Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 218

FX -CAN User's Manual
3U
49
When ALL the PDO setup commands are normaly completed, start the next command
PDOSetupProcessing
CommandSequence
50
When the previous command is completed, issue a Start all nodes command from the CANOpen master
51
Use the NMT request write command to start all remote nodes
MasterNodeAddress
52
If a NMT write request execution is completed, reset its execution signal
NMTRequestCompleted
53
If a NMT write request execution error occurs, increase the command error counter
NMTRequestError
54
If a NMT write request execution is completed, increase the command complete counter and move to the next command
NMTRequestCompleted
NMTRequestError
212
AND
GT
4
AND
StartAllNodes
StartNMTRequest
StartCANOpenNodes
NMTRequestWrite
0 HeadAddress
NodeAddress
RemoteNodeID RemoteNodeID
RequestData RequestCode
StartNMTRequest StartRequest
RST
EN ENO
d
INCP
EN ENO
d
AND
SET
EN ENO
d StartAllNodes
RST
EN ENO
d PDOSetupProcessing
MOV
EN ENO
H80 s d RemoteNodeID
MOV
EN ENO
H5 s d RequestData
MOV
EN ENO
K1 s d MasterNodeAddress
SET
EN ENO
d
StartNMTRequest
RST
EN ENO
d StartAllNodes
RequestCompleted NMTRequestCompleted
RequestError NMTRequestError
StartNMTRequest
NMTRequestErrorCounter
INCP
EN ENO
d NMTRequestOkCounter
SET
EN ENO
d StartPDOCommunication
SET
EN ENO
d SDOReadRequest
13 Program Example
13.3 Program