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Mitsubishi Electric FX3U CAN User's Manual PDF
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Summary of Content for Mitsubishi Electric FX3U CAN User's Manual PDF
FX3U-CAN
USER'S MANUAL
Before installation, operation, maintenance or inspection of this product, thoroughly read through and understand this manual and all of the associated manuals. Also, take care to handle the module properly and safely.
This manual classifies the safety precautions into two categories: and .
Depending on the circumstances, procedures indicated by may also cause severe injury. It is important to follow all precautions for personal safety. Store this manual in a safe place so that it can be taken out and read whenever necessary. Always forward it to the end user.
1. DESIGN PRECAUTIONS
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.
Reference
Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents. 1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for
opposite movements (such as normal vs. reverse rotation), and an interlock circuit (to prevent damage to the equipment at the upper and lower positioning limits).
2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs are turned off. Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.
For the operating status of each node in the case of a communication error, see the FX3U-CAN users manual and the product manual of each node. Erroneous output or malfunctions may cause an accident.
When executing control (data changes) to an operating PLC, construct an interlock circuit in the sequence program so that the entire system operates safely. In addition, when executing control such as program changes and operation status changes (status control) to an operating PLC, carefully read the manual and sufficiently confirm safety in advance. Especially in control from external equipment to a PLC in a remote place, problems in the PLC may not be able to be handled promptly due to abnormality in data transfer. Construct an interlock circuit in the sequence program. At the same time, determine the actions in the system between the external equipment and the PLC for protection against abnormalities in data transfer.
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Reference
Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise: 1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100mm (3.94") or more away from the main circuit or high-voltage lines.
2) Ground the shield wire or shield of a shielded cable. Do not use common grounding with heavy electrical systems (refer to the manual of the PLC main unit).
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Safety Precautions (Read these precautions before use.)
(1)
Safety Precautions (Read these precautions before use.)
2. INSTALLATION PRECAUTIONS
3. WIRING PRECAUTIONS
Reference
Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. 26
Reference
Use the product within the generic environment specifications described in PLC main unit manual (Hardware Edition). Never use the product in areas with excessive dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl2, H2S, SO2 or NO2), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or rain and wind. If the product is used in such conditions, electric shock, fire, malfunctions, deterioration or damage may occur.
Do not touch the conductive parts of the product directly. Doing so may cause device failures or malfunctions.
When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.
Be sure to remove the dust proof sheet from the PLC's ventilation port when installation work is completed. Failure to do so may cause fire, equipment failures or malfunctions.
Install the product on a flat surface. If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.
Install the product securely using a DIN rail or mounting screws. Connect extension cables securely to their designated connectors.
Loose connections may cause malfunctions.
26
Reference
Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product. 29
Reference
Perform class D grounding (grounding resistance: 100 or less) to the shield of the twisted shield cable (refer to Subsection 4.2.3). Do not use common grounding with heavy electrical systems.
When drilling screw holes or wiring, make sure cutting or wire debris does not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.
Install module so that excessive force will not be applied to communication connectors or communication cables. Failure to do so may result in wire damage/breakage or PLC failure.
Make sure to affix the CAN bus connector with fixing screws. Tightening torque should follow the specifications in the manual. Loose connections may cause malfunctions.
Make sure to properly wire to the terminal block (CAN bus connector) in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product. - The disposal size of the cable end should follow the dimensions described in the manual. - Tightening torque should follow the specifications in the manual. - Twist the end of strand wire and make sure that there are no loose wires. - Do not solder-plate the electric wire ends. - Do not connect more than the specified number of wires or electric wires of unspecified size. - Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed.
Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise: 1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100 mm (3.94") or more away from the main circuit or high-voltage lines.
2) Ground the shield wire or shield of a shielded cable. Do not use common grounding with heavy electrical systems.
Place the communication cable in grounded metallic ducts or conduits both inside and outside of the control panel whenever possible.
29
(2)
Safety Precautions (Read these precautions before use.)
4. STARTUP AND MAINTENANCE PRECAUTIONS
5. DISPOSAL PRECAUTIONS
6. TRANSPORTATION AND STORAGE PRECAUTIONS
Reference
Do not touch any terminal while the PLC's power is on. Doing so may cause electric shock or malfunctions.
Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to do so may cause electric shock.
Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.
193 194 198 215
Reference
Do not disassemble or modify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.
Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.
Do not drop the product or exert strong impact to it. Doing so may cause damage.
Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, display module, expansion boards, and special adapters - Input/output extension units/blocks, FX Series terminal blocks and special function units/blocks - Battery and memory cassette
194 198 215
Reference
Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device. 24
Reference
The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in the general specifications of the PLC main unit manual by using dedicated packaging boxes and shock-absorbing palettes. Failure to do so may cause failures in the PLC. After transportation, verify operation of the PLC and check for damage of the mounting part, etc.
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(3)
Safety Precautions (Read these precautions before use.)
MEMO
(4)
FX3U-CAN User's Manual
FX3U-CAN
User's Manual
Foreword This manual describes the FX3U-CAN Communication Block and should be read and understood before attempting to install or operate the hardware. Store this manual in a safe place so that you can take it out and read it whenever necessary. Always forward it to the end user.
2012 MITSUBISHI ELECTRIC CORPORATION
Manual number JY997D43301
Manual revision E
Date 10/2021
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
1
FX3U-CAN User's Manual
Outline Precautions This manual provides information for the use of the FX3U-CAN Communication block. The manual has
been written to be used by trained and competent personnel. The definition of such a person or persons is as follows; 1) Any engineer who is responsible for the planning, design and construction of automatic equipment
using the product associated with this manual should be of a competent nature, trained and qualified to the local and national standards required to fulfill that role. These engineers should be fully aware of all aspects of safety with aspects regarding to automated equipment.
2) Any commissioning or maintenance engineer must be of a competent nature, trained and qualified to the local and national standards required to fulfill the job. These engineers should also be trained in the use and maintenance of the completed product. This includes being familiar with all associated manuals and documentation for the product. All maintenance should be carried out in accordance with established safety practices.
3) All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance with established safety practices. The operators should also be familiar with documentation that is connected with the actual operation of the completed equipment.
Note: The term 'completed equipment' refers to a third party constructed device that contains or uses the product associated with this manual.
This product has been manufactured as a general-purpose part for general industries, and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi Electric.
This product has been manufactured under strict quality control. However when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions into the system.
When combining this product with other products, please confirm the standards and codes of regulation to which the user should follow. Moreover, please confirm the compatibility of this product with the system, machines, and apparatuses to be used.
If there is doubt at any stage during installation of the product, always consult a professional electrical engineer who is qualified and trained in the local and national standards. If there is doubt about the operation or use, please consult your local Mitsubishi Electric representative.
Since the examples within this manual, technical bulletin, catalog, etc. are used as reference; please use it after confirming the function and safety of the equipment and system. Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples.
The content, specification etc. of this manual may be changed for improvement without notice. The information in this manual has been carefully checked and is believed to be accurate; however, if you
notice any doubtful point, error, etc., please contact your local Mitsubishi Electric representative.
Registration CiA is registered Community Trademarks of CAN in Automation e.V. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as '' or '' are not specified in this manual.
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FX3U-CAN User's Manual Table of Contents
Table of Contents SAFETY PRECAUTIONS .................................................................................................. (1) Standards................................................................................................................................... 8
Certification of UL, cUL standards ....................................................................................................... 8 Compliance with EC directive (CE Marking) ........................................................................................ 8
Associated Manuals................................................................................................................ 10 Generic Names and Abbreviations Used in the Manual ...................................................... 12 Reading the Manual ................................................................................................................ 14
1. Introduction 15
1.1 Outline........................................................................................................................................... 15 1.1.1 Overview of the CANopen Network............................................................................................... 15 1.1.2 Overview of FX3U-CAN communication block .............................................................................. 16 1.1.3 Characteristics............................................................................................................................... 16
1.2 External Dimensions and Each Part Name................................................................................... 18 1.2.1 External dimensions and each part name ..................................................................................... 18 1.2.2 Power and status LEDs................................................................................................................. 19 1.2.3 Terminal layout .............................................................................................................................. 19
1.3 System Configuration.................................................................................................................... 20 1.3.1 General configuration .................................................................................................................... 20 1.3.2 Applicable PLC.............................................................................................................................. 21 1.3.3 Connection with PLC..................................................................................................................... 22
1.4 System Start-up Procedure........................................................................................................... 23
2. Specifications 24
2.1 General Specifications .................................................................................................................. 25 2.2 Power Supply Specifications......................................................................................................... 25 2.3 Performance Specifications .......................................................................................................... 25
3. Installation 26
3.1 Connection with PLC..................................................................................................................... 26 3.2 Mounting ....................................................................................................................................... 27
3.2.1 DIN rail mounting........................................................................................................................... 27 3.2.2 Direct Mounting ............................................................................................................................. 28
4. Wiring 29
4.1 Applicable Cable and Connector................................................................................................... 29 4.1.1 Applicable connector ..................................................................................................................... 29 4.1.2 Applicable cable ............................................................................................................................ 30 4.1.3 Termination of cable end............................................................................................................... 30 4.1.4 Removal and installation of CAN bus connector ........................................................................... 30
4.2 CAN-Bus Wiring ............................................................................................................................ 31 4.2.1 Connecting communication cables................................................................................................ 31 4.2.2 Module wiring ................................................................................................................................ 31 4.2.3 Grounding of twisted pair cable ..................................................................................................... 32 4.2.4 Termination.................................................................................................................................... 32
4.3 Grounding ..................................................................................................................................... 32
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FX3U-CAN User's Manual Table of Contents
5. Introduction of Functions 33
5.1 Functions List ................................................................................................................................ 33 5.2 Function Modes............................................................................................................................. 33 5.3 Object Dictionary........................................................................................................................... 34 5.4 Command Interface....................................................................................................................... 34 5.5 Data Type Definition Area............................................................................................................. 35 5.6 Communication Profile Area ......................................................................................................... 35
5.6.1 CAN-ID / COB-ID........................................................................................................................... 55 5.6.2 Error Register ............................................................................................................................... 56 5.6.3 Pre-defined error field.................................................................................................................... 56 5.6.4 SDO............................................................................................................................................... 56 5.6.5 RPDO / TPDO ............................................................................................................................... 57 5.6.6 MPDO............................................................................................................................................ 64 5.6.7 SYNC............................................................................................................................................. 65 5.6.8 Node guarding............................................................................................................................... 66 5.6.9 Heartbeat....................................................................................................................................... 67 5.6.10 TIME............................................................................................................................................ 68 5.6.11 Store parameters......................................................................................................................... 68 5.6.12 Restore default parameters ......................................................................................................... 69 5.6.13 EMCY .......................................................................................................................................... 69
5.7 Error Behaviour ............................................................................................................................. 71 5.8 Network Management ................................................................................................................... 72
5.8.1 CANopen Boot-Up Procedure and NMT states............................................................................. 72 5.8.2 Protocol Boot-Up ........................................................................................................................... 73 5.8.3 Protocol NMT (Node control)......................................................................................................... 73 5.8.4 NMT slave identification ................................................................................................................ 74 5.8.5 NMT master startup....................................................................................................................... 74 5.8.6 NMT slave startup ......................................................................................................................... 78 5.8.7 NMT slave assignment .................................................................................................................. 80 5.8.8 NMT Bootup / Error Event handling............................................................................................... 82 5.8.9 Request NMT ................................................................................................................................ 83 5.8.10 Request node guarding ............................................................................................................... 84 5.8.11 Flying Master ............................................................................................................................... 84 5.8.12 LSS.............................................................................................................................................. 87 5.8.13 Configuration manager ................................................................................................................ 87
5.9 Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable Devices....................................... 89 5.10 Application Profile CiA 417 V2.1 for Lift Control Systems......................................................... 91
5.10.1 Lift number................................................................................................................................... 94 5.10.2 Virtual input mapping................................................................................................................... 95 5.10.3 Virtual output mapping................................................................................................................. 97 5.10.4 Door control word ...................................................................................................................... 100 5.10.5 Door status word ....................................................................................................................... 101 5.10.6 Light barrier status..................................................................................................................... 103 5.10.7 Control word .............................................................................................................................. 103 5.10.8 Status word................................................................................................................................ 105 5.10.9 Modes of operation.................................................................................................................... 106 5.10.10 Modes of operation display...................................................................................................... 106 5.10.11 Target position......................................................................................................................... 106 5.10.12 Load value ............................................................................................................................... 106 5.10.13 Load signalling......................................................................................................................... 106
6. Allocation of Buffer Memories 107
6.1 Buffer Memories (BFM) Lists ...................................................................................................... 107 6.2 How to Read/Write from/to Buffer Memory ................................................................................. 110
6.2.1 Direct specification of buffer memory (FX3U/FX3UC/FX5U/FX5UC only) ................................... 110 6.2.2 FROM/TO instructions................................................................................................................. 110
6.3 Receive/Transmit Process Data.................................................................................................. 111 6.4 [BFM #20] Data Exchange Control ............................................................................................. 111
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FX3U-CAN User's Manual Table of Contents
6.5 [BFM #21] Function Mode........................................................................................................... 112 6.6 [BFM #22] Save/Restore Configuration ...................................................................................... 113 6.7 [BFM #24] Baud Rate.................................................................................................................. 114 6.8 [BFM #25] Communication Status .............................................................................................. 114 6.9 [BFM #26] FROM/TO Watchdog................................................................................................. 116 6.10 [BFM #27] Node Address.......................................................................................................... 116 6.11 [BFM #29] Error Status ............................................................................................................. 116 6.12 [BFM #30] Module ID Code....................................................................................................... 116 6.13 [BFM #35] CAN Transmission Error Counter............................................................................ 117 6.14 [BFM #36] CAN Reception Error Counter ................................................................................. 117 6.15 [BFM #37] Baud Rate Display................................................................................................... 117 6.16 [BFM #38] Sampling Point Display............................................................................................ 117 6.17 [BFM #39] BFM Setting Error Display ....................................................................................... 117 6.18 [BFM #40] BFM Initialisation/Online Mode Write Error Display................................................. 117 6.19 [BFM #50 to #59] Time Stamp .................................................................................................. 118 6.20 [BFM #70] NMT Start all Nodes delay....................................................................................... 119 6.21 [BFM #71] SDO Time out.......................................................................................................... 119 6.22 [BFM #601 to #727] NMT State ................................................................................................ 120 6.23 [BFM #750 to #859] Emergency Message Buffer ..................................................................... 121 6.24 [BFM #900 to #963] NMT Error Control Status ......................................................................... 123
7. CANopen 405 Mode 124
7.1 Data Transfer Location for CANopen 405 Mode......................................................................... 124 7.1.1 Direct TO BFM Access to the CANopen 405 Object ................................................................... 124 7.1.2 Direct FROM BFM access to the CANopen 405 Object.............................................................. 126
7.2 PDO Mapping/Binding of the Network for CANopen 405 Mode.................................................. 128 7.2.1 TPDO mapping table ................................................................................................................... 129 7.2.2 RPDO mapping table................................................................................................................... 132 7.2.3 Mode 0 mapping.......................................................................................................................... 135 7.2.4 Mode A mapping ......................................................................................................................... 135 7.2.5 Mode B COB-ID mapping............................................................................................................ 136 7.2.6 Mode B COB-ID Mapping Errors ................................................................................................. 140
8. CANopen 417 Mode 141
8.1 Buffer Memories Lists of Lift Application ..................................................................................... 141 8.2 Lift Number.................................................................................................................................. 152 8.3 Virtual Input/Output Mapping ...................................................................................................... 152
8.3.1 Virtual input mapping................................................................................................................... 152 8.3.2 Virtual output mapping................................................................................................................. 155
8.4 Door Control Word/Door Status Word......................................................................................... 159 8.4.1 Door control word ........................................................................................................................ 159 8.4.2 Door status word ......................................................................................................................... 160
8.5 Door Position............................................................................................................................... 161 8.6 Light Barrier Status ..................................................................................................................... 161 8.7 Position Value ............................................................................................................................. 161 8.8 Speed Value Car......................................................................................................................... 162 8.9 Acceleration Value Car ............................................................................................................... 162 8.10 Control Word/Status Word ........................................................................................................ 162
8.10.1 Control word .............................................................................................................................. 162 8.10.2 Status word................................................................................................................................ 164
8.11 Modes of operation/Modes of operation display ....................................................................... 165 8.11.1 Modes of operation.................................................................................................................... 165 8.11.2 Modes of operation display........................................................................................................ 165
8.12 Control Effort ............................................................................................................................. 165 8.13 Position Actual Value/Target Position ....................................................................................... 165
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FX3U-CAN User's Manual Table of Contents
8.13.1 Position actual value.................................................................................................................. 165 8.13.2 Target position........................................................................................................................... 166
8.14 Profile Velocity .......................................................................................................................... 166 8.15 Velocity Actual Value/Target Velocity ....................................................................................... 166
8.15.1 Target velocity ........................................................................................................................... 166 8.15.2 Velocity actual value.................................................................................................................. 166
8.16 Load Value................................................................................................................................ 166 8.17 Load Signalling.......................................................................................................................... 166
9. CAN Layer 2 Mode 167
9.1 Receive/Transmit Process Data.................................................................................................. 167 9.2 Layer 2 Message Specific Error Code List.................................................................................. 170 9.3 Pre-defined Layer 2 Message Configuration............................................................................... 170
9.3.1 Pre-defined Layer 2 transmit messages...................................................................................... 171 9.3.2 Pre-defined Layer 2 receive messages....................................................................................... 173
9.4 Layer 2 RTR Flags...................................................................................................................... 175 9.5 Message Transmit Trigger Flags ................................................................................................ 176 9.6 PLC RUN>STOP Messages ....................................................................................................... 176 9.7 CIF Sending Layer 2 Message.................................................................................................... 178
10. Command Interface 179
10.1 [BFM #1000 to #1066] Command Interface .............................................................................. 179 10.2 SDO Request ............................................................................................................................ 180
10.2.1 CIF SDO read access................................................................................................................ 180 10.2.2 CIF Multi SDO read access ....................................................................................................... 181 10.2.3 CIF SDO write access ............................................................................................................... 182 10.2.4 CIF Multi SDO write access....................................................................................................... 183
10.3 Set Heartbeat ............................................................................................................................ 184 10.4 Set Node Guarding / NMT Slave Assignment........................................................................... 185 10.5 Send an Emergency Message.................................................................................................. 186 10.6 Store Object Dictionary Settings ............................................................................................... 188 10.7 Restore Object Dictionary Default Settings............................................................................... 189 10.8 Display Current Parameter........................................................................................................ 189 10.9 Error Messages......................................................................................................................... 190
10.9.1 Error messages ......................................................................................................................... 190 10.9.2 CIF busy message..................................................................................................................... 192
11. PLC RUN/STOP 193
12. Communication Settings Procedure 194
12.1 CANopen 405 Mode.................................................................................................................. 195 12.2 CANopen 417 Mode.................................................................................................................. 196 12.3 11 bit / 29 bit CAN-ID Layer 2 Mode ......................................................................................... 197
13. Program Example 198
13.1 System Configuration................................................................................................................ 198 13.2 Local Label Setting.................................................................................................................... 199 13.3 Program .................................................................................................................................... 202
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FX3U-CAN User's Manual Table of Contents
14. Diagnostics 215
14.1 Preliminary Checks ................................................................................................................... 215 14.2 Detail Error Check..................................................................................................................... 217
15. CANopen Configuration Tool 219
15.1 Window Structure...................................................................................................................... 219 15.1.1 Menu.......................................................................................................................................... 220 15.1.2 Parameter window..................................................................................................................... 221 15.1.3 Description window.................................................................................................................... 239
15.2 Setting Procedure ..................................................................................................................... 239 15.2.1 Creating a new project............................................................................................................... 239 15.2.2 Transfer setup ........................................................................................................................... 240 15.2.3 Parameter settings .................................................................................................................... 248 15.2.4 Writing the settings .................................................................................................................... 251
15.3 Functions................................................................................................................................... 252 15.3.1 Network scan............................................................................................................................. 252 15.3.2 SDO send / receive ................................................................................................................... 253 15.3.3 Export / import ........................................................................................................................... 254 15.3.4 Module status ............................................................................................................................ 255 15.3.5 Select language......................................................................................................................... 255 15.3.6 NMT master reset...................................................................................................................... 256
15.4 Checking the Software Version................................................................................................. 256 Warranty................................................................................................................................. 257 Revised History ..................................................................................................................... 258
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StandardsFX3U-CAN User's Manual
Standards
Certification of UL, cUL standards
FX3U-CAN units comply with the UL standards (UL, cUL).
UL, cUL File number :E95239
Regarding the standards that comply with the main unit, please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider.
Compliance with EC directive (CE Marking)
This document does not guarantee that a mechanical system including this product will comply with the following standards. Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user / manufacturer. For more information please consult with your nearest Mitsubishi product provider. Regarding the standards that comply with the main unit, please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider.
Requirement for Compliance with EMC directive
The following products have shown compliance through direct testing (of the identified standards below) and design analysis (through the creation of a technical construction file) to the European Directive for Electromagnetic Compatibility (2014/30/EU) when used as directed by the appropriate documentation.
Attention This product is designed for use in industrial applications.
Type: Programmable Controller (Open Type Equipment) Models: MELSEC FX3U series manufactured from April 1st, 2012 FX3U-CAN
Standard Remark EN61131-2:2007 Programmable controllers
- Equipment requirements and tests
Compliance with all relevant aspects of the standard. EMI Radiated Emission Conducted Emission EMS Radiated electromagnetic field Fast transient burst Electrostatic discharge High-energy surge Voltage drops and interruptions Conducted RF Power frequency magnetic field
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StandardsFX3U-CAN User's Manual
Caution for Compliance with EC Directive
1) Caution for wiring For noise prevention, please ground at least 35 mm (1.38") of the twisted-pair cable along the grounding plate to which the ground terminal is connected.
For details regarding wiring, refer to Section 4.2 2) Installation in Enclosure
For details regarding installation in an enclosure of FX3G Series PLC, refer to FX3G User's Manual - Hardware Edition
For details regarding installation in an enclosure of FX3GC*1 Series PLC, refer to FX3GC User's Manual - Hardware Edition
For details regarding installation in an enclosure of FX3U Series PLC, refer to FX3U User's Manual - Hardware Edition
For details regarding installation in an enclosure of FX3UC*1 Series PLC, refer to FX3UC User's Manual - Hardware Edition
For details regarding installation in an enclosure of FX5U*2 PLC, refer to MELSEC iQ-F FX5U User's Manual (Hardware)
For details regarding installation in an enclosure of FX5UC*2 PLC, refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
*1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC.
*2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC.
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Associated ManualsFX3U-CAN User's Manual
Associated Manuals Only the installation manual is packed together with the FX3U-CAN Communication Block. For a detailed explanation of the FX3U-CAN, refer to this manual. For further information of the hardware information and instructions on the PLC main unit/CPU Module, refer to the respective manuals.
Refer to these manuals Refer to the appropriate equipment manual For a detailed explanation, refer to an additional manual
Title of manual Document number Description Model code
Manual for the Main Unit/CPU Module FX3G Series PLCs Main Unit
Supplied Manual
FX3G Series Hardware Manual JY997D46001
Describes FX3G Series PLC specification for I/O, wiring and installation extracted from the FX3G User's Manual - Hardware Edition. For details, refer to FX3G Series User's Manual - Hardware Edition.
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Additional Manual
FX3G Series User's Manual - Hardware Edition
JY997D31301 Describes FX3G Series PLC specification details for I/O, wiring, installation and maintenance. 09R521
FX3GC Series PLCs Main Unit
Supplied Manual
FX3GC Series Hardware Manual JY997D45201
Describes FX3GC Series PLC specification for I/O, wiring and installation extracted from the FX3G User's Manual - Hardware Edition. For details, refer to FX3GC Series User's Manual - Hardware Edition.
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Additional Manual
FX3GC Series User's Manual - Hardware Edition
JY997D45401 Describes FX3GC Series PLC specification details for I/ O, wiring, installation and maintenance. 09R533
FX3U Series PLCs Main Unit
Supplied Manual
FX3U Series Hardware Manual JY997D50301
Describes FX3U Series PLC specification for I/O, wiring and installation extracted from the FX3U User's Manual - Hardware Edition. For details, refer to FX3U Series User's Manual - Hardware Edition.
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Additional Manual
FX3U Series User's Manual - Hardware Edition
JY997D16501 Describes FX3U Series PLC specification details for I/O, wiring, installation and maintenance. 09R516
FX3UC Series PLCs Main Unit
Supplied Manual
FX3UC(D,DS,DSS) Series Hardware Manual JY997D50501
Describes FX3UC(D,DS,DSS) Series PLC specification for I/O, wiring and installation extracted from the FX3UC Series User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual - Hardware Edition.
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Supplied Manual
FX3UC-32MT-LT-2 Hardware Manual JY997D31601
Describes FX3UC-32MT-LT-2 specification for I/O, wiring and installation extracted from the FX3UC User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual - Hardware Edition.
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Supplied Manual
FX3UC-32MT-LT Hardware Manual (Only Japanese document)
JY997D12701
Describes FX3UC-32MT-LT specification for I/O, wiring and installation extracted from the FX3UC User's Manual - Hardware Edition. For details, refer to FX3UC Series User's Manual - Hardware Edition.
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Additional Manual
FX3UC Series User's Manual - Hardware Edition
JY997D28701 Describes FX3UC Series PLC specification details for I/O, wiring, installation and maintenance. 09R519
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Associated ManualsFX3U-CAN User's Manual
FX5U PLCs CPU Module
Supplied Manual
MELSEC iQ-F FX5U CPU Module Hardware Manual JY997D53401
Describes FX5U PLC specification for I/O, wiring and installation extracted from the FX5U PLC from MELSEC iQ-F FX5U User's Manual (Hardware). For details, refer to FX5U PLC from MELSEC iQ-F FX5U User's Manual (Hardware).
-
Additional Manual
MELSEC iQ-F FX5U User's Manual (Hardware) JY997D55301 Describes FX5U PLC specification details for I/O, wiring,
installation and maintenance. 09R536
FX5UC PLCs CPU Module
Supplied Manual
MELSEC iQ-F FX5UC CPU Module Hardware Manual JY997D61001
Describes FX5UC PLC specification for I/O, wiring and installation extracted from the FX5UC PLC from MELSEC iQ-F FX5UC User's Manual (Hardware). For details, refer to FX5UC PLC from MELSEC iQ-F FX5UC User's Manual (Hardware).
-
Additional Manual
MELSEC iQ-F FX5UC User's Manual (Hardware) JY997D61401 Describes FX5UC PLC specification details for I/O,
wiring, installation and maintenance. 09R558
Programming
Additional Manual
FX3S/FX3G/FX3GC/FX3U/ FX3UC Series Programming Manual - Basic & Applied Instruction Edition
JY997D16601 Describes FX3S/FX3G/FX3GC/FX3U/FX3UC Series PLC programming for basic/applied instructions and devices.
09R517
Additional Manual
MELSEC-Q/L/F Structured Programming Manual (Fundamentals)
SH-080782 Programming methods, specifications, functions, etc. required to create structured programs. 13JW06
Additional Manual
FX CPU Structured Programming Manual [Device & Common]
JY997D26001 Devices, parameters, etc. provided in structured projects of GX Works2. 09R925
Additional Manual
FX CPU Structured Programming Manual [Basic & Applied Instruction]
JY997D34701 Sequence instructions provided in structured projects of GX Works2. 09R926
Additional Manual
FX CPU Structured Programming Manual [Application Functions]
JY997D34801 Application functions provided in structured projects of GX Works2. 09R927
Additional Manual
MELSEC iQ-F FX5 Programming Manual (Program Design)
JY997D55701 Describes specifications of ladders, ST, FBD/LD, and other programs and labels. 09R538
Additional Manual
MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)
JY997D55801 Describes specifications of instructions and functions that can be used in programs. 09R539
Manuals for FX3U-CAN Communication Block
Supplied Manual
FX3U-CAN Installation Manual JY997D43201
Describes some of FX3U-CAN communication block specifications for installation and wiring extracted from the FX3U-CAN User's Manual. For details, refer to FX3U-CAN User's Manual.
-
Additional Manual
FX3U-CAN User's Manual (This Manual)
JY997D43301 Describes details of the FX3U-CAN communication block. -
Title of manual Document number Description Model code
11
Generic Names and Abbreviations Used in the ManualFX3U-CAN User's Manual
Generic Names and Abbreviations Used in the Manual
Generic name or abbreviation Description PLC FX3G series Generic name for FX3G Series PLC
FX3G PLC or main unit Generic name for FX3G Series PLC main unit FX3GC series Generic name for FX3GC Series PLC
FX3GC PLC or main unit Generic name for FX3GC Series PLC main unit FX3U series Generic name for FX3U Series PLC
FX3U PLC or main unit Generic name for FX3U Series PLC main unit FX3UC series Generic name for FX3UC Series PLC
FX3UC PLC or main unit Generic name for FX3UC Series PLC main unit FX5U Generic name for FX5U PLC
FX5U PLC or CPU module Generic name for FX5U PLC CPU module FX5UC Generic name for FX5UC PLC
FX5UC PLC or CPU module Generic name for FX5UC PLC CPU module
Expansion board
Generic name for expansion board The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Special adapter
Generic name for high-speed input/output special adapter, communication special adapter, analog special adapter, and CF card special adapter. The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
I/O extension unit/block
Generic name for input/output powered extension unit and input/output extension block The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Special function unit/block or Special extension unit
Generic name for special function unit and special function block The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Special function unit Generic name for special function unit Special function block Generic name for special function block FX3U-CAN Abbreviated name for FX3U-CAN
Memory cassette
Generic name for memory cassette. The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
FX Series terminal block
Generic name for FX Series terminal block. The number of connectable units, however, depends on the type of main unit. To check the number of connectable units, refer to the User's Manual - Hardware Edition of the main unit to be used for your system.
Peripheral unit Peripheral unit Generic name for programming software, handy programming panel, and indicator Programming tool Programming tool Generic name for programming software and handy programming panel Programming software Generic name for programming software
GX Works2 Abbreviation of programming software packages SWDNC-GXW2-J/SWDNC-GXW2-E GX Developer Abbreviation of programming software packages SWD5C-GPPW-J/SWD5C-GPPW-E
Handy programming panel (HPP) Generic name for FX-30P and FX-20P(-E)
12
Generic Names and Abbreviations Used in the ManualFX3U-CAN User's Manual
Indicator GOT1000 series Generic name for GT15, GT11 and GT10 GOT-900 series Generic name for GOT-A900 series and GOT-F900 series GOT-A900 series Generic name for GOT-A900 series GOT-F900 series Generic name for GOT-F900 series ET-940 series Generic name for ET-940 series Manual FX3G Hardware Edition Abbreviation of FX3G Series User's Manual - Hardware Edition FX3GC Hardware Edition Abbreviation of FX3GC Series User's Manual - Hardware Edition FX3U Hardware Edition Abbreviation of FX3U Series User's Manual - Hardware Edition FX3UC Hardware Edition Abbreviation of FX3UC Series User's Manual - Hardware Edition
Programming manual Generic name for FX3S/FX3G/FX3GC/FX3U/FX3UC Series Programming Manual - Basic and Applied Instruction Edition, MELSEC iQ-F FX5 Programming Manual (Program Design), and MELSEC iQ-F FX5 Programming Manual (Instructions, Standard Functions/Function Blocks)
Communication control Edition Abbreviation of FX Series User's Manual - Data Communication Edition Analog control Edition Abbreviation of FX3S/FX3G/FX3GC/FX3U/FX3UC Series User's Manual - Analog Control Edition Positioning control Edition Abbreviation of FX3S/FX3G/FX3GC/FX3U/FX3UC Series User's Manual - Positioning Control Edition CANopen communication term U8, U16, U32, U48 Unsigned Integer x Bit I8, I16, I32 Signed Integer x Bit Visible String String of ISO646 bit coded characters which end after the last character. Domain Large block of binary data. CAN Controller Area Network CANopen CAN based higher-layer protocol
CAN-ID CAN Identifier Identifier for CAN data and remote frames as defined in ISO11898-1
CiA CAN in Automation Non-profit organization for standardization of CAN protocols. The CiA Members develop specifications which are published as CiA specifications. (http://can-cia.org/)
COB-ID Communication object identifier Identifier that contains the CAN-ID and additional control bits.
RPDO Receive Process Data Objects are data received from other nodes via the CAN bus. TPDO Transmit Process Data Objects are data sent to other nodes via the CAN bus. MPDO Multiplexed Process Data Object SDO Service Data Object SYNC Synchronization object EMCY Emergency object NMT Network management LSS Layer Setting Services OSC Open Style Connector RTR Remote transmission request VD Virtual Device
Generic name or abbreviation Description
13
Reading the ManualFX3U-CAN User's Manual
Reading the Manual
The above is different from the actual page, as it is provided for explanation only.
This area shows the title of the chapter and the title of the section for the current page.
This area shows the manual title for the current page.
The " " mark indicates a reference destination and reference manual.
Shows the reference.
Indexes the chapter number.Shows the title of the chapter and the title
of the section. Shows the manual title.
The right side of each page indexes the chapter number for the page currently opened.
14
1 Introduction 1.1 OutlineFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1. Introduction
1.1 Outline
The FX3U-CAN communication block is an interface block that allows FX3G/FX3GC/FX3U/FX3UC/FX5U/FX5UC PLCs to connect to a CANopen system. FX3U-CAN can be connected directly to the FX3G/FX3GC*1/FX3U/ FX3UC*1/FX5U*2/FX5UC*2 PLC's extension port, or to any other extension unit / block's right side extension port.
*1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC.
*2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC.
1.1.1 Overview of the CANopen Network
CANopen is a CAN based higher layer protocol which provides a very flexible system for transferring serial messages between different nodes via the CAN bus. 1) Simple, relatively high speed communication can be accomplished with modules that handle binary data
such as I/Os or numeric data. 2) All CANopen nodes are able to transmit data and several nodes can make a request to the CAN bus
simultaneously. 3) Messages can be prioritized for transfer to the CAN Bus.
For safe use
This product has been manufactured as a general-purpose part for general industries, and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.
Before using the product for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi Electric.
This product has been manufactured under strict quality control. However when installing the product where major accidents or losses could occur if the product fails, install appropriate backup or failsafe functions in the system.
15
1 Introduction 1.1 OutlineFX3U-CAN User's Manual
1.1.2 Overview of FX3U-CAN communication block
CANopen ready I/O stations and device stations can be connected to the CAN bus and information can be transmitted to the FX3U-CAN communication block and FX3G/FX3GC/FX3U/FX3UC/FX5U/FX5UC PLC.
1. The maximum send / receive message number 80 TPDO /80 RPDO (8 bytes / PDO) can be sent and received to/from a CANopen network.
2. CANopen device/application Profiles according to CiA Standards Interface and Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable Devices.
Application Profile CiA 417 V2.1 for lift control systems.
3. Communication with other CANopen nodes All nodes on the CANopen network can write data to all the other nodes on the network. Each piece of data has a unique identifying number that is read by the receiving nodes to determine whether that data should be kept in the receiving nodes' Buffer Memory. The FX3U-CAN communication block uses buffer memories to communicate on the CAN bus. Each buffer memory is separated into memory dedicated to write TO and memory dedicated to read FROM the CAN bus. These Buffer Memories are accessed by FROM/TO commands of the PLC. However, only FX3U/FX3UC/ FX5U/FX5UC PLC supports direct specification of the buffer memory. For further information on applied instructions, bit specification of word devices and direct specification of buffer memory, refer to the following manual.
Refer to PROGRAMMING MANUAL Note
Buffer memory that is assigned in 32 bits must use 32-bit instructions to read/write. 32-bit data cannot be correctly read/written from/to buffer memory if 16-bit read/write instructions are used.
1.1.3 Characteristics
This section describes the characteristics of the CAN bus, communication with other CANopen nodes, and some of the special features available in the CANopen protocol.
1. The object dictionary The Object Dictionary is a type of indexed storage system that contains data, device parameters, CANopen feature setup data, instruction triggers, and other information necessary to configure and operate the CANopen protocol.
2. SDO command The Service Data Object Command can be used to read/write data to the Object Dictionary. This command can be used to set network parameters and also to initiate CANopen functionality.
3. SYNC service The SYNC service provides the basic network synchronization mechanism.
4. TIME service The TIME service provides a simple network clock. CANopen devices that operate a local clock may use the TIME object to adjust their own time base to that of the time stamp object producer.
5. EMCY object service Emergency objects are triggered by the occurrence of a CANopen device internal error situation and are transmitted from an emergency producer on the CANopen device.
16
1 Introduction 1.1 OutlineFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
6. Network management (hereinafter called NMT) General NMT services Node guarding Master/Slave Heartbeat Consumer/Producer
7. The command interface The Command Interface (CIF) can be used to access the Object Dictionary of the local node or a network node and is located in the BFM. Access is performed by commands for SDO read/write, special direct command for Node Guarding, Heartbeat, PDO Mapping or Emergency Messages.
8. NMT master The network management provides services for controlling the network behaviour of CANopen devices as defined in CiA 301 and CiA 302. All CANopen devices of a network referred to as NMT slaves are controlled by services provided by an NMT master.
9. Flying master The flying master mechanism provides services for a hot stand-by NMT master within a CANopen network.
10.Configuration manager The Configuration manager provides mechanisms for configuration of CANopen devices in a CANopen network.
11.SYNC producer The SYNC producer broadcasts the SYNC object. The SYNC service provides the basic network synchronization mechanism.
12.Layer setting services master (hereinafter called LSS) according to standard CiA 305 V2.2 With this service, an LSS slave device that is sealed against harsh environments and that does not have any hardware components like DIP-switches for setting the node-ID or bit timing parameters can be configured via the CAN Bus.
13.MPDO for Lift Application Profile An MPDO provides direct write access to objects of a CANopen device's object dictionary. The size of the data of these objects is limited to a maximum of 4 bytes.
17
1 Introduction 1.2 External Dimensions and Each Part NameFX3U-CAN User's Manual
1.2 External Dimensions and Each Part Name
1.2.1 External dimensions and each part name
[1] Extension cable [6] Nameplate [2] Status LEDs (See Subsection 1.2.2) [7] DIN rail mounting hook [3] Power LED (See Subsection 1.2.2) [8] CAN bus connector [4] Top cover [9] Direct mounting hole
2 holes of 4.5 (0.18") (mounting screw: M4 screw)
[5] DIN rail mounting groove DIN rail: DIN46277, 35 mm (1.38") width
90 (3
.5 5"
) 80
(3 .1
5" )
(m ou
nt in
g ho
le p
itc h)
43 (1.7") 4 (0.16") 8
(0.32") 87 (3.43")
9 (0.36")
[2] [3]
[5]
[7]
[6]
[8]
[1]
[4] Unit : mm (inches)
Mass (Weight): Approx. 0.2 kg (0.44 lbs) Accessories: Label for indication of special function unit/block number,
Dust proof protection sheet, Terminating resistor (120 1/2W), Manual supplied with product
[9]
2- 4.5 mounting holes
18
1 Introduction 1.2 External Dimensions and Each Part NameFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1.2.2 Power and status LEDs
*1. RUN and ERROR LEDs have four kinds of flicker states: single flash, double flash, blinking, and flickering. This LED flickers as follows.
1.2.3 Terminal layout
LED Name LED Color Status Description
RUN Green
OFF Layer 2 offline mode
SINGLE FLASH*1 CANopen STOPPED state
BLINKING*1 CANopen PRE-OPERATIONAL state
FLICKERING*1 LSS Services in progress
ON CANopen mode: CANopen OPERATIONAL state Layer 2 mode: Layer 2 online mode
FROM/TO Green OFF PLC is not accessing BFMs in module. ON PLC is accessing BFMs in module.
Tx/Rx Green OFF Module is not transmitting or receiving CAN messages. ON Module is transmitting or receiving CAN messages.
ERROR Red
OFF No error
SINGLE FLASH*1 At least one of the error counters of the module has reached or exceeded the error passive level.
DOUBLE FLASH*1 A NMT guarding failure (NMT-Slave or NMT-Master) or a heartbeat failure has occurred.
BLINKING*1 General error
FLICKERING*1 LSS Services in progress
ON Module is BUS-OFF state, or CPU error occurs in PLC main unit. POWER Green ON 24V DC power is properly supplied from PLC main unit.
Pin No. Signal Description 1 CAN_GND Ground / 0 V / V- 2 CAN_L CAN_L bus line (dominant low) 3 (CAN_SHLD) Optional CAN shield 4 CAN_H CAN_H bus line (dominant high) 5 (CAN_V+) Optional CAN external positive supply (not connected internally)
0.2 s
BLINKING
0.2 s
SINGLE FLASH
0.2 s 1 s
DOUBLE FLASH
0.2 s 0.2 s 0.2 s 1 s
FLICKERING
0.05 s 0.05 s
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
19
1 Introduction 1.3 System ConfigurationFX3U-CAN User's Manual
1.3 System Configuration
1.3.1 General configuration
How to obtain EDS file
For EDS file, consult with your local Mitsubishi Electric representative.
Part Name Model Name Remarks Communication block FX3U-CAN
PLC FX3G/FX3GC/FX3U/
FX3UC /FX5U/FX5UC PLC
An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC.
CAN bus network - CAN bus network Node - CANopen Node, or CAN Layer 2 Node Repeater - CANopen Configuration tool - PLC programming tool GX Works2
EDS file (Electronic Data Sheet file)
FX3U-CAN-405.eds, FX3U-CAN-417.eds
FX3U-CAN-405: When using FX3U-CAN by Interface and Device Profile CiA
405 for IEC 61131-3 Programmable Devices, the EDS file uses FX3U-CAN-405.eds.
FX3U-CAN-417: When using FX3U-CAN by Application Profile CiA 417 for lift control systems, the EDS file uses FX3U-CAN-417.eds.
