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Mitsubishi Electric MELSEC L-Series User Manual

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MELSEC L-Series
Programmable Logic Controllers
User's Manual
CANopen
Module
ME3CAN1-L
Art. no.: 286236
INDUSTRIAL AUTOMATION
11 05 2015
Version A
Version check

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Table of Contents

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   Summary of Contents for Mitsubishi Electric MELSEC L-Series

  • Page 1 MELSEC L-Series Programmable Logic Controllers User's Manual CANopen Module € ME3CAN1-L Art. no.: 286236 INDUSTRIAL AUTOMATION 11 05 2015 Version A Version check...
  • Page 3 You can find the latest information and answers to frequently asked questions on our website at https://eu3a.mitsubishielectric.com. MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical specifications of its products at any time without notice. © 2014...
  • Page 5 CANopen€ Module ME3CAN1-L User's Manual Art.-no.: 286236 Version Changes / Additions / Corrections 05/2015 pdp-dk First edition...
  • Page 7 Any operations or modifications to the hardware and/or software of our products not specifically described in this manual may only be performed by authorised Mitsubishi Electric staff. Proper use of the products The programmable logic controllers of the MELSEC-L series are only intended for the specific appli- cations explicitly described in this manual.
  • Page 8 General safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment. These precautions must always be observed in the design, installation and operation of all control systems. DANGER: ●...
  • Page 9 Symbols used in the Manual Use of notes Notes concerning important information are marked separately and are displayed as follows: NOTE Note text Use of examples Examples are marked separately and are displayed as follows: Example Example text The end of an example is marked with the following symbol: Use of numbering in the figures Numbering within the figures is displayed by white numbers within black circles and is explained in a table following it using the same number, e.g.:...
  • Page 11: Table Of Contents

    Contents Contents Overview Introduction................1-1 Features of the ME3CAN1-L .
  • Page 12 Contents 3.5.9 CAN reception error counter (Un\G36)........3-19 3.5.10 Buffer memory setting error display (Un\G39, Un\G40) .
  • Page 13 Contents 4.6.8 Heartbeat ..............4-29 4.6.9 TIME .
  • Page 14 Contents Setup and Procedures before Operation Implementation and Installation ............6-1 6.1.1 Handling Precautions .
  • Page 15: Overview

    Introduction Overview Overview This User's Manual describes the specifications, handling and programming methods for the CANopen€ Module ME3CAN1-L (hereinafter referred to as the ME3CAN1-L) which is used with the programmable controllers of the MELSEC-L series. Before using the ME3CAN1-L, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-L series programmable controller to handle the product correctly.
  • Page 16 CAN layer 2 communication Besides the CANopen€ mode, the ME3CAN1-L can be switched to CAN layer 2 communication mode, and be set up so that it can be used for the customer's own CAN based communication protocol. 1 – 2 MITSUBISHI ELECTRIC...
  • Page 17: Abbreviations And Generic Terms

    Abbreviations and Generic Terms Overview Abbreviations and Generic Terms Unless otherwise specified, this manual uses the following generic terms and abbreviations to describe the CANopen€ Module ME3CAN1-L. General term / Abbreviation Description ME3CAN1-L Abbreviation for the CANopen€ Module ME3CAN1-L. MELSEC-L CPU Generic term for L series CPU modules, e.g.
  • Page 18 Abbreviations and Generic Terms Overview MELSEC-L Series – CANopen€ Module ME3CAN1-L 1 – 4...
  • Page 19: System Configuration

    Overview System Configuration System Configuration Overview The ME3CAN1-L can be connected to a CPU module, an extension module or a CC-Link IE Field net- work head module of the MELSEC-L series. CANopen€ Node (ME3CAN1-L) MITSUBISHI L63P MITSUBISHI CANopen€ Node CAN bus network Terminating Terminating resistor...
  • Page 20: Applicable Systems

    PLC is operating. From the Diagnostics menu select System Monitor and then select Product Information List. Model name Serial number Function (first 5 digits) version Product Information List for a PLC with a ME3CAN1-L Fig. 2-3: 2 – 2 MITSUBISHI ELECTRIC...
  • Page 21: System Equipment

    System Equipment System Configuration System Equipment MELSEC-L series PLC Configuration by FBs with ME3CAN1-L in GX Works2 ME2PNR2-L USB cable Terminating Terminating resistor resistor CAN bus network CANopen€ Node Repeater CANopen€ Node Terminating Terminating resistor resistor CAN bus network Import EDS file 3rd party MELSEC-L series PLC...
  • Page 22 System Configuration System Equipment 2 – 4 MITSUBISHI ELECTRIC...
  • Page 23: Detailed Description Of The Module

    Part Names Detailed Description of the Module Detailed Description of the Module Part Names This section explains the names of the components for the ME3CAN1-L. Fig. 3-1: Names of parts Name Description Used to indicate the status of the ME3CAN1-L. Indicator LEDs For a detailed description, please refer to section 3.1.1.
  • Page 24: Indicator Leds

    Detailed Description of the Module Part Names 3.1.1 Indicator LEDs The LEDs are arranged in two groups: ● General LEDs are arranged on the left side. ● LEDs for CAN communication are arranged on the right side. Fig. 3-2: Indicator LEDs of the ME3CAN1-L Color Status Description...
  • Page 25: Signal Layout Of The Connector

    Part Names Detailed Description of the Module 3.1.2 Signal Layout of the Connector CANopen€ interface Pin no. Signal Description connector — Reserved CAN_L CAN_L bus line (dominant low) CAN_GND CAN ground — Reserved CAN_SHLD CAN shield — Reserved CAN_H CAN_H Bus line (dominant high) —...
  • Page 26: Specifications

    A DC/DC converter is used to insulate the power supply from the CAN input. Number of occupied I/O points 32 points (I/O assignment: Intelligent 32 points) Internal current consumption (5 V DC) 0.39 A Weight 0.14 kg Tab. 3-4: Specifications of the ME3CAN1-L 3 – 4 MITSUBISHI ELECTRIC...
  • Page 27: External Dimensions

    Specifications Detailed Description of the Module 3.2.1 External Dimensions DIN rail center 28.5 Unit: mm Fig. 3-3: Dimensions of the ME3CAN1-L MELSEC-L Series – CANopen€ Module ME3CAN1-L 3 – 5...
  • Page 28: I/o Signals For The Programmable Controller Cpu

    The "Use prohibited" signals cannot be used by the user since they are for system use only. If these are turned ON/OFF by the sequence program, the performance of the CANopen€ module cannot be guaranteed. 3 – 6 MITSUBISHI ELECTRIC...
  • Page 29: Details Of I/o Signals

