Appendix 5 How To Set Parameters When Not Using Canopen Configuration Tool; Setting Parameters; List Of Buffer Memory Areas Where Parameters Are Set - Mitsubishi Electric MELSEC iQ-R Series User Manual

Appendix 5
The following describes how to set parameters with the program in CANopen 405 mode without using CANopen
Configuration Tool.
When using a project of the MELSEC-Q series for example, set parameters as follows.

Setting parameters

This section describes how to set parameters with the program or the device/buffer memory batch monitor in the engineering
tool.
1.
Create module parameters with the engineering tool. (Page 73 When used in the CANopen 405 mode Steps 1 to 4)
2.
To change the settings such as the function mode, baud rate, and node ID, set buffer memory areas and save data in the
*1
RJ71CN91.
3.
When the settings for such items as the function mode, baud rate, and node ID, restart the RJ71CN91.
4.
To change parameters in the object dictionary, set an object dictionary in SDO and save it into the RJ71CN91.
*1 For buffer memory areas to be set, refer to the following.
Page 223 List of buffer memory areas where parameters are set
For details on how to save data into the RJ71CN91, refer to the following.
Page 153 Configuration save/factory default configuration restore completed/request (X1F)/(Y1F),Page 158 Save/restore
configuration (Un\G22)
*2 To restart the RJ71CN91, the following methods are available.
 Reset the CPU module or power off and on the system
 Turn on 'Module restart request' (Y2) (Page 149 Module restart completed (X2), Module restart request (Y2))
*3 For parameters in an object dictionary to be set, refer to the following.
Page 224 List of object dictionary to be set
For details on how to access the object dictionary, refer to the following.
Page 28 SDO
To save data in the RJ71CN91, save in the flash ROM by using the Store parameters (index 1010H, subindex 01H). ( Page 207
Store parameters)

List of buffer memory areas where parameters are set

The following table lists the parameters to be set in the buffer memory.
For details on the buffer memory, refer to the following.
Page 154 Buffer Memory
Buffer memory Name
address
Un\G21 Function mode
*1
Un\G24 Baud rate
*2
Un\G27 Node ID
Un\G59 Time stamp (daily correction)
Un\G70 NMT all nodes start delay time
*2
Un\G71 SDO timeout
*1 Can be set or changed together with the function mode.
*2 Can be set or changed only when the function mode is CANopen 405 mode.
*3 Applied immediately when the RJ71CN91 detects a parameter change.
How to Set Parameters When Not Using
CANopen Configuration Tool
Corresponding CANopen Configuration Tool
parameter
"Function mode" in the "CANopen Configuration" window
"Baud-Rate" in the "CANopen Configuration" window
"Node ID" in the "CANopen Configuration" window
*2
Cannot be set
*2
"Start all nodes delay" in the "NMT master/slave" window
Cannot be set

Appendix 5 How to Set Parameters When Not Using CANopen Configuration Tool

*2
*3
A
Timing of changes
being applied
When the RJ71CN91 is
restarted
When the RJ71CN91 is
restarted
When the RJ71CN91 is
restarted
*3
Immediately
*3
Immediately
*3
Immediately
APPX
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