CAN Interface - Hardware Interface between CANopen Configuration tool and CAN bus. Terminating resistor - The CAN bus network requires terminating resistors for network both ends.
Maximum transmission distance -
5000 m (16,404'2") at 10 kbps (with repeaters). The transmission distance is reduced to 25 m (82') at the maximum baud rate of 1 Mbps. The maximum distance also depends on the specification of other connected nodes.
Node 1
FX3G/FX3GC/ FX3U/FX3UC/
FX5U/FX5UC PLC
FX3U-CAN Communication
block
Node 2
Node 3
Node 4
Node 5
Terminating resistor
Terminating resistorNode 6
CAN bus network Repeater
Terminating resistor
Terminating resistor
FX3G/FX3GC/ FX3U/FX3UC/
FX5U/FX5UC PLC
FX3U-CAN Communication
block
EDS File
Import
CAN bus network
CAN Interface
PLC programming tool CANopen Configuration tool
20
1 Introduction 1.3 System ConfigurationFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1.3.2 Applicable PLC
The version number can be checked by reading the last three digits of device D8001/D8101. *1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC PLC. *2. Check the current consumption of the connected extension blocks and when necessary insert
extension power supply units. *3. Up to 7 units can be connected to the FX3UC-32MT-LT(-2) PLC. *4. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. *5. Applicable for FX3U-CAN firmware Ver. 1.12 and later.
Model name Applicability FX3G Series PLC Ver. 1.00 and later (Up to 8 blocks can be extended*2)
FX3GC Series PLC*1 Ver. 1.40 and later (Up to 8 blocks can be extended*2)
FX3U Series PLC Ver. 2.20 and later (Up to 8 blocks can be extended*2)
FX3UC Series PLC*1 Ver. 2.20 and later (Up to 8 blocks can be extended*2*3)
FX5U PLC*4*5 Ver. 1.031 and later (Up to 8 blocks can be extended*2)
FX5UC PLC*4*5 Ver. 1.031 and later (Up to 8 blocks can be extended*2)
21
1 Introduction 1.3 System ConfigurationFX3U-CAN User's Manual
1.3.3 Connection with PLC
The FX3U-CAN connects with a PLC via an extension cable. The FX3U-CAN is handled as a special extension block of the PLC. The unit number of the FX3U-CAN is automatically assigned No. 0 to No. 7*1*2 starting from the special function unit/block closest to the PLC main unit/CPU Module. (This unit number is used for the designation of a FROM/TO instruction.) For further information of the assignment of the I/O number and unit number of the PLC, refer to the following manual corresponding to the connected PLC.
*1. Unit No. 1 to No. 7 is assigned when the main unit is an FX3UC-32MT-LT(-2). *2. Unit No. 2 to No. 16 is assigned when the CPU module is an FX5U/FX5UC.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC PLC. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. The optional FX0N-65EC (FX0N-30EC) and FX2N-CNV-BC are necessary to lengthen the extension cable.
(FX3G/FX3GC/FX3U/FX3UC PLC) The optional FX5-65EC (FX5-30EC) and FX5-CNV-BC are necessary to lengthen the extension cable.
(FX5U/FX5UC PLC) The number of I/O points occupied by the FX3U-CAN is eight. Make sure that the total number of I/O points
(occupied I/O points) of the main unit, extension unit(s), extension block(s) and the number of points occupied by special function blocks does not exceed the maximum number of I/O points of the PLC. For further information of the maximum number of I/O points of the PLC, refer to the respective product manual.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
FX3G/FX3U/FX5U PLC FX3U- CAN
FX3GC/FX3UC/ FX5UC PLC
FX3U- CAN
FX2NC-CNV-IF
Other extension units/blocks
Other extension units/blocks
22
1 Introduction 1.4 System Start-up ProcedureFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1.4 System Start-up Procedure
FX3U-CAN
Outline of system: Applicable PLC CANopen nodes: Applicable CANopen
Outline
Refer to Chapter 1
Specifications: Operation environment Power supply specifications Performance specifications
Check of specifications
Refer to Chapter 2
Refer to Chapter14
If the error status data is abnormal, refer to Chapter 14.
Refer to Chapter 1 and 2
System configuration:System configuration
Installation and wiring
Refer to Chapter 3 and 4
Installation: Arrangements
For arrangements, refer to the manual
Mounting Wiring:
Applicable cable and connector CAN bus wiring Grounding Bus terminator
Communication settings
Refer to Chapter 5 to12
Communication settings: For CANopen 405 mode, refer to Section 12.1
For CANopen 417 mode, refer to Section 12.2 For CAN Layer 2 mode, refer to Section 12.3
Create program
Refer to Chapter 5 to 12
Object Dictionary (CANopen mode only): Communication profile area Network management Device profile CiA 405
Application profile CiA 417
Buffer memory: List of buffer memories Details of buffer memory
For buffer memory read/write method,
Communication program: For example program, refer to Chapter 13
configuration tool
- Maximum bus length (depends on baud rate)
of the PLC main unit
(CANopen 405 mode only)
(CANopen 417 mode only)
refer to programming manual
23
2 Specifications FX3U-CAN User's Manual
2. Specifications
DESIGN PRECAUTIONS
Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accidents. 1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements
(such as normal vs. reverse rotation), and an interlock circuit (to prevent damage to the equipment at the upper and lower positioning limits).
2) Note that when the PLC CPU detects an error, such as a watchdog timer error, during self-diagnosis, all outputs are turned off. Also, when an error that cannot be detected by the PLC CPU occurs in an input/output control block, output control may be disabled. External circuits and mechanisms should be designed to ensure safe machinery operation in such a case.
For the operating status of each node in the case of a communication error, see the FX3U-CAN users manual and the product manual of each node. Erroneous output or malfunctions may cause an accident.
When executing control (data changes) to an operating PLC, construct an interlock circuit in the sequence program so that the entire system operates safely. In addition, when executing control such as program changes and operation status changes (status control) to an operating PLC, carefully read the manual and sufficiently confirm safety in advance. Especially in control from external equipment to a PLC in a remote place, problems in the PLC may not be able to be handled promptly due to abnormality in data transfer. Construct an interlock circuit in the sequence program. At the same time, determine the actions in the system between the external equipment and the PLC for protection against abnormalities in data transfer.
DESIGN PRECAUTIONS
Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise: 1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100mm (3.94") or more away from the main circuit or high-voltage lines.
2) Ground the shield wire or shield of a shielded cable. Do not use common grounding with heavy electrical systems (refer to the manual of the PLC main unit).
DISPOSAL PRECAUTIONS
Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device.
TRANSPORTATION AND STORAGE PRECAUTIONS The PLC is a precision instrument. During transportation, avoid impacts larger than those specified in the general specifications of the
PLC main unit manual by using dedicated packaging boxes and shock-absorbing palettes. Failure to do so may cause failures in the PLC. After transportation, verify operation of the PLC and check for damage of the mounting part, etc.
24
2 Specifications 2.1 General SpecificationsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
2.1 General Specifications
Items other than the following table are equivalent to those of the PLC main unit/CPU Module. For further information of general specifications, refer to the manual of the PLC main unit/CPU Module.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
2.2 Power Supply Specifications
For details on the 24V DC power supply of main unit, refer to the manual of the PLC main unit.
2.3 Performance Specifications
Item Specification Dielectric Withstand Voltage 500V AC for one minute
Between all terminals and ground terminal Insulation Resistance 5M or higher by 500V DC insulation
resistance tester
Item Specification
Internal Power Supply 24V DC, max 110 mA 24V DC power is supplied internally from the main unit.
Item Specification Transmission Type CAN Bus network (RS-485, CSMA/CR) Applicable Function CANopen Node, CAN Layer 2 Node
CANopen Communication Services According to CiA Standards
CiA 301 V4.2 CiA 302 V4.1 CiA 305 V2.2
CANopen Device and Application Profiles According to CiA Standards
Interface and Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable Devices. Application Profile CiA 417 V2.1 for lift control systems.
Remote Transmit Request (RTR) No support in CANopen mode. Support in Layer 2 mode.
For support in Layer 2 mode, refer to Chapter 9
Node Number on CANopen Network
Maximum 127 nodes A total of 30 nodes can be connected to any segment of the bus. Using repeaters or bridges, the total number can be extended up to 127 nodes.
Node ID Selectable from 1 to 127 Communication Method Acyclic, cyclic or event driven
Supported Transmission Speed / Maximum Bus Length
1 Mbps / 25 m (82') 800 kbps / 50 m (164') 500 kbps / 100 m (328'1") 250 kbps / 250 m (820'2") 125 kbps / 500 m (1640'5") 100 kbps / 600 m (1968'6") 50 kbps / 1000 m (3280'10") 20 kbps / 2500 m (8202'1") 10 kbps / 5000 m (16404'2")
Connection Cable Refer to Subsection 4.1.2. Terminating Resistor 120 (Accessory: 120 1/2W)
No. of Occupied I/O Points 8 points (taken from either the input or output points of the PLC)
25
3 Installation 3.1 Connection with PLCFX3U-CAN User's Manual
3. Installation
3.1 Connection with PLC
The FX3U-CAN connects on the right side of a PLC main unit/CPU Module or extension units/blocks (including special function units/blocks). For connection to an FX3GC/FX3UC Series PLC or FX2NC Series PLC extension block, an FX2NC-CNV-IF or FX3UC-1PS-5V is required. For connection to an FX5U/FX5UC PLC, an FX5-CNV-BUS or FX5-CNV-BUSC is required. For further information, refer to the respective PLC manual.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
INSTALLATION PRECAUTIONS
Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product.
INSTALLATION PRECAUTIONS
Use the product within the generic environment specifications described in PLC main unit manual (Hardware Edition). Never use the product in areas with excessive dust, oily smoke, conductive dusts, corrosive gas (salt air, Cl2, H2S, SO2 or NO2), flammable gas, vibration or impacts, or expose it to high temperature, condensation, or rain and wind. If the product is used in such conditions, electric shock, fire, malfunctions, deterioration or damage may occur.
Do not touch the conductive parts of the product directly. Doing so may cause device failures or malfunctions.
When drilling screw holes or wiring, make sure that cutting and wiring debris do not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.
Be sure to remove the dust proof sheet from the PLC's ventilation port when installation work is completed. Failure to do so may cause fire, equipment failures or malfunctions.
Install the product on a flat surface. If the mounting surface is rough, undue force will be applied to the PC board, thereby causing nonconformities.
Install the product securely using a DIN rail or mounting screws. Connect extension cables securely to their designated connectors.
Loose connections may cause malfunctions.
26
3 Installation 3.2 MountingFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
3.2 Mounting
The FX3U-CAN may be installed in a control cabinet with a 35 mm wide DIN46277 DIN rail mounting or M4 screw direct mounting.
3.2.1 DIN rail mounting
The product may be mounted on a 35 mm wide DIN46277 (DIN rail).
1 Fit the upper edge (A in the figure to the right) of the DIN rail mounting groove onto the DIN rail.
2 Push the product onto the DIN rail. An interval space of 1 to 2 mm (0.04" to 0.08") between each unit is necessary.
3 Connect the extension cable. Connect the extension cable (B in the figure to the right) to the main unit, I/O extension unit/block or special function unit/block on the left side of the product. For further information of the extension cable connection procedure, refer to the respective product PLC manual.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
Example of installation on DIN rail - In the case of the FX3G/FX3U PLC
- In the case of the FX3GC/FX3UC PLC
A
1
2
B
FX3G/FX3U Series main unit
DIN rail
FX3U-CAN
1 to 2mm (0.04" to 0.08")
Other extension equipment
1 to 2mm (0.04" to 0.08")
DIN rail
FX3U-CAN
1 to 2mm (0.04" to 0.08")
Other extension equipment
1 to 2mm (0.04" to 0.08")
FX2NC-CNV-IF or FX3UC-1PS-5V
FX3GC/FX3UC Series
main unit
27
3 Installation 3.2 MountingFX3U-CAN User's Manual
3.2.2 Direct Mounting
The product can be installed directly with screws. An interval space of 1 to 2 mm (0.04" to 0.08") between each unit is necessary. For further information of installation, refer to the following respective PLC manual.
For mounting hole pitches, refer to Section 1.2 Refer to FX3G Hardware Edition
Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
1 Create mounting holes in the mounting surface according to the external dimensions diagram.
2 Fit the FX3U-CAN (A in the figure to the right) to the mounting holes and tighten with M4 screws (B in the figure to the right). For further information of the screw position and quantity, refer to the dimensioned drawing specified below.
For dimensions, refer to Section 1.2
3 Connect the extension cable. Connect the extension cable to the main unit, I/O extension unit/block or special function unit/block on the left side of the product. (Refer to Step 3 in Subsection 3.2.1.) For further information of the extension cable connection procedure, refer to the respective PLC manual.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
Example of direct installation
FX3U-48M
RUN
POWER
ERROR
BATTERROR
RUN BATT
POWER
0
3 1
2 IN
OUT
6 4
5
21
7 20
24
22 23
26 25
10 11 13
12
16
14 15 17
27 0
3 1
2
6 4
5
21
7 20
24
22 23
26 25
10 11 13
12
16
14 15 17
27
B
A
B
FX3G/FX3U Series main unit
1 to 2mm (0.04" to 0.08")
1 to 2mm (0.04" to 0.08")
(+ shows the M4 screw)
other extension equipment
FX3U-CAN
28
4 Wiring 4.1 Applicable Cable and ConnectorFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
4. Wiring
4.1 Applicable Cable and Connector
4.1.1 Applicable connector
FX3U-CAN uses a CAN bus connector. This connector is removable. For further information of removal and installation of the CAN bus connector, refer to the following section.
Refer to Subsection 4.1.4
WIRING PRECAUTIONS
Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to do so may cause electric shock or damage to the product.
WIRING PRECAUTIONS
Perform class D grounding (grounding resistance: 100 or less) to the shield of the twisted shield cable (refer to Subsection 4.2.3). Do not use common grounding with heavy electrical systems.
When drilling screw holes or wiring, make sure cutting or wire debris does not enter the ventilation slits. Failure to do so may cause fire, equipment failures or malfunctions.
Install module so that excessive force will not be applied to communication connectors or communication cables. Failure to do so may result in wire damage/breakage or PLC failure.
Make sure to affix the CAN bus connector with fixing screws. Tightening torque should follow the specifications in the manual. Loose connections may cause malfunctions.
Make sure to properly wire to the terminal block (CAN bus connector) in accordance with the following precautions. Failure to do so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or damage to the product. - The disposal size of the cable end should follow the dimensions described in the manual. - Tightening torque should follow the specifications in the manual. - Twist the end of strand wire and make sure that there are no loose wires. - Do not solder-plate the electric wire ends. - Do not connect more than the specified number of wires or electric wires of unspecified size. - Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed.
Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise: 1) Do not bundle the main circuit line together with or lay it close to the main circuit, high-voltage line or load line.
Otherwise, noise disturbance and/or surge induction are likely to take place. As a guideline, lay the control line at least 100 mm (3.94") or more away from the main circuit or high-voltage lines.
2) Ground the shield wire or shield of a shielded cable. Do not use common grounding with heavy electrical systems.
Place the communication cable in grounded metallic ducts or conduits both inside and outside of the control panel whenever possible.
29
4 Wiring 4.1 Applicable Cable and ConnectorFX3U-CAN User's Manual
4.1.2 Applicable cable
Note
The bus length, length related resistance and the cross section of the cable to be used should be related as follows. Guidelines for the cable are available in CiA 303.
For details, refer to CiA 303
4.1.3 Termination of cable end
Strip 9 mm (0.35") of insulation from the end of the wire. For stranded wires, terminate the end of the wire using a wire ferrule with insulating sleeve. Tighten the terminals to a torque of 0.4 to 0.5 Nm. Do not tighten terminal screws with a torque outside the above-mentioned range. Failure to do so may cause equipment failures or malfunctions.
When using stranded wires It may be difficult to insert the electric wire into the insulating sleeve depending on the thickness of the electric wire sheath. Select appropriate electric wire by referring to the dimensions of the wire ferrule.
*1. Old model name : CRIMPFOX ZA 3 *2. Old model name : CRIMPFOX UD 6
4.1.4 Removal and installation of CAN bus connector
1) Removal Evenly unscrew both CAN connector mounting screws, and remove the CAN connector from the module. If the cable is attached to the connector, hold and pull the connector on the side. Do not pull the cable.
2) Installation Place the CAN connector in the specified position, and evenly tighten both CAN connector mounting screws. Tightening torque 0.4 to 0.5 Nm Do not tighten the terminal block mounting screws with a torque outside the above-mentioned range. Failure to do so may cause equipment failures or malfunctions.
Item Applicable Cable Cable Type Twisted pair cable Unshielded/ Shielded Shielded No. of Pairs 2 pair Conformance Standard ISO 11898/1993
Wire Size 0.3 mm2 to 0.82 mm2 (AWG22 to 18) Impedance 120
Bus Length (m) Length Related Resistance (m/m) Cross Section (mm2) 0 to 40 70 0.3 to 0.34 (AWG 22)
40 to 300 Less than 60 0.34 to 0.60 (AWG 22 to 19) 300 to 600 Less than 40 0.50 to 0.60 (AWG 20 to 19) 600 to 1000 Less than 26 0.75 to 0.80 (AWG 18)
Manufacturer Model names Caulking tool
Phoenix Contact AI 0.5-8WH CRIMPFOX 6*1
(or CRIMPFOX 6T-F*2)AI-TWIN 2X 0.5-8WH
9mm (0.35")
8mm (0.32")
Contact area (Crimp area)
14mm(0.56") 2.6mm (0.11")
Insulating sleeve
30
4 Wiring 4.2 CAN-Bus WiringFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
4.2 CAN-Bus Wiring
4.2.1 Connecting communication cables
For electromagnetic compatibility (EMC), it is recommended to ground the cable shield at both ends. Caution
For safety, always check the potential differences between the grounding points. If potential differences are found, proper measures must be taken to avoid damage.
4.2.2 Module wiring
For further information on PLC wiring, refer to the following manual. Refer to FX3G Hardware Edition
Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
*1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC.
*2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC.
Terminating resistor
Grounding resistance of 100 or less (Class D)
(1) CAN_GND (2) CAN_L
(3) CAN_SHLD (4) CAN_H (5) CAN_V+
(1) CAN_GND (2) CAN_L
(3) CAN_SHLD (4) CAN_H (5) CAN_V+
(1) CAN_GND (2) CAN_L
(3) CAN_SHLD (4) CAN_H (5) CAN_V+
Grounding resistance of 100 or less (Class D)
Terminating resistor
CAN_GND CAN_L CAN_SHLD CAN_H CAN_V+
Grounding mounting plate or grounded DIN rail with a grounding resistance of 100 or less (Class D).Grounding resistance of
100 or less (Class D)
FX3G/FX3GC*1/ FX3U/FX3UC*1/ FX5U*2/FX5UC*2
PLC
FX3U-CAN
Strip a part of the coating of the shielded twisted pair cable as shown in subsection 4.2.3. Ground the PLC's grounding terminal there.
CAN Bus connector
31
4 Wiring 4.3 GroundingFX3U-CAN User's Manual
4.2.3 Grounding of twisted pair cable
Strip a part of the coating of the shielded twisted pair cable as shown below, and ground at least 35 mm (1.38") of the exposed shield section.
4.2.4 Termination
The CANopen network requires terminating resistors for both network ends. When FX3U-CAN is the network end, connect the included terminating resistor (120 1/2W) between pin number 2 (CAN_L) and 4 (CAN_H).
4.3 Grounding
Ground the cables as follows The grounding resistance should be 100 or less. Independent grounding should be established whenever possible.
Independent grounding should be performed for best results. When independent grounding is not configured, perform "shared grounding" as shown in the following figure. For further information, refer to the respective PLC manual.
Refer to FX3G Hardware Edition Refer to FX3GC Hardware Edition Refer to FX3U Hardware Edition
Refer to FX3UC Hardware Edition Refer to MELSEC iQ-F FX5U User's Manual (Hardware)
Refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
The grounding point should be close to the FX3U-CAN, and all grounding wires should be as short as possible.
Shielded twisted pair cable Shield
FX3U- CAN
Other equipment
Shared grounding Good condition
Shared grounding Not allowed
Independent grounding Best condition
FX3U- CAN
Other equipment
FX3U- CAN
Other equipment
32
5 Introduction of Functions 5.1 Functions ListFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5. Introduction of Functions
5.1 Functions List
The function list is shown below.
5.2 Function Modes
The FX3U-CAN has four different function modes. The function mode is set up by BFM #21. For further information on how to set the function mode, refer to the following section.
Refer to Section 6.5
Functions Description Reference Function Modes Different Function Modes of the module Section 5.2 and Section 6.5 Object Dictionary Link between CANopen network and PLC Section 5.3 Command Interface Module Interface to the Object Dictionary Section 5.4 and Chapter 10 SDO Service Data Object Subsection 5.6.4 RPDO / TPDO Receive/Transmit Process Data Object Subsection 5.6.5 MPDO Multiplexed Process Data Object Subsection 5.6.6 SYNC Synchronization object Subsection 5.6.7 Node guarding Node guarding service Subsection 5.6.8 Heartbeat Heartbeat Service Subsection 5.6.9 TIME Time stamp object Subsection 5.6.10 EMCY Emergency object Subsection 5.6.13 General NMT General Network management services Section 5.8 NMT Master Network Management Master Services Section 5.8 Boot-Up Device Boot-Up Message Service Subsection 5.8.2 Flying Master Flexible Network Management Subsection 5.8.11 LSS Layer Setting Service for Devices Subsection 5.8.12
Configuration manager Mechanism for configuration of the Object Dictionary of other CANopen Devices Subsection 5.8.13
Profile CiA 405 V2.0 Device Profile for IEC 61131-3 Programmable Devices Section 5.9 and Chapter 7
Profile CiA 417 V2.1 Application Profile for lift control systems Section 5.10 and Chapter 8
Layer 2 Message mode Layer 2 Message transmission and receive Mode Chapter 9 PLC RUN / STOP Module behaviour in case of PLC RUN/STOP Chapter 11
Function Mode Description
11 bit CAN-ID Layer 2 mode This mode supports full access to Layer 2 of the CAN communication protocol. Customized 11-bit Identifier Layer 2 messages can be sent and raw 11-bit Identifier Layer 2 messages can be received.
29 bit CAN-ID Layer 2 mode This mode supports full access to Layer 2 of the CAN communication protocol. Customized 29-bit Identifier Layer 2 messages can be sent and raw 29-bit Identifier Layer 2 messages can be received.
CANopen 405 mode This mode supports the CANopen CiA 405 IEC 61131-3 Programmable Device Profile.
CANopen 417 mode This mode supports the CANopen CiA 417 Lift Application Profile.
33
5 Introduction of Functions 5.3 Object DictionaryFX3U-CAN User's Manual
5.3 Object Dictionary
The Object Dictionary is a structure for data organization within the CANopen network. The data within the Object Dictionary is used to set CAN bus parameters, initialize special functions, control data flow, store data in many formats and send emergency messages. The Object Dictionary is structured in Indexes and Sub-Indexes. Each Index addresses a single parameter, a set of parameters, network input/output data or other data. A Sub-Index addresses a subset of the parameter or data of the Index.
General layout of CANopen standard object dictionary
The general layout of the CANopen standard object dictionary is shown below.
5.4 Command Interface
The Command Interface (CIF) provides access to the Object Dictionary of the FX3U-CAN and the Object Dictionary of other CANopen nodes in the network. Using the BFM area #1000 to #1066, the various CIF functions can be used for SDO read/write, RPDO and TPDO configuration/mapping, configuration of Node Guarding, Heartbeat, Emergency Messages and others.
For Command Interface, refer to Chapter 10
Index (hex) Object 0000 Not used
0001 to 009F Data type definitions Refer to Section 5.5
00A0 to 0FFF Reserved
1000 to 1FFF Communication profile area (CiA 301/CiA 302) Refer to Section 5.6 and Section 5.8
2000 to 5FFF Manufacturer-specific profile area
6000 to 9FFF Standardized Profile area (CiA 417) Refer to Section 5.10
A000 to AFFF Standardized Profile area (CiA 405) Refer to Section 5.9
B000 to FFFF Reserved
Command Interface Function Mode Selection
Reference Mode 405 Mode 417 Mode 11 Mode 29
SDO Request - - Section 10.2
Set Heartbeat - - Section 10.3
Set Node Guarding / NMT slave assignment - - Section 10.4
Send an Emergency Message - - Section 10.5
Store Object Dictionary settings - - Section 10.6
Restore Object Dictionary default settings - - Section 10.7
Communication Mapping Modes - - - Section 7.2
Display current Parameter Section 10.8
Sending Layer 2 Message - - Section 9.7
34
5 Introduction of Functions 5.5 Data Type Definition AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.5 Data Type Definition Area
Static data types are placed in the object dictionary for definition purposes only. Indexes H0002 to H0008 may be mapped in order to define the appropriate space in the RPDO as not being used by the device. An SDO access results in an error.
For RPDO, refer to Subsection 5.6.5
5.6 Communication Profile Area
The table below provides a brief description and reference information for the FX3U-CAN CANopen Object Dictionary.
Note: Stored to Flash ROM
Data will be saved in the Flash ROM by using the Store Parameter command in Index H1010. Be careful with write handling. The maximum number of writes to the built-in flash ROM is 10,000 times.
Note
Here, the RPDO and TPDO settings for CANopen 405 mode are described. For the settings in CANopen 417 mode, refer to the EDS file
How to obtain EDS files
For EDS files (FX3U-CAN-405.eds, FX3U-CAN-417.eds) of FX3U-CAN, consult with your local Mitsubishi Electric representative.
Index (hex) Sub-index (hex) Object Description Data Type 0001 00
Data type definition
Reserved - 0002 00 Signed 8bit I8 0003 00 Signed 16bit I16 0004 00 Signed 32bit I32 0005 00 Unsigned 8bit U8 0006 00 Unsigned 16bit U16 0007 00 Unsigned 32bit U32 0008 00 Float 32 bit Real32
0009 to 009F 00 Reserved -
Index (hex)
Sub- index (hex)
Object Description / Set Range Data Type Initial Value Read/ Write
Stored to Flash
ROM
1000 00 Device Type
Describes the device profile or the application profile CANopen 405 Mode: K405 CANopen 417 Mode: K417 Will be changed by setting BFM #21.
U32 K405 R -
1001 00 Error Register Refer to Subsection 5.6.2 U8 H0 R - 1002 00 Reserved - - - - -
1003 00
Pre-defined error field Refer to Subsection 5.6.3 U8 H0 R/W -
01 to 0F U32 H0 R - 1004 00 Reserved - - - - -
1005 00 COB-ID of SYNC message Refer to Subsection 5.6.7 U32 H80 R/W
1006 00 Communication Cycle Period Refer to Subsection 5.6.7 U32 H0 R/W
1007 00 Reserved - - - - -
1008 00 Device Name 8 Byte ASCII String Visible String FX3U-CAN R -
1009 00 Hardware Version 4 Byte ASCII String Visible String X.XX R -
35
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
100A 00 Software Version 4 Byte ASCII String Visible String X.XX R -
100B 00 Reserved - - - - -
100C 00 Guard time*1 Refer to Subsection 5.6.8 U16 H0 R/W
100D 00 Life time factor*1 Refer to Subsection 5.6.8 U8 H0 R/W
100E to 100F 00 Reserved - - - - -
1010 00
Store parameters Highest sub-index U8 H01 R -
01 Save all parameters Refer to Subsection 5.6.11 U32 H1 R/W -
1011 00
Restore default parameters Highest sub-index U8 H01 R -
01 Restore all parameters Refer to Subsection 5.6.12 U32 H1 R/W -
1012 00 COB-ID Time Refer to Subsection 5.6.10 U32 H8000 0100 R/W
1013 00 Reserved - - - - - 1014 00 COB-ID EMCY Refer to Subsection 5.6.13 U32 H80 + Node-Id R -
1015 00 Inhibit Time EMCY Refer to Subsection 5.6.13 U16 H0 R/W
1016 00
Consumer heartbeat time Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.6.9 U32 H0 R/W
1017 00 Producer heartbeat time Refer to Subsection 5.6.9 U16
CANopen 405 Mode: K0
CANopen 417 Mode: K1000
R/W
1018
00
Identity Object
Highest sub-index U8 H03 R - 01 Vendor-ID U32 H71 R - 02 Product Code U32 K7170 R - 03 Revision Number U32 HXXXX XXXX R -
1019 to 101F 00 Reserved - - - - -
1020
00
Verify Configuration*1
Highest sub-index U8 H02 R -
01 Refer to Subsection 5.8.13
U32 H0 R/W
02 U32 H0 R/W
1021 to 1027 00 Reserved - - - - -
1028 00
Emergency consumer object Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.6.13 U32 H80 + Node-Id R/W
1029 00
Error behaviour Highest sub-index U8 H01 R -
01 Refer to Section 5.7 U8 H0 R/W
102A 00 NMT inhibit time*1 Refer to Subsection 5.8.7 U16 H0 R
102B to 13FF 00 Reserved - - - - -
1400 to 15F1
00
RPDO communication parameter
Highest sub-index U8
Refer to Table 5.1 Refer to Table 5.5
-
01
Refer to Subsection 5.6.5
COB-ID U32
02 Transmission type U8
03 Inhibit time U16
04 Compatibility entry U8 -
05 Event-timer U16
15F2 to 15FF 00 Reserved - - - - -
*1. Applicable for FX3U-CAN firmware Ver. 1.10 or later.