    I/O Signals for the Programmable Controller CPU Detailed Description of the Module 3.3.2 Details of I/O signals Module ready signal (Xn0) ● This signal turns ON when the ME3CAN1-L is enabled for access from the CPU module. ● This signal turns OFF when the ME3CAN1-L is disabled for access from the CPU module due to a module watchdog timer error or hardware fault.
  • Page 30 (Yn4). ● The message transmit trigger completed signal (Xn4) will turn ON when all the messages have been written into the transmit buffer. Please refer also to section 3.6.4. 3 – 8 MITSUBISHI ELECTRIC...
  • Page 31 I/O Signals for the Programmable Controller CPU Detailed Description of the Module ME3CAN1-L error (XnF), ME3CAN1-L error clear request (YnF) ● If one or more of the following bits in the buffer memory address Un\G29 (error state) are turned ON, XnF will be turned ON: Bits 1, 2, 4, 5, 6, 8, or 15. Please refer to section 3.5.7. ●...
  • Page 32 ● These signals are used for execution of Command Interface 1. ● After writing the necessary command parameter (refer to section 3.5.18), turn ON Y(n+1)7 to execute the command. If the command execution is finished, X(n+1)7 will be turned ON. 3 – 10 MITSUBISHI ELECTRIC...
  • Page 33 I/O Signals for the Programmable Controller CPU Detailed Description of the Module Save configuration/Restore factory default completed (X(n+1)F), Save configuration/Restore factory default configuration request (Y(n+1)F) These signals are used to execute the save configuration / restore factory default request. The request must be specified in Un\G22 (Save/Restore Configuration, refer to section 3.5.3).
  • Page 34: Buffer Memory Overview

    NOTE As long as Un\G25 bit 7 is ON ("Module is in initialization state"), any write access to the buffer memory is prohibited and will generate a Un\G29 bit 5 error. Refer to section 3.5.7. 3 – 12 MITSUBISHI ELECTRIC...
  • Page 35: Buffer Memory Assignment

    Buffer Memory Overview Detailed Description of the Module 3.4.1 Buffer Memory Assignment Address Stored to Reference Description Default (Decimal) Flash ROM (Section) 0–19 System area — — — — Data Exchange Control — 3.5.1 ✔ Function mode 3.5.2 Save/Restore Configuration —...
  • Page 36 Indicates whether reading from and writing to a sequence program are enabled. R: Read enabled W: Write enabled Only in Layer 2 mode the contents of some buffer memory addresses is stored into the Flash-ROM (Refer to section 3.6.6). 3 – 14 MITSUBISHI ELECTRIC...
  • Page 37: Buffer Memory Details: Canopen€ Mode

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module Buffer Memory Details: CANopen€ Mode 3.5.1 Data Exchange Control (Un\G20) This buffer memory address allows the control of the OD and EMCY data exchange. Description 0–7 Reserved Only in CANopen€ modes: Data exchange mode setting (only OD data) Bit = 0: No data exchange between buffer memory and CANopen€...
  • Page 38: Save/restore Configuration (un\g22)

    At low baud rates a too fast data exchange and/or high bus load can result in a transmission data queue overflow error (bit 8 in Un\G29, refer to section 3.5.7). 3 – 16 MITSUBISHI ELECTRIC...
  • Page 39: Communication Status (un\g25)

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module 3.5.5 Communication Status (Un\G25) The buffer memory address Un\G25 displays the ME3CAN1-L communication status. Description CANopen€ modes: Bit = 0: Not in Operational State Bit = 1: Operational State Bit = 0: The error counter is below the warning level. (Refer to sections 3.5.8 and 3.5.9) Bit = 1: The error counter of the CAN controller has reached the warning level.
  • Page 40: Error State (un\g29)

    Description/Corrective action Reserved This bit can only be reset by switching the power OFF/ON. Hardware error Contact your Mitsubishi Electric representative. Reserved The CAN controller has too many transmission errors (Refer to section 3.5.8). The CAN controller is bus OFF.
  • Page 41: Can Transmission Error Counter (un\g35)

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module 3.5.8 CAN transmission error counter (Un\G35) The ME3CAN1-L stores the current value of the CAN transmit error counter. The displayed value range is 0 to 256. The counter counts 8 up if a transmission error is detected. For each transmission without error, the counter counts 1 down.
  • Page 42: Time Stamp (un\g50-un\g59)

    Value range: 1 to 31 A setting outside of the range, such as "February 30", is prohibited. 24 hour format Hour Value range: 0 to 23 Tab. 3-15: Buffer memory addresses for the time stamp 3 – 20 MITSUBISHI ELECTRIC...
  • Page 43: Nmt Start All Nodes Delay (un\g70)

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module Address Name Description / Value range (Decimal) Minute Value range: 0 to 59 Second Value range: 0 to 59 Display range: 0 to 6 (0: Sunday to 6: Saturday) Day-of-the-week The Day of the week will be calculated during the setup of the clock data automatically.
  • Page 44: Nmt Error Control Status (un\g401-un\g527)

    Un\G400 and turn ON the Clear NMT error of CANopen€ node request (Y(n+1)0). ● To clear the error of a node, write the node number to Un\G400 and turn ON the Clear NMT error of CANopen€ node request (Y(n+1)0). 3 – 22 MITSUBISHI ELECTRIC...
  • Page 45: Nmt State (un\g601-un\g727)

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module 3.5.16 NMT State (Un\G601–Un\G727) The buffer memory addresses Un\G601 to Un\G727 display the NMT status of the CANopen€ nodes (Index 1F82 , Sub index 0–127 of the CANopen€ Object Dictionary (Refer to section 4.8.8)). If no Heartbeat Consuming or Node Guarding is configured and the module is active NMT Master the buffer memory displays the NMT states of all slaves, which were sent by the active NMT Master to the slaves.
  • Page 46: Emergency Message Buffer (un\g750-un\g859)

    Byte 2 of msef Byte 1 of msef Byte 4 of msef Byte 3 of msef Tab. 3-19: Buffer memory addresses allocated to the Emergency Message Buffer For emergency error codes please refer to section 8.2.1. 3 – 24 MITSUBISHI ELECTRIC...
  • Page 47: Command Interface (un\g1000-un\g1066)

    Buffer Memory Details: CANopen€ Mode Detailed Description of the Module 3.5.18 Command Interface (Un\G1000–Un\G1066) The Command Interface (CIF) can be used to access the Object Dictionary of the local node or a net- work node. The access is performed by commands for SDO read/write, Emergency Messages, etc. After writing the command parameter, turn ON Y(n+1)7 to execute the command.
  • Page 48: Rpdo (un\g10000-un\g11023), Tpdo (un\g13000-un\g14023)

