Mode 0 Mapping; Mode A Mapping - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
7.2.3

Mode 0 mapping

By executing the Mode 0 mapping command shown below, the number of automatically assigned TPDOs and
RPDOs becomes four. All RPDO/TPDO communication and mapping parameter and the BFM/Object
dictionary assignment will be reset to factory default. The BFM content of the Receive/Transmit Process Data
BFM's will be set to zero.
BFM #0 to #15 are distributed to RPDOs and TPDOs 1 to 4 as shown in the TPDO/RPDO mapping table.
This setting is useful for a network that features many different types of nodes or as a base for a network
mapping configured with the Mode B mapping command.
The PDOs 5 to 80 (BFM #16 to #19 and #100 to #399) are disabled in the default settings but further mapping
of these PDOs can be accomplished by using the Mode B mapping technique or SDO.
Execution procedure: Mode 0 mapping
1) To execute the Mode 0 command, write H8900 to BFM #1000.
2) After the Mapping is successfully established, H8901 is written to BFM #1000.
BFM No.
BFM #1000
BFM #1001 to #1066 Unused
7.2.4

Mode A mapping

Easy setup of a CANopen
Mode A Mapping configuration. All FX
must be configured as the network master. The network master can be defined in the Network Configuration
tool or by writing to the Object Dictionary using the CIF SDO write command.
All RPDO/TPDO communication and mapping parameter and the BFM/Object dictionary assignment will be
reset to Mode A default. The BFM content of the Receive/Transmit Process Data BFM's will be set to zero.
The COB-IDs will be changed to the values shown in the tables in the Subsection 7.2.1 and Subsection 7.2.2.
After all stations have executed the Mode A Mapping command, 16 data words can be exchanged with other
FX -CAN modules.
3U
A closer look at the mapping shows that the TPDO is dependent upon the node ID but the mapping for the
RPDO is fixed to the default TPDO COB-ID of stations 1 to 8. The advantage is that the data location of all
FX -CAN modules is the same.
3U
To include non FX
communication parameters of these stations. This can be done by the Mode B mapping command, the SDO
write access command, or by a standard configuration tool.
→ For the CANopen
→ For RPDO/TPDO communication and mapping table, refer to Subsection 5.6.5
→ For BFM assignment of the Receive/Transmit Process Data BFM's,
→ For Mode B COB-ID mapping command, refer to Subsection 7.2.5
FROM (Read Access)
H8901: Mapping successful established
HFFFF: CIF Busy
H000F: Error
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network of up to eight FX
-CAN modules have to be set up via the local PLC. One of the nodes
3U
®
-CAN CANopen nodes to the network, it is necessary to change the RPDO and
3U
→ For RPDO/TPDO communication and mapping table, refer to Subsection 5.6.5
®
configuration software, refer to the manual of the software to be used
→ For BFM assignment of the Receive/Transmit Process Data BFM's,
→ For Mode B COB-ID mapping command, refer to Subsection 7.2.5
7.2 PDO Mapping/Binding of the Network for CANopen
refer to Subsection 7.1.1 and Subsection 7.1.2
→ In case of trouble, refer to Section 10.9
Description
Command:
Unused
-CAN nodes can be accomplished by simply using the
3U
→ For SDO command in the CIF, refer to Section 10.2
refer to Subsection 7.1.1 and Subsection 7.1.2
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7 CANopen 405 Mode
®
405 Mode
TO (Write Access)
H8900
1
2
3
4
5
6
7
8
9
10
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