Index (hex)
Sub- index (hex)
Object Description / Set Range Data Type Initial Value Read/ Write
Stored to Flash
ROM
36
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1600 to 17F1
00
RPDO mapping parameter Refer to Subsection 5.6.5
Number of valid object entries U8
Refer to Table 5.2 Refer to Table 5.6 Refer to Table 5.7
01 1st Mapped object U32
02 2nd Mapped object U32
03 3rd Mapped object U32
04 4th Mapped object U32
05 5th Mapped object U32
06 6th Mapped object U32
07 7th Mapped object U32
08 8th Mapped object U32
17F2 to 17FF 00 Reserved - - - - -
1800 to 1978
00
TPDO communication parameter
Highest sub-index U8
Refer to Table 5.3 Refer to Table 5.8
-
01
Refer to Subsection 5.6.5
COB-ID U32
02 Transmission type U8
03 Inhibit time U16
04 Compatibility entry U8 -
05 Event-timer U16
1979 to 19FF 00 Reserved - - - - -
1A00 to 1B78
00
TPDO mapping parameter Refer to Subsection 5.6.5
Number of valid object entries U8
Refer to Table 5.4 Refer to Table 5.9
Refer to Table 5.10
01 1st Mapped object U32
02 2nd Mapped object U32
03 3rd Mapped object U32
04 4th Mapped object U32
05 5th Mapped object U32
06 6th Mapped object U32
07 7th Mapped object U32
08 8th Mapped object U32
1B79 to 1F21 00 Reserved - - - - -
1F22 00
Concise DCF Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.13 Node-ID value DOMAIN - R/W
1F23 to 1F24 00 Reserved - - - - -
1F25 00
Configuration request Highest sub-index U8 H80 R -
01 to 7F Refer to Subsection 5.8.13
Node-ID value U32 H0 W -
80 ALL nodes
1F26 00
Expected configuration date Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.13 Node-ID value U32 H0 R/W
1F27 00
Expected configuration time Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.13 Node-ID value U32 H0 R/W
1F28 to 1F7F 00 Reserved - - - - -
1F80 00 NMT startup Refer to Subsection 5.8.5 U32 H0 R/W
1F81 00
NMT slave assignment Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.7 Node-ID value U32 H0 R/W
Index (hex)
Sub- index (hex)
Object Description / Set Range Data Type Initial Value Read/ Write
Stored to Flash
ROM
37
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1F82 00
Request NMT Highest sub-index U8 H80 R -
01 to 7F Refer to Subsection 5.8.9
Node-ID U8
H0 R/W - 80 All nodes - W -
1F83 00
Request node guarding Highest sub-index U8 H80 R -
01 to 7F Refer to Subsection 5.8.10
Node-ID value U8 H0
R/W - 80 All nodes W -
1F84 00
Device type Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.4 U32 H0 R/W
1F85 00
Vendor identification Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.4 U32 H0 R/W
1F86 00
Product code Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.4 U32 H0 R/W
1F87 00
Revision number Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.4 U32 H0 R/W
1F88 00
Serial number Highest sub-index U8 H7F R -
01 to 7F Refer to Subsection 5.8.4 U32 H0 R/W
1F89 00 Boot time Refer to Subsection 5.8.7 U32 H0 R/W
1F8A to 1F8F 00 Reserved - - - - -
1F90
00
NMT flying master timing parameters
Highest sub-index U8 H06 R -
01
Refer to Subsection 5.8.11
NMT master timeout U16 K100 R/W
02 NMT master negotiation time delay
U16 K500 R/W
03 NMT master priority U16 K1 R/W
04 Priority time slot U16 K1500 R/W
05 CANopen device time slot U16 K10 R/W
06 Multiple NMT master detect cycle time
U16 K4000 + K10 * Node-ID R/W
1F91 to 1FFF 00 Reserved - - - - -
Index (hex)
Sub- index (hex)
Object Description / Set Range Data Type Initial Value Read/ Write
Stored to Flash
ROM
38
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Table 5.1: Mode 405 RPDO communication Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Table 5.2: Mode 405 RPDO mapping Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW
H03 RW
H04 -
H05 RW
1400 5 200 + Node-Id FE 0 Reserved 0 1401 5 300 + Node-Id FE 0 Reserved 0 1402 5 400 + Node-Id FE 0 Reserved 0 1403 5 500 + Node-Id FE 0 Reserved 0
1404 to 144F 5 80000000 FE 0 Reserved 0 1450 to 15F1 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
1600 4 A5800110 A5800210 A5800310 A5800410 0 0 0 0 1601 4 A5800510 A5800610 A5800710 A5800810 0 0 0 0 1602 4 A5800910 A5800A10 A5800B10 A5800C10 0 0 0 0 1603 4 A5800D10 A5800E10 A5800F10 A5801010 0 0 0 0 1604 4 A5801110 A5801210 A5801310 A5801410 0 0 0 0 1605 4 A5801510 A5801610 A5801710 A5801810 0 0 0 0 1606 4 A5801910 A5801A10 A5801B10 A5801C10 0 0 0 0 1607 4 A5801D10 A5801E10 A5801F10 A5802010 0 0 0 0 1608 4 A5802110 A5802210 A5802310 A5802410 0 0 0 0 1609 4 A5802510 A5802610 A5802710 A5802810 0 0 0 0 160A 4 A5802910 A5802A10 A5802B10 A5802C10 0 0 0 0 160B 4 A5802D10 A5802E10 A5802F10 A5803010 0 0 0 0 160C 4 A5803110 A5803210 A5803310 A5803410 0 0 0 0 160D 4 A5803510 A5803610 A5803710 A5803810 0 0 0 0 160E 4 A5803910 A5803A10 A5803B10 A5803C10 0 0 0 0 160F 4 A5803D10 A5803E10 A5803F10 A5804010 0 0 0 0 1610 4 A5804110 A5804210 A5804310 A5804410 0 0 0 0 1611 4 A5804510 A5804610 A5804710 A5804810 0 0 0 0 1612 4 A5804910 A5804A10 A5804B10 A5804C10 0 0 0 0 1613 4 A5804D10 A5804E10 A5804F10 A5805010 0 0 0 0 1614 4 A5805110 A5805210 A5805310 A5805410 0 0 0 0 1615 4 A5805510 A5805610 A5805710 A5805810 0 0 0 0 1616 4 A5805910 A5805A10 A5805B10 A5805C10 0 0 0 0 1617 4 A5805D10 A5805E10 A5805F10 A5806010 0 0 0 0 1618 4 A5806110 A5806210 A5806310 A5806410 0 0 0 0 1619 4 A5806510 A5806610 A5806710 A5806810 0 0 0 0 161A 4 A5806910 A5806A10 A5806B10 A5806C10 0 0 0 0 161B 4 A5806D10 A5806E10 A5806F10 A5807010 0 0 0 0 161C 4 A5807110 A5807210 A5807310 A5807410 0 0 0 0 161D 4 A5807510 A5807610 A5807710 A5807810 0 0 0 0 161E 4 A5810110 A5810210 A5810310 A5810410 0 0 0 0 161F 4 A5810510 A5810610 A5810710 A5810810 0 0 0 0 1620 4 A5810910 A5810A10 A5810B10 A5810C10 0 0 0 0 1621 4 A5810D10 A5810E10 A5810F10 A5811010 0 0 0 0 1622 4 A5811110 A5811210 A5811310 A5811410 0 0 0 0 1623 4 A5811510 A5811610 A5811710 A5811810 0 0 0 0 1624 4 A5811910 A5811A10 A5811B10 A5811C10 0 0 0 0 1625 4 A5811D10 A5811E10 A5811F10 A5812010 0 0 0 0
39
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1626 4 A5812110 A5812210 A5812310 A5812410 0 0 0 0 1627 4 A5812510 A5812610 A5812710 A5812810 0 0 0 0 1628 4 A5812910 A5812A10 A5812B10 A5812C10 0 0 0 0 1629 4 A5812D10 A5812E10 A5812F10 A5813010 0 0 0 0 162A 4 A5813110 A5813210 A5813310 A5813410 0 0 0 0 162B 4 A5813510 A5813610 A5813710 A5813810 0 0 0 0 162C 4 A5813910 A5813A10 A5813B10 A5813C10 0 0 0 0 162D 4 A5813D10 A5813E10 A5813F10 A5814010 0 0 0 0 162E 4 A5814110 A5814210 A5814310 A5814410 0 0 0 0 162F 4 A5814510 A5814610 A5814710 A5814810 0 0 0 0 1630 4 A5814910 A5814A10 A5814B10 A5814C10 0 0 0 0 1631 4 A5814D10 A5814E10 A5814F10 A5815010 0 0 0 0 1632 4 A5815110 A5815210 A5815310 A5815410 0 0 0 0 1633 4 A5815510 A5815610 A5815710 A5815810 0 0 0 0 1634 4 A5815910 A5815A10 A5815B10 A5815C10 0 0 0 0 1635 4 A5815D10 A5815E10 A5815F10 A5816010 0 0 0 0 1636 4 A5816110 A5816210 A5816310 A5816410 0 0 0 0 1637 4 A5816510 A5816610 A5816710 A5816810 0 0 0 0 1638 4 A5816910 A5816A10 A5816B10 A5816C10 0 0 0 0 1639 4 A5816D10 A5816E10 A5816F10 A5817010 0 0 0 0 163A 4 A5817110 A5817210 A5817310 A5817410 0 0 0 0 163B 4 A5817510 A5817610 A5817710 A5817810 0 0 0 0 163C 4 A5820110 A5820210 A5820310 A5820410 0 0 0 0 163D 4 A5820510 A5820610 A5820710 A5820810 0 0 0 0 163E 4 A5820910 A5820A10 A5820B10 A5820C10 0 0 0 0 163F 4 A5820D10 A5820E10 A5820F10 A5821010 0 0 0 0 1640 4 A5821110 A5821210 A5821310 A5821410 0 0 0 0 1641 4 A5821510 A5821610 A5821710 A5821810 0 0 0 0 1642 4 A5821910 A5821A10 A5821B10 A5821C10 0 0 0 0 1643 4 A5821D10 A5821E10 A5821F10 A5822010 0 0 0 0 1644 4 A5822110 A5822210 A5822310 A5822410 0 0 0 0 1645 4 A5822510 A5822610 A5822710 A5822810 0 0 0 0 1646 4 A5822910 A5822A10 A5822B10 A5822C10 0 0 0 0 1647 4 A5822D10 A5822E10 A5822F10 A5823010 0 0 0 0 1648 4 A5823110 A5823210 A5823310 A5823410 0 0 0 0 1649 4 A5823510 A5823610 A5823710 A5823810 0 0 0 0 164A 4 A5823910 A5823A10 A5823B10 A5823C10 0 0 0 0 164B 4 A5823D10 A5823E10 A5823F10 A5824010 0 0 0 0 164C 4 A5824110 A5824210 A5824310 A5824410 0 0 0 0 164D 4 A5824510 A5824610 A5824710 A5824810 0 0 0 0 164E 4 A5824910 A5824A10 A5824B10 A5824C10 0 0 0 0 164F 4 A5824D10 A5824E10 A5824F10 A5825010 0 0 0 0
1650 to 17F1 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
40
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Table 5.3: Mode 405 TPDO communication Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Table 5.4: Mode 405 TPDO mapping Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW
H03 RW
H04 -
H05 RW
1800 5 4000 0180 + Node-Id FE 0 Reserved 0 1801 5 4000 0280 + Node-Id FE 0 Reserved 0 1802 5 4000 0380 + Node-Id FE 0 Reserved 0 1803 5 4000 0480 + Node-Id FE 0 Reserved 0
1804 to 184F 5 C0000000 FE 0 Reserved 0 1850 to 1978 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
1A00 4 A1000110 A1000210 A1000310 A1000410 0 0 0 0 1A01 4 A1000510 A1000610 A1000710 A1000810 0 0 0 0 1A02 4 A1000910 A1000A10 A1000B10 A1000C10 0 0 0 0 1A03 4 A1000D10 A1000E10 A1000F10 A1001010 0 0 0 0 1A04 4 A1001110 A1001210 A1001310 A1001410 0 0 0 0 1A05 4 A1001510 A1001610 A1001710 A1001810 0 0 0 0 1A06 4 A1001910 A1001A10 A1001B10 A1001C10 0 0 0 0 1A07 4 A1001D10 A1001E10 A1001F10 A1002010 0 0 0 0 1A08 4 A1002110 A1002210 A1002310 A1002410 0 0 0 0 1A09 4 A1002510 A1002610 A1002710 A1002810 0 0 0 0 1A0A 4 A1002910 A1002A10 A1002B10 A1002C10 0 0 0 0 1A0B 4 A1002D10 A1002E10 A1002F10 A1003010 0 0 0 0 1A0C 4 A1003110 A1003210 A1003310 A1003410 0 0 0 0 1A0D 4 A1003510 A1003610 A1003710 A1003810 0 0 0 0 1A0E 4 A1003910 A1003A10 A1003B10 A1003C10 0 0 0 0 1A0F 4 A1003D10 A1003E10 A1003F10 A1004010 0 0 0 0 1A10 4 A1004110 A1004210 A1004310 A1004410 0 0 0 0 1A11 4 A1004510 A1004610 A1004710 A1004810 0 0 0 0 1A12 4 A1004910 A1004A10 A1004B10 A1004C10 0 0 0 0 1A13 4 A1004D10 A1004E10 A1004F10 A1005010 0 0 0 0 1A14 4 A1005110 A1005210 A1005310 A1005410 0 0 0 0 1A15 4 A1005510 A1005610 A1005710 A1005810 0 0 0 0 1A16 4 A1005910 A1005A10 A1005B10 A1005C10 0 0 0 0 1A17 4 A1005D10 A1005E10 A1005F10 A1006010 0 0 0 0 1A18 4 A1006110 A1006210 A1006310 A1006410 0 0 0 0 1A19 4 A1006510 A1006610 A1006710 A1006810 0 0 0 0 1A1A 4 A1006910 A1006A10 A1006B10 A1006C10 0 0 0 0 1A1B 4 A1006D10 A1006E10 A1006F10 A1007010 0 0 0 0 1A1C 4 A1007110 A1007210 A1007310 A1007410 0 0 0 0 1A1D 4 A1007510 A1007610 A1007710 A1007810 0 0 0 0 1A1E 4 A1010110 A1010210 A1010310 A1010410 0 0 0 0 1A1F 4 A1010510 A1010610 A1010710 A1010810 0 0 0 0 1A20 4 A1010910 A1010A10 A1010B10 A1010C10 0 0 0 0 1A21 4 A1010D10 A1010E10 A1010F10 A1011010 0 0 0 0 1A22 4 A1011110 A1011210 A1011310 A1011410 0 0 0 0 1A23 4 A1011510 A1011610 A1011710 A1011810 0 0 0 0 1A24 4 A1011910 A1011A10 A1011B10 A1011C10 0 0 0 0 1A25 4 A1011D10 A1011E10 A1011F10 A1012010 0 0 0 0
41
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1A26 4 A1012110 A1012210 A1012310 A1012410 0 0 0 0 1A27 4 A1012510 A1012610 A1012710 A1012810 0 0 0 0 1A28 4 A1012910 A1012A10 A1012B10 A1012C10 0 0 0 0 1A29 4 A1012D10 A1012E10 A1012F10 A1013010 0 0 0 0 1A2A 4 A1013110 A1013210 A1013310 A1013410 0 0 0 0 1A2B 4 A1013510 A1013610 A1013710 A1013810 0 0 0 0 1A2C 4 A1013910 A1013A10 A1013B10 A1013C10 0 0 0 0 1A2D 4 A1013D10 A1013E10 A1013F10 A1014010 0 0 0 0 1A2E 4 A1014110 A1014210 A1014310 A1014410 0 0 0 0 1A2F 4 A1014510 A1014610 A1014710 A1014810 0 0 0 0 1A30 4 A1014910 A1014A10 A1014B10 A1014C10 0 0 0 0 1A31 4 A1014D10 A1014E10 A1014F10 A1015010 0 0 0 0 1A32 4 A1015110 A1015210 A1015310 A1015410 0 0 0 0 1A33 4 A1015510 A1015610 A1015710 A1015810 0 0 0 0 1A34 4 A1015910 A1015A10 A1015B10 A1015C10 0 0 0 0 1A35 4 A1015D10 A1015E10 A1015F10 A1016010 0 0 0 0 1A36 4 A1016110 A1016210 A1016310 A1016410 0 0 0 0 1A37 4 A1016510 A1016610 A1016710 A1016810 0 0 0 0 1A38 4 A1016910 A1016A10 A1016B10 A1016C10 0 0 0 0 1A39 4 A1016D10 A1016E10 A1016F10 A1017010 0 0 0 0 1A3A 4 A1017110 A1017210 A1017310 A1017410 0 0 0 0 1A3B 4 A1017510 A1017610 A1017710 A1017810 0 0 0 0 1A3C 4 A1020110 A1020210 A1020310 A1020410 0 0 0 0 1A3D 4 A1020510 A1020610 A1020710 A1020810 0 0 0 0 1A3E 4 A1020910 A1020A10 A1020B10 A1020C10 0 0 0 0 1A3F 4 A1020D10 A1020E10 A1020F10 A1021010 0 0 0 0 1A40 4 A1021110 A1021210 A1021310 A1021410 0 0 0 0 1A41 4 A1021510 A1021610 A1021710 A1021810 0 0 0 0 1A42 4 A1021910 A1021A10 A1021B10 A1021C10 0 0 0 0 1A43 4 A1021D10 A1021E10 A1021F10 A1022010 0 0 0 0 1A44 4 A1022110 A1022210 A1022310 A1022410 0 0 0 0 1A45 4 A1022510 A1022610 A1022710 A1022810 0 0 0 0 1A46 4 A1022910 A1022A10 A1022B10 A1022C10 0 0 0 0 1A47 4 A1022D10 A1022E10 A1022F10 A1023010 0 0 0 0 1A48 4 A1023110 A1023210 A1023310 A1023410 0 0 0 0 1A49 4 A1023510 A1023610 A1023710 A1023810 0 0 0 0 1A4A 4 A1023910 A1023A10 A1023B10 A1023C10 0 0 0 0 1A4B 4 A1023D10 A1023E10 A1023F10 A1024010 0 0 0 0 1A4C 4 A1024110 A1024210 A1024310 A1024410 0 0 0 0 1A4D 4 A1024510 A1024610 A1024710 A1024810 0 0 0 0 1A4E 4 A1024910 A1024A10 A1024B10 A1024C10 0 0 0 0 1A4F 4 A1024D10 A1024E10 A1024F10 A1025010 0 0 0 0
1A50 to 1B78 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
42
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Table 5.5: Mode 417 RPDO communication Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
1400 5 80000000 FF 0 Reserved 0 1401 2 501 FF *1) Reserved 1402 2 502 FF *1) Reserved 1403 2 503 FF *1) Reserved 1404 2 504 FF *1) Reserved 1405 2 505 FF *1) Reserved 1406 2 506 FF *1) Reserved 1407 2 507 FF *1) Reserved 1408 2 508 FF *1) Reserved 1409 2 509 FF *1) Reserved 140A 2 50A FF *1) Reserved 140B 2 50B FF *1) Reserved 140C 2 50C FF *1) Reserved 140D 2 50D FF *1) Reserved 140E 2 50E FF *1) Reserved 140F 2 50F FF *1) Reserved 1410 2 510 FF *1) Reserved 1411 2 511 FF *1) Reserved 1412 2 512 FF *1) Reserved 1413 2 513 FF *1) Reserved 1414 2 514 FF *1) Reserved 1415 2 515 FF *1) Reserved 1416 2 516 FF *1) Reserved 1417 2 517 FF *1) Reserved 1418 2 518 FF *1) Reserved 1419 2 519 FF *1) Reserved 141A 2 51A FF *1) Reserved 141B 2 51B FF *1) Reserved 141C 2 51C FF *1) Reserved 141D 2 51D FF *1) Reserved 141E 2 51E FF *1) Reserved 141F 2 51F FF *1) Reserved 1420 2 520 FF *1) Reserved 1421 2 521 FF *1) Reserved 1422 2 522 FF *1) Reserved 1423 2 523 FF *1) Reserved 1424 2 524 FF *1) Reserved 1425 2 525 FF *1) Reserved 1426 2 526 FF *1) Reserved 1427 2 527 FF *1) Reserved 1428 2 528 FF *1) Reserved 1429 2 529 FF *1) Reserved 142A 2 52A FF *1) Reserved 142B 2 52B FF *1) Reserved 142C 2 52C FF *1) Reserved 142D 2 52D FF *1) Reserved 142E 2 52E FF *1) Reserved 142F 2 52F FF *1) Reserved 1430 2 530 FF *1) Reserved 1431 2 531 FF *1) Reserved 1432 2 532 FF *1) Reserved
43
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1433 2 533 FF *1) Reserved 1434 2 534 FF *1) Reserved 1435 2 535 FF *1) Reserved 1436 2 536 FF *1) Reserved 1437 2 537 FF *1) Reserved 1438 2 538 FF *1) Reserved 1439 2 539 FF *1) Reserved 143A 2 53A FF *1) Reserved 143B 2 53B FF *1) Reserved 143C 2 53C FF *1) Reserved 143D 2 53D FF *1) Reserved 143E 2 53E FF *1) Reserved 143F 2 53F FF *1) Reserved 1440 2 540 FF *1) Reserved 1441 2 541 FF *1) Reserved 1442 2 542 FF *1) Reserved 1443 2 543 FF *1) Reserved 1444 2 544 FF *1) Reserved 1445 2 545 FF *1) Reserved 1446 2 546 FF *1) Reserved 1447 2 547 FF *1) Reserved 1448 2 548 FF *1) Reserved 1449 2 549 FF *1) Reserved 144A 2 54A FF *1) Reserved 144B 2 54B FF *1) Reserved 144C 2 54C FF *1) Reserved 144D 2 54D FF *1) Reserved 144E 2 54E FF *1) Reserved 144F 2 54F FF *1) Reserved 1450 2 550 FF *1) Reserved 1451 2 551 FF *1) Reserved 1452 2 552 FF *1) Reserved 1453 2 553 FF *1) Reserved 1454 2 554 FF *1) Reserved 1455 2 555 FF *1) Reserved 1456 2 556 FF *1) Reserved 1457 2 557 FF *1) Reserved 1458 2 558 FF *1) Reserved 1459 2 559 FF *1) Reserved 145A 2 55A FF *1) Reserved 145B 2 55B FF *1) Reserved 145C 2 55C FF *1) Reserved 145D 2 55D FF *1) Reserved 145E 2 55E FF *1) Reserved 145F 2 55F FF *1) Reserved 1460 2 560 FF *1) Reserved 1461 2 561 FF *1) Reserved 1462 2 562 FF *1) Reserved 1463 2 563 FF *1) Reserved 1464 2 564 FF *1) Reserved 1465 2 565 FF *1) Reserved 1466 2 566 FF *1) Reserved 1467 2 567 FF *1) Reserved
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
44
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1468 2 568 FF *1) Reserved 1469 2 569 FF *1) Reserved 146A 2 56A FF *1) Reserved 146B 2 56B FF *1) Reserved 146C 2 56C FF *1) Reserved 146D 2 56D FF *1) Reserved 146E 2 56E FF *1) Reserved 146F 2 56F FF *1) Reserved 1470 2 570 FF *1) Reserved 1471 2 571 FF *1) Reserved 1472 2 572 FF *1) Reserved 1473 2 573 FF *1) Reserved 1474 2 574 FF *1) Reserved 1475 2 575 FF *1) Reserved 1476 2 576 FF *1) Reserved 1477 2 577 FF *1) Reserved 1478 2 578 FF *1) Reserved 1479 2 579 FF *1) Reserved 147A 2 57A FF *1) Reserved 147B 2 57B FF *1) Reserved 147C 2 57C FF *1) Reserved 147D 2 57D FF *1) Reserved 147E 2 57E FF *1) Reserved 147F 2 57F FF *1) Reserved 1480 Reserved 1481 5 481 FF 0 Reserved 0 1482 5 482 FF 0 Reserved 0 1483 5 483 FF 0 Reserved 0 1484 5 484 FF 0 Reserved 0 1485 5 485 FF 0 Reserved 0 1486 5 486 FF 0 Reserved 0 1487 5 487 FF 0 Reserved 0 1488 5 488 FF 0 Reserved 0 1489 5 489 FF 0 Reserved 0 148A 5 48A FF 0 Reserved 0 148B 5 48B FF 0 Reserved 0 148C 5 48C FF 0 Reserved 0 148D 5 48D FF 0 Reserved 0 148E 5 48E FF 0 Reserved 0 148F 5 48F FF 0 Reserved 0 1490 5 490 FF 0 Reserved 0 1491 5 491 FF 0 Reserved 0 1492 5 492 FF 0 Reserved 0 1493 5 493 FF 0 Reserved 0 1494 5 494 FF 0 Reserved 0 1495 5 495 FF 0 Reserved 0 1496 5 496 FF 0 Reserved 0 1497 5 497 FF 0 Reserved 0 1498 5 498 FF 0 Reserved 0 1499 5 499 FF 0 Reserved 0 149A 5 49A FF 0 Reserved 0 149B 5 49B FF 0 Reserved 0 149C 5 49C FF 0 Reserved 0
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
45
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
149D 5 49D FF 0 Reserved 0 149E 5 49E FF 0 Reserved 0 149F 5 49F FF 0 Reserved 0 14A0 5 4A0 FF 0 Reserved 0 14A1 5 4A1 FF 0 Reserved 0 14A2 5 4A2 FF 0 Reserved 0 14A3 5 4A3 FF 0 Reserved 0 14A4 5 4A4 FF 0 Reserved 0 14A5 5 4A5 FF 0 Reserved 0 14A6 5 4A6 FF 0 Reserved 0 14A7 5 4A7 FF 0 Reserved 0 14A8 5 4A8 FF 0 Reserved 0 14A9 5 4A9 FF 0 Reserved 0 14AA 5 4AA FF 0 Reserved 0 14AB 5 4AB FF 0 Reserved 0 14AC 5 4AC FF 0 Reserved 0 14AD 5 4AD FF 0 Reserved 0 14AE 5 4AE FF 0 Reserved 0 14AF 5 4AF FF 0 Reserved 0 14B0 5 4B0 FF 0 Reserved 0 14B1 5 4B1 FF 0 Reserved 0 14B2 5 4B2 FF 0 Reserved 0 14B3 5 4B3 FF 0 Reserved 0 14B4 5 4B4 FF 0 Reserved 0 14B5 5 4B5 FF 0 Reserved 0 14B6 5 4B6 FF 0 Reserved 0 14B7 5 4B7 FF 0 Reserved 0 14B8 5 4B8 FF 0 Reserved 0 14B9 5 4B9 FF 0 Reserved 0 14BA 5 4BA FF 0 Reserved 0 14BB 5 4BB FF 0 Reserved 0 14BC 5 4BC FF 0 Reserved 0 14BD 5 4BD FF 0 Reserved 0 14BE 5 4BE FF 0 Reserved 0 14BF 5 4BF FF 0 Reserved 0 14C0 5 4C0 FF 0 Reserved 0
14C1 to 1500 Reserved 1501 5 188 FF 0 Reserved 0 1502 Reserved 1503 5 183 FF 0 Reserved 0 1504 Reserved 1505 5 181 FF 0 Reserved 0 1506 5 18C FF 0 Reserved 0 1507 5 18D FF 0 Reserved 0
1508 to 1509 Reserved 150A 5 201 FF 0 Reserved 0 150B 5 205 FF 0 Reserved 0 150C 5 202 FF 0 Reserved 0 150D 5 206 FF 0 Reserved 0 150E 5 203 FF 0 Reserved 0 150F 5 207 FF 0 Reserved 0 1510 Reserved 1511 5 198 FF 0 Reserved 0
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
46
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1512 Reserved 1513 5 193 FF 0 Reserved 0 1514 Reserved 1515 5 191 FF 0 Reserved 0 1516 5 19C FF 0 Reserved 0 1517 5 19D FF 0 Reserved 0
1518 to 1519 Reserved 151A 5 211 FF 0 Reserved 0 151B 5 215 FF 0 Reserved 0 151C 5 212 FF 0 Reserved 0 151D 5 216 FF 0 Reserved 0 151E 5 213 FF 0 Reserved 0 151F 5 217 FF 0 Reserved 0 1520 Reserved 1521 5 1A8 FF 0 Reserved 0 1522 Reserved 1523 5 1A3 FF 0 Reserved 0 1524 Reserved 1525 5 1A1 FF 0 Reserved 0 1526 5 1AC FF 0 Reserved 0 1527 5 1AD FF 0 Reserved 0
1528 to 1529 Reserved 152A 5 221 FF 0 Reserved 0 152B 5 225 FF 0 Reserved 0 152C 5 222 FF 0 Reserved 0 152D 5 226 FF 0 Reserved 0 152E 5 223 FF 0 Reserved 0 152F 5 227 FF 0 Reserved 0 1530 Reserved 1531 5 1B8 FF 0 Reserved 0 1532 Reserved 1533 5 1B3 FF 0 Reserved 0 1534 Reserved 1535 5 1B1 FF 0 Reserved 0 1536 5 1BC FF 0 Reserved 0 1537 5 1BD FF 0 Reserved 0
1538 to 1539 Reserved 153A 5 231 FF 0 Reserved 0 153B 5 235 FF 0 Reserved 0 153C 5 232 FF 0 Reserved 0 153D 5 236 FF 0 Reserved 0 153E 5 233 FF 0 Reserved 0 153F 5 237 FF 0 Reserved 0 1540 Reserved 1541 5 1C8 FF 0 Reserved 0 1542 Reserved 1543 5 1C3 FF 0 Reserved 0 1544 Reserved 1545 5 1C1 FF 0 Reserved 0 1546 5 1CC FF 0 Reserved 0 1547 5 1CD FF 0 Reserved 0
1548 to 1549 Reserved 154A 5 241 FF 0 Reserved 0
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
47
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
154B 5 245 FF 0 Reserved 0 154C 5 242 FF 0 Reserved 0 154D 5 246 FF 0 Reserved 0 154E 5 243 FF 0 Reserved 0 154F 5 247 FF 0 Reserved 0 1550 Reserved 1551 5 1D8 FF 0 Reserved 0 1552 Reserved 1553 5 1D3 FF 0 Reserved 0 1554 Reserved 1555 5 1D1 FF 0 Reserved 0 1556 5 1DC FF 0 Reserved 0 1557 5 1DD FF 0 Reserved 0
1558 to 1559 Reserved 155A 5 251 FF 0 Reserved 0 155B 5 255 FF 0 Reserved 0 155C 5 252 FF 0 Reserved 0 155D 5 256 FF 0 Reserved 0 155E 5 253 FF 0 Reserved 0 155F 5 257 FF 0 Reserved 0 1560 Reserved 1561 5 1E8 FF 0 Reserved 0 1562 Reserved 1563 5 1E3 FF 0 Reserved 0 1564 Reserved 1565 5 1E1 FF 0 Reserved 0 1566 5 1EC FF 0 Reserved 0 1567 5 1ED FF 0 Reserved 0
1568 to 1569 Reserved 156A 5 261 FF 0 Reserved 0 156B 5 265 FF 0 Reserved 0 156C 5 262 FF 0 Reserved 0 156D 5 266 FF 0 Reserved 0 156E 5 263 FF 0 Reserved 0 156F 5 267 FF 0 Reserved 0 1570 Reserved 1571 5 1F8 FF 0 Reserved 0 1572 Reserved 1573 5 1F3 FF 0 Reserved 0 1574 Reserved 1575 5 1F1 FF 0 Reserved 0 1576 5 1FC FF 0 Reserved 0 1577 5 1FD FF 0 Reserved 0
1578 to 1579 Reserved 157A 5 271 FF 0 Reserved 0 157B 5 275 FF 0 Reserved 0 157C 5 272 FF 0 Reserved 0 157D 5 276 FF 0 Reserved 0 157E 5 273 FF 0 Reserved 0 157F 5 277 FF 0 Reserved 0 1580 5 18E FF 0 Reserved 0 1581 5 18F FF 0 Reserved 0
1582 to 158F Reserved
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
48
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Table 5.6: Mode 417 RPDO mapping Parameter part 1 R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Table 5.7: Mode 417 RPDO mapping Parameter part 2 R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
1590 5 19E FF 0 Reserved 0 1591 5 19F FF 0 Reserved 0
1592 to 159F Reserved 15A0 5 1AE FF 0 Reserved 0 15A1 5 1AF FF 0 Reserved 0
15A2 to 15AF Reserved 15B0 5 1BE FF 0 Reserved 0 15B1 5 1BF FF 0 Reserved 0
15B2 to 15BF Reserved 15C0 5 1CE FF 0 Reserved 0 15C1 5 1CF FF 0 Reserved 0
15C2 to 15CF Reserved 15D0 5 1DE FF 0 Reserved 0 15D1 5 1DF FF 0 Reserved 0
15D2 to 15DF Reserved 15E0 5 1EE FF 0 Reserved 0 15E1 5 1EF FF 0 Reserved 0
15E2 to 15EF Reserved 15F0 5 1FE FF 0 Reserved 0 15F1 5 1FF FF 0 Reserved 0
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
1600 4 A5800110 A5800210 A5800310 A5800410 0 0 0 0
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 to H08 -
1601 to 167F FF Reserved 1680 Reserved
1681 to 16C0 01 60110030 Reserved 16C1 to 1700 Reserved
1701 02 64820108 64800110 Reserved 1702 Reserved 1703 04 64010010 64040008 00050008 64330020 Reserved 1704 Reserved 1705 01 64060020 Reserved 1706 01 63830120 Reserved 1707 01 63830220 Reserved
1708 to 1709 Reserved 170A 02 63010110 63020110 Reserved 170B 01 63100108 Reserved 170C 02 63010210 63020210 Reserved 170D 01 63100208 Reserved 170E 02 63010310 63020310 Reserved 170F 01 63100308 Reserved 1710 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
49
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1711 02 6C820108 6C800110 Reserved 1712 Reserved 1713 04 6C010010 6C040008 00050008 6C330020 Reserved 1714 Reserved 1715 01 6C060020 Reserved 1716 01 6B830120 Reserved 1717 01 6B830220 Reserved
1718 to 1719 Reserved 171A 02 6B010110 6B020110 Reserved 171B 01 6B100108 Reserved 171C 02 6B010210 6B020210 Reserved 171D 01 6B100208 Reserved 171E 02 6B010310 6B020310 Reserved 171F 01 6B100308 Reserved 1720 Reserved 1721 02 74820108 74800110 Reserved 1722 Reserved 1723 04 74010010 74040008 00050008 74330020 Reserved 1724 Reserved 1725 01 74060020 Reserved 1726 01 73830120 Reserved 1727 01 73830220 Reserved
1728 to 1729 Reserved 172A 02 73010110 73020110 Reserved 172B 01 73100108 Reserved 172C 02 73010210 73020210 Reserved 172D 01 73100208 Reserved 172E 02 73010310 73020310 Reserved 172F 01 73100308 Reserved 1730 Reserved 1731 02 7C820108 7C800110 Reserved 1732 Reserved 1733 04 7C010010 7C040008 00050008 7C330020 Reserved 1734 Reserved 1735 01 7C060020 Reserved 1736 01 7B830120 Reserved 1737 01 7B830220 Reserved
1738 to 1739 Reserved 173A 02 7B010110 7B020110 Reserved 173B 01 7B100108 Reserved 173C 02 7B010210 7B020210 Reserved 173D 01 7B100208 Reserved 173E 02 7B010310 7B020310 Reserved 173F 01 7B100308 Reserved 1740 Reserved 1741 02 84820108 84800110 Reserved 1742 Reserved 1743 04 84010010 84040008 00050008 84330020 Reserved 1744 Reserved 1745 01 84060020 Reserved 1746 01 83830120 Reserved 1747 01 83830220 Reserved
1748 to 1749 Reserved
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 to H08 -
50
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
174A 02 83010110 83020110 Reserved 174B 01 83100108 Reserved 174C 02 83010210 83020210 Reserved 174D 01 83100208 Reserved 174E 02 83010310 83020310 Reserved 174F 01 83100308 Reserved 1750 Reserved 1751 02 8C820108 8C800110 Reserved 1752 Reserved 1753 04 8C010010 8C040008 00050008 8C330020 Reserved 1754 Reserved 1755 01 8C060020 Reserved 1756 01 8B830120 Reserved 1757 01 8B830220 Reserved
1758 to 1759 Reserved 175A 02 8B010110 8B020110 Reserved 175B 01 8B100108 Reserved 175C 02 8B010210 8B020210 Reserved 175D 01 8B100208 Reserved 175E 02 8B010310 8B020310 Reserved 175F 01 8B100308 Reserved 1760 Reserved 1761 02 94820108 94800110 Reserved 1762 Reserved 1763 04 94010010 94040008 00050008 94330020 Reserved 1764 Reserved 1765 01 94060020 Reserved 1766 01 93830120 Reserved 1767 01 93830220 Reserved
1768 to 1769 Reserved 176A 02 93010110 93020110 Reserved 176B 01 93100108 Reserved 176C 02 93010210 93020210 Reserved 176D 01 93100208 Reserved 176E 02 93010310 93020310 Reserved 176F 01 93100308 Reserved 1770 Reserved 1771 02 9C820108 9C800110 Reserved 1772 Reserved 1773 04 9C010010 9C040008 00050008 9C330020 Reserved 1774 Reserved 1775 01 9C060020 Reserved 1776 01 9B830120 Reserved 1777 01 9B830220 Reserved
1778 to 1779 Reserved 177A 02 9B010110 9B020110 Reserved 177B 01 9B100108 Reserved 177C 02 9B010210 9B020210 Reserved 177D 01 9B100208 Reserved 177E 02 9B010310 9B020310 Reserved 177F 01 9B100308 Reserved 1780 01 63830320 Reserved 1781 01 63830420 Reserved
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 to H08 -
51
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
Table 5.8: Mode 417 TPDO communication Parameter R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
1782 to 178F Reserved 1790 01 6B830320 Reserved 1791 01 6B830420 Reserved
1792 to 179F Reserved 17A0 01 73830320 Reserved 17A1 01 73830420 Reserved
17A2 to 17AF Reserved 17B0 01 7B830320 Reserved 17B1 01 7B830420 Reserved
17B2 to 17BF Reserved 17C0 01 83830320 Reserved 17C1 01 83830420 Reserved
17C2 to 17CF Reserved 17D0 01 8B830320 Reserved 17D1 01 8B830420 Reserved
17D2 to 17DF Reserved 17E0 01 93830320 Reserved 17E1 01 93830420 Reserved
17E2 to 17EF Reserved 17F0 01 9B830320 Reserved 17F1 01 9B830420 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
1800 5 80000000 FF 0 Reserved 0 1801 2 500 + Node Id FF *1) Reserved
1802 to 18FF Reserved 1900 5 40000400 FF 0 Reserved 0 1901 Reserved 1902 5 C0000182 FF 0 Reserved 0 1903 Reserved 1904 5 C0000180 FF 0 Reserved 0
1905 to 1907 Reserved 1908 5 C0000200 FF 0 Reserved 0
1909 to 1911 Reserved 1912 5 C0000192 FF 0 Reserved 0 1913 Reserved 1914 5 C0000190 FF 0 Reserved 0
1915 to 1917 Reserved 1918 5 C0000210 FF 0 Reserved 0
1919 to 1921 Reserved 1922 5 C00001A2 FF 0 Reserved 0 1923 Reserved 1924 5 C00001A0 FF 0 Reserved 0
1925 to 1927 Reserved 1928 5 C0000220 FF 0 Reserved 0
1929 to 1931 Reserved 1932 5 C00001B2 FF 0 Reserved 0 1933 Reserved
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 to H08 -
52
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Table 5.9: Mode 417 TPDO mapping Parameter part 1 R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
Table 5.10: Mode 417 TPDO mapping Parameter part 2 R: Read access, W: Write access, Reserved: Not existing Index or Sub-index
1934 5 C00001B0 FF 0 Reserved 0 1935 to 1937 Reserved
1938 5 C0000230 FF 0 Reserved 0 1939 to 1941 Reserved
1942 5 C00001C2 FF 0 Reserved 0 1943 Reserved 1944 5 C00001C0 FF 0 Reserved 0
1945 to 1947 Reserved 1948 5 C0000240 FF 0 Reserved 0
1949 to 1951 Reserved 1952 5 C00001D2 FF 0 Reserved 0 1953 Reserved 1954 5 C00001D0 FF 0 Reserved 0
1955 to 1957 Reserved 1958 5 C0000250 FF 0 Reserved 0
1959 to 1961 Reserved 1962 5 C00001E2 FF 0 Reserved 0 1963 Reserved 1964 5 C00001E0 FF 0 Reserved 0
1965 to 1967 Reserved 1968 5 C0000260 FF 0 Reserved 0
1969 to 1971 Reserved 1972 5 C00001F2 FF 0 Reserved 0 1973 Reserved 1974 5 C00001F0 FF 0 Reserved 0
1975 to 1977 Reserved 1978 5 C0000270 FF 0 Reserved 0
Index (hex)
Default value of Sub-Index (hex) H00 RW
H01 RW
H02 RW
H03 RW
H04 RW
H05 RW
H06 RW
H07 RW
H08 RW
1A00 4 A1000110 A1000210 A1000310 A1000410 0 0 0 0
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 R
H06 R
H07 R
H08 R
1A01 FF Reserved 1A02 to 1AFF Reserved
1B00 01 60110030 Reserved 1B01 Reserved 1B02 04 64000010 64030008 67FE0008 64300020 Reserved 1B03 Reserved 1B04 02 64200020 64230020 Reserved
1B05 to 1B07 Reserved 1B08 04 63000110 63000210 63000310 63000410 Reserved
1B09 to 1B11 Reserved 1B12 04 6C000010 6C300008 67FE0008 6C000020 Reserved 1B13 Reserved
Index (hex)
Default value of Sub-Index (hex) H00 R
H01 RW
H02 RW *1)/R
H03 RW
H04 -
H05 RW
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5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1B14 02 6C000020 6C300020 Reserved 1B15 to 1B17 Reserved
1B18 04 6B000110 6B000210 6C000310 6C000410 Reserved 1B19 to 1B21 Reserved
1B22 04 74000010 74030008 67FE0008 74300020 Reserved 1B23 Reserved 1B24 02 74200020 74230020 Reserved
1B25 to 1B27 Reserved 1B28 04 73000110 73000210 73000310 73000410 Reserved
1B29 to 1B31 Reserved 1B32 04 7C000010 7C300008 67FE0008 7C000020 Reserved 1B33 Reserved 1B34 02 7C000020 7C300020 Reserved
1B35 to 1B37 Reserved 1B38 04 7B000110 7B000210 7C000310 7C000410 Reserved
1B39 to 1B41 Reserved 1B42 04 84000010 84030008 67FE0008 84300020 Reserved 1B43 Reserved 1B44 02 84200020 84230020 Reserved
1B45 to 1B47 Reserved 1B48 04 83000110 83000210 83000310 83000410 Reserved
1B49 to 1B51 Reserved 1B52 04 8C000010 8C300008 87FE0008 8C000020 Reserved 1B53 Reserved 1B54 02 8C000020 8C300020 Reserved
1B55 to 1B57 Reserved 1B58 04 8B000110 8B000210 8C000310 8C000410 Reserved
1B59 to 1B61 Reserved 1B62 04 94000010 94030008 67FE0008 94300020 Reserved 1B63 Reserved 1B64 02 94200020 94230020 Reserved
1B65 to 1B67 Reserved 1B68 04 93000110 93000210 93000310 93000410 Reserved
1B69 to 1B71 Reserved 1B72 04 9C000010 9C300008 67FE0008 9C000020 Reserved 1B73 Reserved 1B74 02 9C000020 9C300020 Reserved
1B75 to 1B77 Reserved 1B78 04 9B000110 9B000210 9C000310 9C000410 Reserved
Index (hex)
Default value of Sub-Index (hex) H00
R H01 R
H02 R
H03 R
H04 R
H05 R
H06 R
H07 R
H08 R
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5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.6.1 CAN-ID / COB-ID
Each message type on each device has a unique 11-bit identifier for bus arbitration and identification on the CAN bus. The lowest CAN-ID wins the bus arbitration. CAN-IDs with lower priority (higher CAN-ID) will wait until the bus is free. For easier configuration, one CAN-ID scheme exists for all CANopen devices. By default four TPDO and four RPDO are reserved for every Node-ID. To use more PDO for one node, it is necessary to use CAN-IDs of other nodes.
*1. Function code is shown below.
1. Broadcast objects (Node-ID = 0)
2. Peer-to-peer objects (Node-ID = 1 to 127)
3. Restricted CAN-IDs In a self defined CAN-ID scheme, use of the following CAN-IDs are restricted and shall not be used as a CAN-ID by any configurable communication object.
COB Function Code (Binary) Resulting CAN-ID NMT 0000b H0
SYNC 0001b H80 TIME 0010b H100
COB Function Code (Binary) Resulting CAN-ID EMCY 0001b H81 to HFF TPDO1 0011b H181 to H1FF RPDO1 0100b H201 to H27F TPDO2 0101b H281 to H2FF RPDO2 0110b H301 to H37F TPDO3 0111b H381 to H3FF RPDO3 1000b H401 to H47F TPDO4 1001b H481 to H4FF RPDO4 1010b H501 to H57F TSDO 1011b H581 to H5FF RSDO 1100b H601 to H67F
NMT error control 1110b H701 to H77F
CAN-ID (hex) Used by COB 0 NMT
1 to 7F Reserved 101 to 180 Reserved 581 to 5FF Default TSDO 601 to 67F Default RSDO 6E0 to 6FF Reserved 701 to 77F NMT Error Control 780 to 7FF Reserved
CAN Message
11-bit CAN-IDNode-IDFunction Code
11-bit Identifier
Bit 10 ... 7 Bit 6 ... 0
0 to 8 Data Bytes
*1
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5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
5.6.2 Error Register
The object H1001 provides error information. The CANopen device maps internal errors into this object. It is a part of the emergency object.
*1. Used by the FX3U-CAN Firmware.
The Generic error bit will always be set as long as the EMCY error code is bigger than H00FF. The Error Register can be cleared by clearing the Pre-defined error field in object H1003. All of these bits can be set by the Emergency message transmission command in the Command Interface.
For EMCY, refer to Subsection 5.6.13 For pre-defined error field, refer to Subsection 5.6.3
For emergency message transmission command, refer to Section 10.5
5.6.3 Pre-defined error field
This object H1003 provides the errors that occurred on the module and were signalled via the emergency object. 1) Sub-index H00: Number of errors
The Sub-index H00 displays the number of errors that are recorded. Writing H0 to this Sub-index deletes the entire history. Write values other than H0 are not allowed.
2) Sub-index H01 to H0F: Standard error fields List of the last 15 EMCY Errors sent by FX3U-CAN. Sub-index H01 contains the newest Message and Sub-index H0F contains the oldest Message.
For Emergency error codes, refers to Section 6.23
5.6.4 SDO
An SDO provides direct access to object entries of a CANopen device's object dictionary. These object entries may contain data of arbitrary size and data type. SDO is used to transfer multiple data sets from a client to a server and vice versa. The client controls which data set to transfer via a multiplexer (index and sub-index of the object dictionary). By using the CIF, it is possible to make an SDO access to other CANopen devices or to the FX3U-CAN itself. In the Object Dictionary, no configuration needed.
For CIF, refer to Chapter 10
H0Manufacturer specific*1
Device profile
specific Temperature
Communication error (overrun, error state)*1
Voltage Current Generic error*1
7 6 5 4 2 1 03
Response
Indication
Confirmation
Request
Client Server
56
5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
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Introduction
2
Specifications
3
Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.6.5 RPDO / TPDO
Real-time data transfer is performed by means of Process Data Objects (PDO). PDO transfer is performed with no protocol overhead. PDOs correspond to objects in the object dictionary and provide the interface to the application objects. Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the object dictionary. The variable mapping of PDO and the mapping of application objects into a PDO may be transmitted to a CANopen device during the configuration process by applying the SDO services to the corresponding objects of the object dictionary. The PDO communication parameter describes the communication capabilities of the PDO. The PDO mapping parameter contains information about the contents of the PDO.
With the transmission type Parameter, two transmission modes are configurable: Synchronous transmission Event-driven transmission
Use the following procedure to change the PDO communication or mapping parameter: 1) The PDO must be set to invalid (Communication Parameter Sub-index H01 bit 31). 2) Set the communication Parameters 3) Set the mapping Parameters
- Set Sub-Index H00 to the value H00. - Modify the mapping at Sub-Indexes H01 to H08. - Enable the mapping by setting the Sub-index H00 to the number of mapped objects.
4) Set the PDO to valid (Communication Parameter Sub-index H01 bit 31).
For unneeded data in an RPDO, a dummy mapping entry can be made to the data type definition Indexes to make the RPDO length fit the length of the TPDO accordingly.
For data type definitions indexes, refer to Section 5.5
Process data : L bytes of application data
Process data
0 < L 8
Request
Request
PDO consumersPDO producer
In hi
bi t t
im e
Indication Indication
Indication
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5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1. Object H1400 to H144F 1) Sub-index H01: RPDO COB-ID
2) Sub-index H02: RPDO transmission type
3) Sub-index H03: RPDO inhibit time For RPDOs, the inhibit time has no function.
4) Sub-index H05: RPDO event-timer The RPDO event timer is used for deadline monitoring. When the time elapsed without receiving an event driven object (transmission type is set to HFE or HFF) an EMCY with the error code H8250 will be sent. The value is a multiple of 1ms. The value 0 disables the event-timer.
For emergency error code, refer to Section 6.23
2. Object H1600 to H164F Sub-index H01 to H08: RPDO mapping parameter The default mapping is to unsigned 16 bit objects.
Refer to Subsection 7.1.2
Example: To map the first unsigned 16bit data of RPDO1 to BFM #0, set Index H1600 Sub-index H01 to HA5800110. This stands for Object Dictionary Index HA580, Sub-index H01 and a data size of 16bit.
Bit No. Item Description
Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame For COB-ID, refer to Subsection 5.6.1
Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0).
Bit 30 Reserved This bit fixed to OFF (0).
Bit 31 Valid OFF (0): Valid ON (1): Invalid
Value (hex) Description
00 to F0 Synchronous Received PDO data will be processed after the next SYNC message, independent of the transmission rate specified by the transmission type.
F1 to FD Reserved FE Event-driven (Function Mode 405) FF Event-driven (Function Mode 417)
Item Description Index Index of the mapped Object
Sub-index Sub-index of the mapped Object Length Bit length of the mapped Object
11-bit CAN-IDH0000H0ReservedValid
31 29 28 ... 11 10 ... 030
Index Sub-index Length
7 ... 015 ... 831 ... 16
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5 Introduction of Functions 5.6 Communication Profile AreaFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
3. Object H1800 to H184F 1) Sub-index H01: TPDO COB-ID
2) Sub-index H02: TPDO transmission type
3) Sub-index H03: TPDO inhibit time This object configures the minimum time between two PDO transmissions if the transmission type is set to HFE or HFF. PDO transmission request over BFM #20 will be dismissed during this time. Unit of this value is 100 s (FX3U-CAN counting resolution: 1 ms). The value 0 disables the inhibit time.
For BFM #20, refer to Section 6.4 4) Object H1800 to H184F Sub-index H05: TPDO event-timer
If the event timer elapses and an event driven transmission is not sent in that time (transmission type is set to HFE or HFF), a message will be sent with the current value of the Object dictionary. Unit of this value is ms. The value 0 disables the event-timer.
Note
If the inhibit time is active, no PDO will be transmitted.
Bit No. Item Description
Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame For COB-ID, refer to Subsection 5.6.1
Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0).
Bit 30 RTR OFF (0): Remote transmission request (RTR) allowed ON (1): Remote transmission request (RTR) not allowed
This bit is constantly set to ON in the FX3U-CAN.
Bit 31 valid OFF (0): Valid ON (1): Invalid
Value (hex) Description
00 Synchronous (acyclic) The PDO will be transmitted once (acyclic) after occurrence of the SYNC if an event occurred before the SYNC.
01 Synchronous (cyclic every SYNC)
02 Synchronous (cyclic every 2nd SYNC)
03 Synchronous (cyclic every 3rd SYNC)
...
...
F0 Synchronous (cyclic every 240th SYNC) F1 to FD Reserved
FE Event-driven (Function Mode 405) FF Event-driven (Function Mode 417)
11-bit CAN-IDH00000H0RTRValid
31 29 28 ... 11 10 ... 030
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4. Object H1A00 to H1A4F Sub-index H01 to H08: TPDO mapping parameter The default mapping is to unsigned 16 bit objects.
Refer to Subsection 7.1.1
Example: To map unsigned 16bit data of BFM #0 to the first 16 bits of TPDO 1, set Index H1A00 Sub-index H01 to HA1000110. This stands for Object Dictionary Index HA100, Sub-index H01 and a data size of 16bit.
Timing chart The following figures show the relation between Transmit Process Data BFM's (BFM data), BFM #20 bit 0, PDO Inhibit time, PDO Event timer and CAN bus data in NMT state Operational for event driven PDO's. Note that the event and inhibit timer are started every time when PDO transmission is started.
Example 1: Inhibit time = 0, Event time = 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and a data exchange is triggered. If the data are not changed, no PDO will be sent if a data exchange is triggered by BFM #20.
Item Description / set range Index Index of the mapped Object
Sub-index Sub-index of the mapped Object Length Bit length of the mapped Object
Index Sub-index Length
7 ... 015 ... 831 ... 16
H0001 H5374 H2102 H3528
H0000 H5374 H2102 H3528H0001
BFM data
BFM #20 bit0
OD data
TPDO 1 Inhibit time
TPDO 1 Event timer
CAN Bus TPDO 1 H0001 H5374 H2102 H3528
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Example 2: Inhibit time > 0, Event time = 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and the inhibit time is not running. If the inhibit time is active and the data are changed before the inhibit time elapsed, the former data will not be sent as PDO. Before FX3U-CAN firmware version 1.10
If the data are not changed, no PDO will be sent if a data exchange is triggered by BFM #20. FX3U-CAN firmware version 1.10 or later
If a data exchange is triggered by BFM #20 and at the last data exchange the inhibit time was active, a PDO will be sent, otherwise no PDO will be sent as long as the data did not change.