    8 bit 10380 higher 8 bit lower 8 bit 10381 higher 8 bit A4C3 A483 lower 8 bit 10507 higher 8 bit Tab. 3-22: Direct receive buffer memory access for unsigned and signed 8 bit objects 3 – 26 MITSUBISHI ELECTRIC...
  • Page 49 Buffer Memory Details: CANopen€ Mode Detailed Description of the Module Index (Hexadecimal) Sub-index Buffer memory address (Hex.) (Decimal) Unsigned 8 bit object Signed 8 bit object lower 8 bit 10508 higher 8 bit A4C4 A484 lower 8 bit 10634 higher 8 bit lower 8 bit 10635 higher 8 bit...
  • Page 50 A6C0 A680 A640 10003 10506 10507 10508 10509 A6C1 A681 A641 11014 11015 11016 11017 A6C2 A682 A642 11022 11023 Tab. 3-24: Direct receive buffer memory access for float, unsigned and signed 32 bit objects 3 – 28 MITSUBISHI ELECTRIC...
  • Page 51 Buffer Memory Details: CANopen€ Mode Detailed Description of the Module Direct transmit buffer memory access to the CiA€-405 Object Use a TO or MOV instruction to write data to the following locations. The default TPDO mapping is assigned to unsigned 16 bit objects. To change this setting, please use the SDO command in the CIF (command interface, refer to sections 4.6.5 and 5.1) or CANopen€...
  • Page 52 13000 13001 A100 A0C0 13253 13254 A101 A0C1 13507 13508 A102 A0C2 13761 13762 A103 A0C3 14015 14016 A104 A0C4 14023 Tab. 3-26: Direct transmit buffer memory access for unsigned and signed 16 bit objects 3 – 30 MITSUBISHI ELECTRIC...
  • Page 53 Buffer Memory Details: CANopen€ Mode Detailed Description of the Module ● Signed, unsigned and float 32 bit object Index (Hexadecimal) Sub-index Buffer memory address Float 32 bit Unsigned 32 bit Signed 32 bit (Hex. (Decimal) object object object 13000 13001 13002 A240 A200...
  • Page 54: Buffer Memory Details: Layer 2 Message Mode

    Message 1 error code Un\G5001 to Un\G5042 5002 Message 2 error code 5042 Message 42 error code Error code Description Tab. 3-29: 0000 No error code Error code in Layer 2 messages 2000 Receive buffer overflow 3 – 32 MITSUBISHI ELECTRIC...
  • Page 55: Pre-defined Layer 2 Message Configuration (un\g6000-un\g6167)

    Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.2 Pre-defined Layer 2 message configuration (Un\G6000–Un\G6167) The parameters of a Layer 2 message number are used to define if the corresponding Layer 2 message number in Un\G10000–Un\G10293 is a transmit or receive message. Address Description Default...
  • Page 56: Pre-defined Layer 2 Transmit Messages

    (Parameter B = 7FFF or 6FFF ). If the configuration violates this rule, the first 28 transmit message configurations remain as they are and any further transmit messages parameter B is forced to 5FFF (Refer to section 3.6.3). 3 – 34 MITSUBISHI ELECTRIC...
  • Page 57 Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module ● Transmission: Layer 2 message n parameter C "transmission type" The transmission type defines under which conditions a transmit message is sent. "Transmission type" Description/transmission trigger event value When Yn1 is set to ON, the Layer 2 message is always transmitted.
  • Page 58: Pre-defined Layer 2 Receive Messages

    The high byte value 07 after shows that the buffer was overwritten at least once (in this example two times) since . The data bytes in the buffer memory are the data received with the last message. 3 – 36 MITSUBISHI ELECTRIC...
  • Page 59 Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module NOTE In this example, it is expected that the PLC program resets the "RTR/new/DLC" flags after reading the data at Example 2 Filter setting: 0000 0006 – Layer 2 message 1 parameter A/B = 0000 0180 –...
  • Page 60: Layer 2 Rtr Flags (un\g8350-un\g8352)

    Not used — Bit 15 Not used Tab. 3-34: Allocation of the buffer memory addresses Un\G8350 to Un\G8352 Indicates whether reading from and writing to a sequence program are enabled. R: Read enabled W: Write enabled 3 – 38 MITSUBISHI ELECTRIC...
  • Page 61: Message Transmit Trigger Flags (un\g8400-un\g8402)

    Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.4 Message transmit trigger flags (Un\G8400–Un\G8402) The transmission of a message in Layer 2 mode can be triggered via the following flags. Transmit requests on receive message slots are discarded (refer to section 3.6.2 for details on configuring mes- sage slots).
  • Page 62: Plc Run>stop Messages (un\g8450-un\g8477)

    Low byte: Number of data bytes to transmit (0 to 8) Data bytes 1 to 8. Data bytes The number of attached data bytes is defined by DLC. Tab. 3-37: Function of Un\G8450 to Un\G8477 RTR is prohibited for these messages. 3 – 40 MITSUBISHI ELECTRIC...
  • Page 63: Receive/transmit Process Data (un\g10000-un\g10293)

    Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.6 Receive/Transmit Process Data (Un\G10000–Un\G10293) In Layer 2 message mode the ME3CAN1-L can send/receive up to 42 messages pre-defined by the user. Transmission of Layer 2 messages is also possible via the CIF (command interface): Sending Layer 2 Message (Refer to section 3.6.7).
  • Page 64 Cases for bits 8 to 10 of RTR/new/DLC : Bit = 0, b: Bit = 1, X: Bit status is "don't care" In case the received DLC is lower than 8, unused data bytes are set to 00 3 – 42 MITSUBISHI ELECTRIC...
  • Page 65: Cif (command Interface): Sending Layer 2 Message

    Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.7 CIF (command interface): Sending Layer 2 Message Using this function, the PLC can send any Layer 2 message to the CAN bus. This function is accessible in Layer 2 Mode only. Execution procedure ●...
  • Page 66 Detailed Description of the Module Buffer Memory Details: Layer 2 Message Mode 3 – 44 MITSUBISHI ELECTRIC...
  • Page 67: Functions

    Function Summary Functions Functions Function Summary Reference Function Description (Section) Function modes Different function modes of the module € Object Dictionary Link between CANopen network and PLC Command interface; used to access the Object Dictionary of the local node or a network node. Service Data Object 4.6.4 RPDO / TPDO...
  • Page 68: Function Modes

    Data type definitions 00A0–0FFF Reserved — 1000–1FFF Communication profile area (CiA€-301/CiA-302) 2000–5FFF Manufacturer-specific profile area 6000–9FFF Reserved — A000–AFFF Standardized profile area (CiA€-405) B000–FFFF Reserved — Tab. 4-3: General layout of the CANopen€ standard Object Dictionary 4 – 2 MITSUBISHI ELECTRIC...
  • Page 69: Command Interface

