Details Of Buffer Memory Areas - Mitsubishi Electric MELSEC iQ-R Series User Manual

Details of buffer memory areas

Common to CANopen 405 mode and Layer 2 message mode
The following describes the buffer memory areas common to the CANopen 405 mode, 11-bit CAN-ID Layer 2 message mode,
and 29-bit CAN-ID Layer 2 message mode.
■Data exchange control (Un\G20)
Data for data exchange can be selected with 'Data exchange request' (Y1). This function is used if it is desired to update only
the EMCY message buffer without changing any RPDO or TPDO.
To select only one data type as the data exchange target, set 1 for the bit for the data exchange target.
: Available, : Not available
Bit Description
b0 to b7 System area
b8 Specify whether to set 'RPDO' (Un\G10000 to Un\G11023) and 'TPDO' (Un\G13000
to Un\G14023) as data exchange targets.
*1
• 0: Not target
• 1: Target
b9 to b11 System area
b12 Specify whether to set 'EMCY message buffer' (Un\G750 to Un\G859) as a data
exchange target.
*1
• 0: Not target
• 1: Target
b13 to System area
b15
*1 When all the bits of this area are 0, this area becomes a data exchange target.
■Function mode (Un\G21)
Set the RJ71CN91 function mode.
• 405: CANopen 405 mode
• 11: 11-bit CAN-ID Layer 2 message mode
• 29: 29-bit CAN-ID Layer 2 message mode
If a value other than above is set, 'Error status' (Un\G29.6) turns on. ( Page 139 Troubleshooting Using the Buffer
Memory)
To change this setting, save the buffer memory settings into the flash ROM, and then restart the module.
On how to save into the flash ROM, refer to the following.
Page 153 Configuration save/factory default configuration restore completed/request (X1F)/(Y1F),Page
158 Save/restore configuration (Un\G22)
For how to restart the module, refer to the following.
Page 149 Module restart completed (X2), Module restart request (Y2)
Function mode
CANopen 405 mode 11-bit CAN-ID Layer 2
message mode, 29-bit
CAN-ID Layer 2 message
mode
 
 
 
 
 
Appendix 2 Buffer Memory
A
APPX
157