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CANopen€ PDO Communication using Function Blocks
7
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€ configuration tool
instead.
The example programs in section 7.2 show how to make Layer 2 communication. In section 7.2.1 pre-
defined function blocks are used while section 7.2.2 shows programs without function blocks.
b
WARNING:
When applying the program example or parts of the program examples introduced in this chap-
ter to the actual system, verify the applicability and confirm that no problems will occur in the
system control.
7.1
CANopen€ PDO 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).)
7.1.1
System configuration
The sample program sets up the initial buffer memory and Object dictionary settings and starts PDO
communication.
Terminating
resistor
Fig. 7-1:
MELSEC-L Series – CANopen€ Module ME3CAN1-L
MELSEC-L
ME3CAN1-L
series PLC
System configuration for this example
Remote I/O
CAN
Programming
Terminating
resistor
7 – 1
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