Canopen Communications - Mitsubishi Electric MELSEC iQ-R Series User Manual

CANopen communications

CANopen communications are used for controlling a device that supports the CANopen profile.
CANopen communications have SDO communication using transient transmission and PDO communication using cyclic
transmission for devices that support the CANopen profile. SDO communication is performed using the SLMPSND
instruction. For details on the SLMPSND instruction, refer to the following.
 MELSEC iQ-R Programming Manual (Module Dedicated Instructions)
Parameters for PDO communications are defined by the PDO mapping and the settings are specified in "Batch Setting of
PDO Mapping" or "PDO Mapping Setting".
(1)
(2)
(1) Engineering tool
(2) CC-Link IE TSN Plus module
(3) Servo amplifier
 Writing PDO mapping settings
 PDO communications
Setting method
Set "Batch Setting of PDO Mapping" or "PDO Mapping Setting" in "Network Configuration Setting" of "Basic Settings". (
Page 107 PDO mapping setting)
Precautions
■Motion control station
Do not set a slave station as the motion control station. Doing so results in a Parameter error (motion control station setting)
(error code: D64EH).
■PDO mapping setting
When a servo amplifier is added to the slave station in "Network Configuration Setting" of "Basic Settings", set the parameters
of "PDO Mapping Setting".
■Multi-axis servo amplifier
For a multi-axis servo amplifier, single module can use up to eight axes.
(3) (3)
9 FUNCTIONS
175
9.2 Cyclic Transmission
9