    Command Interface Functions Command Interface The Command Interface (CIF) provides access to the Object Dictionary of the ME3CAN1-L and other CANopen€ nodes in the network. The various CIF functions can be used for SDO read/write, config- uring/mapping RPDO and TPDO, configuring Node Guarding, Heartbeat, Emergency Messages and others.
  • Page 70: Communication Profile Area

    01–7F Refer to section 4.6.12 Node ID Highest sub-index — 1029 Error behavior ✔ Refer to section 4.7 102A NMT inhibit time Refer to section 4.8.6 — Tab. 4-6: Communication profile area of the ME3CAN1-L 4 – 4 MITSUBISHI ELECTRIC...
  • Page 71 Communication Profile Area Functions Initial Index Sub-index Stored to Object Description Data type (hex) (hex) Flash ROM value 102B–13FF Reserved — — — — — Highest sub-index — ✔ RPDO communication COB-ID 1400–14FF Refer to table 4-7 Refer to parameter Transmission ✔...
  • Page 72 Data will be saved in the Flash ROM by using the Store Parameter command in index 1010 . Be careful with write han- dling. The maximum number of writes to the built-in flash ROM is 10,000 times. 4 – 6 MITSUBISHI ELECTRIC...
  • Page 73 Communication Profile Area Functions Mode 405 RPDO communication parameter Default value of Sub-index (hex) Index (hex) 1400 200 + Node ID 1401 300 + Node ID 1402 400 + Node ID 1403 500 + Node ID 1404–14FF 80000000 Tab. 4-7: Mode 405 RPDO communication parameter R = Read access W = Write access...
  • Page 74 A5814C10 A5814D10 A5814E10 1653 A5814F10 A5815010 A5815110 A5815210 1654 A5815310 A5815410 A5815510 A5815610 1655 A5815710 A5815810 A5815910 A5815A10 1656 A5815B10 A5815C10 A5815D10 A5815E10 1657 A5815F10 A5816010 A5816110 A5816210 Tab. 4-8: Mode 405 RPDO mapping parameter 4 – 8 MITSUBISHI ELECTRIC...
  • Page 75 Communication Profile Area Functions Default value of sub-index (hex) Index (hex) 1658 A5816310 A5816410 A5816510 A5816610 1659 A5816710 A5816810 A5816910 A5816A10 165A A5816B10 A5816C10 A5816D10 A5816E10 165B A5816F10 A5817010 A5817110 A5817210 165C A5817310 A5817410 A5817510 A5817610 165D A5817710 A5817810 A5817910 A5817A10 165E A5817B10...
  • Page 76 A582F610 A582F710 A582F810 16BD A582F910 A582FA10 A582FB10 A582FC10 16BE A582FD10 A582FE10 A5830110 A5830210 16BF A5830310 A5830410 A5830510 A5830610 16C0 A5830710 A5830810 A5830910 A5830A10 16C1 A5830B10 A5830C10 A5830D10 A5830E10 Tab. 4-8: Mode 405 RPDO mapping parameter 4 – 10 MITSUBISHI ELECTRIC...
  • Page 77 Communication Profile Area Functions Default value of sub-index (hex) Index (hex) 16C2 A5830F10 A5831010 A5831110 A5831210 16C3 A5831310 A5831410 A5831510 A5831610 16C4 A5831710 A5831810 A5831910 A5831A10 16C5 A5831B10 A5831C10 A5831D10 A5831E10 16C6 A5831F10 A5832010 A5832110 A5832210 16C7 A5832310 A5832410 A5832510 A5832610 16C8 A5832710...
  • Page 78 A1003210 A1003310 A1003410 1A0D A1003510 A1003610 A1003710 A1003810 1A0E A1003910 A1003A10 A1003B10 A1003C10 1A0F A1003D10 A1003E10 A1003F10 A1004010 1A10 A1004110 A1004210 A1004310 A1004410 1A11 A1004510 A1004610 A1004710 A1004810 Tab. 4-10: Mode 405 TPDO mapping parameter 4 – 12 MITSUBISHI ELECTRIC...
  • Page 79 Communication Profile Area Functions Default value of sub-index (hex) Index (hex) 1A12 A1004910 A1004A10 A1004B10 A1004C10 1A13 A1004D10 A1004E10 A1004F10 A1005010 1A14 A1005110 A1005210 A1005310 A1005410 1A15 A1005510 A1005610 A1005710 A1005810 1A16 A1005910 A1005A10 A1005B10 A1005C10 1A17 A1005D10 A1005E10 A1005F10 A1006010 1A18 A1006110...
  • Page 80 A101DC10 A101DD10 A101DE10 1A77 A101DF10 A101E010 A101E110 A101E210 1A78 A101E310 A101E410 A101E510 A101E610 1A79 A101E710 A101E810 A101E910 A101EA10 1A7A A101EB10 A101EC10 A101ED10 A101EE10 1A7B A101EF10 A101F010 A101F110 A101F210 Tab. 4-10: Mode 405 TPDO mapping parameter 4 – 14 MITSUBISHI ELECTRIC...
  • Page 81 Communication Profile Area Functions Default value of sub-index (hex) Index (hex) 1A7C A101F310 A101F410 A101F510 A101F610 1A7D A101F710 A101F810 A101F910 A101FA10 1A7E A101FB10 A101FC10 A101FD10 A101FE10 1A7F A1020110 A1020210 A1020310 A1020410 1A80 A1020510 A1020610 A1020710 A1020810 1A81 A1020910 A1020A10 A1020B10 A1020C10 1A82 A1020D10...
  • Page 82 A1038810 A1038910 A1038A10 1AE1 A1038B10 A1038C10 A1038D10 A1038E10 1AE2 A1038F10 A1039010 A1039110 A1039210 1AE3 A1039310 A1039410 A1039510 A1039610 1AE4 A1039710 A1039810 A1039910 A1039A10 1AE5 A1039B10 A1039C10 A1039D10 A1039E10 Tab. 4-10: Mode 405 TPDO mapping parameter 4 – 16 MITSUBISHI ELECTRIC...
  • Page 83 Communication Profile Area Functions Default value of sub-index (hex) Index (hex) 1AE6 A1039F10 A103A010 A103A110 A103A210 1AE7 A103A310 A103A410 A103A510 A103A610 1AE8 A103A710 A103A810 A103A910 A103AA10 1AE9 A103AB10 A103AC10 A103AD10 A103AE10 1AEA A103AF10 A103B010 A103B110 A103B210 1AEB A103B310 A103B410 A103B510 A103B610 1AEC A103B710...
  • Page 84: Can-id / Cob-id

