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

CANopen communication

The CANopen communication is used for controlling a device that supports the CANopen profile.
The CANopen communication can control a device that supports the CANopen profile with the SDO communication by
transient transmission and the PDO communication by cyclic transmission. The SDO communication reads/writes objects
non-periodically by using the SLMPSND instruction to send a command for accessing the CAN application object to the target
device station.
For details of the commands for accessing the CAN application objects, refer to the following.
Page 299 SLMP Command for Accessing the CAN Application Object
<When using the PLCopen Motion control FB mode>
For a station which executes motion control as a real axis, SDO communication can be performed by using
MC_ReadParameter (parameter read) and MC_WriteParameter (parameter write).
For details of MC_ReadParameter (parameter read) and MC_WriteParameter (parameter write), refer to "Parameter Read/
Write Function" of the following manual.
MELSEC iQ-R Motion Module User's Manual(Application)
For details of the SLMPSND instruction, refer to the following.
MELSEC iQ-R Programming Manual (Module Dedicated Instructions)
The PDO communication reads/writes objects defined with the PDO mapping by using the cyclic transmission.
PDO mapping settings are configured in "Batch Setting of PDO Mapping" or "PDO Mapping Setting" of the engineering tool.
The contents of the PDO mapping setting are sent to device devices when the cyclic transmission with device devices starts.
When the version of Add-on baseSystem is "1.18" or earlier, standard stations do not support the CANopen
communication. If a standard station is set in the network configuration settings, "Network parameter error
(error code: 2221H)" occurs.
(1)
(2)
(3)
(1) Engineering tool
(2) HMI (Human Machine Interface)
(3) Motion module
(4) Servo amplifier
 Writing of the PDO mapping setting
 PDO communication
Ò
Ó
(4) (4)
1 FUNCTIONS
55
1.1 Cyclic Transmission
1