Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 83

FX -CAN User's Manual
3U
Object H1F80: NMT startup
This object configures the start up behaviour of a CANopen
Master without the flying master capability, the node starts as NMT master and ignores "all Nodes" NMT
commands from the network. After the FX
to be stored, and the FX
31...7 6
Stop all
H0
nodes
Bit No.
Bit 0 NMT master
Bit 1 Start all nodes
Bit 2 NMT master start
Bit 3 Start node
Bit 4 Reset all nodes
Bit 5 Flying master
Bit 6 Stop all nodes
Bit 7 to 31
3U
-CAN has to be restarted by BFM #25 bit 0 or NMT request Reset Node.
3U
5 4
Flying Reset all
master nodes
Item
OFF (0): Module is NMT Slave
ON (1): Module is NMT Master
Note:
• If it's set to 0, all other settings of Object H1F80 and H1F81 are ignored.
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• In a CANopen network, only one (active) NMT Master allowed!
OFF (0): NMT master sends during the NMT startup the NMT service Start remote node for each
assigned NMT slave. The NMT slaves will be started during the NMT startup individually.
ON (1): NMT master sends during the NMT startup the NMT service Start all remote nodes. The
NMT slaves will be started during the NMT master startup all at the same time.
Notes if setting is ON (1):
• Note Figure 5.2 NMT Master simple startup.
• Don't use this setting to start remote nodes which are not assigned to the master via Index H1F81.
OFF (0): NMT Master switch during NMT master startup automatically into NMT state Operational
ON (1): NMT Master does not switch during NMT master startup automatically into NMT state
Operational
Notes if setting is ON (1):
The NMT Master has to be set manually with the SDO write command in the CIF over the Object
H1F82 into NMT state Operational. The startup process will be suspended as long as the Device is not
set into NMT State Operational.
OFF (0): The NMT master shall start the NMT slaves.
ON (1): The NMT master shall not start the NMT slaves and the PLC application may start the NMT slaves.
Notes if setting is ON (1):
Note the resulting behaviour shown in Figure 5.2 NMT Master simple startup and Figure 5.3 NMT
Slave startup process.
OFF (0): In case of error control event of an assigned NMT slave defined as mandatory, the NMT
service reset communication with node-ID of the CANopen
control event shall be executed.
ON (1): In case of error control event of an assigned NMT Slave defined as mandatory, the NMT
service reset communication all Nodes shall be executed.
Note:
• In case of optional NMT Slaves, the NMT service reset communication with node-ID of the
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CANopen device that caused the error control event will always be executed.
• If bit 6 is set to 1, this bit setting will be ignored for mandatory NMT slaves.
OFF (0): Do not use Flying master service.
ON (1): Use Flying master service
Note:
• If the device loses the Flying Master negotiation, the device works as NMT slave.
• If the Flying Master Service is used, all NMT Master in the network need to be set as Flying Master!
• If the setting is 1, additional settings need to be considered.
OFF (0): Do not Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT
Slave
ON (1): Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT Slave
Note:
• If the setting is 1, the bit 4 setting is ignored.
• To restart the network, the NMT master has to be reset manually with BFM #25 bit 0 or with the
SDO write command in the CIF over the Object H1F82 into NMT state Reset Communication or
Application all Nodes.
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device via SDO access. If the node is set as
-CAN has been configured as the NMT master, parameters have
→ For storing parameters, refer to Subsection 5.6.11
→ For module restart (BFM #25 bit 0), refer to Section 6.8
3 2
NMT
Start nodes
master
start
Description
-
5 Introduction of Functions
5.8 Network Management
1 0
Start all NMT
nodes master
→ Refer to Subsection 5.8.6
→ Refer to Section 10.2
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device that caused the error
→ Refer to Subsection 5.8.6
→ Refer to Subsection 5.8.11
→ Refer to Section 6.8 and Section 10.2
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