    301–37F TPDO3 0111b 381–3FF RPDO3 1000b 401–47F TPDO4 1001b 481–4FF RPDO4 1010b 501–57F TSDO 1011b 581–5FF RSDO 1100b 601–67F NMT error control 1110b 701–77F Tab. 4-12: Peer-to-peer objects (Node ID = 1–127) and resulting CAN-ID 4 – 18 MITSUBISHI ELECTRIC...
  • Page 85: Error Register

    Communication Profile Area Functions Restricted CAN-IDs In a self-defined CAN-ID scheme, use of the following CAN-IDs are restricted and shall not be used as a CAN-ID by any configurable communication object. CAN-ID (hex) Used by COB Tab. 4-13: Restricted CAN-IDs 1–7F Reserved 101–180...
  • Page 86: Sdo

    The PDO mapping parameter contains information about the contents of the PDO. PDO producer PDO consumers Request Process data Indication 0 < L 8 Request Indication Process data: L bytes of application data Indication Fig. 4-4: Transfer of PDOs 4 – 20 MITSUBISHI ELECTRIC...
  • Page 87 Communication Profile Area Functions With the Parameter "transmission type", two transmission modes are configurable: – Synchronous transmission – Event-driven transmission Use the following way to change the PDO communication or mapping parameter: ● Set the PDO to not valid (communication parameter sub-index 01 bit 31).
  • Page 88 Bit = 0: Remote transmission Request (RTR) allowed Bit = 1: Remote transmission Request (RTR) not allowed This bit is constantly set to "1" in the ME3CAN1-L. 11-bit CAN-ID of the CAN base frame. 11-bit CAN-ID Refer to section 4.6.1. 4 – 22 MITSUBISHI ELECTRIC...
  • Page 89 Communication Profile Area Functions ● Sub-index 02 : TPDO transmission type Value (hex) Description Synchronous (acyclic) The PDO will be transmitted after occurrence of the SYNC but acyclic (not periodically), only if an event occurred before the SYNC. Synchronous (cyclic every SYNC) Synchronous (cyclic every 2nd SYNC) Synchronous (cyclic every 3rd SYNC) Synchronous (cyclic every 240th SYNC)
  • Page 90 The behavior is the same as for case 1, but with the following condition added: – A PDO will only be sent if the inhibit time is not active and the data exchange is requested. 4 – 24 MITSUBISHI ELECTRIC...
  • Page 91 Communication Profile Area Functions ● Case 3: Inhibit time = 0, Event time > 0 Buffer memory data 0001 2102 3528 Data exchange request (Yn1) 0001 Object Dictionary 0000 2102 3528 TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 0001 0001 2102...
  • Page 92: Sync

    SYNC producer corresponding approximately to the latency from some other message being transmitted just before the SYNC. SYNC producer SYNC consumers Request 0 byte Indication Indication Indication SYNC Object SYNC triggered PDO Objects Time Communication cycle period Fig. 4-14: Transfer of a SYNC message 4 – 26 MITSUBISHI ELECTRIC...
  • Page 93: Node Guarding

    Communication Profile Area Functions Object 1005 : COB-ID SYNC message In order to guarantee timely access to the network, the SYNC is given a very high priority CAN-ID. Bit 31 Bit 30 Bit 29 ... Bit 11 Bit 10 ... Bit 0 gen.
  • Page 94 Both Objects have to be set to activate Node guarding. The order in which Guard time and Life time factor are set does not matter. Object 1F81 : NMT slave assignment (master setting) For the NMT slave assignment, please refer to section 4.8.6. 4 – 28 MITSUBISHI ELECTRIC...
  • Page 95: Heartbeat

    Communication Profile Area Functions 4.6.8 Heartbeat The heartbeat protocol defines an error control service without a request. A heartbeat producer trans- mits a heartbeat message cyclically. One or more heartbeat consumer receives the indication. The relationship between producer and consumer is configurable via the Object Dictionary. The heart- beat consumer guards the reception of the heartbeat within the heartbeat consumer time.
  • Page 96: Time

    The device needs to be active NMT master to produce TIME messages. 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame. (Refer to section 4.6.1) Tab. 4-21: Description for object 1012 : COB-ID time stamp object 4 – 30 MITSUBISHI ELECTRIC...
  • Page 97: Store Parameters

    Communication Profile Area Functions 4.6.10 Store parameters To store all parameters to the non-volatile memory, write SDO 65766173 (ISO8859 string code: "save") to Object Index 1010 , sub-index 01 or use the store command in the CIF (command inter- face, refer to section 3.5.18). After each power-up or restart, the saved parameters will be valid. NOTE The store parameter command is not necessary for CDCF files stored on Object 1F22 On read access, the ME3CAN1-L gives back information about its storage functionality:...
  • Page 98: Emcy

    100 μs. The value 0 disables the inhibit time. The ME3CAN1-L counting resolution is 1ms, values smaller than 1 ms will set internally to 1ms, values starting from 1ms will be divided by 1000. 4 – 32 MITSUBISHI ELECTRIC...
  • Page 99 Communication Profile Area Functions Object 1028 , Sub-index 01 –7F : Emergency consumer object This object configures the COB-IDs for the EMCY objects that the module is consuming. The sub-index refers to the related node-ID. Fig. 4-24: Bit 31 Bit 30 ... Bit 11 Bit 10 ...
  • Page 100: Error Behavior

    Not used Tab. 4-26: Error class values PLC RUN STOP: In case setting value 01 the ME3CAN1-L will change into Pre-operational but can be set again to Opera- tional also when the PLC is in STOP. 4 – 34 MITSUBISHI ELECTRIC...
  • Page 101: Network Management

    Network Management Functions Network Management NMT provides services for controlling the network behavior of CANopen€ devices. All CANopen€ devices of a network referred to as NMT slaves are controlled by services provided by an NMT master. The NMT master is usually but not necessarily the application master. The ME3CAN1-L supports the following master functions: –...
  • Page 102: Boot-up Protocol

    NMT state Initialization. The protocol uses the same CAN-ID as the error control protocols. One data byte is transmitted with value 0. Boot-up producer Boot-up consumers Request COB-ID = 1792 + Node-ID Indication Fig. 4-26: Protocol Boot-Up 4 – 36 MITSUBISHI ELECTRIC...
  • Page 103: Nmt Protocol (node Control)

    Network Management Functions 4.8.3 NMT protocol (node control) The NMT protocol is used by the NMT Master to control the NMT state of remote nodes. Only the NMT Master is allowed to produce this protocol. The active NMT master ignores NMT messages with the Node ID 0 (all nodes). NMT Master NMT Slaves Request...
  • Page 104: Nmt Master Start-up

