Chapter 7 Communication Examples; Communication Example In Canopen 405 Mode (1); System Configuration - Mitsubishi Electric MELSEC iQ-R Series User Manual

7
COMMUNICATION EXAMPLES
This chapter describes examples of programming and start-up for the CANopen module.
7.1
Communication Example in CANopen 405 Mode
(1)
This section describes communication examples using SDO communication.

System configuration

(1)
(1) CANopen node (NMT master)
• Power supply module: R61P
• CPU module: R04CPU
• CANopen node: RJ71CN91 (start I/O number: 0000H to 001FH)
(2) CANopen node (NMT slave)
• Power supply module: R61P
• CPU module: R04CPU
• CANopen node: RJ71CN91 (start I/O number: 0000H to 001FH)
Setting details
The following table lists the setting details of CANopen nodes.
Target node
CANopen node (1)
CANopen node (2)
7 COMMUNICATION EXAMPLES
26

7.1 Communication Example in CANopen 405 Mode (1)

Item
Node ID
Baud rate
NMT type
Heartbeat setting
TPDO1
TPDO2
RPDO1
RPDO2
Node ID
Baud rate
NMT type
Heartbeat setting
TPDO1
TPDO2
RPDO1
RPDO2
(2)
Description
1
250kbps
NMT master
Heartbeat consumer (3200ms)
CAN-ID: 0181H, send data size: 8 bytes
CAN-ID: 0281H, send data size: 8 bytes
CAN-ID: 0183H, receive data size: 1 byte
CAN-ID: 0283H, receive data size: 4 bytes
3
250kbps
NMT slave
Heartbeat producer (2100ms)
CAN-ID: 0183H, send data size: 1 byte
CAN-ID: 0283H, send data size: 4 bytes
CAN-ID: 0181H, receive data size: 8 bytes
CAN-ID: 0281H, receive data size: 8 bytes