Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 214

FX -CAN User's Manual
3U
33
Check if the first PDO setup command needs to be executed
CommandSequence
34
Set the communication parameters for the selected PDO
FirstPDOProcessing
35
Check if the second PDO setup command needs to be executed
CommandSequence
36
Set the data for the mapped object in the selected PDO
SecondPDOProcessing
208
PDOSetupProcessing
StartPDOSetup
EQ
1
MOV
EN ENO
K3 s d NodeAddress
MOV
EN ENO
K1 s d PDOnumber
MOV
EN ENO
H181 s d CANID
MOV
EN ENO
HFF
s d TransmissionType
SET
EN ENO
d
ReceiveOrTransmit
RST
EN ENO
d ExecuteMapping
SET
EN ENO
d StartPDOSetup
PDOSetupProcessing
StartPDOSetup
EQ
2
MOV
EN ENO
HA4C0 s d ObjectIndex[1]
MOV
EN ENO
H1 s d ObjectSubIndex[1]
MOV
EN ENO
H8 s d ObjectLength[1]
SET
EN ENO
d ReceiveOrTransmit
SET
EN ENO
d ExecuteMapping
AND
FirstPDOProcessing
AND
SecondPDOProcessing
13 Program Example
13.3 Program