CONDITIONS OF USE FOR THE PRODUCT (1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions; i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident; ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem, fault or failure occurring in the PRODUCT.
  • Page 11: Introduction

    Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly. When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.
  • Page 12 MEMO...
  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 14: Relevant Manuals

    This manual does not include information on the module function blocks. For details, refer to the Function Block Reference for the module used. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool.
  • Page 15: Chapter 1 Part Names

    PART NAMES This chapter describes the names of each part of the RJ71CN91. Name Description RUN LED Indicates the operating status. On: Normal operation Off: Error ( MELSEC iQ-R CANopen Module User's Manual (Application)) ERR LED Indicates the error status of the module. On, flashing: Error (...
  • Page 16 *1 The following chart shows intervals of four flashing types (Single flash, Double flash, Blinking, and Flickering). If the flashing LED changes, the interval may not follow. (Example: When the Single flash switch to the Double flash less than one second, flash continuously three times or more per 0.2 seconds.) Single flash 0.2s...
  • Page 17: Chapter 2 Specifications

    SPECIFICATIONS Performance Specifications This section describes the performance specifications of the RJ71CN91. Item Description Transmission type CAN bus network (RS-485, CSMA/CR) Applicable function • CANopen node • CAN node CANopen communication services that are compliant with the • CiA-301 V4.2 CiA standards •...
  • Page 18 MEMO 2 SPECIFICATIONS 2.1 Performance Specifications...
  • Page 19: Chapter 3 Function List

    FUNCTION LIST This chapter describes the functions of the RJ71CN91. For details on the functions, refer to the following.  MELSEC iQ-R CANopen Module User's Manual (Application) CANopen communications Function Description  This function is used to control the CANopen network. Node control Controls the NMT state of the CANopen node from the NMT master.
  • Page 20 MEMO 3 FUNCTION LIST...
  • Page 21: Chapter 4 Procedures Before Operation

    PROCEDURES BEFORE OPERATION This chapter describes the procedures before operation. Network construction Configure the system and set the parameters which are required for start-up. • Wiring ( Page 23 WIRING) • Parameter setting ( MELSEC iQ-R CANopen Module User's Manual (Application)) Programming Create a program.
  • Page 22 MEMO 4 PROCEDURES BEFORE OPERATION...
  • Page 23: Chapter 5 System Configuration

    SYSTEM CONFIGURATION CANopen and CAN Network Configuration CANopen network and CAN network consist of the RJ71CN91 (1) and node (2). On the CANopen network, CAN node is not available. Use the CANopen node. On the CAN network, CANopen node is not available. Use the CAN node. 5 SYSTEM CONFIGURATION 5.1 CANopen and CAN Network Configuration...
  • Page 24: Available Software Packages

    Available Software Packages GX Works3 and CANopen Configuration Tool are required for configuring the settings of the RJ71CN91. Software Supported version GX Works3 Version 1.038Q or later CANopen Configuration Tool Version 1.00A or later CANopen Configuration Tool For CANopen Configuration Tool, please consult your local Mitsubishi representative. ■Operating environment, installation and uninstallation For the operating environment and installation/uninstallation of CANopen Configuration Tool, refer to the following.
  • Page 25: Chapter 6 Wiring

    WIRING This chapter describes the wiring for the RJ71CN91. Terminal Block Type of terminal block The RJ71CN91 uses the following terminal block. Name Model Contact Transmission cable terminal block MSTB2,5/5-STF-5,08AU-M PHOENIX CONTACT GmbH & Co. KG (www.phoenixcontact.com) Tightening torque Tighten the terminal block screws within the following specified torque range. Screw type Tightening torque range Terminal block mounting screw (M2.5 screw)
  • Page 26: Wiring Methods

    Wiring Methods This section describes the wiring for transmission cable terminal block of the RJ71CN91. Wiring for transmission cable terminal block ■Cable installation Insert the cable into the wire insertion opening with the wiring installation screws loosened, and then tighten the wiring installation screws at an adequate torque.
  • Page 27: Wiring Products

    Wiring Products Application connector Use 5-pin open style connectors. For details on signal layout, refer to the following. Page 23 Terminal name of terminal block CAN bus cable Wire the CAN bus cable that meets the following specifications. Item Description Cable type Shielded twisted pair cable Number of pairs...
  • Page 28: Chapter 7 Communication Examples

    COMMUNICATION EXAMPLES This chapter describes examples of programming and start-up for the CANopen module. Communication Example in CANopen 405 Mode This section describes communication examples using SDO communication. System configuration (1) CANopen node (NMT master) • Power supply module: R61P •...
  • Page 29: Parameter Setting