Example 3: Inhibit time = 0, Event time > 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed. Even if no data exchange with new data is triggered by BFM #20, a PDO with the actual object dictionary data will be sent when the event timer elapsed.
BFM data
BFM #20 bit0
OD data
TPDO1 Inhibit time F/W < Ver. 1.10
TPDO1 Event timer
CAN Bus TPDO1 F/W >= Ver. 1.10
CAN Bus TPDO1 F/W < Ver. 1.10
TPDO1 Inhibit time F/W >= Ver. 1.10
H0001 H2102 H3528
H0001 H2102
H0001 H2102 H3528H5374
H0000 H2102 H3528H0001 H5374
H0001 H2102 H3528
H0000 H2102 H3528H0001
BFM data
BFM #20 bit0
OD data
TPDO1 Inhibit time
TPDO1 Event timer
CAN Bus TPDO1 H0001 H2102 H3528H0001 H2102 H3528
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Example 4: Inhibit time > 0, Event time > 0, Inhibit time < Event time The BFM data will be copied into the Object dictionary. A PDO will be sent every time when the data are changed and the inhibit time is not running. If the inhibit time is active and the data are changed before the inhibit time elapsed, the former data will not be sent as PDO. Before FX3U-CAN firmware version 1.10
If the data are not changed, no PDO will be sent if a data exchange is triggered by BFM #20. FX3U-CAN firmware version 1.10 or later
If a data exchange is triggered by BFM #20 and at the last data exchange the inhibit time was active, a PDO will be sent, otherwise no PDO will be sent as long as the data did not change.
If no data exchange with new data is triggered by BFM #20, a PDO with the actual object dictionary data will be sent when the event timer elapsed and the inhibit time is not active. The inhibit time in combination with the event timer allows new PDO data to be sent without the need to retrigger the data exchange by BFM #20 for the case that during the first data exchange of new data the inhibit time was active.
BFM data
BFM #20 bit0
OD data
TPDO1 Inhibit time F/W < Ver. 1.10
TPDO1 Event timer F/W < Ver. 1.10
CAN Bus TPDO1 F/W >= Ver. 1.10
CAN Bus TPDO1 F/W < Ver. 1.10
TPDO1 Inhibit time F/W >= Ver. 1.10
H0001 H2102 H3528H5374
H0001 H2102 H3528H5374
H0000 H2102 H3528H0001 H5374
TPDO1 Event timer F/W >= Ver. 1.10
H0001 H5374 H3528 H3528
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Example 5: Inhibit time > 0, Event time > 0, Inhibit time > Event time The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and the inhibit time is not running. If the inhibit time is active and the data are changed before the inhibit time elapsed, the former data will not be sent as PDO. If the data are not changed, no PDO will be sent if a data exchanged is triggered by BFM #20. If no data exchange with new data is triggered by BFM #20, a PDO with the actual object dictionary data will be sent when the event timer elapsed and the inhibit time is not active. If the inhibit time is active the event timer starts running again without a PDO being sent. The inhibit time in combination with the event timer allows new PDO data to be sent without the need to retrigger the data exchange by BFM #20 for the case that during the first data exchange of new data the inhibit time was active.
BFM data
BFM #20 bit0
OD data
TPDO1 Inhibit time
TPDO1 Event timer
CAN Bus TPDO1
H0001 H3528H5374
H0000 H3528H0001 H5374
H0001 H3528H5374 H3528
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5.6.6 MPDO
A Multiplexed PDO, like an SDO, provides direct write access to objects of a CANopen device's object dictionary. The size of the data of these objects is limited to a maximum of 4 bytes. The MPDO service can only be used in the CiA 417 Lift Application Mode and does not have to be configured.
Process data: Data less than 4 bytes is filled with H0 to make it 32 bits.
Process dataAddress data
Request
MPDO consumersMPDO producer
Indication Indication
Indication
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5.6.7 SYNC
The SYNC producer broadcasts the synchronization object periodically. The SYNC message provides the basic network synchronization mechanism. The time period between SYNC messages is specified by the standard parameter communication cycle period. There may be a time jitter in transmission by the SYNC producer corresponding approximately to the latency from some other message being transmitted just before the SYNC.
SYNC Object
1. Object H1005: COB-ID SYNC message In order to guarantee timely access to the network, the SYNC is given a very high priority CAN-ID.
For the COB-ID, refer to Subsection 5.6.1
2. Object H1006: Communication cycle period This object provides the communication cycle period. This period defines the SYNC interval. The 32 bit value is in units of s (FX3U-CAN counting resolution: 1 ms). The FX3U-CAN counting resolution is 1ms, values smaller than 1ms will be set internally to 1ms, values starting from 1ms will be divided by 1000. The value 0 disables SYNC producing. The module needs to be active NMT Master to produce SYNC messages. Setting range: K0 to K4,294,967,295
For NMT Master, refer to Subsection 5.8.5
Bit No. Item Description / set range Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0).
Bit 30 gen.
OFF (0): Don't generate SYNC message ON (1): Generate SYNC message
Note: The device needs to be active NMT Master to produce SYNC messages. The Index H1006 needs to be set to enable SYNC producing.
Bit 31 X Do not care
Request
SYNC consumers
0 byte
SYNC producer
Indication Indication
Indication
Communication cyclic period Time
SYNC triggered PDO Objects
11-bit CAN-IDH00000H0gen.X
31 29 26 ... 11 10 ... 030
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5.6.8 Node guarding
This protocol is used to detect remote errors in the network. Each NMT slave serves one requests message for the node guarding protocol. The NMT master polls each NMT guarding slave at regular time intervals. This time-interval is called the guard time and may be different for each NMT slave. The response of the NMT slave contains the NMT state of that NMT slave. The node lifetime is given by guard time multiplied by lifetime factor. The node lifetime may be different for each NMT slave. If the NMT slave has not been polled during its lifetime, a remote node error is indicated through the NMT service life guarding event. A remote node error is indicated through the NMT service node guarding event if: NMT master: The NMT master does not receive confirmation after the Guarding request within the node life time. The response of the NMT guarding slave state does not match the expected state. NMT slave: The NMT guarding slave did not receive the NMT master Guarding request polling for time set in H100C
and H100D.
If a remote error occurred previously but the errors in the guarding protocol have disappeared, it will be indicated that the remote error has been resolved through the NMT service node guarding event and the NMT service life guarding event. If Heartbeat is activated, the Node guarding settings will be ignored. Note
As Slave, the FX3U-CAN (firmware Ver. 1.10 or later) supports Node Guarding. Use the heartbeat service for FX3U-CAN not supporting Node Guarding.
Node guarding produces a high bus load. It is recommended to use heartbeat instead.
1. Slave Setting 1) Object H100C: Guard time
The 16bit guard time in units of ms is the time limit for which the response must be sent. The value 0 disables life guarding. Applicable for FX3U-CAN firmware Ver. 1.10 or later.
2) Object H100D: Life time factor The 8bit life time factor value multiplied by the guard time gives the life time for which the NMT Master has to send the guarding request. The value 0 disables life guarding. Both Objects have to be set to activate Node guarding. The order in which Guard time and Life time factor are set does not matter. Applicable for FX3U-CAN firmware Ver. 1.10 or later.
2. Master Setting 1) Object H1F81: NMT slave assignment
Refer to Subsection 5.8.7
NMT Master
Request
H 10
0C :
G ua
rd ti
m e
H 10
0D :
Li fe
ti m
e fa
ct or
H 1F
81 :
R et
ry fa
ct or
Indication
Indication
Response
ResponseConfirmation
Confirmation
Request
NMT Slave COB-ID = 1792 + Node-ID
t s
s: NMT slave state
t: Toggle Bit
4 Stopped 5 Operational 127 Pre-Operational
st
H 1F
81 :
G ua
rd ti
m e
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5.6.9 Heartbeat
The heartbeat protocol defines an error control service that does not use requests. A heartbeat producer transmits a heartbeat message cyclically. One or more heartbeat consumers receive the indication. The relationship between producer and consumer is configurable via the object dictionary. The heartbeat consumer guards the reception of the heartbeat within the heartbeat consumer time. If the heartbeat is not received within the heartbeat consumer time, a heartbeat event will be generated. If the FX3U-CAN module is configured as Flying Master, Heartbeat producing and consuming is automatically activated between it and other FX3U-CAN modules also set up as Flying Masters.
For Flying Master, refer to Subsection 5.8.11
Note
Heartbeat produces a high bus load, but only half that of node guarding.
1. Object H1016 sub-index H01 to H7F: Consumer heartbeat time The consumer heartbeat time object indicates the expected heartbeat cycle times. Monitoring of the heartbeat producer starts after reception of the first heartbeat. The consumer heartbeat time should be higher than the corresponding producer heartbeat time. Before reception of the first heartbeat, the status of the heartbeat producer is unknown.
If the heartbeat time is 0 or the node-ID is 0 or greater than 127, the corresponding object entry is not used. The unit of heartbeat time is ms.
2. Object H1017: Producer heartbeat time The unit of 16bit producer heartbeat time is ms. The value 0 disables the producer heartbeat.
COB-ID = 1792 + Node-ID Heartbeat producer Heartbeat consumers
Request
Request
s
s
H 10
17 :
P ro
du ce
r h ea
rtb ea
t t im
e
H 10
16 :
C on
su m
er h
ea rtb
ea t t
im e
Indication Indication
Indication
Indication
Indication Indication
s: NMT slave state 4 Stopped 5 Operational 127 Pre-Operational 0 Boot-Up Event
H00 Node-ID Heartbeat time
15 ... 023 ... 1631 ... 24
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5.6.10 TIME
The TIME producer broadcasts the time stamp object. This TIME provides the simple network clock. The time stamp contains the Time of day, which is represented by a 48 bit sequence. These sequences represent the time in milliseconds after midnight (28 bits) and the number of days since 1984-01-01 (16 bits). Only one Timestamp producer is allowed in the Network. The time and the date have to be configured by setting BFM #51 to #57 (clock data). In order to guarantee timely access to the network, the TIME is given a very high priority CAN-ID. CANopen devices that operate a local clock may use the TIME object to adjust their own time base to that of the time stamp object producer. The consuming and producing setting can be directly changed by BFM #50. In case of time overflow (time later than 31st December 2099 23:59.59), the time returns to 1st January 2000 00:00:00. Buffer memory display for year will be 00 to 99 in all cases. Note for TIME consuming: A received Time stamp before 1st January 2000 00:00.00 is set to 1st January 2000 00:00:00.
For time stamp BFM #50 to #59, refer to Section 6.19
Object H1012: COB-ID time stamp object For the resulting COB-ID, refer to Subsection 5.6.1
5.6.11 Store parameters
To store all parameters to non-volatile memory, write SDO H65766173 (ISO8859 String code: "save") to Object Index H1010, Sub-Index H01 or use the store command in the CIF. After each power-up or reset, the saved parameters will be valid.
For the store command in the CIF, refer to Section 10.6 Note
For CDCF files stored on Object H1F22, the store parameter command is not necessary. On read access, the CANopen device gives back information about its storage functionality:
Bit No. Item Description Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0).
Bit 30 produce
OFF (0): Do not produce TIME Messages ON (1): Produce TIME Messages Note: The FX3U-CAN needs to be active NMT
Master to produce TIME messages.
Bit 31 consume OFF (0): Do not consume TIME Messages ON (1): Consume TIME Messages
Bit No. Description
Bit 0 OFF (0): Device does not save parameter on command. ON (1): Device saves parameter on command. (FX3U-CAN)
Bit 1 OFF (0): Device does not save parameter without user request. (FX3U-CAN) ON (1): Device saves parameter without user request.
Bit 2 to 31 Reserved
Request
TIME producer TIME consumers
Time stamp
Indication Indication
Indication
11-bit CAN-IDH00000H0produceconsume
31 29 26 ... 11 10 ... 030
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5.6.12 Restore default parameters
To restore factory default parameters, write SDO H64616F6C (ISO8859 code: daol ("load")) to Object Index H1011, Sub-Index H01 or use the restore command in the CIF. The stored parameters are then overwritten to factory default settings.
For the restore command in the CIF, refer to Section 10.7 Restore procedure:
Note
Do not execute a store parameter command before executing the reset command. Otherwise the factory default parameters will be overwritten with the previous settings.
CDCF files stored on Object H1F22 will be also cleared and will be cleared directly before the Reset command.
On read access, the CANopen device gives back information about its restoring functionality:
5.6.13 EMCY
Emergency objects are triggered by the occurrence of a CANopen device internal error. An emergency object is transmitted only once per "error event." No further emergency objects are transmitted as long as no new errors occur on a CANopen device. Zero or more emergency consumers may receive the emergency object. The received EMCY Messages will be displayed in BFM #750 to #859. A transmission of EMCY Messages is possible over the CIF.
For BFM #750 to #859 Emergency Message Buffer, refer to Section 6.23 For sending an CIF EMCY Message in the CIF, refer to Section 6.23
eec: Emergency error code (2 Byte) For Emergency error code, refer to Section 6.23
er: Error register (1 Byte) For Error register (object H1001), refer to Subsection 5.6.2
msef: Manufacturer-specific error code (5 Byte)
Bit Description / set range
Bit 0 OFF (0): Device is not able to restore factory default parameters on command. ON (1): Device is able to restore factory default parameters on command. (FX3U-CAN)
Bit 1 to 31 Reserved
Restore default parameter command
Reset command
Factory default parameter valid
0...1 2
ereec msef
3...7 Request
Request
EMCY consumersEMCY producer
In hi
bi t t
im e
Indication Indication
Indication
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1. Object H1014: COB-ID EMCY
For the resulting COB-ID, refer to Subsection 5.6.1
Note
On the FX3U-CAN, the setting is fixed and can not be changed.
2. Object H1015: Inhibit time EMCY This object configures the minimum time between two EMCY messages. The unit of the 16 bit value is 100 s. The value 0 disables the inhibit time. The FX3U-CAN counting resolution is 1ms, values smaller than 1ms will set internally to 1ms, values starting from 1ms will be divided by 1000.
3. Object H1028 sub-index H01 to H7F: Emergency consumer object This Object configures the COB-IDs for the EMCY objects that the module is consuming. The Sub-index refers to the related node-ID.
For the resulting COB-ID, refer to Subsection 5.6.1
Bit No. Item Description Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0). Bit 30 - Bit 30 fixed to OFF (0).
Bit 31 valid OFF (0): EMCY producing is valid ON (1): EMCY producing is not valid
Bit No. Item Description Bit 0 to 10 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame Bit 11 to 28 - Bit 11 to 28 fixed to OFF (0). Bit 29 - Bit 29 fixed to OFF (0). Bit 30 - Bit 30 fixed to OFF (0).
Bit 31 valid OFF (0): EMCY consuming of remote Node is valid ON (1): EMCY consuming of remote Node is not valid
11-bit CAN-IDH00000H0H0valid
31 29 28 ... 11 10 ... 030
11-bit CAN-IDH00000H0H0valid
31 29 28 ... 11 10 ... 030
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5.7 Error Behaviour
If a serious CANopen device failure is detected in NMT state Operational, the CANopen device automatically shifts to the NMT state Pre-operational by default. Alternatively, the CANopen device can be configured to change to NMT state Stopped or remain in the current NMT state. CANopen device failures include the following communication errors: Bus-off conditions of the CAN interface Only as NMT Slave: Life guarding event with the state 'occurred' and the reason 'time out' Only as NMT Slave: Heartbeat event with state 'occurred' and the reason 'time out' PLC RUN STOP: If the setting value is H01, the FX3U-CAN will change into Pre-operational but can be
set again to Operational when the PLC is in STOP. With the setting value H00 or H02, the FX3U-CAN can not set into Operational as long as the PLC is in STOP.
FROM/TO Watchdog error: If the setting value is H01, the FX3U-CAN will change into Pre-operational but can be set again to Operational when the BFM #29 bit 7 is set. With the setting value H00 or H02, the FX3U-CAN can not set into Operational as long as the BFM #29 bit 7 is set.
For FROM/TO Watchdog, refer to Section 6.9 For FROM/TO Watchdog error, refer to Section 14.2
Severe CANopen device errors also may be caused by CANopen device internal failures.
Object H1029 sub-index H01: Error behaviour object
Error class values Value (hex) Description
00 Change to NMT state Pre-operational (only if currently in NMT state Operational)
01 No change of the NMT state. Refer to different behaviour in case of PLC RUN STOP.
02 Change to NMT state Stopped 03 to FF Not used
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5.8 Network Management
The NMT provides services for controlling the network behaviour of CANopen devices. All CANopen devices of a network referred to as NMT slaves are controlled by services provided by an NMT master. The NMT master is typically also the Application master at the same time, but it is not necessary. The FX3U-CAN supports the master functions NMT startup master, Flying master, Configuration manager, SYNC producer, TIME producer and LSS master which are described in the sections before and below.
5.8.1 CANopen Boot-Up Procedure and NMT states
CANopen devices shift to the NMT state Pre-operational directly after finishing device initialization. In this NMT state, CANopen device parameterization and CAN-ID-allocation via SDO (e.g. using a configuration tool) is possible. Then the CANopen devices may be switched directly or by the NMT startup master into the NMT state Operational.
1. NMT state Pre-operational In the NMT state Pre-operational, communication via SDO is possible. PDO communication is not allowed. Configuration of PDO, parameters and also the allocation of application objects (PDO mapping) may be performed by a configuration application. The CANopen device may be switched into the NMT state Operational directly by sending the NMT service start remote node.
2. NMT state Operational In the NMT state Operational, all communication objects are active.
State Change Description 1 At Power on, shifts to the NMT state initialization automatically.
2 After the NMT state initialization finishes, shifts to the "NMT state Pre-operational" automatically and sends a Boot-Up message
Refer to Subsection 5.8.2 3 NMT service start remote node indication
4, 7 NMT service enter pre-operational indication 5, 8 NMT service stop remote node indication 6 NMT service start remote node indication 9 NMT service reset node indication or reset communication indication
Power on
9Initialization
Pre-Operational
Operational
Stopped
7
2
3 4 5
6
8
1
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3. NMT state Stopped By switching a CANopen device into the NMT state Stopped, it is forced to stop all communication. Furthermore, this NMT state may be used to achieve certain application behaviour.
4. NMT States and communication object relation The relation between NMT states and communication objects is shown in the following table. Services in the listed communication objects may only be executed if the CANopen devices involved in the communication are in the appropriate NMT states. In case of trying to send a communication object which is not allowed in the specific NMT state, no error information will be displayed.
5.8.2 Protocol Boot-Up
This protocol is used to signal that a NMT slave has switched to the NMT state Pre-operational after the NMT state Initialization. The protocol uses the same CAN-ID as the error control protocols. One data byte is transmitted with value 0.
5.8.3 Protocol NMT (Node control)
This Protocol is used by the NMT Master to control the NMT state of remote Nodes. Producing is allowed only by the NMT Master. If the module is the active NMT master, the module is ignoring NMT messages with the Node-ID 0 (All Nodes).
Pre-operational Operational Stopped PDO - -
SDO -
SYNC -
EMCY -
TIME -
Node control and error control
Command specifier (1 byte) Node-ID (1 byte) 1 Start 0 All Nodes 2 Stop 1 to 127 Selected Node 128 Pre-Operational 129 Reset Application 130 Reset Communication
CAN-ID = 1792 + Node-IDRequest
Boot-up consumersBoot-up producer
Indication
0
Node-IDCommand specifier
Request
NMT Slaves
CAN-ID = 0
NMT Master
Indication Indication
Indication
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5.8.4 NMT slave identification
The NMT startup master and the LSS master are using the NMT slave identification data to identify the NMT slave before configuring the NMT slave. If the configured identification data on the NMT master are different than responded from the NMT slave, the NMT startup master service will stop the startup of this NMT slave. The Sub-index corresponds to the NMT slave Node-ID. The default value 0 has the meaning not configured, and the NMT master will skip this entry. For the LSS Master all NMT slave Identification data need to be configured! For the NMT Startup Master, the NMT slave identification entries are optional.
1. Object H1F84 Sub-index H01 to H7F: Device Type The sub-index corresponds to the Node-ID. The value refers to the object H1000 sub-index 00 of the corresponding Node-Id.
2. Object H1F85 Sub-index H01 to H7F: Vendor identification The sub-index corresponds to the Node-ID. The value refers to the object H1018 sub-index 01 of the corresponding Node-Id.
3. Object H1F86 Sub-index H01 to H7F: Product code The sub-index corresponds to the Node-ID. The value refers to the object H1018 sub-index 02 of the corresponding Node-Id.
4. Object H1F87 Sub-index H01 to H7F: Revision number The sub-index corresponds to the Node-ID. The value refers to the object H1018 sub-index 03 of the corresponding Node-Id.
5. Object H1F88 Sub-index H01 to H7F: Serial number The sub-index corresponds to the Node-ID. The value refers to the object H1018 sub-index 04 of the corresponding Node-Id.
5.8.5 NMT master startup
The NMT startup master behaves according to the NMT state machine as defined in Subsection 5.8.1. Before the NMT master transitions from NMT state Pre-operational to NMT state Operational, all assigned NMT slaves shall be booted. The Main flow chart for the NMT master startup is shown in Figure 5.1 Figure 5.2 is a simple startup overview to show the influence of the BFM #70 setting. It is recommended not to use the simple startup because it can not be guaranteed that every NMT Slave will be set into Operational state. Setup the NMT slave startup values for every connected NMT slave on the NMT master instead.
For NMT slave startup, refer to Subsection 4.7.6 Figure 5.1: NMT Master startup process
Come from Power-on or Reset
Configured as NMT master?
OD Index H1F80 Bit 0
Switch to NMT slave mode
yes
no
lostOD Index H1F80 Bit 5
won
To the next page
NMT flying master process
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Signal to continue NMT Master startup process yes yes
yes
Switch NMT master automatically
into NMT state OPERATIONAL?
NMT service Reset communication
all devices
Keep NMT Slaves in Operational?
no
yes
All mandatory NMT Slaves booted?
OD Index H1F81 Bit 0, 3
OD Index H1F80 Bit 2
Enter NMT state Operational from
PLC received? (OD Index 1F82)
For mandatory devices, are all Identification
data set?
Serious Problem in the network or faulty configuration of the NMT Master.
Halt startup procedure. Disable NMT Startup Master.
NMT Master needs to be Reset to restart the Boot process.
no
yes
yes
no no
no
yes yes
OD Indexes H1F85 to H1F88
Start NMT Slave startup
process
OD Index H1F81 Bit 4
NMT service Reset communication for each individual CANopen device whose
Reset communication bit is not set
Note: If the Flying Master function is used, a Reset Communication all Nodes will be sent during the Flying Master negotiation.
Start Boot Timer for mandatory NMT slaves
OD Index H1F89
yes
Response from NMT Slave received?
Response from NMT Slave OK?
Mandatory NMT Slave and Boot time elapsed?
Wait 1s before restart NMT Slave startup
no
no no
no
OD Index H1F81 Bit 0, 3
OD Index H1F89
OD Indexes H1F84 to
H1F88
Start LSS Master
To the next page
All optional NMT Slaves once processed?
Note: NMT Slave startup of optional NMT Slaves continues.
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Figure 5.2: NMT Master simple startup This overview is a more simple overview of the total NMT master startup without any NMT Slave setting in Object Dictionary Index H1F81. Refer to the other figure to see the whole process.
Switch to NMT state OPERATIONAL
Start NMT slaves with NMT start all nodes?
OD Index H1F80 Bit 1, 3
All optional NMT slaves started successfully?
NMT service Start remote node with
node-ID = 0
Network startup finished without failures
yes
yes
no
no
NMT service Start remote for each
NMT slave individually
Power on / Reset
NMT service Reset communication all
Nodes
NMT service Start remote all Nodes
End startup
OD Index H1F80 Bit 1
Time delay between Reset Communication and Start
remote all Nodes
Keep NMT Slaves in Operational?
BFM #70 (default: 500ms)
Start remote all Nodes?
no
no
yes
yes
OD Index H1F81 Bit 0, 4
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Object H1F80: NMT startup This object configures the start up behaviour of a CANopen device via SDO access. If the node is set as Master without the flying master capability, the node starts as NMT master and ignores "all Nodes" NMT commands from the network. After the FX3U-CAN has been configured as the NMT master, parameters have to be stored, and the FX3U-CAN has to be restarted by BFM #25 bit 0 or NMT request Reset Node.
For storing parameters, refer to Subsection 5.6.11 For module restart (BFM #25 bit 0), refer to Section 6.8
Bit No. Item Description
Bit 0 NMT master
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. In a CANopen network, only one (active) NMT Master allowed!
Bit 1 Start all nodes
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.
Refer to Subsection 5.8.6
Bit 2 NMT master start
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.
Refer to Section 10.2
Bit 3 Start node
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.
Bit 4 Reset all nodes
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 device that caused the error 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.
Refer to Subsection 5.8.6 Note: In case of optional NMT Slaves, the NMT service reset communication with node-ID of the
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.
Bit 5 Flying master
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.
Refer to Subsection 5.8.11
Bit 6 Stop all nodes
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.
Refer to Section 6.8 and Section 10.2 Bit 7 to 31 -
Start all nodesH0 Flying
master Reset all
nodes Start nodesStop all nodes
NMT master
NMT master
start
012345631...7
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5.8.6 NMT slave startup
If the NMT Master shall startup the NMT Slave, the NMT startup Master uses the Indexes H1F84 to H1F88 to identify the NMT Slaves during Boot-up. The Setting of these Indexes is optional. The NMT startup Master will request the Index H1000 of the NMT slave to check if the NMT Slave is available in the network. If there is no response on the request, the NMT Master retries every 1s after the request until the NMT Slave responds to the request or the boot time for a mandatory Slave elapses without response. The Index H1F89 Boot time shall be set to a value which is higher than the maximum NMT startup time of the slowest mandatory slave. This time has to be measured from Power-on/Reset of the NMT master to the point where the last mandatory slave becomes NMT state Operational. If identification data of NMT Slaves do not match with the setting on the NMT Master, it will result in a termination of the whole NMT Startup process and the NMT startup Master will be disabled. After a successful Identification, the Configuration Manager configures the NMT Slave at the time when configuration data are stored on the NMT Master. At last depending on the setting, the NMT Master sets the NMT Slave into NMT state Operational.
For NMT Slave identification, refer to Subsection 5.8.4 For NMT Master startup process, refer to Figure 5.1
For Configuration Manager, refer to Subsection 5.8.13 Note
For correct functioning of the CANopen network, it is recommended to assign all CANopen devices which are NMT Slave to the NMT Master.
Figure 5.3: NMT Slave startup process
To the next pageTo the next page
NMT Slave startup process
Node is assigned NMT Slave?
OD Index H1F81 Bit 0
no
no
OD Index H1F81 Bit 2
NMT Slave device type equal
or dont care?
yes
yes
no
yes
NMT Slave shall be start by
NMT Master?
Request OD Index H1000 from NMT Slave
Response received? no
End boot-up with no NMT Slave response
received yes
OD Index H1F84
End NMT Slave boot-up with NMT
Slave response not OK and BFM #25
bit 11 or 14 error, BFM #29 bit 10 and BFM Area #900 to
#963 bit 4 error
NMT Slave startup finished without failures
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Identity check required?
Node state received?Check Node state
yes
yes
yesno
no
no
no
no
yes
yes
Keep alive bit for this NMT Slave set?
OD Index H1F81 Bit 4
NMT Slave startup finished without failures
no
no
yes
yes
End NMT Slave boot-up with NMT
Slave response not OK and BFM #25
bit 11 or 14 error, BFM #29 bit 10 and BFM Area #900 to
#963 bit 4 error
OD Indexes H1F85 to
H1F88
Request OD Index H1018 from NMT
Slave
Response received and OK?
OD Indexes H1F85 to
H1F88
Node state Operational? NMT Service Reset Communication for
this Node
Check Configuration
Configuration check OK?
Start NMT error control service
Start NMT error control service OK?
OD Index H1F81 Bit 2
NMT Slave shall be started by
NMT Master?
yes
no
OD Index H1F80 Bit 3
CANopen devices shall be started?
no
yes CANopen devices shall be started i
ndividually?
NMT Master is in NMT state
Operational?
NMT Service Start Remote Node for this Node
yes
no
no
yes
OD Index H1F80 Bit 1
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5.8.7 NMT slave assignment
This object configures on the NMT Master for each node-ID (corresponding to the sub-index), the node guarding values and the NMT Slave Configuration. Each sub-index of this object corresponds to the node-ID of a CANopen device in the network. The sub-index which corresponds to the node-ID of the NMT Master is ignored.
1. Object H1F81 Sub-index H01 to H7F: NMT slave assignment
1) Guard time field: The value for the guard time indicates the cycle time for node guarding of the CANopen device. The value is in units of ms. The value 0 disables Node Guarding for the CANopen device. Bit 0 in the Configuration field and the Retry factor needs to be set also to enable node guarding. If the heartbeat consumer object is configured to a value 0, then the heartbeat mechanism will have priority over node guarding. Setting range: K0 to K65535
2) Retry factor field The value for the retry factor indicates the number of retries the NMT master issues in case of a Node Guarding event. The value 0 disables Node Guarding for the CANopen device. Bit 0 in the Configuration field and the Guardtime needs to be set also to enable node guarding. Setting range: K0 to K255
3) Configuration field:
Bit No. Item Description
Bit 0 NMT slave
OFF (0): Remote Node is NMT Master or not assigned. ON (1): Remote Node is NMT Slave and assigned to this NMT Master. Note: It's mandatory to set this bit if the NMT Master shall startup and/or Node guard the NMT Slave. If the Flying Master Service is used, it shall be considered as Flying Master switching into NMT
Slave mode if they are not the active NMT Master and may need to be startup by the active NMT Master.
Refer to Subsection 5.8.11
Bit 2 NMT boot slave
OFF (0): Configuration and NMT service Start remote node are not allowed in case of error control event or NMT service Boot up.
ON (1): Configuration and NMT service Start remote node execute in the case of error control event or NMT service Boot up.
Refer to Subsection 5.8.1, 5.8.2 and 5.8.13
Bit 3 Mandatory
OFF (0): CANopen device may be present prior to network start up (CANopen device is optional) ON (1): CANopen device is present prior to network start up (CANopen device is mandatory) Note: For mandatory slaves consider at Object H1F80 also the bits 4 and 6
Refer to Subsection 5.8.5 For LSS Slave this bit has to be set to 1 to enable LSS service for this NMT Slave.
Bit 4 Reset communication
OFF (0): NMT service Reset communication may be executed for the CANopen device at any time ON (1): NMT service Reset communication is not executed for the CANopen device in case the
CANopen device is in NMT state Operational Note when using this function: If the Flying Master Service is used in the Network, there will be an all Node Reset communication
command executed during the Flying Master negotiation Process If no Heartbeat consuming is configured for this node, the NMT startup Master starts with Node
Guarding, which has to be answered within 100ms. In the case that no Heartbeat is used or supported, confirm that the NMT Slave supports Node
guarding. Take care that the NMT Master is also configured for Node Guarding if the NMT Slave is
configured for life guarding of the NMT Master. Otherwise the NMT Slave will go in an NMT error state.
If within the Heartbeat consuming time no Heartbeat is received or no Node Guard confirmation is received after the Node Guarding RTR message, the NMT Slave startup ends with an error.
Guard time Retry factor Configuration
31 ... 16 15 ... 8 7 ... 0
Reserved Mandatory NMT boot slave ReservedReset
communication NMT slave
012347...5
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2. Object H1F89 : Boot time The object defines the time out in ms between start of the process Start process boot NMT slave and signalling of successful boot of all mandatory NMT slaves. If the Boot time elapses before all mandatory Slaves are started, the NMT startup will be stopped and the NMT startup Master will be disabled. The value 0 disables the timer. Setting range: K0 to K4,294,967,295
3. Object H102A: NMT inhibit time This object configures the minimum time between two NMT messages. The 16bit value is given in multiples of 100 s (Lowest counting resolution of FX3U-CAN: 1ms). The value 0 disables the inhibit time. Setting range: In the FX3U-CAN, the value is fixed to 0.
Bit 1, Bit 5 to 7 Reserved Default value: 0.
If set to ON (1), FX3U-CAN will respond with SDO access error.
Bit No. Item Description
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5.8.8 NMT Bootup / Error Event handling
When Consumer Heartbeat time elapses, Node Guarding failed or the NMT Slave responds a unexpected Node state, the NMT Master handles the NMT Slave as shown in Figure 5.4. If the NMT Master receives at any time a Boot-Up message from an assigned NMT Slave, the NMT Slave will be startup by the NMT startup Master. If the NMT Master is in NMT state stopped, the NMT startup Master will not be able to start the NMT Slave.
For protocol boot-up, refer to Subsection 5.8.2 Figure 5.4: NMT error handler
Start NMT error handler
Node is assigned NMT Slave?
OD Index H1F81 Bit 0
End error handler
yes
no
OD Index H1F81 Bit 3
Node is mandatory and all nodes
shall be stopped?
OD Index H1F80 Bit 6
Node is mandatory and all nodes
shall be reset?
OD Index H1F81 Bit 3
OD Index H1F80 Bit 4
yes NMT service Stop all devices
NMT service Reset communication all
devices
yes
NMT service Reset communication
faulty node
Start startup Handler for faulty
device
no
no
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5.8.9 Request NMT
This object indicates at the NMT Master the current NMT state of a unique CANopen device in the network. The sub-index corresponds to the node-ID of the CANopen devices in the network. The sub-index H80 represents all nodes. Only the NMT Master is allowed to send NMT node control messages. The NMT state is shown in BFM #601 to #727. At the NMT Master, an NMT message can be requested can be via an SDO write access. Consider using this carefully because the NMT Startup Master will not set the Target Node automatically back to Operational until the next reset if the request is a Stop or Pre-Operational request!
For the BFM assignment corresponding to the NMT state of each node, refer to Section 6.22
Note
If a Node for Heartbeat consuming is activated and a boot-up Message is received from this node, the NMT state Pre-operational will be displayed for this node until the next Heartbeat is received for this node.
Object H1F82 Sub-index H01 to H80: Request NMT
Value (hex) Description
SDO read SDO write 00 NMT state unknown Reserved 01 CANopen device missing Reserved
02 to 03 Reserved 04 NMT state Stopped NMT service Stop remote node 05 NMT state Operational NMT service Start remote node 06 Reserved NMT service Reset node 07 Reserved NMT service Reset communication
08 to 7E Reserved 7F NMT state Pre-operational NMT service Enter pre-operational
80 to 83 Reserved
84 Reserved
NMT service Stop remote node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Stopped, but the NMT Master will stay in its current NMT State.
85 Reserved
NMT service Start remote node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Operational, but the NMT Master will stay in its current NMT State.
86 Reserved
NMT service Reset node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Reset Node, but the NMT Master will stay in its current NMT State.
87 Reserved
NMT service Reset communication excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Reset communication, but the NMT Master will stay in its current NMT State.
88 to 8E Reserved
8F Reserved
NMT service Enter Pre-operational excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Pre-operational, but the NMT Master will stay in its current NMT State.
90 to FF Reserved
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5.8.10 Request node guarding
This object indicates the node guarding state for a unique CANopen device in the network. The sub-index corresponds to the node-ID of the CANopen devices in the network. The sub-index H80 represents all nodes. Note
If Node Guarding is not set, then Node Guarding will not start.
Object H1F83 Sub-index H01 to H80: Request node guarding
5.8.11 Flying Master
The Flying Master mechanism provides services for a hot stand-by NMT Master within a CANopen network. All Flying Masters shall monitor the Heartbeat of all masters in the network. A new negotiation is automatically started if the active master fails. The master with the highest priority and the lowest node-ID wins the negotiation. A new negotiation is started when a new NMT master with a higher priority than the active NMT Master join the network. The Flying NMT master priority is defined by (NMT master priority level 128 + Node-Id), the lower value has the higher priority. BFM #25 bit 15 indicates if the module is the current NMT Master. Note
If the module has enabled the Flying Master function and no Heartbeat producing is set, the Heartbeat producing is automatically set to 1000 ms.
If the module loses the negotiation and no Heartbeat consuming is set for the active NMT master, Heartbeat consuming is automatically set to (1500 + 10 Node-ID) ms.
If the Heartbeat producing and consuming is set manually, set a different value for the consuming time of one Node-ID on the other Flying masters so that multiple masters will not initiate at the same time a new Flying master negotiation when the active NMT master times out.
If a Flying Master is in the Network which is not a FX3U-CAN, ensure that this node has Heartbeat producing enabled, otherwise the FX3U-CAN with activated Flying Master function will send endless Reset Communication NMT Messages!
For the Communication Status (BFM #25), refer to Section 6.8 All Flying Masters should have the same configuration for the Slaves. Configure in the Flying master negotiation response wait time of all Flying Master.
Formula for the Flying Master negotiation response wait time:
Flying Master negotiation response wait time = (NMT master priority) (Priority time slot) + (Node-ID) (Node time slot)
During the Flying master negotiation process, an NMT service Reset communication message will be sent to all nodes.
Value (hex) Description
Read Write 00 Node guarding stopped Stop node guarding 01 Node guarding started Start node guarding
02 to FF Reserved
Terminating resistor
Active NMT-Master
Hot Stand-by NMT-Master
Hot Stand-by NMT-Master
Terminating resistor
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When using the Flying Master function, please consider the following points: The Network communication will be reset after the Active NMT Master fails which will result in an
Interruption of the System Application. Application data will be not synchronized by the Flying Master mechanisms. This has to be handled by a
proper CANopen configuration and CANopen system planning. Be careful with the setting of the NMT flying master timing parameters. An inappropriate setting will result
in a Malfunction of the Flying Master negotiation. Test the System Configuration before field use.
Figure 5.5: NMT flying master process
Power on / BFM #25 bit 0 Reset
Active Master found?
yes
no
Initialization
NMT master negotiation time This time should be set so that all Flying masters finish in nearly the same time as the negotiation time.
From power-on / BFM #25 bit 0
Reset
OD Index H1F90 Sub-index H02
NMT service Reset communication all
Nodes
yes
Start NMT flying master negotiation
no
Wait time before sending Service Confirmation NMT flying master negotiation
and become active NMT master. Time = Priority level Priority time slot +
Node-Id CANopen device time slot The first flying master where this time elapse shall have the highest priority.
Service active master detection. The active master has to
answer within the NMT master time out time.
OD Index H1F90 Sub-index H01
OD Index H1F90 Sub-index H03
OD Index H1F90 Sub-index H04
OD Index H1F90 Sub-index H05
BFM #27 Service
Confirmation NMT flying master
negotiation received?
yes
no
To the next pageFrom the next page To the next page
Flying master priority = Priority level 128 + Node-Id The lower the number is, the
higher the priority!
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1. Object H1F80: NMT startup Set H1F80 bit 5 to ON to participate in NMT flying master negotiation.
For NMT startup, refer to Subsection 5.8.5
2. Object H1F90: NMT flying master timing parameter This object defines the parameters for the NMT flying master negotiation process.
3. Object H1F90 Sub-index H01: NMT master timeout The value is in units of ms.
4. Object H1F90 Sub-index H02: NMT master negotiation time delay The value is in units of ms.
5. Object H1F90 Sub-index H03: NMT master priority
6. Object H1F90 Sub-index H04: Priority time slot The value is in units of ms.
Formula for the Priority time slot: Priority time slot > 127 {CANopen device time slot (Sub-index H05)}
7. Object H1F90 Sub-index H05: CANopen device time slot The value is in units of ms.
8. Object H1F90 Sub-index H06 Multiple NMT master detect cycle time The value is in units of ms.
Value (hex) Description 0000 Priority high 0001 Priority medium 0002 Priority low
0003 to FFFF Reserved
priority > own priority
NMT slave mode NMT master mode Continue with NMT
master startup
Send Service Confirmation
NMT flying master negotiation
yes
Send Service Force NMT flying master
negotiation
no
OD Index H1F90 Sub-index H03
BFM #27
Flying master priority = Priority level 128 + Node-Id The lower the number is, the
higher the priority!
To the previous page
Reserved NMT master priority level
15 ... 8 7 ... 0
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5.8.12 LSS
The FX3U-CAN uses the layer setting services and protocols, to configure via the CAN network the Baud Rate and the Node Address of an LSS slave device that is sealed against harsh environments and that does not have any hardware components like DIP-switches for setting the node-ID or bit timing parameters. Within a CANopen network, only one LSS-Master is allowed to exist. For the LSS-Master Mode the module has to be the active NMT-Master. To activate the LSS Master, configure in the Object dictionary: Index H1F89:
The Boot time out. The time shall be longer than the boot time of the NMT-Client, which needs the longest time for boot-up (Power On until Boot-up message).
Indexes H1F84 to H1F88, the Sub-index which corresponds to the Node-Id which shall be set at the LSS- Client: The Identification information which is available at the Object dictionary Indexes H1000 and H1018 at the LSS-Client.
Index H1F81, the Sub-index which corresponds to the Node-Id which shall be set at the LSS-Client: Set bit 0 NMT Slave, bit 2 NMT boot slave and bit 3 Mandatory device.
If the LSS Slave is not found on the configured baud rate, the FX3U-CAN changes automatically the baud rate to find the LSS Slave. Through communication with a different baud rate, it can come to a Bus off condition at the other devices in the network. If the device does not support automatically recovering from Bus off or needs too much time for recovering, it's not possible to configure the LSS-Client. It is recommended to establish a Point to Point connection for the configuration and to delete the Serial number entry (Index H1F88) after configuration to prevent an unwanted start of the LSS Master.
For Boot time, refer to Object Dictionary Index H1F89 in Section 5.6 For NMT slave identification, refer to Object Dictionary Index H1F84 to H1F88 in Subsection 5.8.4
For configuration, refer to Object Dictionary Index H1F81 in Subsection 5.8.7 Note
Check if the LSS-Client has activated an internal Bus termination. If necessary, deactivate the Bus termination first to prevent unwanted behaviour of the connected nodes on the bus.