    Configured as OD Index NMT master? 1F80 Bit 0 lost NMT flying master OD Index process 1F80 Bit 5 Switch to NMT slave mode To the next page Fig. 4-28: NMT Master startup process (1) 4 – 38 MITSUBISHI ELECTRIC...
  • Page 105 Network Management Functions Continued from the previous page Keep a NMT Slaves OD Index in Operational? 1F81 Bit 4 NMT service Reset NMT service Reset communication Note: communication for each individual CANopen® all devices If the Flying Master function is used, a Reset Communication all individual whom Reset communication bit is not set Nodes will be sent during the Flying Master negotiation.
  • Page 106 Communication and Start address Un\G70 remote all Nodes (default: 500 ms) OD Index 1F80 Start remote all Nodes? Bit 1 NMT service Start remote all Nodes End of startup Fig. 4-29: NMT Master simple startup 4 – 40 MITSUBISHI ELECTRIC...
  • Page 107 Network Management Functions Object 1F80 : NMT start-up By using a SDO access, this object configures the start-up behavior of a CANopen€ device. This object configures the start-up behaviour of a CANopen® device via SDO access. If the node is set as Master without the flying master capability, the node starts as NMT master and ignores all NMT commands from the network.
  • Page 108: Nmt Slave Start-up

    Bit 0 NMT Slave Response received? End boot-up with no NMT Slave response received NMT Slave OD Index device type equal 1F84 or don’t care? To the next page Fig. 4-31: NMT Slave startup process (1) 4 – 42 MITSUBISHI ELECTRIC...
  • Page 109 Network Management Functions Continued from the previous page OD Indexes 1F85 1F88 OD Indexes Request OD Index Response Identity check 1F85 1018 from NMT received and OK? required? 1F88 Slave Keep alive bit Check Node state for this NMT Node state received? OD Index Slave set? 1F81...
  • Page 110 NMT service Boot-up? NMT boot slave Refer to sections 4.8.1, 4.8.2 and 4.8.12. Bit = 0: Shall not be allowed. Bit = 1: Shall be performed Tab. 4-30: Description of t he configuration field 4 – 44 MITSUBISHI ELECTRIC...
  • Page 111 Network Management Functions Bit/Item Description Remark How shall the CANopen€ device be present prior For mandatory slaves, please consider the bit 4 to network start-up? and 6 of the object 1F80 . (Refer to section 4.8.5). Bit = 0: May be present (CANopen€ device is Mandatory optional).
  • Page 112: Nmt Boot-up / Error Event Handling

    Node is mandatory and Reset communication all all nodes shall be reset? devices OD Index 1F80 Bit 4 NMT service Reset communication faulty node Start startup handler for faulty device End error handler Fig. 4-34: NMT error handler 4 – 46 MITSUBISHI ELECTRIC...
  • Page 113: Request Nmt

    Network Management Functions 4.8.8 Request NMT This object indicates at the NMT Master the current NMT state of a unique CANopen€ device in the network. The sub-index corresponds to the node-ID of the CANopen€ devices in the network. The sub-index 80 represents all nodes.
  • Page 114: Request Node Guarding

    If the heartbeat producing and consuming is set manually, please set a different consuming time for each NMT master (active and hot stand-by). This is necessary so that when the active NMT mas- ter is timed-out, that only one hot stand-by NMT master initiates the flying master negotiation. 4 – 48 MITSUBISHI ELECTRIC...
  • Page 115 Network Management Functions NOTES If a flying master which is not a ME3CAN1-L is in the network, please ensure that heartbeat pro- ducing is enabled in this node, otherwise the ME3CAN1-L with activated flying master will send endless NMT messages reset communication. All flying masters should have the same configuration for the slaves.
  • Page 116 NMT flying master negotiation OD Index 1F90 Sub-index 03 priority > own priority Un\G27 Send service Force NMT flying master negotiation NMT master mode NMT slave mode Continue with NMT master startup Fig. 4-36: NMT flying master process 4 – 50 MITSUBISHI ELECTRIC...
  • Page 117 Network Management Functions Object 1F80 : NMT start-up Set bit 5 to ON to participate in the NMT flying master negotiation. Refer to section 4.8.5. Object 1F90 : NMT flying master timing parameter This object defines the parameters for the NMT flying master negotiation process. ●...
  • Page 118: Layer Setting Services (lss)

    ) after configuration to prevent an unwanted start of the LSS master. NOTE Check if the LSS client activates an internal bus termination. If necessary, deactivate the bus termi- nation first to prevent unwanted behavior of the connected nodes on the bus. 4 – 52 MITSUBISHI ELECTRIC...
  • Page 119: Configuration Manager

    Network Management Functions 4.8.12 Configuration manager The configuration manager provides mechanisms to configure the CANopen€ devices in a CANopen€ network. For saving and requesting the CANopen€ device configuration, the following objects are used. The sub-indexes are according to node ID. The configuration manager can only be used on the active NMT master.
  • Page 120 , Sub-index 01 –7F : Expected configuration time This object is used by CANopen€ configuration software to verify the configuration time of the CANopen€ devices in the network. The value contains the number of ms after midnight. 4 – 54 MITSUBISHI ELECTRIC...
  • Page 121: Device Profile Cia€-405

    Device Profile CiA€-405 Functions Device Profile CiA€-405 This section describes the standardized CANopen€ interface and device profile for IEC 61131-3 pro- grammable devices, e.g. PLCs. The supported objects for data read/write support signed 8 bit, unsigned 8 bit, signed 16 bit, unsigned 16 bit, signed 32 bit, unsigned 32 bit and float 32 bit. The cor- responding objects in the object dictionary can be directly accessed via the buffer memory from the PLC.
  • Page 122 The "Default" value is the initial value set after the power is turned ON or the PLC CPU is reset. Indicates whether reading from and writing to CAN bus are enabled. R: Read enabled W: Write enabled 4 – 56 MITSUBISHI ELECTRIC...
  • Page 123: Command Interface

    Command Interface Command Interface This chapter describes the Command Interface supported by the ME3CAN1-L. For the command interface, the buffer memory addresses Un\G1000–Un\G1066 are used (section 3.5.18). The following commands are supported: Reference Tab. 5-1: Command Interface (Section) Commands 5.1.1 SDO read 5.1.2 SDO multi read...
  • Page 124: Sdo Request

    1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte 1065 122nd data byte 121st data byte 1066 124th data byte 123rd data byte 5 – 2 MITSUBISHI ELECTRIC...
  • Page 125: Cif Multi Sdo Read Access

    SDO Request Command Interface 5.1.2 CIF Multi SDO read access With the multi SDO read access command, up to 8 SDO read accesses can be made within one com- mand. The maximum data length for each access is 8 bytes. Execution procedure: CIF Multi SDO read access ●...
  • Page 126: Cif Sdo Write Access