    Parameter setting Connect the engineering tool to the CPU module and set the parameters. Module parameter setting Set the CPU module as follows. [Project]  [New] Click the [OK] button to add the module labels of the CPU module. Set the RJ71CN91 as follows. [Navigation window] ...
  • Page 30 CANopen Configuration Tool setting ■CANopen node (NMT master) setting Start up CANopen Configuration Tool and create a project. [Project]  [New] Set the items in "CANopen Configuration" as follows. [Navigator]  [CANopen Configuration] Set the items in "TPDO" as follows. •...
  • Page 31 • PDO2 [Navigator]  [CANopen Configuration]  [CANopen node]  [Transmit PDO]  [PDO 2] Set the items in "RPDO" as follows. • PDO list [Navigator]  [CANopen Configuration]  [CANopen node]  [Receive PDO] • PDO1 [Navigator]  [CANopen Configuration]  [CANopen node]  [Receive PDO]  [PDO 1] •...
  • Page 32 Set the items in "NMT settings" as follows. • NMT master / slave [Navigator]  [CANopen Configuration]  [CANopen node]  [NMT settings]  [NMT master / slave] • NMT slave assignment [Navigator]  [CANopen Configuration]  [CANopen node]  [NMT settings]  [NMT master / slave]  [NMT Slave assignment] •...
  • Page 33 ■CANopen node (NMT slave) setting Start up CANopen Configuration Tool and create a project. [Project]  [New] Set the items in "CANopen Configuration" as follows. [Navigator]  [CANopen Configuration] Set the items in "TPDO" as follows. • PDO list [Navigator]  [CANopen Configuration]  [CANopen node]  [Transmit PDO] •...
  • Page 34 • PDO2 [Navigator]  [CANopen Configuration]  [CANopen node]  [Transmit PDO]  [PDO 2] Set the items in "RPDO" as follows. • PDO list [Navigator]  [CANopen Configuration]  [CANopen node]  [Receive PDO] • PDO1 [Navigator]  [CANopen Configuration]  [CANopen node]  [Receive PDO]  [PDO 1] •...
  • Page 35 Set the items in "NMT settings" as follows. • Heartbeat [Navigator]  [CANopen Configuration]  [CANopen node]  [NMT settings]  [Heartbeat] Write the set parameters to the CPU module of the CANopen node (NMT slave). Then reset the CPU module or power off and on the system.
  • Page 36: Program Examples

    Program examples NMT state acquisition program Acquiring a current NMT state Classification Label name Description Device Module label RCN91_1.bSts_Module_Ready Module READY RCN91_1.bSts_Module_Error RJ71CN91 error RCN91_1.u127NMT_Error_Control_Status_D[2] NMT error control status (CANopen node U0\G403 3) bit1: Heartbeat enabled RCN91_1.u127NMT_State_D[2] NMT state (CANopen node 3) U0\G603 Label to be defined Define global labels as shown below:...
  • Page 37 SDO write request command issue program Issuing the SDO write request command to the CANopen node with node ID of 3 Classification Label name Description Device Module label RCN91_1.bSts_Module_Ready Module READY RCN91_1.bSts_Module_Error RJ71CN91 error RCN91_1.u127NMT_Error_Control_Status_D[2] NMT error control status (CANopen node U0\G403 Label to be defined Define global labels as shown below:...
  • Page 38 Remote node start issue program Issuing the remote node start to all remote nodes Classification Label name Description Device  Module label RCN91_1 Module label of the RJ71CN91 Label to be defined Define global labels as shown below: 7 COMMUNICATION EXAMPLES 7.1 Communication Example in CANopen 405 Mode (1)
  • Page 39 SDO read request command issue program Issuing the SDO read request command to the CANopen node with node ID of 3 Classification Label name Description Device Module label RCN91_1 Module label of the RJ71CN91  RCN91_1.bSts_Module_Ready Module READY RCN91_1.bSts_Module_Error RJ71CN91 error Label to be defined Define global labels as shown below: 7 COMMUNICATION EXAMPLES...
  • Page 40: Communication Example In Canopen 405 Mode (2)

    Communication Example in CANopen 405 Mode This section describes communication examples using PDO communication. System configuration For the system configuration, refer to the following. Page 26 System configuration Parameter setting Connect the engineering tool to the CPU module and set the parameters. For the setting of items other than these ones, refer to the following.
  • Page 41: Program Examples

    Program examples TPDO data write program Writing data to TPDO with PDO number: 1 Classification Label name Description Device Module label RCN91_1.bSts_Module_Ready Module READY RCN91_1.bSts_Module_Error RJ71CN91 error Label to be defined Define global labels as shown below: 7 COMMUNICATION EXAMPLES 7.2 Communication Example in CANopen 405 Mode (2)
  • Page 42 RPDO data read program Reading data from RPDO with PDO number: 1 Classification Label name Description Device Module label RCN91_1.bSts_Module_Ready Module READY RCN91_1.bSts_Module_Error RJ71CN91 error Label to be defined Define global labels as shown below: 7 COMMUNICATION EXAMPLES 7.2 Communication Example in CANopen 405 Mode (2)
  • Page 43: Appendices

    APPENDICES Appendix 1 External Dimensions External dimensions of the RJ71CN91 is as follows. 27.8 118.5 (Unit: mm) APPX Appendix 1 External Dimensions...
  • Page 44: Appendix 2 Software License Agreement

    "this software"). ■Article 1 (License Grant) Mitsubishi Electric Corporation (Mitsubishi) grants to the customers the following nonexclusive rights as long as this license remains effective. (1) This is a right to use this software for the purpose of using Mitsubishi products.
  • Page 45 ■Article 6 (License Period, etc.) This license shall be governed by and construed in accordance with the laws of Japan, and will remain effective from the point in which the customer commences the use of this software in accordance with this license until terminated by either of the events stated below.
  • Page 46: Index

    INDEX ......12 ....... . .17 Buffer memory TIME .
  • Page 47 MEMO...
  • Page 48: Revisions

    Japanese manual number: SH-081733-B This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 49: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 50: Trademarks

    TRADEMARKS   and CANopen are registered Community Trademarks of CAN in Automation e.V. Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
  • Page 52 SH(NA)-081734ENG-B(1709)MEE MODEL: RJ71CN91-U-IN-E MODEL CODE: 13JX70 HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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