5.8.13 Configuration manager
The Configuration manager provides mechanisms for configuration of CANopen devices in a CANopen network. For saving and requesting the CANopen device Configuration, the following Objects are used. The sub-indexes are according to node-ID. The Configuration manager can be only used on the active NMT Master. Note
If during the Configuration upload to the NMT slave a failure other than SDO access failure at read only Indexes and Sub indexes occurs, the configuration will be stopped.
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1. Object H1020: Verify configuration This object indicates the downloaded configuration date and time on the NMT Slave. A configuration manager uses this object to verify the configuration after a reset to check if a reconfiguration is necessary. If on a NMT Slave the Object dictionary configuration is changed, the Sub-indexes H01 and H02 values will be set to H0. At the time of NMT Slave boot-up, the Configuration manager compares the corresponding entries of H1020 on the Slave with its own setting in the Indexes H1F26 and H1F27 (see below) and decides if a reconfiguration is necessary or not. This mechanism reduces the time of NMT Slave bootup. Sub-index H01: Configuration date; contains the number of days since 1984-01-01. Sub-index H02: Configuration time; contains the number of ms after midnight.
2. Object H1F22 Sub-index H01 to H7F: Concise DCF These objects save a configuration file with the Concise DCF format into the node-ID corresponding sub- index. A CANopen configuration software and a CAN-Bus PC-Interface is necessary for the generation of a CANopen configuration and saving over the CAN Bus. Up to 60 Concise DCFs can be stored on the FX3U-CAN. The maximum size for each entry is 65531 byte.
Note
To delete a Sub-index entry write "0" to this Sub-index. Erasing an entry requires 2 to 10 seconds. During this time, it is not possible to write a new file. If the Flash ROM is busy, an SDO write access error H06060000 will occur.
When the FX3U-CAN responds to an SDO write access to a Sub-index with SDO Error H06010002, this Sub-index already had been used. Delete the Sub-index entry by using the aforesaid method.
When the FX3U-CAN responds to an SDO write access to a Sub-index with SDO access Error H06070010, the CDCF File is bigger than 65531 bytes, or this Sub-index has already been used. Check the File size and delete the Sub-index entry by using the aforesaid method.
If the used CANopen configuration software has a problem with the automatic transfer of the Concise DCF be cause of Flash ROM busy errors, please use the selective download of the files if supported.
All H1F22 Sub-indexes can also be deleted by the Restore default parameter command. Self-configuration over the Sub-Index of the entry corresponding to own Node-Id is not supported. The Concise DCF data will be directly stored on the Flash ROM. A Store parameters command over
Object Dictionary Index H1010 is not necessary (Refer to Section 4.6.11). For Store parameters, refer to Subsection 5.6.11
For Restore default parameters, refer to Subsection 5.6.12
3. Object H1F25 Sub-index H01 to H80: Configuration request To initiate a configuration request for a CANopen node, use the SDO write command in the CIF and write H666E6F63 (ISO8859 String code: "conf") to the corresponding sub-index of the FX3U-CAN. The sub-index H80 initiates a configuration request for all CANopen devices in the network for which CDCF data are stored. A configuration request to the self node-ID will be ignored and no error response will be generated. For Sub-index H01 to H7F, a SDO failure H08000024 will occur if no data are stored for this Node-Id. A configuration request to the Sub-index of the entry corresponding to own Node-Id will be ignored.
For SDO write command in the CIF, refer to Subsection 10.2.3
4. Object H1F26 Sub-index H01 to H7F: Expected configuration date This object is used by CANopen configuration software for verification of the configuration date of the CANopen devices in the network. The value contains the number of days since 1984-01-01.
5. Object H1F27 Sub-index H01 to H7F: Expected configuration time This object is used by CANopen configuration software for verification of the configuration time of the CANopen devices in the network. The value contains the number of ms after midnight.
88
5 Introduction of Functions
5.9 Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable DevicesFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.9 Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable Devices
This section describes the Device Profile for IEC 61131-3 programmable devices. The objects for data read/ write support signed 8bit, unsigned 8bit, signed 16bit, unsigned 16bit, signed 32bit, unsigned 32bit and float 32bit. The corresponding Objects in the Object dictionary can be directly accessed via the BFM from the PLC.
Refer to Section 7.1
The table below provides a brief description and reference information for the FX3U-CAN CANopen Object Dictionary.
Index (hex)
Sub-index (hex) Object Description Data
type Initial value
Read/ Write
A000 00
Input network variables Highest sub-index U8 HF0 R
01 to F0 Signed Integer 8 bit I8 K0 R
A001 00
Input network variables Highest sub-index U8 HF0 R
01 to F0 Signed Integer 8 bit I8 K0 R
A002 00
Input network variables Highest sub-index U8 HA0 R
01 to A0 Signed Integer 8 bit I8 K0 R
A040 00
Input network variables Highest sub-index U8 HF0 R
01 to F0 Unsigned Integer 8 bit U8 K0 R
A041 00
Input network variables Highest sub-index U8 HF0 R
01 to F0 Unsigned Integer 8 bit U8 K0 R
A042 00
Input network variables Highest sub-index U8 HA0 R
01 to A0 Unsigned Integer 8 bit U8 K0 R
A0C0 00
Input network variables Highest sub-index U8 H78 R
01 to 78 Signed Integer 16 bit I16 K0 R
A0C1 00
Input network variables Highest sub-index U8 H78 R
01 to 78 Signed Integer 16 bit I16 K0 R
A0C2 00
Input network variables Highest sub-index U8 H50 R
01 to 50 Signed Integer 16 bit I16 K0 R
A100 00
Input network variables Highest sub-index U8 H78 R
01 to 78 Unsigned Integer 16 bit U16 K0 R
A101 00
Input network variables Highest sub-index U8 H78 R
01 to 78 Unsigned Integer 16 bit U16 K0 R
A102 00
Input network variables Highest sub-index U8 H50 R
01 to 50 Unsigned Integer 16 bit U16 K0 R
A1C0 00
Input network variables Highest sub-index U8 HA0 R
01 to A0 Signed Integer 32 bit I32 K0 R
Inverter Encoder
Terminating resistor
FX3G/FX3GC/ FX3U/FX3UC/ FX5U/FX5UC PLC
FX3U-CAN
CiA 405 device
FX3G/FX3GC/ FX3U/FX3UC/ FX5U/FX5UC PLC
FX3U-CAN
CiA 405 device
CiA 401 device
CiA 401 device
CiA 450 device
PumpI/O Module I/O Module
Terminating resistor
CiA 402 device
CiA 406 device
89
5 Introduction of Functions
5.9 Device Profile CiA 405 V2.0 for IEC 61131-3 Programmable DevicesFX3U-CAN User's Manual
A200 00
Input network variables Highest sub-index U8 HA0 R
01 to A0 Unsigned Integer 32 bit U32 K0 R
A240 00
Input network variables Highest sub-index U8 HA0 R
01 to A0 Float 32 bit Real32 K0 R
A480 00
Output network variables Highest sub-index U8 HF0 R
01 to F0 Signed Integer 8 bit I8 K0 R/W
A481 00
Output network variables Highest sub-index U8 HF0 R
01 to F0 Signed Integer 8 bit I8 K0 R/W
A482 00
Output network variables Highest sub-index U8 HA0 R
01 to A0 Signed Integer 8 bit I8 K0 R/W
A4C0 00
Output network variables Highest sub-index U8 HF0 R
01 to F0 Unsigned Integer 8 bit U8 K0 R/W
A4C1 00
Output network variables Highest sub-index U8 HF0 R
01 to F0 Unsigned Integer 8 bit U8 K0 R/W
A4C2 00
Output network variables Highest sub-index U8 HA0 R
01 to A0 Unsigned Integer 8 bit U8 K0 R/W
A540 00
Output network variables Highest sub-index U8 H78 R
01 to 78 Signed Integer 16 bit I16 K0 R/W
A541 00
Output network variables Highest sub-index U8 H78 R
01 to 78 Signed Integer 16 bit I16 K0 R/W
A542 00
Output network variables Highest sub-index U8 H50 R
01 to 50 Signed Integer 16 bit I16 K0 R/W
A580 00
Output network variables Highest sub-index U8 H78 R
01 to 78 Unsigned Integer 16 bit U16 K0 R/W
A581 00
Output network variables Highest sub-index U8 H78 R
01 to 78 Unsigned Integer 16 bit U16 K0 R/W
A582 00
Output network variables Highest sub-index U8 H50 R
01 to 50 Unsigned Integer 16 bit U16 K0 R/W
A640 00
Output network variables Highest sub-index U8 HA0 R
01 to A0 Signed Integer 32 bit I32 K0 R/W
A680 00
Output network variables Highest sub-index U8 HA0 R
01 to A0 Unsigned Integer 32 bit U32 K0 R/W
A6C0 00
Output network variables Highest sub-index U8 HA0 R
01 to A0 Float 32 bit Real32 K0 R/W
Index (hex)
Sub-index (hex) Object Description Data
type Initial value
Read/ Write
90
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.10 Application Profile CiA 417 V2.1 for Lift Control Systems
This application profile describes the virtual devices (hereinafter called VD) of lift control systems. The virtual controllers (e.g. call, car door, and car drive controller) perform dedicated control functions of the lift application. The virtual units (e.g. input and output panels, car door, light barrier, car position, car drive, load- measuring) are implemented each in single CANopen devices or combined in one or more CANopen devices. The FX3U-CAN implements the VD call controller, car drive controller and the car door controller. The VD Call controller receives all call requests from these VD input panels, and transmits the corresponding acknowledgements to the VD output panels. The VD car door controller transmits commands to the VD car door unit and the VD light barrier unit. The VD car driver controller transmits commands to the VD car drive unit. It receives status information from the VD car drive unit and the VD load-measuring unit. If the profile position mode is used, additional status information from the VD car position unit is needed. It is recommended to give the Call controller the lowest node-ID. The lift control system application profile shares the Object Dictionary area from H6000 to H9FFF. The area from H6000 to H60FF is related to the CANopen device and not to one of the lift-control applications. The area from H6100 to H62FF is related to the VD input panel units, they do not belong to a specific lift control. The Indexes H6010 and H6011 are related to the VD Call controller and do not belong to a specific lift control. It is possible to realize up to 8 lift-control applications. For the specific lift control application 1, the area H6200 to H67FE is used. For other lift control applications, the area H6200 to H67FE is shifted as follows: H6200 to H67FE lift control application 1 H6A00 to H6FFE lift control application 2 H7200 to H77FE lift control application 3 H7A00 to H7FFE lift control application 4 H8200 to H87FE lift control application 5 H8A00 to H8FFE lift control application 6 H9200 to H97FE lift control application 7 H9A00 to H9FFE lift control application 8
Car door unit 1
CiA 417 Application
Car drive unit Car position 1
Light barrier 1
Load measuring
Car input panel
Car output panel
Terminating resistor
Terminating resistor
Input panelInput panelInput panel
Output panel Output panel Output panel
FX3U-CAN
FX3G/FX3GC/ FX3U/FX3UC/ FX5U/FX5UC PLC
Call Controller
Car drive Controller
Car door Controller
1st floor 2nd floor 3rd floor
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5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
The table below provides a brief description and reference information for the FX3U-CAN CANopen Object Dictionary.
Note: Stored to Flash ROM
Data will be saved to the Flash ROM by using the Store Parameter command in Index H1010. Be careful with write handling. The maximum number of writes to the built-in flash ROM is 10,000 times.
Index (hex)
Sub- index (hex)
Object Description Data type Initial value Read/
Write
Stored to Flash
ROM
1 to 8: 6000
00
Supported virtual device types
Number of supported VD U8 H03 R - 01 Call controller U16 H100 R - 02 Car door controller U16 H400 R - 03 Car drive controller U16 H800 R -
1 to 8: 6001 00 Lift number Refer to Subsection 5.10.1 U8 H1 R/W
1 to 8: 6008 00 Specification version - U16 H2021 R -
1 to 8: 6010 00 Virtual input mapping
Refer to Subsection 5.10.2 Note: SDO read access does not return the actual
data of the input buffer. SDO write access does not write to the input
buffer.
U48 H0 R/W -
1 to 8: 6011 00 Virtual output mapping Refer to Subsection 5.10.3 U48 H0 R -
1: 6300 2: 6B00 3: 7300 4: 7B00 5: 8300 6: 8B00 7: 9300 8: 9B00
00
Door control word
Highest sub-index U8 H04 R -
01
Refer to Subsection 5.10.4
Door 1 U16 H0 R -
02 Door 2 U16 H0 R -
03 Door 3 U16 H0 R -
04 Door 4 U16 H0 R -
1: 6301 2: 6B01 3: 7301 4: 7B01 5: 8301 6: 8B01 7: 9301 8: 9B01
00
Door status word
Highest sub-index U8 H04 R -
01
Refer to Subsection 5.10.5
Door 1 U16 HFFFF R/W -
02 Door 2 U16 HFFFF R/W -
03 Door 3 U16 HFFFF R/W -
04 Door 4 U16 HFFFF R/W -
1: 6302 2: 6B02 3: 7302 4: 7B02 5: 8302 6: 8B02 7: 9302 8: 9B02
00
Door position
Highest sub-index U8 H04 R -
01 The value is in units of mm. H0: Closed HFFFF: Not available or not
requested
Door 1 U16 HFFFF R/W -
02 Door 2 U16 HFFFF R/W -
03 Door 3 U16 HFFFF R/W -
04 Door 4 U16 HFFFF R/W -
1: 6310 2: 6B10 3: 7310 4: 7B10 5: 8310 6: 8B10 7: 9310 8: 9B10
00
Light barrier status
Highest sub-index U8 H04 R -
01
Refer to Subsection 5.10.6
Door 1 U8 HFF R/W -
02 Door 2 U8 HFF R/W -
03 Door 3 U8 HFF R/W -
04 Door 4 U8 HFF R/W -
92
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
1: 6383 2: 6B83 3: 7383 4: 7B83 5: 8383 6: 8B83 7: 9383 8: 9B83
00
Position value
Highest sub-index U8 H04 R -
01 The position value from the car position units. The values shall be equivalent to Object H6004 of the CiA
406 specifications.
Position unit 1 U32 HFFFF FFFF R/W -
02 Position unit 2 U32 HFFFF FFFF R/W -
03 Position unit 3 U32 HFFFF FFFF R/W -
04 Position unit 4 U32 HFFFF FFFF R/W -
1: 6390 2: 6B90 3: 7390 4: 7B90 5: 8390 6: 8B90 7: 9390 8: 9B90
00
Speed value car
Highest sub-index U8 H04 R -
01 The speed value from the car position units. The measuring step is defined in multiples of 0.1 mm/s in the object H6384 of the car position unit.
Position unit 1 I16 H0 R/W -
02 Position unit 2 I16 H0 R/W -
03 Position unit 3 I16 H0 R/W -
04 Position unit 4 I16 H0 R/W -
1: 6391 2: 6B91 3: 7391 4: 7B91 5: 8391 6: 8B91 7: 9391 8: 9B91
00
Acceleration value car
Highest sub-index U8 H04 R -
01 The acceleration value from the car position units. The measuring step is defined in multiples of 1 mm/s2 in the object H6384 of the car position unit.
Position unit 1 I16 H0 R/W -
02 Position unit 2 I16 H0 R/W -
03 Position unit 3 I16 H0 R/W -
04 Position unit 4 I16 H0 R/W -
1: 6400 2: 6C00 3: 7400 4: 7C00 5: 8400 6: 8C00 7: 9400 8: 9C00
00 Control word Refer to Subsection 5.10.7 U16 H0 R -
1: 6401 2: 6C01 3: 7401 4: 7C01 5: 8401 6: 8C01 7: 9401 8: 9C01
00 Status word Refer to Subsection 5.10.8 U16 H0 R/W -
1: 6403 2: 6C03 3: 7403 4: 7C03 5: 8403 6: 8C03 7: 9403 8: 9C03
00 Modes of operation Refer to Subsection 5.10.9 I8 H0 R -
1: 6404 2: 6C04 3: 7404 4: 7C04 5: 8404 6: 8C04 7: 9404 8: 9C04
00 Modes of operation display Refer to Subsection 5.10.10 I8 H0 R/W -
1: 6406 2: 6C06 3: 7406 4: 7C06 5: 8406 6: 8C06 7: 9406 8: 9C06
00 Control effort
This object shall contain the breaking point or breaking distance depending on the target position given respectively as absolute value or relative value. The value shall be given in user- defined position units.
I32 H0 R/W -
Index (hex)
Sub- index (hex)
Object Description Data type Initial value Read/
Write
Stored to Flash
ROM
93
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
5.10.1 Lift number
This Object contains the lift number to which the FX3U-CAN is assigned. The Bit for the assigned lift number is set to ON (1).
1: 6407 2: 6C07 3: 7407 4: 7C07 5: 8407 6: 8C07 7: 9407 8: 9C07
00 Position actual value
This object is equivalent to object H6064 in the CiA 402-2 V3.0 specifications, and shall contain the position of the drive shaft. This information is used to calculate the slippage of the position unit. The value shall be given in user-defined position units.
U32 HFFFF FFFF R/W -
1: 6420 2: 6C20 3: 7420 4: 7C20 5: 8420 6: 8C20 7: 9420 8: 9C20
00 Target position Refer to Subsection 5.10.11 I32 H0 R -
1: 6423 2: 6C23 3: 7423 4: 7C23 5: 8423 6: 8C23 7: 9423 8: 9C23
00 Profile velocity This object is equivalent to object H6081 in the CiA 402-2 V3.0 specifications. The value is in units of mm/s.
U32 H0 R -
1: 6430 2: 6C30 3: 7430 4: 7C30 5: 8430 6: 8C30 7: 9430 8: 9C30
00 Target velocity This object is equivalent to object H60FF in the CiA 402-2 V3.0 specifications. The value is in units of mm/s.
I32 H0 R -
1: 6433 2: 6C33 3: 7433 4: 7C33 5: 8433 6: 8C33 7: 9433 8: 9C33
00 Velocity actual value This object is equivalent to object H606C in the CiA 402-2 V3.0 specification. The value is in units of mm/s.
I32 H0 R/W -
1: 6480 2: 6C80 3: 7480 4: 7C80 5: 8480 6: 8C80 7: 9480 8: 9C80
00
Load value
Highest sub-index U8 H02 R -
01 Refer to Subsection
5.10.12
Absolute load value U16 HFFFF R/W -
02 SI unit U16 H2 R/W -
1: 6482 2: 6C82 3: 7482 4: 7C82 5: 8482 6: 8C82 7: 9482 8: 9C82
00
Load signalling
Highest sub-index U8 H02 R -
01 Refer to Subsection
5.10.13
Load signal U8 H0 R/W -
02 Load signal interrupt U8 H0 R/W -
Index (hex)
Sub- index (hex)
Object Description Data type Initial value Read/
Write
Stored to Flash
ROM
Lift 8 Lift 7 Lift 6 Lift 1Lift 2Lift 3Lift 4Lift 5
7 6 5 4 3 2 1 0
94
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.10.2 Virtual input mapping
This Object contains the last received input data from one of the digital input panel group objects.
1. Basic function field
2. Sub-function field The Sub-function field is interpreted differently depending on the basic function field value.
Bit 0 to 7 Value (hex) Description Bit 0 to 7
Value (hex) Description
00 Reserved 0D High priority call to destination floor 01 Generic input 0E Special function 02 Standard hall call request 0F Access code upload request 03 Low priority hall call request 10 Speech connection request 04 High priority hall call request 11 Area monitoring connection request 05 Standard car call request 12 Fire detector 06 Low priority car call request 13 to 15 Reserved 07 High priority car call request
16 Status of safety-related circuitries (This is not safety-related information.)08 Standard destination call
09 Low priority destination call 17 to 1F Reserved 0A High priority destination call 20 Guest call 0B Standard call to destination floor 21 to 7F Reserved 0C Low priority call to destination floor 80 to FF Manufacturer-specific
Basic function field Bit 0 to 7
value (hex)
Sub-function field Bit 8 to
15 value (hex) Description
Basic function field Bit 0 to 7
value (hex)
Sub-function field Bit 8 to
15 value (hex) Description
01
00 Reserved
0E
12 Special service 01 Generic input 1 13 Service run
14 Dogging service enable FE Generic input 254 15 Dogging service up FF Reserved 16 Dogging service down
02 to 04
00 Reserved 17 Fire alarm (external fire alarm system) 01 Hall call up 18 Provide priority 02 Hall call down 19 Lift attendant start button 03 Hall call 1A Lift attendant drive through button 04 Hall call extra up 1B Security run 05 Hall call extra down 1C Second call panel 06 Hall call extra 1D Door enable
07 to FF Reserved 1E Call cancel button fire operation
05 to 0D 00 Reserved 1F Fire alarm reset
01 to FE Floor number 1 to 254 20 Body detector (e.g. person in car) FF Reserved 21 Earthquake detector
0E
00 Reserved 22 to FF Reserved 01 Request fan 1 0F to 11 00 to FF Reserved 02 Request fan 2
12 00 Reserved
03 Request load time 1 01 to FE Fire detector 1 to 254 04 Request load time 2 FF Reserved 05 Key lock 1 13 to 15 00 to FF Reserved 06 Key lock 2
16
00 Reserved 07 Key lock 3 01 to 03 Safety-related circuitry 1 to 3 08 Key lock 4 04 Hall/swing door 09 Request door open 05 Car door 0A Request door close 06 Door lock 0B Fire recall (key switch hall panel) 07 to FF Reserved 0C Fire service (key switch car panel) 17 to 1F 00 to FF Reserved 0D Hall call disable
20 00 Reserved
0E Attendant service 01 to FE Guest call 1 to 254 0F VIP service FF Reserved 10 Out of order 21 to 7F 00 to FF Reserved 11 Bed passenger service 80 to FF 00 to FF Manufacturer-specific
Function data Door Floor Lift Sub-function Basic function
47 ... 40 39 ... 32 31 ... 24 23 ... 16 15 ... 8 7 ... 0
95
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
3. Lift field The Bit for the requested lift number is set to ON (1).
4. Floor field
5. Door field This value provides the door number to which the sending virtual device is assigned. The structure of the field depends on the value of the basic function field. When the basic function field is H08 to H0D, the structure of the door field is shown below:
When the basic function field is H00 to H07 or H0E to HFF, the structure of the door field is shown below:
6. Function data field The function data provides the input state of a virtual input.
Bit 24 to 31 Value (hex) Description 00 Car panel
01 to FE Panel of floor 1 to 254 FF Reserved
Bit No. Item Description
Bit 40 and 41 Input state
Bit 42 to 46 Reserved
Bit 47 lock OFF (0): Button or key-button has no locking function ON (1): Button or key-button has locking function
Lift 8 Lift 7 Lift 6 Lift 1Lift 2Lift 3Lift 4Lift 5
23 22 21 20 19 18 17 16
Destination door 4
Source door 1
Source door 2
Source door 3
Source door 4
Destination door 1
Destination door 2
Destination door 3
39 38 37 36 35 34 33 32
Door 1Door 2Door 3Door 4H0
3335 34 3239 ... 36
Reservedlock Input state
47 46 ... 42 41 ... 40
Bit 41 Bit 40 Description OFF (0) OFF (0) Input state is OFF. OFF (0) ON (1) Input state is ON. ON (1) OFF (0) Function is defective ON (1) ON (1) Function is not installed
96
5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.10.3 Virtual output mapping
This Object contains the output data for one of the digital output group objects.
1. Basic function field
2. Sub-function field The Sub-function field is interpreted differently depending on the basic function field value.
Bit 0 to 7 Value (hex) Description Bit 0 to 7
Value (hex) Description
00 Call controller commands 11 Area monitoring connection acknowledgement 01 Generic output 12 to 1F Reserved 02 Standard hall call acknowledgement 20 Guest call acknowledgement 03 Low priority hall call acknowledgement 21 to 3F Reserved 04 High priority hall call acknowledgement 40 Position indication 05 Standard car call acknowledgement 41 Hall lantern 06 Low priority car call acknowledgement 42 Direction indication 07 High priority car call acknowledgement 43 Special indication 08 Standard destination call acknowledgement 44 Arrival indication 09 Low priority destination call acknowledgement 45 Operation data 0A High priority destination call acknowledgement 46 Publicity indication 0B Standard call to destination floor acknowledgement 47 Speech synthesis 0C Low priority call to destination floor acknowledgement 48 to 49 Reserved 0D High priority call to destination floor acknowledgement 4A Miscellaneous outputs 0E Special function acknowledgement 4B to 7F Reserved 0F Access code upload acknowledgement 80 to FF Manufacturer-specific 10 Speech connection acknowledgement
Basic function field Bit 0 to 7 value
(hex)
Sub-function field Bit 8 to 15 value
(hex) Description
00
00 Reserved 01 Request all active hall calls 02 Request all special inputs (basic functions 0E and 12)
03 to FF Reserved 01 00 to FF Reserved
02 to 04
00 Reserved 01 Hall call up acknowledgement 02 Hall call down acknowledgement 03 Hall call acknowledgement 04 Hall call extra up acknowledgement 05 Hall call extra down acknowledgement 06 Hall call extra acknowledgement
07 to FF Reserved
05 to 0D 00 Reserved
01 to FE Target stop acknowledgement 1 to 254 FF All target stop buttons
0E
00 Reserved 01 Request fan 1 acknowledgement 02 Request fan 2 acknowledgement 03 Request load time 1 acknowledgement 04 Request load time 2 acknowledgement 05 Request key lock 1 acknowledgement 06 Request key lock 2 acknowledgement 07 Request key lock 3 acknowledgement
Function data Door Floor Lift Sub-function Basic function
47 ... 40 39 ... 32 31 ... 24 23 ... 16 15 ... 8 7 ... 0
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5 Introduction of Functions
5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
0E
08 Request key lock 4 acknowledgement 09 Request door open acknowledgement 0A Request door close acknowledgement 0B Fire recall (key switch hall panel) acknowledgement 0C Fire service (key switch hall panel) acknowledgement 0D Hall call disable acknowledgement 0E Attendant service acknowledgement 0F VIP service acknowledgement 10 Out of order acknowledgement 11 Bed passenger service acknowledgement 12 Special service acknowledgement 13 Service run acknowledgement 14 Dogging service enable acknowledgement 15 Dogging service up acknowledgement 16 Dogging service down acknowledgement 17 Fire alarm (external fire alarm system) acknowledgement 18 Provide priority acknowledgement 19 Lift attendant start button acknowledgement 1A Lift attendant drive through button acknowledgement 1B Security run acknowledgement 1C Second call panel acknowledgement 1D Door enable acknowledgement 1E Call cancel button fire operation 1F Fire alarm reset acknowledgement 20 Body detector (e.g. person in car) 21 Earthquake detector
22 to FF Reserved 0F to 1F 00 to FF Reserved
20 00 Reserved
01 to FE Guest call acknowledgement 1 to 254 FF Reserved
21 to 3F 00 to FF Reserved
40 00 Clear the floor data
01 to FE Floor number 1 to 254 FF Reserved
41
This sub-function shows the arrow display direction up/down.
OFF (0): Do not display the arrow ON (1): Display the arrow
42
This sub-function shows the arrow display direction up/down, and the transfer direction display of car.
Bit 8 and 9 show the arrow display direction up/down. OFF (0): Do not display the arrow ON (1): Display the arrow
Bit 12 and 13 show the transfer direction display of car. OFF (0): Not moving ON (1): Moving
43
00 Used for instruction all displays off 01 No load 02 Full load 03 Over load 04 Fire
Basic function field Bit 0 to 7 value
(hex)
Sub-function field Bit 8 to 15 value
(hex) Description
UpDownH0
8915 ... 10
H0H0 UpDownMoving up
Moving down
89121315 ... 14 11 ... 10
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5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
3. Lift field This value provides the lift number or the group of lifts, to which the output is assigned.
4. Floor field
5. Door field This value provides the door number to which the output is assigned. The structure of the field depends on the value of the basic function field. If the bits of the door field are set to 1, this shall indicate an assignment of the output to this door. When the basic function field is H08 to H0D, the structure of the door field is shown below:
When the basic function field is H00 to H07 or H0E to HFF, the structure of the door field is shown below:
43
05 Fire brigade service 06 Help is coming 07 Special service 08 Load time 09 Occupied 0A Out of order 0B Close door 0C Case of fire 0D Hall call disable 0E Travel to evacuation floor 0F Travel to fire recall floor
10 to FF Reserved
44
This sub-function shows the arrival indication up/down.
OFF (0): Not arrived ON (1): Arrived
45 to 46 00 to FF Reserved
47 00 Switch off speech synthesis on all output panels
01 to FE Announce floor number 1 to 254 FF Announce current floor number
48 to 49 00 to FF Reserved
4A
00 Reserved 01 Hall call enable 02 Lift operational
03 to FF Reserved 4B to 7F 00 to FF Reserved 80 to FF 00 to FF Manufacturer-specific
Bit 24 to 31 Value (hex) Description 00 Car panel
01 to FE Floor number 1 to 254 FF All floor panels
Basic function field Bit 0 to 7 value
(hex)
Sub-function field Bit 8 to 15 value
(hex) Description
UpDownH0
8915 ... 10
Lift 8 Lift 7 Lift 6 Lift 1Lift 2Lift 3Lift 4Lift 5
23 22 21 20 19 18 17 16
Destination door 4
Source door 1
Source door 2
Source door 3
Source door 4
Destination door 1
Destination door 2
Destination door 3
39 38 37 36 35 34 33 32
Door 1Door 2Door 3Door 4H0
3335 34 3239 ... 36
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6. Function data field The function data provides the input state of a virtual input.
Value definition of the property parameter field (Bit 44 to 46)
5.10.4 Door control word
This Object contains the door commands and other control data.
1. Battery power field
2. Door lock field
Bit No. Item Description
Bit 40 Status OFF (0): No data indicated
(Does not apply for basic function H40) ON (1): Data indicated
Bit 41 to 43 Property
Bit 41 to 43 value (hex) H0: No action (default) H1: Output continuously H2: Output pulsed H3: Output flashing H4: Output coloured H5: Output with volume H6: Output with scroll rate H7: Reserved
Bit 44 to 46 Property parameter Refer to table below
Bit 47 Predicate OFF (0): Acknowledgement is not affirmed ON (1): Acknowledgement is affirmed
Bit 44 to 46 value (hex)
Description No action Continuous Pulsed Flashing Colour Volume Scroll rate
0
No action Reserved
< 0.5 s 10 Hz White Minimum Automatic 1 1 s 7.5 Hz Yellow Vary 1 line/s 2 1.5 s 5 Hz Reserved Vary 2 line/s 3 2 s 2 Hz Green Vary 3 line/s 4 3 s 1. 5Hz Reserved Vary 4 line/s 5 5 s 1 Hz Red Vary 5 line/s 6 10 s 0.5 Hz Reserved Vary 6 line/s 7 > 15 s 0.25 Hz Blue Maximum 7 line/s
Bit 2 to 3 Value (hex) Description 0 Battery power supply disabled 1 Battery power supply enabled 2 Reserved 3 Do not care / take no action
Bit 4 to 5 Value (hex) Description 0 Enable door lock 1 Disable door lock 2 Reserved 3 Do not care / take no action
Predicate Property parameter Property Status
43 ... 4146 ... 44 4047
Command H3Battery powerDoor lockFinger
protector Motion
detector Door
velocity
15 ... 12 11 ... 10 9 ... 8 7 ... 6 5 ... 4 3 ... 2 1 ... 0
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1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
3. Finger protector field
4. Motion detector field
5. Door velocity field
6. Command field
5.10.5 Door status word
This Object contains the car door status and other status information.
1. Safety contact field
Bit 6 to 7 Value (hex) Description 0 Enable finger protector 1 Disable finger protector 2 Reserved 3 Do not care / take no action
Bit 8 to 9 Value (hex) Description 0 Enable motion detector 1 Disable motion detector 2 Reserved 3 Do not care / take no action
Bit 10 to 11 Value (hex) Description 0 Move door with standard speed 1 Move door with reduced speed 2 Reserved 3 Do not care / take no action
Bit 12 to 15 Value (hex) Description 0 Close door without limit force (Not allowed for EN-81 compliant lifts) 1 Close door with limit force
2 Nudging (Forced closing of car door with reduced speed without reversal devices due to the door being blocked for too long)
3 Open door without limit force (Not allowed for EN-81 compliant lifts) 4 Open door with limit force 5 Reserved 6 Reserved 7 Stop door without torque 8 Stop door with torque
9 to C Reserved D Tech-in drive E Reset door F Do not care / take no action
Bit 0 to 1 Value (hex) Description 0 Contact not closed 1 Contact closed 2 Error indicator 3 Not available or not installed
Status Safety contact
Battery powerDoor lockFinger
protector Motion
detector Force limit
15 ... 12 11 ... 10 9 ... 8 7 ... 6 5 ... 4 3 ... 2 1 ... 0
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5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
2. Battery power field
3. Door lock field
4. Finger protector field
5. Motion detector field
6. Force limit field
7. Status field
Note
If the door is in an open or closed end position, this shall have higher priority than stopped status.
Bit 2 to 3 Value (hex) Description 0 No battery power used 1 Battery power used 2 Error indicator 3 Not available or not installed
Bit 4 to 5 Value (hex) Description 0 Door not locked 1 Door locked 2 Error indicator 3 Not available or not installed
Bit 6 to 7 Value (hex) Description 0 No finger detected 1 Finger detected 2 Error indicator 3 Not available or not installed
Bit 8 to 9 Value (hex) Description 0 Motion not detected 1 Motion detected 2 Error indicator 3 Not available or not installed
Bit 10 to 11 Value (hex) Description 0 Force limit not reached 1 Force limit reached 2 Error indicator 3 Not available or not installed
Bit 12 to 15 Value (hex) Description 0 Door closed with torque 1 Door closed without torque 2 Door is closing 3 Door opened with torque 4 Door opened without torque 5 Door is opening 6 Door is re-opening
7 Door stopped with torque (not in an end position)
8 Door stopped without torque (not in an end position)
9 to C Reserved D Tech-in drive E Error indicator F Not available or not installed
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1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.10.6 Light barrier status
This Object contains the status information of the VD light barrier unit for up to four doors.
5.10.7 Control word
This object is based on object H6040 of the CiA 402-2 V3.0 specifications.
Note
Bits 9, 6, 5, and 4 of the control word are operation mode specific. The halt function (bit 8) behaviour is operation mode specific.
If the bit is ON (1), the commanded motion shall be interrupted; the Power drive system shall behave as defined in the halt option code. After releasing the halt function, the commanded motion shall be continued if possible.
Bit 6 to 7 Value (hex) Description 0 No subject detected 1 Subject detected 2 Error indicator 3 Not available or not installed
Bit Item Description Bit 0 so Switch on Bit 1 ev Enable voltage Bit 2 qs Quick stop Bit 3 eo Enable operation
Bit 4 to 6 oms Operation mode specific (Show in the Users Manual of the remote device)
Bit 7 fr Fault reset Bit 8 h Halt
Bit 9 oms Operation mode specific (Show in the Users Manual of the remote device)
Bit 10 - Bit 10 fixed to OFF (0).
Bit 11 to 13 ms Manufacturer-specific (Show in the Users Manual of the remote device)
Bit 14 rcl OFF (0): Emergency recall operation mode inactive ON (1): Emergency recall operation mode active
Bit 15 insp OFF (0): Car top inspection operation mode inactive ON (1): Car top inspection mode active
H3FStatus
7 ... 6 5 ... 0
insp rcl ms H0 omsoms frh evqseo so
1415 13 ... 11 10 9 8 01236 ... 47
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Status transition
Note
At the following Transition numbers occur a automatic status transition: 0, 1, 13, 14 Automatic transition to enable operation state after executing SWITCHED ON state functionality.
Command Bits of the control word
Transition No. Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2, 6, 8 Switch on 0 0 1 1 1 3 Switch on + enable operation 0 1 1 1 1 3 + 4 (Note) Disable voltage 0 X X 0 X 7, 9, 10, 12 Quick stop 0 X 0 1 X 7, 10, 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4, 16 Fault reset 0 1 X X X X 15
Number: Transition No.
Power disabled
0
1
2
38
9 10
15
12
13
14
11
16
4 5
6
7
Fault
Power enabled
Start Fault reaction active
Fault
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
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5.10 Application Profile CiA 417 V2.1 for Lift Control SystemsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5.10.8 Status word
This object is equivalent to object H6041 in the CiA 402-2 V3.0 specification.
Bit No. Item Description / set range Bit 0 rtso Ready to switch on Bit 1 so Switched on Bit 2 oe Operation enabled Bit 3 f Fault
Bit 4 ve Voltage enabled ON when high voltage is applied to the Power drive system.
Bit 5 qs Quick stop OFF When the Power drive system is reacting on a quick stop request.
Bit 6 sod Switch on disabled
Bit 7 w Warning ON when being a warning condition. The status of the Power drive system Finite state automaton does not be changed as warning is not an error or fault.
Bit 8 ms Manufacturer-specific
Bit 9 rm Remote When this bit is ON, the control word is processed. If it is off (local), the control word is not processed.
Bit 10 tr
Target reached ON when the Power drive system has reached the set-point. The set-point is operation mode specific. This Bit
is set to on, if the operation mode has been changed. ON if the quick stop option code is 5, 6, 7 or 8, when the quick stop operation is finished and the Power drive
system is halted. ON when halt occurred and the Power drive system is halted.
Bit 11 ila Internal limit active ON when an internal limit is active.
Bit 12 to 13 oms Operation mode specific (Show in the Users Manual of the remote device)
Bit 14 to 15 ms Manufacturer-specific (Show in the Users Manual of the remote device)
Status Word Power Drive System Finite State Automaton State xxxx xxxx x0xx 0000 b Not ready to switch on xxxx xxxx x1xx 0000 b Switch on disabled xxxx xxxx x01x 0001 b Ready to switch on xxxx xxxx x01x 0011 b Switched on xxxx xxxx x01x 0111 b Operation enabled xxxx xxxx x00x 0111 b Quick stop active xxxx xxxx x0xx 1111 b Fault reaction active xxxx xxxx x0xx 1000 b Fault
ms oms ila tr qsmsrm sodw oe sofve rtso
15 ... 14 13 ... 12 11 10 9 8 012367 45
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5.10.9 Modes of operation
This object is equivalent to object H6060 in the CiA 402-2 V3.0 specifications.
5.10.10 Modes of operation display
This object is equivalent to object H6061 in the CiA 402-2 V3.0 specifications. This object provides the actual operation mode. The value description can be shown in the Modes of operation object.
Refer to Subsection 5.10.9
5.10.11 Target position
This object is equivalent to object H607A in the CiA 402-2 V3.0 specifications. This object contains the commanded position that the drive should move to in position profile mode using the current settings of motion control parameters such as velocity, acceleration, deceleration, motion profile type etc. The value of this object shall be interpreted as absolute or relative depending on the 'abs/rel' flag in the control word. It shall be given in user-defined position units and shall be converted to position increments.
5.10.12 Load value
This object contains the load value (sub-index H01) and the related SI unit (sub-index H02). The load value is the absolute value of the load (payload). It is in units of the configured SI unit. The load value of HFFFF shall be an error value that is applied if the sensor is in error state or does not have an actual value.
SI unit structure
The default SI unit is kg. The SI unit and prefix field values shall use the coding defined in the CiA 303-2 specifications.
5.10.13 Load signalling
This object contains load signal information. It is used to signal measuring values of the load measuring system. Sub-index H01 contains different kinds of load signals. If one of the load bits (for zero load, norm load, full load, and overload) is set to ON (1), the related condition is true. If the bit is set to 0, the related condition is not true. Sub-index H02 contains the information regarding whether the related load bit shall be processed (1) or not (0).
Value Description -128 to -1 Manufacturer-specific operation modes
0 No mode change or no mode assigned +1 Profile position mode +2 Velocity mode +3 Profile velocity mode +4 Torque profile mode +5 Reserved +6 Homing mode +7 Interpolated position mode +8 Cyclic sync position mode +9 Cyclic sync velocity mode
+10 Cyclic sync torque mode +11 to +127 Reserved
SI unitPrefix
15 ... 8 7 ... 0
OverloadReserved Full load Norm load Zero load
1237 ... 4 0
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6 Allocation of Buffer Memories 6.1 Buffer Memories (BFM) ListsFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
6. Allocation of Buffer Memories
6.1 Buffer Memories (BFM) Lists
Caution
Do not access buffer memory (BFM) that is marked as "Reserved" (Ex. BFM #23, #28, #31 to #34, #40 to #49, #60 to #99, #400, #443 to #600, etc.) by FROM/TO instructions, etc. There is a possibility to cause abnormal behavior to the operation of the FX3U-CAN if accessing these buffer memories.
When BFM #21, #24, #26, #27, #59, #70, #71, #100 to #399, #1100 to #1267, #1900 to #1927 are written to, FX3U-CAN stores the state of the corresponding BFM in the built-in flash ROM. The maximum number of writes to the built-in flash ROM is 10,000 times. While BFM #25 bit7 is ON, any TO access is prohibited and will generate a BFM #29 bit5 failure!
Note
When writing to a BFM that contains any bits marked as "Reserved" (Ex. BFM #20 bit 1 to bit 15, BFM #22 bit 2 to bit 15, etc), set such bits to OFF. There is a possibility to cause abnormal behavior to the operation of the FX3U-CAN if setting these flags to ON.
Use BFM #22 to store the configuration.