    1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte 1065 122nd data byte 121st data byte 1066 124th data byte 123rd data byte 5 – 4 MITSUBISHI ELECTRIC...
  • Page 127 SDO Request Command Interface Example Setting: Changing the NMT state of the whole network to state Operational* * The module needs to be active NMT Master. Description Address (Decimal) Transmit message Receive message 1000 Command 0002 : SDO write 0003 : SDO write success 1001 Node number (The ME3CAN1-L itself ): 0...
  • Page 128: Cif Multi Sdo Write Access

    Node number 0 is accessing the local ME3CAN1-L modules Object Dictionary, regardless of its real node address. This is useful as the configuration of the local node can be programmed independently from the node address. If the final setting is located before Un\G1057 write FFFF in the last buffer memory address (Node number). 5 – 6 MITSUBISHI ELECTRIC...
  • Page 129: Send An Emergency Message

    Send an Emergency Message Command Interface Send an Emergency Message This command can be used to send an emergency message by the PLC to the CANopen€ network. Execution procedure: Send an emergency message ● Write the command code 000A to Un\G1000. ●...
  • Page 130: Display Current Parameter

    Un\G1066, 0000 is displayed to Un\G1000. Buffer memory allocation Description Address (Decimal) Transmit message Receive message 1000 Command 0 1001–1066 Unused Parameter of last issued CIF command Tab. 5-10: Buffer memory allocation when displaying current parameter 5 – 8 MITSUBISHI ELECTRIC...
  • Page 131: Error Messages

    Error Messages Command Interface Error Messages If an error occurs during the execution of a command, 000F is written to Un\G1000, and the error class and additional data are stored to Un\G1000 to Un\G1066. Address Tab. 5-11: Description (Decimal) Storing of error messages in the buffer memory 1000 000F (Error)
  • Page 132: Sdo Error

    Device in wrong state The ME3CAN1-L is in wrong device state for the command. Address Tab. 5-16: Description (Decimal) Error message when the ME3CAN1-L is in wrong 1000 000F (Error) state 1001 Error Class: 0F0F 1002–1066 Unused 5 – 10 MITSUBISHI ELECTRIC...
  • Page 133: Setup And Procedures Before Operation

    Implementation and Installation Setup and Procedures before Operation Setup and Procedures before Operation This chapter explains the procedures for connecting the ME3CAN1-L to a CAN network, wiring and other information. Implementation and Installation This section provides the handling precautions, from unpacking to installation of the ME3CAN1-L. The ME3CAN1-L can be connected to a CPU module, an extension module or a CC-Link IE Field net- work head module of the MELSEC-L series (refer to section 2.1).
  • Page 134: Procedures Before Operation

    Connect the CAN bus. Perform the start-up procedure. Refer to section 6.4 Programming and debugging Refer to chapter 7 Create and check the sequence program. Fig. 6-1: Function chart for the setup of the CANopen€ module 6 – 2 MITSUBISHI ELECTRIC...
  • Page 135: Wiring

    Wiring Setup and Procedures before Operation Wiring 6.3.1 Wiring Precautions Please observe the following precautions for external wiring: ● Perform class D grounding (grounding resistance: 100 or less) to the shield of the twisted shield cable (refer to section 6.3.2). Do not use common grounding with heavy electrical systems. ●...
  • Page 136: Can Bus Wiring

    CAN_SHLD CAN_H CAN_H CAN_H CAN_V+ CAN_V+ CAN_V+ Grounding resistance of Grounding resistance of or less (Class D) or less (Class D) Optional external supply for transmission hardware Fig. 6-2: Connection of the CAN bus cable. 6 – 4 MITSUBISHI ELECTRIC...
  • Page 137 Wiring Setup and Procedures before Operation WARNING: For safety, always check the potential differences between the grounding points. If potential differences are found, proper measures must be taken to avoid damages. MELSEC-L series PLC Power ME3CAN1-L supply Grounded mounting plate or grounded DIN rail with a grounding resistance of 100 or less (Class D).
  • Page 138: Start-up Procedure

    Setup and Procedures before Operation Start-up Procedure Start-up Procedure 6.4.1 CANopen€ 405 mode Reference Step Action (Section) Set the function mode (Un\G21) 3.5.2 3.5.3 Store the buffer memory configuration (set Un\G22 then turn Y(n+1)F ON) 3.3.2 Restart the ME3CAN1-L (turn Yn2 ON) 3.3.2 Set the baud rate (Un\G24) 3.5.4...
  • Page 139: Programming

    CANopen€ PDO Communication using Function Blocks Programming Programming This chapter describes the programming of the CANopen€ module ME3CAN1-L. The program shown in section 7.1 is an example of how to set local parameters, set up a CANopen€ network, and exchange data over the CANopen€ bus with the ME3CAN1-L. Large networks can be configured more quickly and easily by using a CANopen€...
  • Page 140: Local Label Setting

    Programming CANopen€ PDO Communication using Function Blocks 7.1.2 Local Label setting Fig. 7-2: Local Label for this example (1) 7 – 2 MITSUBISHI ELECTRIC...
  • Page 141 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-3: Local Label for this example (2) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 3...
  • Page 142 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-4: Local Label for this example (3) 7 – 4 MITSUBISHI ELECTRIC...
  • Page 143: Program

    CANopen€ PDO Communication using Function Blocks Programming 7.1.3 Program Fig. 7-5: Example Program (1) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 5...
  • Page 144 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-6: Example Program (2) 7 – 6 MITSUBISHI ELECTRIC...
  • Page 145 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-7: Example Program (3) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 7...
  • Page 146 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-8: Example Program (4) 7 – 8 MITSUBISHI ELECTRIC...
  • Page 147 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-9: Example Program (5) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 9...
  • Page 148 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-10: Example Program (6) 7 – 10 MITSUBISHI ELECTRIC...
  • Page 149 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-11: Example Program (7) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 11...
  • Page 150 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-12: Example Program (8) 7 – 12 MITSUBISHI ELECTRIC...
  • Page 151 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-13: Example Program (9) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 13...
  • Page 152 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-14: Example Program (10) 7 – 14 MITSUBISHI ELECTRIC...
  • Page 153 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-15: Example Program (11) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 15...
  • Page 154 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-16: Example Program (12) 7 – 16 MITSUBISHI ELECTRIC...
  • Page 155 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-17: Example Program (13) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 17...
  • Page 156 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-18: Example Program (14) 7 – 18 MITSUBISHI ELECTRIC...
  • Page 157 CANopen€ PDO Communication using Function Blocks Programming Fig. 7-19: Example Program (15) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 19...
  • Page 158 Programming CANopen€ PDO Communication using Function Blocks Fig. 7-20: Example Program (16) 7 – 20 MITSUBISHI ELECTRIC...
  • Page 159: Layer 2 Communication

