Mode A Mapping With Node Start Up Command - Mitsubishi Electric FX2N-32CAN Hardware Manual

FX2N-32CAN Communication Module
7.4

Mode A Mapping with Node Start Up Command

Initial
Pulse
M8002
M10
M10
M10
FNC 79
K0 K27
TO
FNC 79
K0 K24
TO
FNC 79
K0 K26
TO
FNC 79
K0 K1000
TO
FNC 78
K0 K1000
FROM
D = D100 H8201
FNC 79
K0 K1001
TOP
FNC 79
K0 K1002
TOP
FNC 79
K0 K1003
TOP
FNC 79
K0 K1004
TOP
FNC 79
K0 K1005
TOP
FNC 79
K0 K1000
TOP
K2 K1
Set the Node number
Set the Baud Rate to
K1000 K1
1000 Kbaud
Set the Watch Dog
K20 K1
Timer to 200 ms
H8200 K1
Set Mode A Mapping Command
Read Parameter Set Status
D100 K1
Check that CANopen
SET M10
parameters have been
correctly set
Access local Node ("0" defaults
K0 K1
to local node)
H1F82 K1
Initiate Node startup Command
Set Nodes to Start ("H80"
H80 K1
starts all Nodes)
K1 K1 Set Data Length
Start Node(s) Command
K5 K1
Command Code for SDO
K2 K1
Write Access
Example Program 7.
7-6