BFM No. Description Default value
Read/ Write
Stored to Flash ROM Reference
BFM #0 to #19 Receive/Transmit Process Data (CANopen modes only) H0 R/W - *1
BFM #20 Data Exchange Control H0 R/W - Section 6.4
BFM #21 Function mode K405 R/W Section 6.5
BFM #22 Save/Restore Configuration H0 R/W - Section 6.6 BFM #23 Reserved - - - -
BFM #24 Baud Rate K250 R/W Section 6.7
BFM #25 Communication Status K0 R/W - Section 6.8
BFM #26 FROM/TO Watchdog K20 R/W Section 6.9
BFM #27 Node Address (CANopen modes only) K127 R/W Section 6.10
BFM #28 Reserved - - - - BFM #29 Error Status H0 R/W - Section 14.2 BFM #30 Module ID code K7170 R - Section 6.12 BFM #31 to #34 Reserved - - - - BFM #35 CAN transmission error counter H0 R - Section 6.13 BFM #36 CAN reception error counter H0 R - Section 6.14 BFM #37 Baud Rate display K2500 R - Section 6.15 BFM #38 Sampling Point display K875 R - Section 6.16 BFM #39 BFM setting error display H0 R - Section 6.17 BFM #40 BFM initialisation/online mode write error display H0 R - Section 6.18 BFM #41 to #49 Reserved - - - -
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6 Allocation of Buffer Memories 6.1 Buffer Memories (BFM) ListsFX3U-CAN User's Manual
BFM #50 Time stamp producer/consumer (CANopen modes only) K1 R/W -
Section 6.19
BFM #51 Time stamp year (CANopen modes only) K12 R/W -
BFM #52 Time stamp month (CANopen modes only) K3 R/W -
BFM #53 Time stamp day (CANopen modes only) K1 R/W -
BFM #54 Time stamp hour (CANopen modes only) K0 R/W -
BFM #55 Time stamp minute (CANopen modes only) K0 R/W -
BFM #56 Time stamp second (CANopen modes only) K0 R/W -
BFM #57 Time stamp Day-of-the-week (CANopen modes only) K4 R -
BFM #58 Time stamp transmission interval (CANopen modes only) K0 R/W -
BFM #59 Daily correction (CANopen modes only) K0 R/W
BFM #60 to #69 Reserved - - - -
BFM #70*3 NMT Start all Nodes delay (CANopen modes only) K500 R/W Section 6.20
BFM #71*3 SDO Time out (CANopen modes only) K500 R/W Section 6.21
BFM #72 to #99 Reserved - - - -
BFM #100 to #399 Receive/Transmit Process Data H0 R/W *2 *1
BFM #400 Reserved - - - -
BFM #401 to #442 Message Slot error code list (Layer 2 function modes only) H0 R/W - Section 9.2
BFM #443 to #600 Reserved - - - - BFM #601 to #726 NMT State
(CANopen modes only) H0 R -
Section 6.22 BFM #727 H7F R - BFM #728 to #749 Reserved - - - -
BFM #750 to #859 EMCY Message Buffer (CANopen modes only) H0 - - Section 6.23
BFM #860 to #899 Reserved - - - -
BFM #900 to #963 NMT Error Control Status (CANopen modes only) H0 R/W - Section 6.24
BFM #964 to #999 Reserved - - - - BFM #1000 to #1066 Command Interface H0 R/W - Chapter 10 BFM #1067 to #1099 Reserved - - - -
BFM #1100 to #1267 Pre-defined Layer 2 message configuration (Layer 2 modes only) H0 R/W *2 Section 9.3
BFM #1268 to #1269 Reserved - - - -
BFM #1270 to #1272 Layer 2 RTR flags (Layer 2 modes only) H0 R - Section 9.4
BFM #1273 to #1279 Reserved - - - -
BFM #1280 to #1282 Message transmit trigger flags (Layer 2 modes only) H0 R/W - Section 9.5
BFM #1283 to #1899 Reserved - - - -
BFM #1900 to #1927 PLC RUN>STOP messages (Layer 2 modes only) H0 R/W *2 Section 9.6
BFM #1956 to #2999 Reserved - - - -
BFM #3000 to #3539 Lift Application (CANopen 417 Mode only) - - - Chapter 8
BFM #3540 to #9999 Reserved - - - -
BFM #10000 to #10319*3 Receive Process Data (RPDO) (CANopen 405 Mode only) H0 R - Section 7.1
BFM No. Description Default value
Read/ Write
Stored to Flash ROM Reference
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Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
*1. Refer to the following items for each function mode. When using CANopen 405 mode, refer to Chapter 7 When using CANopen 417 mode, refer to Chapter 8
When using the 11 bit CAN-ID Layer 2 mode or 29 bit CAN-ID Layer 2 mode, refer to Chapter 9
*2. Only in Layer 2 mode. The configuration area of the BFM is stored into the Flash ROM. For further information, refer to the following section.
Refer to Section 9.1 *3. Applicable for FX3U-CAN firmware Ver.1.10 or later.
BFM #10320 to #10999 Reserved - - - -
BFM #11000 to #11319*3 Transmit Process Data (TPDO) (CANopen 405 Mode only) H0 R/W - Section 7.1
BFM #11320 to #11999 Reserved - - - -
BFM #12000 to #12539*3 Lift Application Receive Data (RPDO) (CANopen 417 Mode only) - R - Chapter 8
BFM #12540 to #12999 Reserved - - - -
BFM #13000 to #13539*3 Lift Application Transmit Data (TPDO) (CANopen 417 Mode only) - R/W - Chapter 8
From #13540 Reserved - - - -
BFM No. Description Default value
Read/ Write
Stored to Flash ROM Reference
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6 Allocation of Buffer Memories 6.2 How to Read/Write from/to Buffer MemoryFX3U-CAN User's Manual
6.2 How to Read/Write from/to Buffer Memory
To read/write from/to buffer memory in the FX3U-CAN, use the FROM/TO instructions or the applied instructions that directly specify the buffer memory. FX3U/FX3UC/FX5U/FX5UC PLC applicable software is required to perform direct specification of the buffer memory and bit specification of word devices. For further information on applied instructions, bit specification of word devices, direct specification of buffer memory or special extension unit/block unit number, refer to following manual.
Refer to Programming manual
6.2.1 Direct specification of buffer memory (FX3U/FX3UC/FX5U/FX5UC only)
When directly specifying the buffer memory, specify the following device in the source or destination area of the applied instruction as follows:
*1. Unit No. 2 to No. 16 is assigned when the CPU module is an FX5U/FX5UC.
1. Reading out BFM data to PLC (MOV instruction) If the following program is created, 1 point of data will be read out from buffer memory BFM #30 of unit No.1 to data register D10.
2. Writing PLC data into BFM (MOV instruction) If the following program is created, 1 point of data (H0001) will be written to buffer memory BFM #21 of unit No.1.
6.2.2 FROM/TO instructions
1. FROM instruction (Reading out BFM data to PLC) Use the FROM instruction to read the data from the buffer memory. If the following program is created, 1 point of data will be read out from buffer memory BFM #30 of unit No.1 to data register D10.
2. TO instruction (Writing PLC data into BFM) Use the TO instruction to write data to buffer memory. If the following program is created, 1 point of data (H0001) will be written to buffer memory BFM #21 of unit No.1.
Unit No. (0 to 7*1) Buffer memory No. (0 to 32766)
U \G is substituted with a number
READ command FNC 12 MOV
U1\G30 D10
Transfer result Unit No.
Buffer memory No.
WRITE command FNC 12 MOV
H0001 U1\G21
Transfer source Unit No. Buffer memory No.
READ command FNC 78 FROM
K1 K30 D10 K1
Destination register Number of transfer data pointsUnit No.
Buffer memory No.
WRITE command FNC 79 TO
K1 K21 H0001 K1
Transfer source Number of transfer data pointsUnit No.
Buffer memory No.
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6 Allocation of Buffer Memories 6.3 Receive/Transmit Process DataFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
6.3 Receive/Transmit Process Data
BFM #10000 to #10319 and #11000 to #11319 locations in the FX3U-CAN module are used for data communication to the CAN bus. The mapping for where each data is sent/received is explained in the following chapter.
When using CANopen 405 mode, refer to Chapter 7 When using CANopen 417 mode, refer to Chapter 8
When using the 11 bit CAN-ID Layer 2 mode or 29 bit CAN-ID Layer 2 mode, refer to Chapter 9
Note
In the CANopen 417 Mode (BFM #21 = K417), only BFM #0 to #3, BFM #10000 to #10003 and BFM #11000 to #11003 (TPDO1/RPDO1) are usable. BFM #4 to #399, BFM #10004 to #10319 and BFM #11004 to #11319 are not accessible.
6.4 [BFM #20] Data Exchange Control
To ensure that the FX3U-CAN module can handle the CANopen data in a consistent way, it is necessary to set in BFM #20 the corresponding Bit to ON before reading data (FROM) and after writing data (TO). The data exchange control signal ensures, by internal buffer exchange, that TO data from the PLC will be transmitted by PDO. PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and after setting the corresponding bits in BFM #20 to ON. As long as the reading of the previous data is not finished and a new exchange command to BFM #20 has not been sent, FROM data will not be overwritten by further PDO. If the module is in NMT state Operational, PDO data received from other nodes can be read by the FX3G/ FX3GC/FX3U/FX3UC/FX5U/FX5UC PLC by using a FROM instruction, and transmit PDO data can be written to the module and sent to the network by using a TO instruction. The exchange data bit's will be reset automatically when the data exchange between BFM and Object Dictionary/Data exchange buffer is finished.
Note
BFM #20 bit 0 will be reset automatically. During an active data exchange (BFM #20 bit 0 is ON), new write access to this BFM will be ignored.
Bit Description
FROM (Read Access) TO (Write Access)
Bit 0
Data exchange status OFF: Data exchange between BFM's and Data Exchange
Buffer completed ON: Module exchanges data between BFM's and Data
exchange buffer Note: This bit has the same function as Bit 8
Data exchange mode Control OFF: No data exchange between BFMs and CANopen
object dictionary / Layer 2 message buffer ON: Activate data exchange between BFMs and CANopen
object dictionary / Layer 2 message buffer Notes: This bit merges the function of Bit 8, 9 and 12. If the bit is set and the Module is not in CANopen state
Pre-Operational or Stopped, the PDO data will be exchanged after going into Operational state.
Bit 1 to 7 Reserved
Bit 8
Only in CANopen modes: Data exchange status (only OD data) OFF: Data exchange between BFM's and Data Exchange
Buffer completed ON: Module exchanges data between BFM's and Data
exchange buffer Note: This bit has the same function as Bit 0
Only in CANopen modes: Data exchange mode setting (only OD data) OFF: No data exchange between BFM and CANopen object
dictionary ON: Activate data exchange between BFM and CANopen
object dictionary Notes: The RPDO data of the Virtual Input mapping BFMs are
not included in this data exchange. It can be handled separately by Bit 9.
The data will be also exchanged by setting Bit 0 If the bit is set and the Module is not in CANopen state
Operational, the PDO data will be exchanged after going into Operational state.
111
6 Allocation of Buffer Memories 6.5 [BFM #21] Function ModeFX3U-CAN User's Manual
6.5 [BFM #21] Function Mode
Function mode of FX3U-CAN is set up. FX3U-CAN chooses the communication function corresponding to the function mode set in BFM #21.
Note
The BFM setting needs to be stored by BFM #22 bit 0 and afterwards be restarted by BFM #25 bit 0 to make the new settings effective.
Refer to Section 6.8
For the CANopen profile (CiA 405 or CiA 417) mode, all saved OD settings will be deleted after mode change restart.
Bit 9 Reserved
Only in 417 Function mode (Refer to BFM #21): Data exchange for the Virtual Input mapping BFMs. With this bit it's possible to read the Receive Buffer of the Virtual Input mapping without exchanging the data of all data exchange BFMs. OFF: No data exchange ON: Exchange data
For FROM access of BFM #3001 to 3003, refer to Section 8.3
Note: The data will be also exchanged by setting Bit 0
Bit 10 to 11 Reserved
Bit 12 Reserved
OFF: No data exchange between Emergency Message BFMs and EMCY Receive Buffer
ON: Exchange data between Emergency Message BFMs and EMCY Receive Buffer
For Emergency Message Buffer, refer to Section 6.23
Note: The data will be also exchanged by setting Bit 0
Bit 13 to 15 Reserved
Set Value Function Mode Description K11 11 bit CAN-ID Layer 2 mode This mode supports the 11 bit CAN-ID Layer 2 Message. K29 29 bit CAN-ID Layer 2 mode This mode supports the 29 bit CAN-ID Layer 2 Message.
K405 (default) CANopen 405 mode This mode supports the CANopen CiA 405 IEC 61131-3 Programmable Device Profile.
K417 CANopen 417 mode This mode supports the CANopen CiA 417 Lift Application Profile. Other value All other settings will generate a BFM #29 bit 6 failure.
Bit Description
FROM (Read Access) TO (Write Access)
112
6 Allocation of Buffer Memories 6.6 [BFM #22] Save/Restore ConfigurationFX3U-CAN User's Manual
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Specifications
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Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Interface and Device Profile (405 m
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Lift Application Profile (417 M
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CAN Layer 2 M
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Com m
and Interface
6.6 [BFM #22] Save/Restore Configuration
This BFM supports two bits that allow the default configuration of the BFMs to be restored and the configuration from BFMs to be stored into Flash ROM. Both bits will be reset automatically if the restore or save procedure is completed.
Note
If both flags are set simultaneously, the corresponding BFMs and Flash ROM will be reset to factory default settings.
If only bit 1 is set, corresponding BFM areas are restored to factory default values but not stored in Flash ROM. After changing the configuration, BFM #22 bit 0 has to be set ON to store these changed configuration BFMs to Flash ROM.
Object dictionary settings can be stored in Flash ROM and Object dictionary default settings can be restored using CIF commands.
For CIF command, refer to Section 10.6 and Section 10.7
*1. The stored/restored BFM configurations correspond to the function mode as shown in the table below;
Bit Description
FROM (Read Access) TO (Write Access)
Bit 0 ON when in store process. Save configuration*1 to Flash ROM. When operation is completed, FX3U-CAN will automatically reset this bit.
Bit 1 ON when in restore process. Restore factory default configuration (not saved to Flash ROM). When operation is completed, FX3U-CAN will automatically reset this bit.
Bit 2 to 15 Reserved
Mode
Description Reference
C A
N op
en 4
05 m
od e
C A
N op
en 4
17 m
od e
11 b
it C
A N
-ID L
ay er
2 m
od e
29 b
it C
A N
-ID L
ay er
2 m
od e
Saved Saved Function mode in BFM #21. Section 6.5 Saved Saved Baud Rate in BFM #24. Section 6.7 Saved Saved FROM/TO Watchdog in BFM #26. Section 6.9 Saved Not saved Node Address in BFM #27. Section 6.10 Saved Not saved Daily correction in BFM #59. Section 6.19
Not saved Saved The CAN ID and data length for transmitting message in BFM #100 to #399. Section 9.1 Not saved Saved Pre-defined Layer 2 message configuration in BFM #1100 to #1267. Section 9.3 Not saved Saved PLC RUN>STOP message in BFM #1900 to #1927. Section 9.6
Saved Not saved NMT start all Nodes delay in BFM #70 Section 6.20 Saved Not saved SDO Time Out in BFM #71 Section 6.21
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6 Allocation of Buffer Memories 6.7 [BFM #24] Baud RateFX3U-CAN User's Manual
6.7 [BFM #24] Baud Rate
Set the baud rate in this BFM. The current baud rate can be found in BFM #37.
Note
The Baud Rate must be equal for all nodes in the network. The new value needs to be stored by BFM #22 and the Module has to be restarted to make the new setting
effective.
6.8 [BFM #25] Communication Status
Displays the FX3U-CAN communication status.
Note
A change of the function mode, the baud rate, or Node ID requires a restart of the FX3U-CAN to become effective.
If a configuration BFM is written to while in online mode (BFM #25 bit 4 is ON), BFM #29 bit 5 will be set ON.
When BFM #25 bit 7 is ON, the Module is initializing the internal data structures and the BFM, and any TO command (write access) prohibited. If the BFM is written to, BFM #29 bit 5 will be set to ON. When BFM #25 bit 7 is bit ON, the only access allowed is to read (FROM) BFM #25 and BFM #29.
Module restart
When restarting the module, set BFM #25 Bit 0 to ON. In this case, set data that was not saved will be lost.
BFM Value Description
K10 Baud Rate 10kbps K20 Baud Rate 20kbps K50 Baud Rate 50kbps
K100 Baud Rate 100kbps K125 Baud Rate 125kbps K250 Baud Rate 250kbps K500 Baud Rate 500kbps K800 Baud Rate 800kbps K1000 Baud Rate 1000kbps
Other value Setting prohibited If an invalid baud rate is written to BFM #24, the BFM will keep its former value and BFM #29 bit 11 will be set.
Bit Description
FROM (Read Access) TO (Write Access)
Bit 0
Module online/offline Layer 2 modes: OFF: Offline ON: Online CANopen modes: OFF: Not in Operational State ON: Operational State
Module restart A restart is necessary to activate a new setting of the function mode (BFM #21), the baud rate (BFM #24), the Node-Id (BFM #27) or to activate the NMT master setting.
Refer to Subsection 5.8.5 and Section 6.5, 6.7 and 6.10
All not saved settings will be lost. OFF: Normal operation ON: Restart module
Bit 1
OFF: The error counter is below the warning level, in error passive or in bus-off.
ON: The error counter of the CAN controller has reached the warning level.
Refer to Section 6.13 and 6.14
Reserved
Bit 2, 3 Reserved
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6 Allocation of Buffer Memories 6.8 [BFM #25] Communication StatusFX3U-CAN User's Manual
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Introduction
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Specifications
3
Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Interface and Device Profile (405 m
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Lift Application Profile (417 M
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9
CAN Layer 2 M
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Com m
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Bit 4
CANopen mode: Reserved Layer 2 mode: OFF: Layer 2 request configuration mode ON: Layer 2 request online mode This bit must be set to ON to start data exchange with other network nodes. The configuration of the module can only be changed while this bit is OFF. Note: If a configuration BFM was changed during online mode, BFM #29 bit 5 is set to ON.
Bit 5 Reserved
Bit 6
OFF: No NMT Reset received. ON: The CANopen Application was reset by an NMT Reset communication or NMT Reset Application command. All
unsaved changes in the Object dictionary are lost and are set to factory default or to the former stored value. Write a 0 to reset the bit.
Refer to Subsection 5.6.11 The Bit is set to 0 in the beginning of the reset process.
Bit 7
Module initialisation state
In the case of a module restart request over BFM #25 bit 0 or over a CANopen NMT command, this bit will set. This bit shall be monitored in the PLC program at all times to prohibit BFM #29 failures.
OFF: Module initialisation finished ON: Module is in initialisation state
Reserved
Bit 9, 8
CANopen Network state
Reserved
Bit 10
OFF: LSS Master routine inactive ON: LSS Master routine active This bit is only on when the LSS Master is searching and configuring LSS Slaves.
Reserved
Bit 11
OFF: No failure ON: Mandatory NMT Slave startup failure, NMT Master
startup stopped, Reset the NMT Master to restart the NMT Startup process
Note: If all Mandatory Slaves are available and this failure occurs, the NMT Master configuration may be faulty. Check the NMT Master settings of the assigned Mandatory Slaves.
Reserved
Bit 12
OFF: No Time Stamp object received ON: Time Stamp object received (Only if Consumer is set)
Write a 0 to this bit to reset it. Refer to Subsection 5.6.10 and Section 6.19
Bit 13
OFF: No failure ON: Optional NMT Slave startup failure, if the bit 14 is
also 0 at the same time, the NMT Master startup stopped and the NMT Master needs to be Reset to restart the NMT Startup process
Note: If all Optional Slaves are available and this failure occurs, the NMT Master configuration may be faulty. Check the NMT Master settings of the assigned Optional Slaves.
Reserved
Bit 14
OFF: NMT Start-up Master: No Slave start-up in progress ON: NMT Start-up Master: Slave start-up in progress
Refer to Subsection 5.8.5 Note: This bit goes on during the NMT master/slave startup and any time when a NMT slave error occurs and the NMT startup master tries to re-start the faulty NMT slave
Reserved
Bit 15 OFF: Module works as NMT Slave ON: Module works as NMT Master Reserved
Bit Description
FROM (Read Access) TO (Write Access)
Bit 9 Bit 8 Description OFF OFF Stopped State OFF ON Pre-operational State ON OFF Operational State ON ON Reserved
115
6 Allocation of Buffer Memories 6.9 [BFM #26] FROM/TO WatchdogFX3U-CAN User's Manual
6.9 [BFM #26] FROM/TO Watchdog
The FROM/TO Watchdog can be used when the Module is online to monitor if the PLC program accesses data BFM #0 to BFM #19, BFM #100 to #399 or BFM #3000 to BFM #3539 cyclically. After the first FROM/TO on the data BFM, the Watchdog will check if the next access to the data BFM takes place before the time set in BFM #26 expires. BFM #26 sets the Watchdog timer in 10 ms steps (default value K20 equals 200 ms). Note
If the watchdog expires, bit 7 in BFM #29 is set to ON, and the messages defined in the BFM #1900 to #1927 "PLC RUN>STOP messages" area or an EMCY Object are transmitted on the network. If the module is in a CANopen Mode, the module will react according to the value set in the Error behavior object (Index H1029) in the object dictionary.
For PLC RUN>STOP messages, refer to Section 9.6 For EMCY Object, refer to Subsection 5.6.13
For Error behaviour object, refer to Section 5.7 If the watchdog function is not required, it can be deactivated by writing K0 to BFM #26. The FROM/TO watchdog can be restarted by writing the setting value to BFM #26 again, which will also
reset the error flag in BFM #29.
6.10 [BFM #27] Node Address
This BFM sets CANopen Node-ID. The setting value range is 1 to 127. Note
The BFM setting needs to be stored by BFM #22 bit 0 and afterwards be restarted by BFM #25 bit 0 to make the new setting effective.
A setting out of the above range or a write access in Layer-2 function mode will generate a Failure Message in BFM #29 bit 6.
6.11 [BFM #29] Error Status
For further information on error status, refer to the following section. Refer to Section 14.2
6.12 [BFM #30] Module ID Code
The identification code for FX3U-CAN is available using a FROM instruction. The identification code for the FX3U-CAN is K7170. By reading this identification code, the user may create built-in checking routines in the PLC program to check whether the physical position of the FX3U-CAN on the special function unit bus matches the program.
116
6 Allocation of Buffer Memories 6.13 [BFM #35] CAN Transmission Error CounterFX3U-CAN User's Manual
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Specifications
3
Installation
4
W iring
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Introduction of Functions
6
Allocation of Buffer M
em ories
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Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
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9
CAN Layer 2 M
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10
Com m
and Interface
6.13 [BFM #35] CAN Transmission Error Counter
FX3U-CAN stores the current value of the CAN transmit error counter. The CAN transmit message error counter counts up to K256. The counter counts 1 or 8 up if a transmission error is detected. For each transmission without error, the counter counts 1 down.
Note
The Warning Level is also shown in BFM #25 bit 1, Error Passive and Bus OFF are shown in BFM #29.
6.14 [BFM #36] CAN Reception Error Counter
FX3U-CAN stores the current value of the CAN reception error counter. The CAN reception error counter counts up to K128. The counter counts 1 or 8 up if a reception error is detected. For each reception without error, the counter counts 1 down. However, when FX3U-CAN is in BUS-OFF status, K256 is stored in this BFM.
Note
The Warning Level is also shown in BFM #25 bit 1, Error Passive and Bus OFF are shown in BFM #29.
6.15 [BFM #37] Baud Rate Display
Displays the current baud rate of the CAN Controller in units of 0.1 kbps.
6.16 [BFM #38] Sampling Point Display
Displays the current sampling point of the CAN Controller in units of 0.1%.
6.17 [BFM #39] BFM Setting Error Display
BFM #29 bit 6 is set to ON if an attempt to write an invalid value into a Buffer Memory is detected. BFM #39 displays the address of the target BFM of the invalid write attempt. In case an irregular value was written to more than one BFM, only the address of the first BFM is displayed. BFM #39 is reset by writing K0 to BFM #29.
6.18 [BFM #40] BFM Initialisation/Online Mode Write Error Display
BFM #29 bit 5 is set to ON if an attempt to write into a Buffer Memory while module is in initialisation mode or in Layer 2 online mode is detected. BFM #40 displays the target BFM address of the invalid write attempt. In case an irregular write access is made to more than one BFM, only the address of the first BFM is displayed. When BFM #29 bit 5 is set to OFF, BFM #40 will be reset to K0.
Value Description
K0 to K127 Error active status Warning level if value is K96 to K127.
K128 to K255 Error passive status K256 BUS-OFF status
Value Description
K0 to K127 Error active status Warning level if value is K96 to K127.
K128 Error passive status K256 BUS-OFF status
117
6 Allocation of Buffer Memories 6.19 [BFM #50 to #59] Time StampFX3U-CAN User's Manual
6.19 [BFM #50 to #59] Time Stamp
CANopen devices which operate a local clock may use the TIME object to adjust their own time base to the time of the time stamp producer. After power up or reset of the FX3U-CAN, the clock data is set to default values, and the clock is stopped. FX3U-CAN sets up producer or consumer of Time stamp by BFM #50. When FX3U-CAN is the current Network Master or Producer, set the clock data to BFM #51 to #59. The current Time stamp of CANopen network can read the clock data from BFM #51 to #57. When the FX3U-CAN is set up as Consumer, the clock starts counting after receiving the first Time stamp
object. When the FX3U-CAN is set up as Producer, the clock starts after setup of BFM #50 to #58. The FX3U-CAN will only produce the Time stamp if it is the current Network Master and in CANopen state
Operational or Pre-operational.
Note
After power up or reset of the FX3U-CAN, the clock data is set to default values, and the clock is stopped. The data and time will be checked when BFM #56 is written. If value is outside of the allowed range BFM
#29 bit 6 will be set to ON. For BFM #29 bit 6, refer to Section 14.2
When the FX3U-CAN is set up as consumer, write access to BFM #51 to #59 will be ignored. When FX3U-CAN is the current Network Master and Producer, the first time stamp will be sent after setting
BFM #58. There is always a delay in time due to latency during writing to the BFM and during the transmission over
the CAN bus. A leap year correction is provided. Clock tolerance: 132 sec/month (at 25C) The resolution of the Time stamp object in the FX3U-CAN is in units of second. All values outside of the
Setting range will be ignored, and the old value will persist. If a Time stamp object is received, BFM #25 bit 12 will be set.
For communication status (BFM #25), refer to Section 6.8
Note: When handling built in clock data of PLC
The FX3U-CAN can handle built-in clock data of the PLC using TRD (FNC166) and TWR (FNC167) instructions. However, be careful of different year data specifications. For further information on the TRD (FNC166) and TWR (FNC167) instructions and built-in clock data specifications of the PLC, refer to the following manual.
Refer to Programming manual CAN network
K0 to K99 in Time stamp year corresponds to year 2000 to 2099. The higher two digits is ignored. If writing K1984, the module will send a Time stamp with the year 2084.
FX Series PLC built-in RTC K80 to K99 correspond to "1980 to 1999", and "00 to 79" correspond to "2000 to 2079". Examples: "80" indicates 1980. "99" indicates 1999. "00" indicates 2000. "79" indicates 2079.
*1. Time stamp will be only produced if the module is active NMT Master.
BFM No. Name Description
BFM #50 Time stamp producer/consumer
Sets the Time stamp producer/consumer. The BFM directly accesses the Consumer/Producer bits of the Time COB-ID in the Object Dictionary.
For Time object, refer to Subsection 5.6.10 Setting range: K0: Time stamp disabled K1: Consumer K2: Producer*1
K3: Producer*1/Consumer
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6 Allocation of Buffer Memories 6.20 [BFM #70] NMT Start all Nodes delayFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Time stamp setting procedure
To keep the consistency of Time stamp data, clock data should be set by the following procedure. 1) Set Time stamp producer/consumer in BFM #50. 2) Set clock data of Year, Month, Day, Hour and Minute in BFM #51 to #55. (Producer only) 3) Set clock data of Second in BFM #56.
All clock data will be written to the RTC and checked for validity when BFM #56 is written to. If the data is not valid, the RTC will not be set.
4) Set Time stamp transmission interval in BFM #58. The first time stamp will be sent after BFM #58 is written to.
Time stamp read procedure
To keep the consistency of Time stamp data, clock data should be read by the following procedure. 1) Read clock data of Year from BFM #51.
All clock data will be read from the RTC and written to BFMs #51 to #57 when BFM #51 is read. 2) Read clock data of Month, Day, Hour, Minute, Second and Day-of-the-week from BFM #52 to #57.
6.20 [BFM #70] NMT Start all Nodes delay
During the NMT master startup, the NMT master sends a NMT Reset communication all Nodes and NMT Start all Nodes depending on the configuration. This BFM value sets the minimum time between these two NMT messages, to ensure that a slow NMT Slave recognizes the NMT Start all Nodes message. The value can be set in ms (default: 500ms). The setting range is 0ms to 65535ms.
For NMT Startup process, refer to Subsection 5.8.4
6.21 [BFM #71] SDO Time out
The Time out for SDO communication set with this BFM. The value can be set in ms (default: 500ms). The setting range is 50ms to 32767ms.
For SDO, refer to Subsection 5.6.4
BFM No. Name Description
BFM #51 Time stamp year
K0 to K99 (lower two digits) K0 to K99 in Time stamp year corresponds to 2000 to 2099 year. The higher two digits is ignored. If writing K1984, the module will send a Time stamp with the year 2084.
BFM #52 Time stamp month K1 (January) to K12 (December) BFM #53 Time stamp day K1 (1st) to K31 (31st) BFM #54 Time stamp hour K0 (0 o'clock) to K23 (23 o'clock) BFM #55 Time stamp minute K0 (00 minutes) to K59 (59 minutes) BFM #56 Time stamp second K0 (00 seconds) to K59 (59 seconds)
BFM #57 Time stamp Day-of-the-week
K0 (Sunday) to K6 (Saturday)
This BFM is read only. The Day of the week will be calculated during setup of the RTC automatically.
BFM #58 Time stamp transmission interval
Set the transmission time interval for the Time stamp Object in multiples of minutes. The first time stamp will be sent after setting this BFM. If the FX3U-CAN is configured as Consumer, this setting will be ignored. Setting range; K0: Time stamp transmission disabled K1 to K1440: 1 minute to 1440 minutes (24 hours)
BFM #59 Daily correction A constant miscount of the Clock can be corrected in steps of 1 sec / day. Setting range: -60 to +60
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6 Allocation of Buffer Memories 6.22 [BFM #601 to #727] NMT StateFX3U-CAN User's Manual
6.22 [BFM #601 to #727] NMT State
This BFM displays the NMT status of the CANopen nodes (index H1F82, Sub index 01 to 127 of the CANopen Object Dictionary). Use the SDO Command in the CIF to set the NMT state of the whole network or of one specific node. For NMT Slaves, the NMT Status is only displayed for Nodes for which Heartbeat Consuming is configured. If the NMT Master is using Heartbeat Consuming or Node Guarding, the current NMT State of an NMT Slave will display its actual NMT State as long as error control messages are received. For Nodes for which no error control service is configured, the NMT Master will display the NMT state from the last request.
For Object H1F82, refer to Subsection 5.8.9 For Heartbeat, refer to Subsection 5.6.9
For SDO Command, refer to Section 10.2 Note
If a NMT state request is made to all nodes, all BFM displays will change. To activate the display of a missing mandatory device, configure the Boot time out (refer to Object Dictionary Index H1F89) and set this Node-Id as a mandatory CANopen device (refer to Object Dictionary Index H1F81).
For Object Dictionary Index H1F89, refer to Section 5.6 For Object Dictionary Index H1F81, refer to Subsection 5.8.7
If no error control service is configured or if error control messages are missing, it is possible that an NMT state other than the actual remote NMT state will displayed. Use these BFMs and BFM #900 to #963 NMT Error Control Status and BFM #29 to detect error control service failures.
For BFM #900 to #963, refer to Section 6.24 For BFM #29, refer to Section 14.2
BFM No. Description BFM #601 Node 1 BFM #602 Node 2 BFM #603 Node 3
... ...
... ..
... ...
... ..
BFM #726 Node 126 BFM #727 Node 127
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6 Allocation of Buffer Memories 6.23 [BFM #750 to #859] Emergency Message BufferFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
6.23 [BFM #750 to #859] Emergency Message Buffer
The FX3U-CAN will store the Emergency messages which are received from the bus to an internal buffer. This buffer can store up to 22 emergency messages and is separated into an 11 message stack buffer (BFM #750 to #804) and an 11 message ring buffer (BFM #805 to #859). The stack buffer will store the first 11 emergency messages received after Power On or after the Emergency message buffer was cleared the last time. The ring buffer will store the next eleven Emergency messages; all further received Emergency telegrams will overwrite the oldest message in the ring buffer. The stack buffer will not be overwritten.
Note
To ensure that the EMCY data is handled in a consistent way, it is necessary to set in BFM #20 bit 0 or 12 to ON before reading the EMCY data (FROM). When clearing the entire buffer, write H0 to BFM #750.
BFM No. Name Description
High Byte Low Byte BFM #750 Node ID
stack buffer
The Node-ID number which sent the emergency message to the network is displayed.
BFM #751 EMERGENCY data Emergency error code*1 (oldest message)
BFM #752 EMERGENCY data 1st byte of Manufacturer-specific error code*2
Error register For Error register (object H1001),
refer to Subsection 5.6.2
BFM #753 EMERGENCY data 3rd byte of Manufacturer-specific error code*2
2nd byte of Manufacturer-specific error code*2
BFM #754 EMERGENCY data 5th byte of Manufacturer-specific error code*2
4th byte of Manufacturer-specific error code*2
... ..
... ..
... ..
BFM #800 Node ID The Node-ID number which sent the emergency message to the network is displayed.
BFM #801 EMERGENCY data Emergency error code*1
BFM #802 EMERGENCY data 1st byte of Manufacturer-specific error code*2
Error register For Error register (object H1001),
refer to Subsection 5.6.2
BFM #803 EMERGENCY data 3rd byte of Manufacturer-specific error code*2
2nd byte of Manufacturer-specific error code*2
BFM #804 EMERGENCY data 5th byte of Manufacturer-specific error code*2 (newest message)
4th byte of Manufacturer-specific error code*2 (newest message)
BFM #805 Node ID
ring buffer
The Node-ID number which sent the emergency message to the network is displayed. (oldest message)
BFM #806 EMERGENCY data Emergency error code*1
BFM #807 EMERGENCY data 1st byte of Manufacturer-specific error code*2
Error register For Error register (object H1001),
refer to Subsection 5.6.2
BFM #808 EMERGENCY data 3rd byte of Manufacturer-specific error code*2
2nd byte of Manufacturer-specific error code*2
BFM #809 EMERGENCY data 5th byte of Manufacturer-specific error code*2
4th byte of Manufacturer-specific error code*2
... ..
... ..
... ..
BFM #855 Node ID The Node-ID number which sent the emergency message to the network is displayed.
BFM #856 EMERGENCY data Emergency error code*1
BFM #857 EMERGENCY data 1st byte of Manufacturer-specific error code*2
Error register For Error register (object H1001),
refer to Subsection 5.6.2
BFM #858 EMERGENCY data 3rd byte of Manufacturer-specific error code*2
2nd byte of Manufacturer-specific error code*2
BFM #859 EMERGENCY data 5th byte of Manufacturer-specific error code*2 (newest message)
4th byte of Manufacturer-specific error code*2 (newest message)
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6 Allocation of Buffer Memories 6.23 [BFM #750 to #859] Emergency Message BufferFX3U-CAN User's Manual
*1. Emergency error codes In different CiA Device/Application Profiles, more EMCY Error Codes are defined.
For EMCY Error Codes that are not in the following table, refer to the manual of the device which sent the message
*2. EMCY Manufacturer specific error codes EMCY Manufacturer specific error codes of the FX3U-CAN are shown below. EMCY Manufacturer Specific error codes are expressed by five ASCII code characters. However, the lower 2 bytes of the Manufacturer Specific Error code corresponding to Emergency Error Code "8250" uses four hexadecimal digits instead of ASCII code.
Error Code (hex)
Description Error Code (hex)
Description
0000 Error reset or no error 7000 Additional modules generic error
0010 CiA 417: CAN warning level 8000 Monitoring generic error
1000 Generic error 8100 Communication generic 2000 Current generic error 8110 CAN overrun (objects lost) 2100 Current, CANopen device input side generic 8120 CAN in error passive mode 2200 Current inside the CANopen device generic 8130 Life guard error or heartbeat error 2300 Current, CANopen device output side generic 8140 Recovered from bus off 3000 Voltage generic error 8150 CAN-ID collision
3100 Mains voltage generic 8F01
to 8F7F
Life guard error or heartbeat error caused by Node-ID 1 to Node-ID 127.
3111 CiA 417: Mains Over voltage 8200 Protocol error generic
3121 CiA 417: Mains Under voltage 8210 PDO not processed due to length error
3200 Voltage inside the CANopen device generic 8220 PDO length exceeded
3211 CiA 417: Over voltage (device internal) 8230 DAM MPDO not processed, destination object not available
3221 CiA 417: Under voltage (device internal) 8240 Unexpected SYNC data length
3300 Output voltage generic 8250 RPDO timeout 4000 Temperature generic error 9000 External error generic error 4100 Ambient temperature generic F000 Additional functions generic error
4200 Device temperature generic FF00 Device specific generic error*2
5000 CANopen device hardware generic error FF01 CiA 417: Light barrier defect*2
6000 CANopen device software generic error FF02 CiA 417: Finger protector defect*2
6100 Internal software generic FF03 CiA 417: Motion detection defect*2
6200 User software generic FF04
CiA 417: Application error, Manufacturer-specific error code: Byte 0 and 1 contain a Text error code, Byte 2 to 4 are reserved*26300 Data set generic
Emergency Error Code
(hex)
Manufacturer Specific Error code (hex) Description
5th Byte 4th Byte 3rd Byte 2nd Byte 1st Byte
FF00 46 58 30 30 31 "FX001": Main unit/CPU error occurs
FF00 46 58 30 30 32 "FX002": Main unit state changed from RUN to STOP
Also occurs when the main unit is powered ON in the STOP state.
6200 46 58 30 30 33 "FX003": FROM/TO Watchdog expired
6200 46 58 30 30 34 "FX004": Module reset by BFM #25 bit 0 For module reset, refer to Section 6.8
8250 50 44 4F XX XX "PDO"X: RPDO Nr HXXXX Event Timer expired
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6 Allocation of Buffer Memories 6.24 [BFM #900 to #963] NMT Error Control StatusFX3U-CAN User's Manual
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6.24 [BFM #900 to #963] NMT Error Control Status
This BFM displays the Node Guarding and Heartbeat status.
Note
When resetting the local NMT error latch, write H0 to the corresponding bit of this BFM. If bit 2 to 7 of any node is ON, BFM #29 bit 10 will be set. If the bit 10 in BFM #29 is reset to OFF, all failure bits in BFM #900 to #963 will be reset to OFF.
Status Flags
BFM No. Description
High Byte Low Byte BFM #900 Node 2 status Node 1 status BFM #901 Node 4 status Node 3 status BFM #902 Node 6 status Node 5 status BFM #903 Node 8 status Node 7 status
... ...
... ...
... ...
BFM #962 Node 126 status Node 125 status BFM #963 Unused (H0) Node 127 status
Bit No. Description Bit 0 Node guarding Node Guarding is active Bit 1 Heartbeat Heartbeat is active. This bit is set after reception of the first Heartbeat message. Bit 2 Node guarding One node guarding message is missed or Toggle Bit error. Bit 3 Node guarding No response and Lifetime elapsed Bit 4 NMT startup failed. Bit 5 Node guarding The node does not have the expected state. Bit 6 Node guarding Guarding failed. Node Guarding remote requests of the NMT Master was not received in the expected time. Bit 7 Heartbeat Heartbeat is missing
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7 CANopen 405 Mode 7.1 Data Transfer Location for CANopen 405 ModeFX3U-CAN User's Manual
7. CANopen 405 Mode
7.1 Data Transfer Location for CANopen 405 Mode
This section explains data transfer locations for CANopen 405 mode. BFM #10000 to #10319 and #11000 to #11319 are used as data transfer locations.
Note
The data will be exchanged only when the module is in OPERATIONAL State. To ensure that the FX3U-CAN module can handle the CANopen data in a consistent way, it is necessary to
use the data exchange by BFM #20 bit 0 or 8 to ON before reading PDO data (FROM) and after writing PDO data (TO) to the module. The data exchange control signal ensures, by internal buffer exchange, that TO data from the PLC will be transmitted with its corresponding PDO at the same time.
7.1.1 Direct TO BFM Access to the CANopen 405 Object
Use the TO instruction to write data to the following locations. The default TPDO mapping is assigned to unsigned 16 bit objects (Index HA100). To change this setting, use the SDO command in the CIF or a CANopen configuration software.
For SDO command in the CIF, refer to Section 10.2 For the CANopen configuration software, refer to the manual of the software to be used
Note
The data which are written to the BFM will only be copied into the Object Dictionary when they are mapped into a PDO. Example: BFM #11000 is assigned to the Object Dictionary Indexes/Sub-indexes HA240/H01, HA200/H01, HA1C0/H01, HA100/H01, HA0C0/H01, HA040/H01, H02 and HA000/H01, H02. If none of these Indexes are mapped into a TPDO, the data will not be copied from the BFM into any of the assigned Object Dictionary Indexes/Sub-indexes.