    Layer 2 Communication Programming Layer 2 Communication 7.2.1 Layer 2 communication using function blocks NOTES This program examples together with the function blocks can be downloaded from http://eu3a.mitsubishielectric.com/fa/en/ in the MyMitsubishi section (free registration necessary). In the sample ladder programs labels are used. (For label setting operation on GX Works2, refer to the GX Works2 Operating Manual (Simple Project).) The ME3CAN1-L must be set to the 29 bit CAN-ID Layer 2 mode beforehand (Please refer to section 3.5.2).
  • Page 160 Programming Layer 2 Communication Local Label Setting Fig. 7-22: Local Label for this example (1) 7 – 22 MITSUBISHI ELECTRIC...
  • Page 161 Layer 2 Communication Programming Fig. 7-23: Local Label for this example (2) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 23...
  • Page 162 Programming Layer 2 Communication Program Fig. 7-24: Example Program (1) 7 – 24 MITSUBISHI ELECTRIC...
  • Page 163 Layer 2 Communication Programming Fig. 7-25: Example Program (2) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 25...
  • Page 164 Programming Layer 2 Communication Fig. 7-26: Example Program (3) 7 – 26 MITSUBISHI ELECTRIC...
  • Page 165 Layer 2 Communication Programming Fig. 7-27: Example Program (4) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 27...
  • Page 166 Programming Layer 2 Communication Fig. 7-28: Example Program (5) 7 – 28 MITSUBISHI ELECTRIC...
  • Page 167 Layer 2 Communication Programming Fig. 7-29: Example Program (6) MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 29...
  • Page 168: Layer 2 Communication Without Function Blocks

    The ME3CAN1-L must be set to the 29 bit CAN-ID Layer 2 mode beforehand (Please refer to section 3.5.2). Layer 2 Message Transmission ● Local Label Setting Fig. 7-31: Local Label setting for this program example ● Global Label Setting Fig. 7-32: Global Label setting for this program example 7 – 30 MITSUBISHI ELECTRIC...
  • Page 169 Layer 2 Communication Programming The Global Labels "Message1Param" and "Message1Data" are Structured Data Types: Fig. 7-33: Navigator window of the example project Fig. 7-34: Structured Data Type "Layer2MessageParameter" Fig. 7-35: Structured Data Type "Layer2MessageData" MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 –...
  • Page 170 Detail Setting in the Global Label Setting dialog (refer to fig. 7-32) and enter the appropriate data (please refer to the program shown below). Fig. 7-36: Detailed setting for the Global Label "Message1Param" Fig. 7-37: Detailed setting for the Global Label "Message1Data" 7 – 32 MITSUBISHI ELECTRIC...
  • Page 171 Layer 2 Communication Programming ● Program Fig. 7-38: Example Program (1): Copy message parameter MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 33...
  • Page 172 Programming Layer 2 Communication Fig. 7-39: Example Program (2): Set message parameter to module 7 – 34 MITSUBISHI ELECTRIC...
  • Page 173 Layer 2 Communication Programming Fig. 7-40: Example Program (3): Request online mode, copy message data, request data exchange MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 35...
  • Page 174 ● Global Label Setting Fig. 7-42: Global Label setting for this program example The Global Labels "Message1Param" and "Message1Data" are Structured Data Types: Fig. 7-43: Navigator window of the example project Fig. 7-44: Structured Data Type "Layer2MessageParameter" 7 – 36 MITSUBISHI ELECTRIC...
  • Page 175 Layer 2 Communication Programming Fig. 7-45: Structured Data Type "Layer2MessageData" For the Global Labels "Message1Param" and "Message1Data" some detailed setting is required. Click on Detail Setting in the Global Label Setting dialog (refer to fig. 7-42) and enter the appropriate data (please refer to the program shown below).
  • Page 176 Programming Layer 2 Communication ● Program Fig. 7-48: Example Program (1): Copy message parameter Fig. 7-49: Example Program (2): Set message parameter to module 7 – 38 MITSUBISHI ELECTRIC...
  • Page 177 Layer 2 Communication Programming Fig. 7-50: Example Program (3): Set online mode, request data exchange, copy received message MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 39...
  • Page 178 Layer 2 Communication Programming MELSEC-L Series – CANopen€ Module ME3CAN1-L 7 – 40...
  • Page 179: Troubleshooting

    Error Processing and Recovery Method Troubleshooting Troubleshooting Error Processing and Recovery Method 8.1.1 Preliminary check by LED status Status Cause Action The watchdog monitoring time Please consult your local Mitsubishi representative, has been exceeded. explaining a detailed description of the problem. Check the error status in Un\G29.
  • Page 180: Detailed Error Check

    If this error flag is not cleared after a module restart (Yn2) or Hardware error another power cycle, the ME3CAN1-L is probably damaged. Please contact your local Mitsubishi Electric representative. Reserved — Check the following points in the network, then restart the Mod- ule (Refer to section 3.5.5).
  • Page 181 Error Processing and Recovery Method Troubleshooting Layer 2 modes: The configuration must not be changed when the module is set to ONLINE, before changing the configu- ration set Yn0 to OFF (configuration mode) and wait until Xn0 is OFF (module OFFLINE/INIT). The affected configurations buffer memories are Un\G10000 to Un\G10293, Un\G6000 to Un\G6167 and Un\G8400 to Un\G8402.
  • Page 182: Error Code And Error Message Summary

    NOTE More EMCY Emergency error codes are defined in the various CiA€ Device/Application Profiles. For the case of not listed EMCY Error codes please refer to the manual of the device which sends the message. 8 – 4 MITSUBISHI ELECTRIC...
  • Page 183: Emcy Manufacturer Specific Error Codes

    Error Code and Error Message Summary Troubleshooting 8.2.2 EMCY Manufacturer specific error codes Manufacturer specific Emergency Error code Description (hex) error code (hex) FF00 4D45303031 "ME001": Main unit program/CPU error occurs FF00 4D45303032 "ME002": Main unit state changed from RUN to STOP 6200 4D45303034 "ME004": Module restart by Yn2 (Refer to section 3.3.2)
  • Page 184 Troubleshooting Error Code and Error Message Summary 8 – 6 MITSUBISHI ELECTRIC...
  • Page 185: Index

    Index Buffer memory Input signal Overview ......3-13 Command 1 execution completed ..3-10 Structure .
  • Page 186 Output signal Time stamp Command 1 execution request ..3-10 Buffer memory ..... . .3-20 Data exchange request .
  • Page 188 Phone: +1 (847) 478-2100 Fax: +36 (0)1 / 431-9727 Fax: +1 (847) 478-0328 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com...

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