Buffer Memory Details: CANopen Mode
3.5
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.
Bit
0–7
8
9–11
12
13–15 Reserved
Tab. 3-7:
3.5.2
Function Mode (Un\G21)
The ME3CAN1-L chooses the communication function corresponding to the function mode set in the
buffer memory address 21.The possible settings are shown in the following table:
Set value
11
29
405
Other value
Tab. 3-8:
The buffer memory setting needs to be stored by Un\G22 bit 0 and afterwards to be restarted by Yn2
to make the new settings effective (Refer to section 3.5.3 and section 3.3.2).
NOTE
During a restart, all Object Dictionary (OD) settings will be deleted when the CANopen mode is
changed.
MELSEC-L Series – CANopen Module ME3CAN1-L
Description
Reserved
Only in CANopen modes: Data exchange mode setting (only OD data)
Bit = 0: No data exchange between buffer memory and CANopen object dictionary
Bit = 1: Activate data exchange between buffer memory and CANopen object dictionary
NOTES:
The data will be also exchanged if this entire buffer memory address is set to 0 (default value).
If the bit is set and the module is not in CANopen state Operational, the PDO data will be exchanged after
going into Operational state.
Reserved
Data exchange status (only EMCY data)
Bit = 0: No data exchange between Emergency Message buffer memories and EMCY Receive Buffer
Bit = 1: Exchange data between Emergency Message buffer memories and EMCY Receive Buffer
For more information please refer to section 3.5.17
NOTE:
The data will be also exchanged if this entire buffer memory address is set to 0 (default value).
Assignment of the bits in buffer memory address Un\G20
Function Mode
11 bit CAN-ID Layer 2 mode
29 bit CAN-ID Layer 2 mode
CANopen 405 mode
—
Function mode setting in buffer memory address Un\G21
Detailed Description of the Module
Description
This mode supports the 11 bit CAN-ID Layer 2 Message.
This mode supports the 29 bit CAN-ID Layer 2 Message.
This mode supports the CANopen CiA 405 IEC 61131-3 Program-
mable Device Profile.
All other settings will generate an error (in this case bit 6 in Un\G29 is
set (Refer to section 3.5.7).
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