Index HA240 float 32 bit object
Index HA200
unsigned 32 bit object
Index HA1C0 signed 32 bit object
Index HA100
unsigned 16 bit object
Index HA0C0 signed 16 bit object
Index HA040
unsigned 8 bit
object
Index HA000 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
01 01 01 01 01
01 01 BFM #0 and #11000, lower 8 bit 02 02 BFM #0 and #11000, higher 8 bit
02 02 03 03 BFM #1 and #11001, lower 8 bit 04 04 BFM #1 and #11001, higher 8 bit
02 02 02 03 03
05 05 BFM #2 and #11002, lower 8 bit 06 06 BFM #2 and #11002, higher 8 bit
04 04 07 07 BFM #3 and #11003, lower 8 bit 08 08 BFM #3 and #11003, higher 8 bit
03 03 03 05 05
09 09 BFM #4 and #11004, lower 8 bit 0A 0A BFM #4 and #11004, higher 8 bit
06 06 0B 0B BFM #5 and #11005, lower 8 bit 0C 0C BFM #5 and #11005, higher 8 bit
.. .. .. .. .. .. .. ..
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0A 0A 0A 13 13
25 25 BFM #18 and #11018, lower 8 bit 26 26 BFM #18 and #11018, higher 8 bit
14 14 27 27 BFM #19 and #11019, lower 8 bit 28 28 BFM #19 and #11019, higher 8 bit
0B 0B 0B 15 15
29 29 BFM #100 and #11020, lower 8 bit 2A 2A BFM #100 and #11020, higher 8 bit
16 16 2B 2B BFM #101 and #11021, lower 8 bit 2C 2C BFM #101 and #11021, higher 8 bit
.. .. .. .. .. .. .. ..
3C 3C 3C 77 77
ED ED BFM #198 and #11118, lower 8 bit EE EE BFM #198 and #11118, higher 8 bit
78 78 EF EF BFM #199 and #11119, lower 8 bit F0 F0 BFM #199 and #11119, higher 8 bit
Index HA240 float 32 bit object
Index HA200
unsigned 32 bit object
Index HA1C0 signed 32 bit object
Index HA101
unsigned 16 bit object
Index HA0C1 signed 16 bit object
Index HA041
unsigned 8 bit
object
Index HA001 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
3D 3D 3D 01 01
01 01 BFM #200 and #11120, lower 8 bit 02 02 BFM #200 and #11120, higher 8 bit
02 02 03 03 BFM #201 and #11121, lower 8 bit 04 04 BFM #201 and #11121, higher 8 bit
.. .. .. .. .. .. .. ..
78 78 78 77 77
ED ED BFM #318 and #11238, lower 8 bit EE EE BFM #318 and #11238, higher 8 bit
78 78 EF EF BFM #319 and #11239, lower 8 bit F0 F0 BFM #319 and #11239, higher 8 bit
Index HA240 float 32 bit object
Index HA200
unsigned 32 bit object
Index HA1C0 signed 32 bit object
Index HA102
unsigned 16 bit object
Index HA0C2 signed 16 bit object
Index HA042
unsigned 8 bit
object
Index HA002 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
79 79 79 01 01
01 01 BFM #320 and #11240, lower 8 bit 02 02 BFM #320 and #11240, higher 8 bit
02 02 03 03 BFM #321 and #11241, lower 8 bit 04 04 BFM #321 and #11241, higher 8 bit
.. .. .. .. .. .. .. ..
A0 A0 A0 4F 4F
9D 9D BFM #398 and #11318, lower 8 bit 9E 9E BFM #398 and #11318, higher 8 bit
50 50 9F 9F BFM #399 and #11319, lower 8 bit A0 A0 BFM #399 and #11319, higher 8 bit
Index HA240 float 32 bit object
Index HA200
unsigned 32 bit object
Index HA1C0 signed 32 bit object
Index HA100
unsigned 16 bit object
Index HA0C0 signed 16 bit object
Index HA040
unsigned 8 bit
object
Index HA000 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
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7 CANopen 405 Mode 7.1 Data Transfer Location for CANopen 405 ModeFX3U-CAN User's Manual
7.1.2 Direct FROM BFM access to the CANopen 405 Object
Use the FROM instruction to read data from the following locations. The default RPDO mapping is assigned to unsigned 16 bit objects (Index HA580). To change this setting, use the SDO command in the CIF or a CANopen configuration software.
For SDO command in the CIF, refer to Section 10.2 For the CANopen configuration software, refer to the manual of the software to be used
Note
If data is written with an SDO into the Object Dictionary to one of the BFM corresponding Indexes/Sub- indexes, only the last data written is visible in the BFM. The data of the corresponding Indexes/Sub-indexes are not synchronized to each other.
Index HA6C0
float 32 bit object
Index HA680
unsigned 32 bit object
Index HA640 signed 32 bit object
Index HA580
unsigned 16 bit object
Index HA540 signed 16 bit object
Index HA4C0
unsigned 8 bit
object
Index HA480 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
01 01 01 01 01
01 01 BFM #0 and #10000, lower 8 bit 02 02 BFM #0 and #10000, higher 8 bit
02 02 03 03 BFM #1 and #10001, lower 8 bit 04 04 BFM #1 and #10001, higher 8 bit
02 02 02 03 03
05 05 BFM #2 and #10002, lower 8 bit 06 06 BFM #2 and #10002, higher 8 bit
04 04 07 07 BFM #3 and #10003, lower 8 bit 08 08 BFM #3 and #10003, higher 8 bit
03 03 03 05 05
09 09 BFM #4 and #10004, lower 8 bit 0A 0A BFM #4 and #10004, higher 8 bit
06 06 0B 0B BFM #5 and #10005, lower 8 bit 0C 0C BFM #5 and #10005, higher 8 bit
.. .. .. .. .. .. .. ..
0A 0A 0A 13 13
25 25 BFM #18 and #10018, lower 8 bit 26 26 BFM #18 and #10018, higher 8 bit
14 14 27 27 BFM #19 and #10019, lower 8 bit 28 28 BFM #19 and #10019, higher 8 bit
0B 0B 0B 15 15
29 29 BFM #100 and #10020, lower 8 bit 2A 2A BFM #100 and #10020, higher 8 bit
16 16 2B 2B BFM #101 and #10021, lower 8 bit 2C 2C BFM #101 and #10021, higher 8 bit
.. .. .. .. .. .. .. ..
3C 3C 3C 77 77
ED ED BFM #198 and #10118, lower 8 bit EE EE BFM #198 and #10118, higher 8 bit
78 78 EF EF BFM #199 and #10119, lower 8 bit F0 F0 BFM #199 and #10119, higher 8 bit
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Index HA6C0
float 32 bit object
Index HA680
unsigned 32 bit object
Index HA640 signed 32 bit object
Index HA581
unsigned 16 bit object
Index HA541 signed 16 bit object
Index HA4C1
unsigned 8 bit
object
Index HA481 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
3D 3D 3D 01 01
01 01 BFM #200 and #10120, lower 8 bit 02 02 BFM #200 and #10120, higher 8 bit
02 02 03 03 BFM #201 and #10121, lower 8 bit 04 04 BFM #201 and #10121, higher 8 bit
.. .. .. .. .. .. .. ..
78 78 78 77 77
ED ED BFM #318 and #10238, lower 8 bit EE EE BFM #318 and #10238, higher 8 bit
78 78 EF EF BFM #319 and #10239, lower 8 bit F0 F0 BFM #319 and #10239, higher 8 bit
Index HA6C0
float 32 bit object
Index HA680
unsigned 32 bit object
Index HA640 signed 32 bit object
Index HA582
unsigned 16 bit object
Index HA542 signed 16 bit object
Index HA4C2
unsigned 8 bit
object
Index HA482 signed
8 bit object Assigned BFM
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
sub- index (hex)
79 79 79 01 01
01 01 BFM #320 and #10240, lower 8 bit 02 02 BFM #320 and #10240, higher 8 bit
02 02 03 03 BFM #321 and #10241, lower 8 bit 04 04 BFM #321 and #10241, higher 8 bit
.. .. .. .. .. .. .. .. A0 A0 A0
4F 4F 9D 9D BFM #398 and #10318, lower 8 bit 9E 9E BFM #398 and #10318, higher 8 bit
50 50 9F 9F BFM #399 and #10319, lower 8 bit A0 A0 BFM #399 and #10319, higher 8 bit
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7 CANopen 405 Mode 7.2 PDO Mapping/Binding of the Network for CANopen 405 ModeFX3U-CAN User's Manual
7.2 PDO Mapping/Binding of the Network for CANopen 405 Mode
In order to exchange data by CANopen, the data channels between the nodes must be defined or "mapped". For large networks, the usage of a proper CANopen network configuration tool*1 which is able to support easy parameter settings and PDO mapping is recommended. To build up a small network or for testing purposes, the FX3U-CAN supports three PDO mapping/binding modes which can be executed by the Command Interface. By using these predefined Mapping configurations, the CAN object ID (COB-ID) number for data exchange of each node is clearly defined.
For function mode setting for CANopen 405 mode, refer to Section 6.5 *1. Example: Vector ProCANopen
Note
It is strongly recommended to execute the Mapping Commands only in the Pre-operational mode of all related CANopen nodes. For a complete list of the assignment between the data BFM and the CANopen data objects and their location in the Object Dictionary, refer to the following section.
Refer to Subsection 7.2.1 and Subsection 7.2.2
Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF SDO command if the NMT Startup Master acceses the remote Node at the same time.
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Installation
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W iring
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Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
7.2.1 TPDO mapping table
The assignment in this table is only for the default TPDO mapping setting (unsigned 16 bit objects). To change the BFM assignment of the TPDO, the mapping parameter has to be changed in the Object Dictionary.
For the default TPDO mapping setting, refer to Subsection 7.1.1 For the TPDO communication and mapping parameter in the Object Dictionary,
refer to Subsection 5.6.5 For the SDO command in the CIF, refer to Section 10.2
For the CANopen configuration software, refer to the manual of the software to be used
TPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
TPDO 1 H0180 + node ID H0180 + node ID #0 to #3 #11000 to #11003
TPDO 2 H0280 + node ID H0280 + node ID #4 to #7 #11004 to #11007
TPDO 3 H0380 + node ID H0380 + node ID #8 to #11 #11008 to #11011
TPDO 4 H0480 + node ID H0480 + node ID #12 to #15 #11012 to #11015
TPDO 5
Disabled These PDO can be activated by mode B mapping commands or SDO.
#16 to #19 #11016 to #11019
TPDO 6 #100 to #103 #11020 to #11023
TPDO 7 #104 to #107 #11024 to #11027
TPDO 8 #108 to #111 #11028 to #11031
TPDO 9 #112 to #115 #11032 to #11035
TPDO 10 #116 to #119 #11036 to #11039
TPDO 11 #120 to #123 #11040 to #11043
TPDO 12 #124 to #127 #11044 to #11047
TPDO 13 #128 to #131 #11048 to #11051
TPDO 14 #132 to #135 #11052 to #11055
TPDO 15 #136 to #139 #11056 to #11059
TPDO 16 #140 to #143 #11060 to #11063
TPDO 17 #144 to #147 #11064 to #11067
TPDO 18 #148 to #151 #11068 to #11071
TPDO 19 #152 to #155 #11072 to #11075
TPDO 20 #156 to #159 #11076 to #11079
TPDO 21 #160 to #163 #11080 to #11083
TPDO 22 #164 to #167 #11084 to #11087
TPDO 23 #168 to #171 #11088 to #11091
TPDO 24 #172 to #175 #11092 to #11095
TPDO 25 #176 to #179 #11096 to #11099
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TPDO 26
Disabled These PDO can be activated by mode B mapping commands or SDO.
#180 to #183 #11100 to #11103
TPDO 27 #184 to #187 #11104 to #11107
TPDO 28 #188 to #191 #11108 to #11111
TPDO 29 #192 to #195 #11112 to #11115
TPDO 30 #196 to #199 #11116 to #11119
TPDO 31 #200 to #203 #11120 to #11123
TPDO 32 #204 to #207 #11124 to #11127
TPDO 33 #208 to #211 #11128 to #11131
TPDO 34 #212 to #215 #11132 to #11135
TPDO 35 #216 to #219 #11136 to #11139
TPDO 36 #220 to #223 #11140 to #11143
TPDO 37 #224 to #227 #11144 to #11147
TPDO 38 #228 to #231 #11148 to #11151
TPDO 39 #232 to #235 #11152 to #11155
TPDO 40 #236 to #239 #11156 to #11159
TPDO 41 #240 to #243 #11160 to #11163
TPDO 42 #244 to #247 #11164 to #11167
TPDO 43 #248 to #251 #11168 to #11171
TPDO 44 #252 to #255 #11172 to #11175
TPDO 45 #256 to #259 #11176 to #11179
TPDO 46 #260 to #263 #11180 to #11183
TPDO 47 #264 to #267 #11184 to #11187
TPDO 48 #268 to #271 #11188 to #11191
TPDO 49 #272 to #275 #11192 to #11195
TPDO 50 #276 to #279 #11196 to #11199
TPDO 51 #280 to #283 #11200 to #11203
TPDO 52 #284 to #287 #11204 to #11207
TPDO 53 #288 to #291 #11208 to #11211
TPDO 54 #292 to #295 #11212 to #11215
TPDO 55 #296 to #299 #11216 to #11219
TPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
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TPDO 56
Disabled These PDO can be activated by mode B mapping commands or SDO.
#300 to #303 #11220 to #11223
TPDO 57 #304 to #307 #11224 to #11227
TPDO 58 #308 to #311 #11228 to #11231
TPDO 59 #312 to #315 #11232 to #11235
TPDO 60 #316 to #319 #11236 to #11239
TPDO 61 #320 to #323 #11240 to #11243
TPDO 62 #324 to #327 #11244 to #11247
TPDO 63 #328 to #331 #11248 to #11251
TPDO 64 #332 to #335 #11252 to #11255
TPDO 65 #336 to #339 #11256 to #11259
TPDO 66 #340 to #343 #11260 to #11263
TPDO 67 #344 to #347 #11264 to #11267
TPDO 68 #348 to #351 #11268 to #11271
TPDO 69 #352 to #355 #11272 to #11275
TPDO 70 #356 to #359 #11276 to #11279
TPDO 71 #360 to #363 #11280 to #11283
TPDO 72 #364 to #367 #11284 to #11287
TPDO 73 #368 to #371 #11288 to #11291
TPDO 74 #372 to #375 #11292 to #11295
TPDO 75 #376 to #379 #11296 to #11299
TPDO 76 #380 to #383 #11300 to #11303
TPDO 77 #384 to #387 #11304 to #11307
TPDO 78 #388 to #391 #11308 to #11311
TPDO 79 #392 to #395 #11312 to #11315
TPDO 80 #396 to #399 #11316 to #11319
TPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
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7.2.2 RPDO mapping table
The assignment in this table is only for the default RPDO mapping setting (unsigned 16 bit objects). To change the BFM assignment of the RPDO, the mapping parameter has to be changed in the Object Dictionary.
For the default RPDO mapping setting, refer to Subsection 7.1.2 For the RPDO communication and mapping parameter in the Object Dictionary,
refer to Subsection 5.6.5 For the SDO command in the CIF, refer to Section 10.2
For the CANopen configuration software, refer to the manual of the software to be used
RPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
RPDO 1 H0200 + node ID H0181
Node 1 data
Disabled Can be defined by mode B
mapping command parameter or SDO.
#0 to #3 #10000 to #10003
RPDO 2 H0300 + node ID H0281 #4 to #7 #10004 to #10007
RPDO 3 H0400 + node ID H0381 #8 to #11 #10008 to #10011
RPDO 4 H0500 + node ID H0481 #12 to #15 #10012 to #10015
RPDO 5
Disabled These PDO can be
activated by mode B mapping commands or
SDO.
H0182
Node 2 data
#16 to #19 #10016 to #10019
RPDO 6 H0282 #100 to #103 #10020 to #10023
RPDO 7 H0382 #104 to #107 #10024 to #10027
RPDO 8 H0482 #108 to #111 #10028 to #10031
RPDO 9 H0183
Node 3 data
#112 to #115 #10032 to #10035
RPDO 10 H0283 #116 to #119 #10036 to #10039
RPDO 11 H0383 #120 to #123 #10040 to #10043
RPDO 12 H0483 #124 to #127 #10044 to #10047
RPDO 13 H0184
Node 4 data
#128 to #131 #10048 to #10051
RPDO 14 H0284 #132 to #135 #10052 to #10055
RPDO 15 H0384 #136 to #139 #10056 to #10059
RPDO 16 H0484 #140 to #143 #10060 to #10063
RPDO 17 H0185
Node 5 data
#144 to #147 #10064 to #10067
RPDO 18 H0285 #148 to #151 #10068 to #10071
RPDO 19 H0385 #152 to #155 #10072 to #10075
RPDO 20 H0485 #156 to #159 #10076 to #10079
RPDO 21 H0186
Node 6 data
#160 to #163 #10080 to #10083
RPDO 22 H0286 #164 to #167 #10084 to #10087
RPDO 23 H0386 #168 to #171 #10088 to #10091
RPDO 24 H0486 #172 to #175 #10092 to #10095
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Introduction of Functions
6
Allocation of Buffer M
em ories
7
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ode)
8
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ode)
9
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ode
10
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RPDO 25
Disabled These PDO can be
activated by mode B mapping commands or
SDO.
H0187
Node 7 data
Disabled Can be defined by mode B
mapping command parameter or SDO.
#176 to #179 #10096 to #10099
RPDO 26 H0287 #180 to #183 #10100 to #10103
RPDO 27 H0387 #184 to #187 #10104 to #10107
RPDO 28 H0487 #188 to #191 #10108 to #10111
RPDO 29 H0188
Node 8 data
#192 to #195 #10112 to #10115
RPDO 30 H0288 #196 to #199 #10116 to #10119
RPDO 31 H0388 #200 to #203 #10120 to #10123
RPDO 32 H0488 #204 to #207 #10124 to #10127
RPDO 33
Disabled These PDO can be
activated by mode B mapping commands or
SDO.
#208 to #211 #10128 to #10131
RPDO 34 #212 to #215 #10132 to #10135
RPDO 35 #216 to #219 #10136 to #10139
RPDO 36 #220 to #223 #10140 to #10143
RPDO 37 #224 to #227 #10144 to #10147
RPDO 38 #228 to #231 #10148 to #10151
RPDO 39 #232 to #235 #10152 to #10155
RPDO 40 #236 to #239 #10156 to #10159
RPDO 41 #240 to #243 #10160 to #10163
RPDO 42 #244 to #247 #10164 to #10167
RPDO 43 #248 to #251 #10168 to #10171
RPDO 44 #252 to #255 #10172 to #10175
RPDO 45 #256 to #259 #10176 to #10179
RPDO 46 #260 to #263 #10180 to #10183
RPDO 47 #264 to #267 #10184 to #10187
RPDO 48 #268 to #271 #10188 to #10191
RPDO 49 #272 to #275 #10192 to #10195
RPDO 50 #276 to #279 #10196 to #10199
RPDO 51 #280 to #283 #10200 to #10203
RPDO 52 #284 to #287 #10204 to #10207
RPDO 53 #288 to #291 #10208 to #10211
RPDO 54 #292 to #295 #10212 to #10215
RPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
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7 CANopen 405 Mode 7.2 PDO Mapping/Binding of the Network for CANopen 405 ModeFX3U-CAN User's Manual
RPDO 55
Disabled These PDO can be activated by mode B mapping
commands or SDO.
Disabled Can be defined by mode B
mapping command parameter or SDO.
#296 to #299 #10216 to #10219
RPDO 56 #300 to #303 #10220 to #10223
RPDO 57 #304 to #307 #10224 to #10227
RPDO 58 #308 to #311 #10228 to #10231
RPDO 59 #312 to #315 #10232 to #10235
RPDO 60 #316 to #319 #10236 to #10239
RPDO 61 #320 to #323 #10240 to #10243
RPDO 62 #324 to #327 #10244 to #10247
RPDO 63 #328 to #331 #10248 to #10251
RPDO 64 #332 to #335 #10252 to #10255
RPDO 65 #336 to #339 #10256 to #10259
RPDO 66 #340 to #343 #10260 to #10263
RPDO 67 #344 to #347 #10264 to #10267
RPDO 68 #348 to #351 #10268 to #10271
RPDO 69 #352 to #355 #10272 to #10275
RPDO 70 #356 to #359 #10276 to #10279
RPDO 71 #360 to #363 #10280 to #10283
RPDO 72 #364 to #367 #10284 to #10287
RPDO 73 #368 to #371 #10288 to #10291
RPDO 74 #372 to #375 #10292 to #10295
RPDO 75 #376 to #379 #10296 to #10299
RPDO 76 #380 to #383 #10300 to #10303
RPDO 77 #384 to #387 #10304 to #10307
RPDO 78 #388 to #391 #10308 to #10311
RPDO 79 #392 to #395 #10312 to #10315
RPDO 80 #396 to #399 #10316 to #10319
RPDO Mode 0 Mapping
(default) Mode A Mapping Mode B Mapping Assigned BFM
COB ID
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W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
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CAN Layer 2 M
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7.2.3 Mode 0 mapping
By executing the Mode 0 mapping command shown below, the number of automatically assigned TPDOs and RPDOs becomes four. All RPDO/TPDO communication and mapping parameter and the BFM/Object dictionary assignment will be reset to factory default. The BFM content of the Receive/Transmit Process Data BFM's will be set to zero.
BFM #0 to #15 are distributed to RPDOs and TPDOs 1 to 4 as shown in the TPDO/RPDO mapping table. This setting is useful for a network that features many different types of nodes or as a base for a network mapping configured with the Mode B mapping command. The PDOs 5 to 80 (BFM #16 to #19 and #100 to #399) are disabled in the default settings but further mapping of these PDOs can be accomplished by using the Mode B mapping technique or SDO.
For RPDO/TPDO communication and mapping table, refer to Subsection 5.6.5 For BFM assignment of the Receive/Transmit Process Data BFM's,
refer to Subsection 7.1.1 and Subsection 7.1.2 For Mode B COB-ID mapping command, refer to Subsection 7.2.5
Execution procedure: Mode 0 mapping
1) To execute the Mode 0 command, write H8900 to BFM #1000. 2) After the Mapping is successfully established, H8901 is written to BFM #1000.
In case of trouble, refer to Section 10.9
7.2.4 Mode A mapping
Easy setup of a CANopen network of up to eight FX3U-CAN nodes can be accomplished by simply using the Mode A Mapping configuration. All FX3U-CAN modules have to be set up via the local PLC. One of the nodes must be configured as the network master. The network master can be defined in the Network Configuration tool or by writing to the Object Dictionary using the CIF SDO write command. All RPDO/TPDO communication and mapping parameter and the BFM/Object dictionary assignment will be reset to Mode A default. The BFM content of the Receive/Transmit Process Data BFM's will be set to zero. The COB-IDs will be changed to the values shown in the tables in the Subsection 7.2.1 and Subsection 7.2.2. After all stations have executed the Mode A Mapping command, 16 data words can be exchanged with other FX3U-CAN modules. A closer look at the mapping shows that the TPDO is dependent upon the node ID but the mapping for the RPDO is fixed to the default TPDO COB-ID of stations 1 to 8. The advantage is that the data location of all FX3U-CAN modules is the same. To include non FX3U-CAN CANopen nodes to the network, it is necessary to change the RPDO and communication parameters of these stations. This can be done by the Mode B mapping command, the SDO write access command, or by a standard configuration tool.
For RPDO/TPDO communication and mapping table, refer to Subsection 5.6.5 For SDO command in the CIF, refer to Section 10.2
For the CANopen configuration software, refer to the manual of the software to be used For BFM assignment of the Receive/Transmit Process Data BFM's,
refer to Subsection 7.1.1 and Subsection 7.1.2 For Mode B COB-ID mapping command, refer to Subsection 7.2.5
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000 H8901: Mapping successful established HFFFF: CIF Busy H000F: Error
Command: H8900
BFM #1001 to #1066 Unused Unused
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Execution procedure: Mode A mapping
1) To execute the Mode A command, write H8200 to BFM #1000. 2) After the Mapping is successfully established, H8201 is written to BFM #1000.
In case of trouble, refer to Section 10.9
7.2.5 Mode B COB-ID mapping
With Mode B COB-ID Mapping, it is possible to build up bindings between any nodes connected to the FX3U- CAN module and the FX3U-CAN module itself or any other nodes also connected to the FX3U-CAN. Mode B COB-ID mapping is limited to the binding of the PDO COB-ID already configured in the remote stations (No change of the PDO mapping parameter). All three Mode B COB-ID mapping options can be mixed within one CIF Function call.
The Mode B COB-ID mapping command will modify the current PDO COB-ID at the Destination, therefore it is important to have a clearly defined mapping base before executing any Mode B commands. Executing the Mode B COB-ID Mapping commands before adjusting the PDO mapping parameters (adjusting the PDO data length) may create errors in the data transmission or module operation. The PDO mapping base can be the "Mode 0" mapping or the "Mode A" mapping explained in previous sections to prepare default RPDO and TPDO formats. Another method to create (or reset) a Mapping base is to initialize the Mode B Mapping with a special instruction at the beginning of the Mode B Mapping Command. If it is necessary to change the remote node hardware mapping, this can be done by the SDO write access command or by a standard CANopen network configuration tool. The configuration with the Mode B mapping is controlled by parameters, which are displayed in the table on the following page.
For the SDO write access command in the CIF, refer to Subsection 10.2.3 For BFM assignment of the Receive/Transmit Process Data BFM's,
refer to Subsection 7.1.1 and Subsection 7.1.2 For the CANopen configuration software, refer to the manual of the software to be used For the default RPDO and TPDO formats, refer to Subsection 7.2.1 and Subsection 7.2.2
Reset Mapping Table to default Mode B COB-ID mapping This command sets Mode B default settings on the local Node. All RPDO/TPDO communication and mapping parameter and the BFM/Object dictionary assignment will be reset to factory default. The BFM content of the Receive / Transmit Process Data BFM's will be set to zero. The COB-IDs will be changed to the values shown in the tables in the Subsection 7.2.1 and Subsection 7.2.2.
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H8201: Mapping successfully established H82FF: Local node number not in range 1 to 8
Local node number must be in the range 1 to 8 HFFFF: CIF Busy H000F: Error
Command: H8200
BFM #1001 to #1066 Unused Unused
Mode B COB-ID Mapping options Reference Reset Mapping Table to default Mode B COB-ID mapping page 136 Assign Source TPDO COB-ID to Destination RPDO COB-ID page 137 Assign Additional TPDO COB-IDs to the Local Node page 138
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000 H8301: Mapping successfully established HFFFF: CIF Busy H000F: Error
Command: H8300
BFM #1001 H0 H0 BFM #1002 H0 H0 BFM #1003
Other Mode B COB-ID mapping command response. Other Mode B COB-ID mapping options or terminate with HFFFF in BFM #1003...
BFM #1066
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W iring
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Introduction of Functions
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Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
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9
CAN Layer 2 M
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Com m
and Interface
Assign Source TPDO COB-ID to Destination RPDO COB-ID This command copies the COB-ID of the Source Node TPDO to the Destination Node RPDO. Please ensure that the PDO mapping parameter data fit together before executing this command. Otherwise it can result in communication failures and/or a malfunction of the Destination Node. To change the PDO communication parameter or the PDO mapping parameter, please use the SDO command in the CIF or a CANopen configuration software.
For the SDO write access command in the CIF, refer to Subsection 10.2.3 For the CANopen configuration software, refer to the manual of the software to be used
Mode B TPDO/RPDO COB-ID Setup scenarios
Note
With one execution of the Mode B COB-ID mapping command, up to 33 binding connections between CANopen stations can be made. To establish more data connections, the command can be repeated as often as necessary.
IMPORTANT If less than 33 bindings are used (max. number), the next BFM (n+1) needs to be terminated with HFFFF.
1. Source parameter The Source parameter specifies the data telegram producer to be bound. It consists of two bytes, with the node ID in the high byte and the PDO number in the low byte. Node ID
The node ID range is 1 to 127. The local FX3U-CAN can be specified by its actual node number or by using "0".
TPDO number The TPDO number setting range is 1 to 255. The FX3U-CAN will read the TPDO COB-ID from the object dictionary of the source node. This COB-ID is written in the next step to the Destination node's RPDO communication parameter.
Example: Source parameter = H1009 The high byte of the source parameter represents the node ID (H10). The low byte specifies TPDO 9. This node/TPDO will be bound to the node/RPDO in the destination BFM that directly follows the source BFM. Note
An error will be generated if the Destination parameter is not configured.
BFM No. Description
FROM (Read Access) TO (Write Access)
High Byte Low Byte
BFM #1000
H8301: Mapping successfully established H83FF: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H8300
BFM #1001
Diagnosis Data H0000: No Error All other values: The corresponding
parameter caused an error.
Refer to the Subsection 7.2.6
Node ID number of Source 1 Specific TPDO of Source 1 BFM #1002 Node ID number of Destination 1 Specific RPDO of Destination 1
.. .. ..
BFM #1063 Node ID number of Source 32 Specific TPDO of Source 32 BFM #1064 Node ID number of Destination 32 Specific RPDO of Destination 32 BFM #1065 Node ID number of Source 33 Specific TPDO of Source 33 BFM #1066 Node ID number of Destination 33 Specific RPDO of Destination 33
COB-ID setCOB-ID read
Destination Node (RPDO)
Source Node (TPDO)FX3U-CANSource Node
(TPDO) FX3U-CAN = Destination
Node (RPDO) Destination
Node (RPDO) FX3U-CAN = Source Node
(TPDO)
COB-ID set COB-ID read COB-ID read COB-ID set
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2. Destination Parameter The Destination parameter defines the destination for the corresponding source parameter data. It consists of two bytes, with the node ID in the high byte and the PDO number in the low byte. Node ID
The node ID range is 1 to 127. The local FX3U-CAN can be specified by its actual node number or by using "0".
RPDO number The RPDO number setting range is 1 to 255. The Destination node COB-ID is checked before the Source data is written to the communication parameter.
Example: Destination parameter = H0203 The Source data will be bound to RPDO #3 of Node 2.
Note
An error message will be generated if the destination parameter is not configured.
Assign Additional TPDO COB-IDs to the Local Node By default every CANopen node uses four COB-IDs to exchange its data with other CANopen stations. All COB-IDs for Data transmission are by default reserved for nodes 1 to 127. If it is necessary to transmit more than 4 PDOs (more than 16 words) from one node, this node must occupy COB-IDs of other (unused) stations. It is recommended to use the identifier of higher number stations for this purpose (127, 126, 125, etc). The lower the used COB-ID is, the higher the priority of the messages. Thus, assigning the COB-ID of TPDO4 from node 127 to highly important data should be avoided because all other TPDO COB-IDs have a higher priority for transmission on the CANopen bus. This command assigns the COB-ID of an unused TPDO of the Source Node to the defined TPDO of the local Node. Ensure that the Source Node doesn't exist in the network or that the Source Node TPDO is deactivated. Mode B TPDO/RPDO COB-ID Setup scenarios
COB-ID set
FX3U-CAN = Destination
Node (TPDO)
Not used Source Node
(TPDO)
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W iring
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Introduction of Functions
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Allocation of Buffer M
em ories
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Interface and Device Profile (405 m
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Lift Application Profile (417 M
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CAN Layer 2 M
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Com m
and Interface
Note
With one execution of the Mode B COB-ID mapping command, up to 33 binding connections between CANopen stations can be made. To establish more data connections, the command can be repeated as often as necessary.
IMPORTANT If less than 33 bindings are used (max. number), the next two BFMs (n+1 and n+2) need to be terminated with HFFFF.
1. Source parameter The Source parameter defines the node which is the default "owner" of the COB-ID. It consists of two bytes, with the node ID in the high byte and the PDO number in the low byte. Node ID
The node ID range is 1 to 127. The local FX3U-CAN can't be the Source.
TPDO number The TPDO number setting range is 1 to 4. This COB-ID is written to the local node's PDO communication parameter. The TPDO COB-ID is equal to: H0180 + Source node ID for TPDO1, H0280 + Source node ID for TPDO2, H0380 + Source node ID for TPDO3, H0480 + Source node ID for TPDO4.
2. Destination Parameter The Destination parameter defines the destination for the corresponding source parameter data. It consists of two bytes, with the node ID in the high byte and the PDO number in the low byte. Node ID
The node ID must be set to H80. RPDO number
The TPDO number setting range is 5 to 80.
Example: Source = H7F01, Destination = H8005 The local FX3U-CAN module will use the COB-ID of TPDO1 from node 127 as its own TPDO5 (COB-ID H1FF = H180 + H7F).
Note
For default COB-IDs used for TPDO 1 to 4, refer to Subsection 5.6.1. An attempt to assign a COB-ID to the first four PDO will cause an error. A setting of the Source Node ID to the local node number will cause an error.
BFM No. Description
FROM (Read Access) TO (Write Access)
High Byte Low Byte
BFM #1000
H8301: Mapping successfully established H83FF: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H8300
BFM #1001
Diagnosis Data H0000: No Error All other values: The corresponding
parameter caused an error.
Refer to the Subsection 7.2.6
Node ID number of Source 1 Specific TPDO of Source 1 BFM #1002 Destination Node ID: H80 Specific TPDO of local Node 1
.. .. ..
BFM #1063 Node ID number of Source 32 Specific TPDO of Source 32 BFM #1064 Destination Node ID: H80 Specific TPDO of local Node 32 BFM #1065 Node ID number of Source 33 Specific TPDO of Source 33 BFM #1066 Destination Node ID: H80 Specific TPDO of local Node 33
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7.2.6 Mode B COB-ID Mapping Errors
This subsection describes the parameter error H83FF occurring in mode B COB-ID Mapping. If the CIF was not able to execute the "mode B COB-ID Mapping" command with the given parameter set, it will return H83FF in BFM #1000. BFM #1001 to #1066 will show which parameter caused the error(s).
Example: If the source parameter 5 (BFM #1009) caused an error, the return value of BFM #1009 will not be H0000.
1. Source Parameter Errors If an error occurs in the Source Parameters, the error code in the following table is stored in BFM #1001 to #1066 as diagnosis data. The "nn" part of the error code indicates Node ID, and the "mm" indicates PDO number.
2. Destination Parameter Errors If an error occurs in the Destination Parameters, the error code in the following table is stored in BFM #1001 to #1066 as diagnosis data. The "nn" part of the error code indicates Node ID, and the "mm" indicates PDO number.
*1. Please take care with this error message. If the RPDO in the destination is disabled, it is uncertain whether there exists some mapping inside the destination node for this RPDO. This node might receive the data, but it is maybe not transferred to any I/O or data register. When the Destination node is an FX3U-CAN, the PDO data will be mapped to a BFM (if the mapping parameter was not changed previously). In the case of the FX3U-CAN, the error can be judged as a warning that can be completely avoided if the mapping is done by the remote FX3U-CAN node itself. Another possibility is to set the remote FX3U-CAN to Mode A mapping. In this case, RPDO 1 to 32 COB-IDs are different from H80000000. The disadvantage is that if all RPDO are mapped, they will also be received. This is not really a problem, but the FX3U-CAN cycle time will be a little bit longer, and it may be confusing if unused BFM are also changing their data values.
Note
If the local FX3U-CAN is the destination, error H00mm is disabled.
3. Other Errors If the parameter is not set properly, the error code in the following table is stored in BFM #1001 to #1066 as diagnosis data. The "nn" part of the error code indicates Node ID and the "mm" indicates PDO number.
Error No. (Hex) Description
HFFFF Node ID higher than 127, or PDO number is 0. Check the Node ID and PDO number.
Hnn00 No response from node "nn" (time out). Check the status of the Node ID "nn".
H00mm COB-ID is H80000000 (PDO disabled)
Hnnmm Node ID "nn" can not be accessed to PDO number "mm" in the communication parameter. Check that the PDO number is supported.
Error No. (Hex) Description
HFFFF
The following states are possible. Check the Node ID and PDO number. Node ID higher than 127. PDO number is 0. The parameter may have been skipped if a Source error occurred.
Hnn00 No response from node ID "nn" (time out). Check the status of the Node ID "nn".
H00mm Previous COB-ID of destination was H80000000. RPDO was disabled. Binding was accomplished, but there might be an error in the RPDO mapping parameter for the destination node.*1
Hnnmm Node ID "nn" can not be accessed to PDO number "mm" in the communication parameter. Check the PDO number is supported.
Error No. (Hex) Description
Hnnmm Source node ID "nn" must be in the range 1 to 127, PDO number "mm" must be 1 to 4 for the source parameter and 5 to 127 for the destination parameter.
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Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
8. CANopen 417 Mode
This chapter describes the data transfer locations of the CANopen 417 Mode. For further information on application Profile CiA 417 V2.1 for lift control systems, refer to the following section.
Refer to Section 5.10
Note
The BFM data exchange will only be handled if the corresponding lift number bit in BFM #3000/13000 is set to ON.
Refer to Subsection 5.10.1 and BFM #3000/13000 in the following table. To ensure that the FX3U-CAN module can handle the CANopen data in a consistent way, it is necessary to
set BFM #20 bit 0, 8 or 9 (only Virtual input mapping) to ON before reading PDO data (FROM) and after writing PDO data (TO) to the module. The data exchange control signal ensures, by internal buffer exchange, that TO data from the PLC will be transmitted with its corresponding PDO at the same time.
For BFM #20 bit 0, refer to Section 6.4
To activate the CiA 417 Lift Application Profile mode, write into BFM #21 the value K417, set BFM #22 to K1 to store the BFM configuration and reset the Module.
Only BFMs corresponding to the Lift Numbers for which the module is activated will be received and transferred.
For the Lift number, refer to Subsection 5.10.1 and BFM #3000/13000 in the following table
8.1 Buffer Memories Lists of Lift Application
This section explains data transfer locations for CANopen 417 Mode. BFM #3000 to #3539, BFM #13000 to 13539 and BFM #12001 to 12539 are used as data transfer locations.
General Setting
Call controller The call controller receives all call requests from the input panels, and transmits the corresponding acknowledgements to the output panels.
- Receive Objects
BFM No. and access type Lift No. Description Initial value Reference
FROM/TO BFM #3000 BFM #13000 1 to 8 Lift Number H1 Section 8.2
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM BFM #3001 BFM #12001
1 to 8 Virtual input mapping H0 Section 8.3BFM #3002 BFM #12002 BFM #3003 BFM #12003 BFM #3004 BFM #12004 1 to 8 Virtual input mapping message counter H0 - BFM #3005 BFM #12005
Reserved - -.. ..
BFM #3049 BFM #12049
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- Transmission Objects
Car door controller The car door controller transmits commands (e.g. open and close) to the car door unit and receives status information from the car door unit and the light barrier unit.
- Receive Objects
BFM No. and access type Lift No. Description Initial value Reference
TO FROM/TO BFM #3001 BFM #13001
1 to 8 Virtual output mapping H0 Section 8.3BFM #3002 BFM #13002 BFM #3003 BFM #13003 BFM #3004 BFM #13004
Reserved - -.. ..
BFM #3049 BFM #13049
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM BFM #3050 BFM #12050
1 Door status word
Door 1
HFFFF
Section 8.4
BFM #3051 BFM #12051 Door 2 BFM #3052 BFM #12052 Door 3 BFM #3053 BFM #12053 Door 4 BFM #3054 BFM #12054
2 Door status word
Door 1
HFFFF BFM #3055 BFM #12055 Door 2 BFM #3056 BFM #12056 Door 3 BFM #3057 BFM #12057 Door 4 BFM #3058 BFM #12058
3 Door status word
Door 1
HFFFF BFM #3059 BFM #12059 Door 2 BFM #3060 BFM #12060 Door 3 BFM #3061 BFM #12061 Door 4 BFM #3062 BFM #12062
4 Door status word
Door 1
HFFFF BFM #3063 BFM #12063 Door 2 BFM #3064 BFM #12064 Door 3 BFM #3065 BFM #12065 Door 4 BFM #3066 BFM #12066
5 Door status word
Door 1
HFFFF BFM #3067 BFM #12067 Door 2 BFM #3068 BFM #12068 Door 3 BFM #3069 BFM #12069 Door 4 BFM #3070 BFM #12070
6 Door status word
Door 1
HFFFF BFM #3071 BFM #12071 Door 2 BFM #3072 BFM #12072 Door 3 BFM #3073 BFM #12073 Door 4 BFM #3074 BFM #12074
7 Door status word
Door 1
HFFFF BFM #3075 BFM #12075 Door 2 BFM #3076 BFM #12076 Door 3 BFM #3077 BFM #12077 Door 4 BFM #3078 BFM #12078
8 Door status word
Door 1
HFFFF BFM #3079 BFM #12079 Door 2 BFM #3080 BFM #12080 Door 3 BFM #3081 BFM #12081 Door 4 BFM #3082 BFM #12082
1 Door position
Door 1
HFFFF Section 8.5 BFM #3083 BFM #12083 Door 2 BFM #3084 BFM #12084 Door 3 BFM #3085 BFM #12085 Door 4
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Introduction
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Specifications
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Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
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Com m
and Interface
BFM #3086 BFM #12086
2 Door position
Door 1
HFFFF
Section 8.5
BFM #3087 BFM #12087 Door 2 BFM #3088 BFM #12088 Door 3 BFM #3089 BFM #12089 Door 4 BFM #3090 BFM #12090
3 Door position
Door 1
HFFFF BFM #3091 BFM #12091 Door 2 BFM #3092 BFM #12092 Door 3 BFM #3093 BFM #12093 Door 4 BFM #3094 BFM #12094
4 Door position
Door 1
HFFFF BFM #3095 BFM #12095 Door 2 BFM #3096 BFM #12096 Door 3 BFM #3097 BFM #12097 Door 4 BFM #3098 BFM #12098
5 Door position
Door 1
HFFFF BFM #3099 BFM #12099 Door 2 BFM #3100 BFM #12100 Door 3 BFM #3101 BFM #12101 Door 4 BFM #3102 BFM #12102
6 Door position
Door 1
HFFFF BFM #3103 BFM #12103 Door 2 BFM #3104 BFM #12104 Door 3 BFM #3105 BFM #12105 Door 4 BFM #3106 BFM #12106
7 Door position
Door 1
HFFFF BFM #3107 BFM #12107 Door 2 BFM #3108 BFM #12108 Door 3 BFM #3109 BFM #12109 Door 4 BFM #3110 BFM #12110
8 Door position
Door 1
HFFFF BFM #3111 BFM #12111 Door 2 BFM #3112 BFM #12112 Door 3 BFM #3113 BFM #12113 Door 4 BFM #3114 BFM #12114
1 Light barrier status
Door 1
HFF
Section 8.6
BFM #3115 BFM #12115 Door 2 BFM #3116 BFM #12116 Door 3 BFM #3117 BFM #12117 Door 4 BFM #3118 BFM #12118
2 Light barrier status
Door 1
HFF BFM #3119 BFM #12119 Door 2 BFM #3120 BFM #12120 Door 3 BFM #3121 BFM #12121 Door 4 BFM #3122 BFM #12122
3 Light barrier status
Door 1
HFF BFM #3123 BFM #12123 Door 2 BFM #3124 BFM #12124 Door 3 BFM #3125 BFM #12125 Door 4 BFM #3126 BFM #12126
4 Light barrier status
Door 1
HFF BFM #3127 BFM #12127 Door 2 BFM #3128 BFM #12128 Door 3 BFM #3129 BFM #12129 Door 4 BFM #3130 BFM #12130
5 Light barrier status
Door 1
HFF BFM #3131 BFM #12131 Door 2 BFM #3132 BFM #12132 Door 3 BFM #3133 BFM #12133 Door 4 BFM #3134 BFM #12134
6 Light barrier status
Door 1
HFF BFM #3135 BFM #12135 Door 2 BFM #3136 BFM #12136 Door 3 BFM #3137 BFM #12137 Door 4
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
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- Transmission Objects
BFM #3138 BFM #12138
7 Light barrier status
Door 1
HFF
Section 8.6
BFM #3139 BFM #12139 Door 2 BFM #3140 BFM #12140 Door 3 BFM #3141 BFM #12141 Door 4 BFM #3142 BFM #12142
8 Light barrier status
Door 1
HFF BFM #3143 BFM #12143 Door 2 BFM #3144 BFM #12144 Door 3 BFM #3145 BFM #12145 Door 4 BFM #3146 BFM #12146
Reserved - -.. ..
BFM #3299 BFM #12299
BFM No. and access type Lift No. Description Initial value Reference
TO FROM/TO BFM #3050 BFM #13050
1 Door control word
Door 1
HFFFF
Section 8.4
BFM #3051 BFM #13051 Door 2 BFM #3052 BFM #13052 Door 3 BFM #3053 BFM #13053 Door 4 BFM #3054 BFM #13054
2 Door control word
Door 1
HFFFF BFM #3055 BFM #13055 Door 2 BFM #3056 BFM #13056 Door 3 BFM #3057 BFM #13057 Door 4 BFM #3058 BFM #13058
3 Door control word
Door 1
HFFFF BFM #3059 BFM #13059 Door 2 BFM #3060 BFM #13060 Door 3 BFM #3061 BFM #13061 Door 4 BFM #3062 BFM #13062
4 Door control word
Door 1
HFFFF BFM #3063 BFM #13063 Door 2 BFM #3064 BFM #13064 Door 3 BFM #3065 BFM #13065 Door 4 BFM #3066 BFM #13066
5 Door control word
Door 1
HFFFF BFM #3067 BFM #13067 Door 2 BFM #3068 BFM #13068 Door 3 BFM #3069 BFM #13069 Door 4 BFM #3070 BFM #13070
6 Door control word
Door 1
HFFFF BFM #3071 BFM #13071 Door 2 BFM #3072 BFM #13072 Door 3 BFM #3073 BFM #13073 Door 4 BFM #3074 BFM #13074
7 Door control word
Door 1
HFFFF BFM #3075 BFM #13075 Door 2 BFM #3076 BFM #13076 Door 3 BFM #3077 BFM #13077 Door 4 BFM #3078 BFM #13078
8 Door control word
Door 1
HFFFF BFM #3079 BFM #13079 Door 2 BFM #3080 BFM #13080 Door 3 BFM #3081 BFM #13081 Door 4 BFM #3082 BFM #13082
Reserved - -.. ..
BFM #3299 BFM #13299
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
144
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1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
Car drive controller The car drive controller transmits commands to the car drive unit. It receives status information from the car drive unit and the loadmeasuring unit. If the profile position mode is used, the car drive controller needs additional status information from the car position unit. The car drive controller uses the Door position which is also used by the car door controller. - Receive Objects BFM No. and access type
Lift No. Description Initial value Reference FROM FROM
BFM #3300 BFM #12300
1 Position value
Position unit 1
HFFFFFFFF
Section 8.7
BFM #3301 BFM #12301 BFM #3302 BFM #12302
Position unit 2 BFM #3303 BFM #12303 BFM #3304 BFM #12304
Position unit 3 BFM #3305 BFM #12305 BFM #3306 BFM #12306
Position unit 4 BFM #3307 BFM #12307 BFM #3308 BFM #12308
2 Position value
Position unit 1
HFFFFFFFF
BFM #3309 BFM #12309 BFM #3310 BFM #12310
Position unit 2 BFM #3311 BFM #12311 BFM #3312 BFM #12312
Position unit 3 BFM #3313 BFM #12313 BFM #3314 BFM #12314
Position unit 4 BFM #3315 BFM #12315 BFM #3316 BFM #12316
3 Position value
Position unit 1
HFFFFFFFF
BFM #3317 BFM #12317 BFM #3318 BFM #12318
Position unit 2 BFM #3319 BFM #12319 BFM #3320 BFM #12320
Position unit 3 BFM #3321 BFM #12321 BFM #3322 BFM #12322
Position unit 4 BFM #3323 BFM #12323 BFM #3324 BFM #12324
4 Position value
Position unit 1
HFFFFFFFF
BFM #3325 BFM #12325 BFM #3326 BFM #12326
Position unit 2 BFM #3327 BFM #12327 BFM #3328 BFM #12328
Position unit 3 BFM #3329 BFM #12329 BFM #3330 BFM #12330
Position unit 4 BFM #3331 BFM #12331 BFM #3332 BFM #12332
5 Position value
Position unit 1
HFFFFFFFF
BFM #3333 BFM #12333 BFM #3334 BFM #12334
Position unit 2 BFM #3335 BFM #12335 BFM #3336 BFM #12336
Position unit 3 BFM #3337 BFM #12337 BFM #3338 BFM #12338
Position unit 4 BFM #3339 BFM #12339 BFM #3340 BFM #12340
6 Position value
Position unit 1
HFFFFFFFF
BFM #3341 BFM #12341 BFM #3342 BFM #12342
Position unit 2 BFM #3343 BFM #12343 BFM #3344 BFM #12344
Position unit 3 BFM #3345 BFM #12345 BFM #3346 BFM #12346
Position unit 4 BFM #3347 BFM #12347
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8 CANopen 417 Mode 8.1 Buffer Memories Lists of Lift ApplicationFX3U-CAN User's Manual
BFM #3348 BFM #12348
7 Position value
Position unit 1
HFFFFFFFF
Section 8.7
BFM #3349 BFM #12349 BFM #3350 BFM #12350
Position unit 2 BFM #3351 BFM #12351 BFM #3352 BFM #12352
Position unit 3 BFM #3353 BFM #12353 BFM #3354 BFM #12354
Position unit 4 BFM #3355 BFM #12355 BFM #3356 BFM #12356
8 Position value
Position unit 1
HFFFFFFFF
BFM #3357 BFM #12357 BFM #3358 BFM #12358
Position unit 2 BFM #3359 BFM #12359 BFM #3360 BFM #12360
Position unit 3 BFM #3361 BFM #12361 BFM #3362 BFM #12362
Position unit 4 BFM #3363 BFM #12363 BFM #3364 BFM #12364
1 Speed value car
Position unit 1
H0
Section 8.8
BFM #3365 BFM #12365 Position unit 2 BFM #3366 BFM #12366 Position unit 3 BFM #3367 BFM #12367 Position unit 4 BFM #3368 BFM #12368
2 Speed value car
Position unit 1
H0 BFM #3369 BFM #12369 Position unit 2 BFM #3370 BFM #12370 Position unit 3 BFM #3371 BFM #12371 Position unit 4 BFM #3372 BFM #12372
3 Speed value car
Position unit 1
H0 BFM #3373 BFM #12373 Position unit 2 BFM #3374 BFM #12374 Position unit 3 BFM #3375 BFM #12375 Position unit 4 BFM #3376 BFM #12376
4 Speed value car
Position unit 1
H0 BFM #3377 BFM #12377 Position unit 2 BFM #3378 BFM #12378 Position unit 3 BFM #3379 BFM #12379 Position unit 4 BFM #3380 BFM #12380
5 Speed value car
Position unit 1
H0 BFM #3381 BFM #12381 Position unit 2 BFM #3382 BFM #12382 Position unit 3 BFM #3383 BFM #12383 Position unit 4 BFM #3384 BFM #12384
6 Speed value car
Position unit 1
H0 BFM #3385 BFM #12385 Position unit 2 BFM #3386 BFM #12386 Position unit 3 BFM #3387 BFM #12387 Position unit 4 BFM #3388 BFM #12388
7 Speed value car
Position unit 1
H0 BFM #3389 BFM #12389 Position unit 2 BFM #3390 BFM #12390 Position unit 3 BFM #3391 BFM #12391 Position unit 4 BFM #3392 BFM #12392
8 Speed value car
Position unit 1
H0 BFM #3393 BFM #12393 Position unit 2 BFM #3394 BFM #12394 Position unit 3 BFM #3395 BFM #12395 Position unit 4
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
146
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1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
BFM #3396 BFM #12396
1 Acceleration value car
Position unit 1
H0
Section 8.9
BFM #3397 BFM #12397 Position unit 2 BFM #3398 BFM #12398 Position unit 3 BFM #3399 BFM #12399 Position unit 4 BFM #3400 BFM #12400
2 Acceleration value car
Position unit 1
H0 BFM #3401 BFM #12401 Position unit 2 BFM #3402 BFM #12402 Position unit 3 BFM #3403 BFM #12403 Position unit 4 BFM #3404 BFM #12404
3 Acceleration value car
Position unit 1
H0 BFM #3405 BFM #12405 Position unit 2 BFM #3406 BFM #12406 Position unit 3 BFM #3407 BFM #12407 Position unit 4 BFM #3408 BFM #12408
4 Acceleration value car
Position unit 1
H0 BFM #3409 BFM #12409 Position unit 2 BFM #3410 BFM #12410 Position unit 3 BFM #3411 BFM #12411 Position unit 4 BFM #3412 BFM #12412
5 Acceleration value car
Position unit 1
H0 BFM #3413 BFM #12413 Position unit 2 BFM #3414 BFM #12414 Position unit 3 BFM #3415 BFM #12415 Position unit 4 BFM #3416 BFM #12416
6 Acceleration value car
Position unit 1
H0 BFM #3417 BFM #12417 Position unit 2 BFM #3418 BFM #12418 Position unit 3 BFM #3419 BFM #12419 Position unit 4 BFM #3420 BFM #12420
7 Acceleration value car
Position unit 1
H0 BFM #3421 BFM #12421 Position unit 2 BFM #3422 BFM #12422 Position unit 3 BFM #3423 BFM #12423 Position unit 4 BFM #3424 BFM #12424
8 Acceleration value car
Position unit 1
H0 BFM #3425 BFM #12425 Position unit 2 BFM #3426 BFM #12426 Position unit 3 BFM #3427 BFM #12427 Position unit 4 BFM #3428 BFM #12428 1
Status word H0 Section 8.10
BFM #3429 BFM #12429 2 BFM #3430 BFM #12430 3 BFM #3431 BFM #12431 4 BFM #3432 BFM #12432 5 BFM #3433 BFM #12433 6 BFM #3434 BFM #12434 7 BFM #3435 BFM #12435 8 BFM #3436 BFM #12436 1
Modes of operation display H0 Section 8.11
BFM #3437 BFM #12437 2 BFM #3438 BFM #12438 3 BFM #3439 BFM #12439 4 BFM #3440 BFM #12440 5 BFM #3441 BFM #12441 6 BFM #3442 BFM #12442 7 BFM #3443 BFM #12443 8
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
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8 CANopen 417 Mode 8.1 Buffer Memories Lists of Lift ApplicationFX3U-CAN User's Manual
BFM #3444 BFM #12444 1
Control effort H0 Section 8.12
BFM #3445 BFM #12445 BFM #3446 BFM #12446
2 BFM #3447 BFM #12447 BFM #3448 BFM #12448
3 BFM #3449 BFM #12449 BFM #3450 BFM #12450
4 BFM #3451 BFM #12451 BFM #3452 BFM #12452
5 BFM #3453 BFM #12453 BFM #3454 BFM #12454
6 BFM #3455 BFM #12455 BFM #3456 BFM #12456
7 BFM #3457 BFM #12457 BFM #3458 BFM #12458
8 BFM #3459 BFM #12459 BFM #3460 BFM #12460
1
Position actual value HFFFFFFFF Section 8.13
BFM #3461 BFM #12461 BFM #3462 BFM #12462
2 BFM #3463 BFM #12463 BFM #3464 BFM #12464
3 BFM #3465 BFM #12465 BFM #3466 BFM #12466
4 BFM #3467 BFM #12467 BFM #3468 BFM #12468
5 BFM #3469 BFM #12469 BFM #3470 BFM #12470
6 BFM #3471 BFM #12471 BFM #3472 BFM #12472
7 BFM #3473 BFM #12473 BFM #3474 BFM #12474
8 BFM #3475 BFM #12475 BFM #3476 BFM #12476
Reserved - -.. ..
BFM #3491 BFM #12491 BFM #3492 BFM #12492
1
Velocity actual value H0 Section 8.15
BFM #3493 BFM #12493 BFM #3494 BFM #12494
2 BFM #3495 BFM #12495 BFM #3496 BFM #12496
3 BFM #3497 BFM #12497 BFM #3498 BFM #12498
4 BFM #3499 BFM #12499 BFM #3500 BFM #12500
5 BFM #3501 BFM #12501 BFM #3502 BFM #12502
6 BFM #3503 BFM #12503 BFM #3504 BFM #12504
7 BFM #3505 BFM #12505 BFM #3506 BFM #12506
8 BFM #3507 BFM #12507
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
148
8 CANopen 417 Mode 8.1 Buffer Memories Lists of Lift ApplicationFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
- Transmission Objects
BFM #3508 BFM #12508 1 Load value
Absolute load value HFFFF
Section 8.16
BFM #3509 BFM #12509 SI unit H2 BFM #3510 BFM #12510
2 Load value Absolute load value HFFFF
BFM #3511 BFM #12511 SI unit H2 BFM #3512 BFM #12512
3 Load value Absolute load value HFFFF
BFM #3513 BFM #12513 SI unit H2 BFM #3514 BFM #12514
4 Load value Absolute load value HFFFF
BFM #3515 BFM #12515 SI unit H2 BFM #3516 BFM #12516
5 Load value Absolute load value HFFFF
BFM #3517 BFM #12517 SI unit H2 BFM #3518 BFM #12518
6 Load value Absolute load value HFFFF
BFM #3519 BFM #12519 SI unit H2 BFM #3520 BFM #12520
7 Load value Absolute load value HFFFF
BFM #3521 BFM #12521 SI unit H2 BFM #3522 BFM #12522
8 Load value Absolute load value HFFFF
BFM #3523 BFM #12523 SI unit H2 BFM #3524 BFM #12524
1 Load signalling Load signal H0
Section 8.17
BFM #3525 BFM #12525 Load signal interrupt H0 BFM #3526 BFM #12526
2 Load signalling Load signal H0
BFM #3527 BFM #12527 Load signal interrupt H0 BFM #3528 BFM #12528
3 Load signalling Load signal H0
BFM #3529 BFM #12529 Load signal interrupt H0 BFM #3530 BFM #12530
4 Load signalling Load signal H0
BFM #3531 BFM #12531 Load signal interrupt H0 BFM #3532 BFM #12532
5 Load signalling Load signal H0
BFM #3533 BFM #12533 Load signal interrupt H0 BFM #3534 BFM #12534
6 Load signalling Load signal H0
BFM #3535 BFM #12535 Load signal interrupt H0 BFM #3536 BFM #12536
7 Load signalling Load signal H0
BFM #3537 BFM #12537 Load signal interrupt H0 BFM #3538 BFM #12538
8 Load signalling Load signal H0
BFM #3539 BFM #12539 Load signal interrupt H0
BFM No. and access type Lift No. Description Initial value Reference
TO FROM/TO BFM #3300 BFM #13300
Reserved - -.. ..
BFM #3427 BFM #13427 BFM #3428 BFM #13428 1
Control word H0 Section 8.10
BFM #3429 BFM #13429 2 BFM #3430 BFM #13430 3 BFM #3431 BFM #13431 4 BFM #3432 BFM #13432 5 BFM #3433 BFM #13433 6 BFM #3434 BFM #13434 7 BFM #3435 BFM #13435 8
BFM No. and access type Lift No. Description Initial value Reference
FROM FROM
149
8 CANopen 417 Mode 8.1 Buffer Memories Lists of Lift ApplicationFX3U-CAN User's Manual
BFM #3436 BFM #13436 1
Modes of operation H0 Section 8.11
BFM #3437 BFM #13437 2 BFM #3438 BFM #13438 3 BFM #3439 BFM #13439 4 BFM #3440 BFM #13440 5 BFM #3441 BFM #13441 6 BFM #3442 BFM #13442 7 BFM #3443 BFM #13443 8 BFM #3444 BFM #13444
Reserved - -.. ..
BFM #3459 BFM #13459 BFM #3460 BFM #13460
1
Target position H0 Section 8.13
BFM #3461 BFM #13461 BFM #3462 BFM #13462
2 BFM #3463 BFM #13463 BFM #3464 BFM #13464
3 BFM #3465 BFM #13465 BFM #3466 BFM #13466
4 BFM #3467 BFM #13467 BFM #3468 BFM #13468
5 BFM #3469 BFM #13469 BFM #3470 BFM #13470
6 BFM #3471 BFM #13471 BFM #3472 BFM #13472
7 BFM #3473 BFM #13473 BFM #3474 BFM #13474
8 BFM #3475 BFM #13475 BFM #3476 BFM #13476
1
Profile velocity H0 Section 8.14
BFM #3477 BFM #13477 BFM #3478 BFM #13478
2 BFM #3479 BFM #13479 BFM #3480 BFM #13480
3 BFM #3481 BFM #13481 BFM #3482 BFM #13482
4 BFM #3483 BFM #13483 BFM #3484 BFM #13484
5 BFM #3485 BFM #13485 BFM #3486 BFM #13486
6 BFM #3487 BFM #13487 BFM #3488 BFM #13488
7 BFM #3489 BFM #13489 BFM #3490 BFM #13490
8 BFM #3491 BFM #13491
BFM No. and access type Lift No. Description Initial value Reference
TO FROM/TO
150
8 CANopen 417 Mode 8.1 Buffer Memories Lists of Lift ApplicationFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
BFM #3492 BFM #13492 1
Target velocity H0 Section 8.15
BFM #3493 BFM #13493 BFM #3494 BFM #13494
2 BFM #3495 BFM #13495 BFM #3496 BFM #13496
3 BFM #3497 BFM #13497 BFM #3498 BFM #13498
4 BFM #3499 BFM #13499 BFM #3500 BFM #13500
5 BFM #3501 BFM #13501 BFM #3502 BFM #13502
6 BFM #3503 BFM #13503 BFM #3504 BFM #13504
7 BFM #3505 BFM #13505 BFM #3506 BFM #13506
8 BFM #3507 BFM #13507 BFM #3508 BFM #13508
Reserved - -.. ..
BFM #3539 BFM #13539
BFM No. and access type Lift No. Description Initial value Reference
TO FROM/TO
151
8 CANopen 417 Mode 8.2 Lift NumberFX3U-CAN User's Manual
8.2 Lift Number
This BFM contains the lift number to which the FX3U-CAN is assigned. The Bit for the assigned lift number is set to ON (1).
Note
Only the application BFMs for which the Lift corresponding bit is set will be updated.
Data save to Flash ROM
Data can be saved in Flash ROM by CIF. For Store Object Dictionary Settings in the CIF, refer to Section 10.6
8.3 Virtual Input/Output Mapping
When BFM #3001 to #3003 and #12001 to #12003 are read, the virtual input mapping information is read from BFMs. When BFM #13001 to #13003 are read, the virtual output mapping information is read from BFMs. And when BFM #3001 to #3003 and #13001 to #13003 are written to, the virtual output mapping information is written to BFMs.
8.3.1 Virtual input mapping
These BFMs contain the last received input data from one of the digital input panel group objects. Receive Ring Buffer for 252 messages. The oldest data will be shown as first. The current numbers of messages in the receive Buffer can be read from BFM #3004 or #12004. When the receive buffer is empty, BFM #3001 to #3003 or #12001 to #12003 shows the value H0.
1. Basic function field [Low byte in BFM #3001 and #12001]
BFM No. Description
Bit 15 ..... Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 BFM #3000 BFM #13000 Reserved Lift 8 Lift 7 Lift 6 Lift 5 Lift 4 Lift 3 Lift 2 Lift 1
BFM No.
Description BFM #3003 BFM #12003
BFM #3002 BFM #12002
BFM #3001 BFM #12001
High Byte Low Byte High Byte Low Byte High Byte Low Byte BFM #3001 to #3003 BFM #12001 to #12003 Function data field Door field Floor field Lift field Sub-function field Basic function field
BFM #3001 BFM #12001
Low Byte Value (hex)
Description
BFM #3001 BFM #12001
Low Byte Value (hex)
Description
00 Reserved 0D High priority call to destination floor 01 Generic input 0E Special function 02 Standard hall call request 0F Access code upload request 03 Low priority hall call request 10 Speech connection request 04 High priority hall call request 11 Area monitoring connection request 05 Standard car call request 12 Fire detector 06 Low priority car call request 13 to 15 Reserved 07 High priority car call request
16 Status of safety-related circuitries (This is not safety-related information.)08 Standard destination call
09 Low priority destination call 17 to 1F Reserved 0A High priority destination call 20 Guest call 0B Standard call to destination floor 21 to 7F Reserved 0C Low priority call to destination floor 80 to FF Manufacturer-specific
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8 CANopen 417 Mode 8.3 Virtual Input/Output MappingFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
2. Sub-function field [High byte in BFM #3001 and #12001] The Sub-function field interprets depending on the basic function field value.
3. Lift field [Low byte in BFM #3002 and #12002] The bit for the requested lift number is set to ON (1).
Basic Function Field
Sub-Function Field
Description
Basic Function Field
Sub-Function Field
DescriptionBFM #3001 BFM #12001
Low Byte Value (hex)
BFM #3001 BFM #12001 High Byte
Value (hex)
BFM #3001 BFM #12001
Low Byte Value (hex)
BFM #3001 BFM #12001 High Byte
Value (hex)
01
00 Reserved
0E
12 Special service 01 Generic input 1 13 Service run
14 Dogging service enable
FE Generic input 254 15 Dogging service up FF Reserved 16 Dogging service down
02 to 04
00 Reserved 17 Fire alarm (external fire alarm system) 01 Hall call up 18 Provide priority 02 Hall call down 19 Lift attendant start button 03 Hall call 1A Lift attendant drive through button 04 Hall call extra up 1B Security run 05 Hall call extra down 1C Second call panel 06 Hall call extra 1D Door enable
07 to FF Reserved 1E Call cancel button fire operation
05 to 0D 00 Reserved 1F Fire alarm reset
01 to FE Floor number 1 to 254 20 Body detector (e.g. person in car) FF Reserved 21 Earthquake detector
0E
00 Reserved 22 to FF Reserved 01 Request fan 1 0F to 11 00 to FF Reserved 02 Request fan 2
12 00 Reserved
03 Request load time 1 01 to FE Fire detector 1 to 254 04 Request load time 2 FF Reserved 05 Key lock 1 13 to 15 00 to FF Reserved 06 Key lock 2
16
00 Reserved 07 Key lock 3 01 to 03 Safety-related circuitry 1 to 3 08 Key lock 4 04 Hall/swing door 09 Request door open 05 Car door 0A Request door close 06 Door lock 0B Fire recall (key switch hall panel) 07 to FF Reserved 0C Fire service (key switch car panel) 17 to 1F 00 to FF Reserved 0D Hall call disable
20 00 Reserved
0E Attendant service 01 to FE Guest call 1 to 254 0F VIP service FF Reserved 10 Out of order 21 to 7F 00 to FF Reserved 11 Bed passenger service 80 to FF 00 to FF Manufacturer-specific
BFM #3002 BFM #12002
Low Byte
Description
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
BFM #3002 Bit 0 to 7 Lift 8 Lift 7 Lift 6 Lift 5 Lift 4 Lift 3 Lift 2 Lift 1
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8 CANopen 417 Mode 8.3 Virtual Input/Output MappingFX3U-CAN User's Manual
4. Floor field [High byte in BFM #3002 and #12002]
5. Door field [Low byte in BFM #3003 and #12003] This value provides the door number to which the sending virtual device is assigned. The structure of the field depends on the value of the basic function field.
6. Function data field [High byte in BFM #3003 and #12003] The function data provides the input state of a virtual input.
BFM #3002 BFM #12002 High Byte
Value (hex)
Description
00 Car panel 01 to FE Panel of floor 1 to 254
FF Reserved
Basic Function Field Door Field
Description BFM #3001
BFM #12001 Low Byte
Value (hex)
BFM #3003 BFM #12003
Low Byte Bit No.
00 to 07 or
0E to FF
Bit 0 Door 1 Bit 1 Door 2 Bit 2 Door 3 Bit 3 Door 4 Bit 4 to 7 Bit 4 to 7 fixed to OFF (0).
08 to 0D
Bit 0 Source door 1 Bit 1 Source door 2 Bit 2 Source door 3 Bit 3 Source door 4 Bit 4 Destination door 1 Bit 5 Destination door 2 Bit 6 Destination door 3 Bit 7 Destination door 4
BFM #3003 BFM #12003 (High Byte)
Bit No.
Description
Bit 8 and 9 Input state
Bit 10 to 14 Reserved
Bit 15 lock OFF (0): Button or key-button has no locking function ON (1): Button or key-button has locking function
Bit 9 Bit 8 Description OFF (0) OFF (0) Input state is OFF. OFF (0) ON (1) Input state is ON. ON (1) OFF (0) Function is defective ON (1) ON (1) Function is not installed
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8 CANopen 417 Mode 8.3 Virtual Input/Output MappingFX3U-CAN User's Manual
1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
8.3.2 Virtual output mapping
These BFMs contain the output data for one of the digital output group objects.
1. Basic function field [Low byte in BFM #3001 and #13001]
2. Sub-function field [High byte in BFM #3001 and #13001] The Sub-function field is interpreted differently depending on the basic function field value.
BFM No.
Description BFM #3003 BFM #13003
BFM #3002 BFM #13002
BFM #3001 BFM #13001
High Byte Low Byte High Byte Low Byte High Byte Low Byte BFM #3001 to #3003 BFM #13001 to #13003 Function data field Door field Floor field Lift field Sub-function field Basic function field
BFM #3001 BFM #13001
Low Byte Value (hex)
Description
BFM #3001 BFM #13001
Low Byte Value (hex)
Description
00 Call controller commands 11 Area monitoring connection acknowledgement 01 Generic output 12 to 1F Reserved 02 Standard hall call acknowledgement 20 Guest call acknowledgement 03 Low priority hall call acknowledgement 21 to 3F Reserved 04 High priority hall call acknowledgement 40 Position indication 05 Standard car call acknowledgement 41 Hall lantern 06 Low priority car call acknowledgement 42 Direction indication 07 High priority car call acknowledgement 43 Special indication 08 Standard destination call acknowledgement 44 Arrival indication 09 Low priority destination call acknowledgement 45 Operation data 0A High priority destination call acknowledgement 46 Publicity indication 0B Standard call to destination floor acknowledgement 47 Speech synthesis 0C Low priority call to destination floor acknowledgement 48 to 49 Reserved 0D High priority call to destination floor acknowledgement 4A Miscellaneous outputs 0E Special function acknowledgement 4B to 7F Reserved 0F Access code upload acknowledgement 80 to FF Manufacturer-specific 10 Speech connection acknowledgement
Basic Function Field Sub-Function Field
DescriptionBFM #3001 BFM #13001
Low Byte Value (hex)
BFM #3001 BFM #13001
High Byte Value (hex)
00
00 Reserved 01 Request all active hall calls 02 Request all special inputs (basic functions 0E and 12)
03 to FF Reserved 01 00 to FF Reserved
02 to 04
00 Reserved 01 Hall call up acknowledgement 02 Hall call down acknowledgement 03 Hall call acknowledgement 04 Hall call extra up acknowledgement 05 Hall call extra down acknowledgement 06 Hall call extra acknowledgement
07 to FF Reserved
05 to 0D 00 Reserved
01 to FE Target stop acknowledgement 1 to 254 FF All target stop buttons
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0E
00 Reserved 01 Request fan 1 acknowledgement 02 Request fan 2 acknowledgement 03 Request load time 1 acknowledgement 04 Request load time 2 acknowledgement 05 Request key lock 1 acknowledgement 06 Request key lock 2 acknowledgement 07 Request key lock 3 acknowledgement
0E
08 Request key lock 4 acknowledgement 09 Request door open acknowledgement 0A Request door close acknowledgement 0B Fire recall (key switch hall panel) acknowledgement 0C Fire service (key switch hall panel) acknowledgement 0D Hall call disable acknowledgement 0E Attendant service acknowledgement 0F VIP service acknowledgement 10 Out of order acknowledgement 11 Bed passenger service acknowledgement 12 Special service acknowledgement 13 Service run acknowledgement 14 Dogging service enable acknowledgement 15 Dogging service up acknowledgement 16 Dogging service down acknowledgement 17 Fire alarm (external fire alarm system) acknowledgement 18 Provide priority acknowledgement 19 Lift attendant start button acknowledgement 1A Lift attendant drive through button acknowledgement 1B Security run acknowledgement 1C Second call panel acknowledgement 1D Door enable acknowledgement 1E Call cancel button fire operation 1F Fire alarm reset acknowledgement 20 Body detector (e.g. person in car) 21 Earthquake detector
22 to FF Reserved 0F to 1F 00 to FF Reserved
20 00 Reserved
01 to FE Guest call acknowledgement 1 to 254 FF Reserved
21 to 3F 00 to FF Reserved
40 00 Clear the floor data
01 to FE Floor number 1 to 254 FF Reserved
41
This sub-function shows the arrow display direction up/down.
OFF (0): Do not display the arrow ON (1): Display the arrow
Basic Function Field Sub-Function Field
DescriptionBFM #3001 BFM #13001
Low Byte Value (hex)
BFM #3001 BFM #13001
High Byte Value (hex)
UpDownH0
8915 ... 10Bit
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Introduction of Functions
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Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
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9
CAN Layer 2 M
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10
Com m
and Interface
3. Lift field [Low byte in BFM #3002 and #13002] This value provides the lift number or the group of lifts, to which the output is assigned.
42
This sub-function shows the arrow display direction up/down, and the transfer direction display of the car.
Bit 8 and 9 show the arrow display direction up/down. OFF (0): Do not display the arrow ON (1): Display the arrow
Bit 12 and 13 show the transfer direction display of the car. OFF (0): Not moving ON (1): Moving
43
00 Used for instruction all displays off 01 No load 02 Full load 03 Over load 04 Fire
43
05 Fire brigade service 06 Help is coming 07 Special service 08 Load time 09 Occupied 0A Out of order 0B Close door 0C Case of fire 0D Hall call disable 0E Travel to evacuation floor 0F Travel to fire recall floor
10 to FF Reserved
44
This sub-function shows the arrival indication of up/down.
OFF (0): Not arrived ON (1): Arrived
45 to 46 00 to FF Reserved
47 00 Switch off speech synthesis on all output panels
01 to FE Announce floor number 1 to 254 FF Announce current floor number
48 to 49 00 to FF Reserved
4A
00 Reserved 01 Hall call enable 02 Lift operational
03 to FF Reserved 4B to 7F 00 to FF Reserved 80 to FF 00 to FF Manufacturer-specific
BFM #3002 BFM #13002
Low Byte
Description
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
BFM #3002 BFM #13002
Bit 0 to 7 Lift 8 Lift 7 Lift 6 Lift 5 Lift 4 Lift 3 Lift 2 Lift 1
Basic Function Field Sub-Function Field
DescriptionBFM #3001 BFM #13001
Low Byte Value (hex)
BFM #3001 BFM #13001
High Byte Value (hex)
H0H0 UpDownMoving up
Moving down
89121315 ... 14 11 ... 10Bit
UpDownH0
8915 ... 10Bit
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4. Floor field [High byte in BFM #3002 and #13002]
5. Door field [Low byte in BFM #3003 and #13003] This value provides the door number to which the output is assigned. The structure of the field depends on the value of the basic function field. If the bits of the door field are set to 1, this shall indicate an assignment of the output to this door.
6. Function data field [High byte in BFM #3003 and #13003] The function data provides the input state of a virtual input.
Value definition of the property parameter field (Bit 12 to 14)
BFM #3002 BFM #13002
High Byte Value (hex) Description
00 Car panel 01 to FE Floor number 1 to 254
FF All floor panels
Basic Function Field Door Field
DescriptionBFM #3001 BFM #13001
Low Byte Value (hex)
BFM #3003 BFM #13003
Low Byte Bit No.
00 to 07 or
0E to FF
Bit 0 Door 1 Bit 1 Door 2 Bit 2 Door 3 Bit 3 Door 4 Bit 4 to 7 Bit 4 to 7 fixed to OFF (0).
08 to 0D
Bit 0 Source door 1 Bit 1 Source door 2 Bit 2 Source door 3 Bit 3 Source door 4 Bit 4 Destination door 1 Bit 5 Destination door 2 Bit 6 Destination door 3 Bit 7 Destination door 4
BFM #3003 BFM #13003
(High Byte) Bit No. Description
Bit 8 Status OFF (0): No data indicated
(Does not apply for basic function H40) ON (1): Data indicated
Bit 9 to 11 Property
Bit 9 to 11 value (hex) H0: No action (default) H1: Output continuously H2: Output pulsed H3: Output flashing H4: Output coloured H5: Output with volume H6: Output with scroll rate H7: Reserved
Bit 12 to 14 Property parameter Refer to table below
Bit 15 Predicate OFF (0): Acknowledgement is not affirmed ON (1): Acknowledgement is affirmed
Bit 12 to 14 value (hex)
Description No action Continuous Pulsed Flashing Colour Volume Scroll rate
0
No action Reserved
< 0.5 s 10 Hz White Minimum Automatic 1 1 s 7.5 Hz Yellow Vary 1 line/s 2 1.5 s 5 Hz Reserved Vary 2 line/s 3 2 s 2 Hz Green Vary 3 line/s 4 3 s 1. 5Hz Reserved Vary 4 line/s 5 5 s 1 Hz Red Vary 5 line/s 6 10 s 0.5 Hz Reserved Vary 6 line/s 7 > 15 s 0.25 Hz Blue Maximum 7 line/s
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Introduction
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Specifications
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Installation
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W iring
5
Introduction of Functions
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Allocation of Buffer M
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7
Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
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10
Com m
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8.4 Door Control Word/Door Status Word
When BFM #3050 to #3081 and #12050 to 12081 are read, the Door status word is read from BFMs. When BFM #13050 to #13081 are read, the Door control word is read from BFMs. And when BFM #3050 to #3081 and #13050 to #13081 are written to, the Door control word is written to BFMs.
8.4.1 Door control word
The Door control word contains the door commands and other control data.
1. Battery power field [Bit 2, 3]
2. Door lock field [Bit 4, 5]
3. Finger protector field [Bit 6, 7]
4. Motion detector field [Bit 8, 9]
5. Door velocity field [Bit 10, 11]
Bit 3 Bit 2 Description OFF(0) OFF(0) Battery power supply disabled OFF(0) ON (1) Battery power supply enabled ON (1) OFF(0) Reserved ON (1) ON (1) Do not care / take no action
Bit 5 Bit 4 Description OFF(0) OFF(0) Enable door lock OFF(0) ON (1) Disable door lock ON (1) OFF(0) Reserved ON (1) ON (1) Do not care / take no action
Bit 7 Bit 6 Description OFF(0) OFF(0) Enable finger protector OFF(0) ON (1) Disable finger protector ON (1) OFF(0) Reserved ON (1) ON (1) Do not care / take no action
Bit 9 Bit 8 Description OFF(0) OFF(0) Enable motion detector OFF(0) ON (1) Disable motion detector ON (1) OFF(0) Reserved ON (1) ON (1) Do not care / take no action
Bit 11 Bit 10 Description OFF(0) OFF(0) Move door with standard speed OFF(0) ON (1) Move door with reduced speed ON (1) OFF(0) Reserved ON (1) ON (1) Do not care / take no action
Command H3Battery powerDoor lockFinger
protector Motion
detector Door
velocity
15 ... 12 11 ... 10 9 ... 8 7 ... 6 5 ... 4 3 ... 2 1 ... 0Bit
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8 CANopen 417 Mode 8.4 Door Control Word/Door Status WordFX3U-CAN User's Manual
6. Command field [Bit 12 to 15]
8.4.2 Door status word
This Object contains the car door status and other status information.
1. Safety contact field [Bit 0, 1]
2. Battery power field [Bit 2, 3]
3. Door lock field [Bit 4, 5]
4. Finger protector field [Bit 6, 7]
Bit 12 to 15 Value (hex) Description 0 Close door without limit force (Not allowed for EN-81 compliant lifts) 1 Close door with limit force
2 Nudging (Forced closing of car door with reduced speed without reversal devices due to the blocked door for too long time)
3 Open door without limit force (Not allowed for EN-81 compliant lifts) 4 Open door with limit force 5 Reserved 6 Reserved 7 Stop door without torque 8 Stop door with torque
9 to C Reserved D Tech-in drive E Reset door F Do not care / take no action
Bit 1 Bit 0 Description OFF(0) OFF(0) Contact not closed OFF(0) ON (1) Contact closed ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Bit 3 Bit 2 Description OFF(0) OFF(0) No battery power used OFF(0) ON (1) Battery power used ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Bit 5 Bit 4 Description OFF(0) OFF(0) Door not locked OFF(0) ON (1) Door locked ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Bit 7 Bit 6 Description OFF(0) OFF(0) No finger detected OFF(0) ON (1) Finger detected ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Status Safety contact
Battery powerDoor lockFinger
protector Motion
detector Force limit
15 ... 12 11 ... 10 9 ... 8 7 ... 6 5 ... 4 3 ... 2 1 ... 0Bit
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Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
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Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
5. Motion detector field [Bit 8, 9]
6. Force limit field [Bit 10, 11]
7. Status field [Bit 12 to 15]
Note
If the door is in an open or closed end position, this shall have higher priority than stopped status.
8.5 Door Position
These BFMs store the Door position information of each Lift number. The value is in units of mm. H0 value shows Closed and HFFFF shows "not available or not requested".
8.6 Light Barrier Status
These BFMs contain the status information of the VD light barrier unit for up to four doors.
8.7 Position Value
These BFMs store the Position value (32 bit data) from the car position units of each Lift number. This value needs to be handled by 32 bit instructions. The values shall be equivalent to object H6004 in the CiA 406 specification.
Bit 9 Bit 8 Description OFF(0) OFF(0) Motion not detected OFF(0) ON (1) Motion detected ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Bit 11 Bit 10 Description OFF(0) OFF(0) Force limit not reached OFF(0) ON (1) Force limit reached ON (1) OFF(0) Error indicator ON (1) ON (1) Not available or not installed
Bit 12 to 15 Value (hex) Description Bit 12 to 15 Value (hex) Description
0 Door closed with torque 7 Door stopped with torque (not in an end position)
1 Door closed without torque 8 Door stopped without torque (not in an end position)
2 Door is closing 9 to C Reserved 3 Door opened with torque D Tech-in drive 4 Door opened without torque E Error indicator 5 Door is opening F Not available or not installed 6 Door is re-opening
Bit No. Description Bit 0 to 5 Bit 0 to 5 fixed to ON (1).
Bit 6 and 7 Status
Bit 8 to 15 Bit 8 to 15 fixed to OFF (0).
Bit 7 Bit 6 Description OFF (0) OFF (0) No subject detected OFF (0) ON (1) Subject detected ON (1) OFF (0) Error indicator ON (1) ON (1) Not available or not installed
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8 CANopen 417 Mode 8.8 Speed Value CarFX3U-CAN User's Manual
8.8 Speed Value Car
These BFMs store the Speed value from the car position units of each Lift number. The measuring step is defined in object H6384 of the car position unit.
8.9 Acceleration Value Car
These BFMs store the acceleration value from the car position units of each Lift number. The measuring step is defined in Object H6384 of the car position unit.
8.10 Control Word/Status Word
When BFM #3428 to #3435 and #12428 to 12435 are read, the Status word is read from BFMs. When BFM #13428 to #13435 are read, the Control word is read from BFMs. And when BFM #3428 to #3435 and #13428 to #13435 are written to, the Control word is written to BFMs.
8.10.1 Control word
The Car drive Control word is based on object H6040 in the CiA 402-2 V3.0 specifications.
Note
Bits 4, 5, 6, and 9 of the control word are operation mode specific. The halt function (bit 8) behaviour is operation mode specific.
If the bit is ON (1), the commanded motion shall be interrupted; the Power drive system shall behave as defined in the halt option code. After releasing the halt function, the commanded motion shall be continued if possible.
Bit Item Description Bit 0 so Switch on Bit 1 ev Enable voltage Bit 2 qs Quick stop Bit 3 eo Enable operation Bit 4 to 6 oms Operation mode specific Bit 7 fr Fault reset Bit 8 h Halt Bit 9 oms Operation mode specific Bit 10 - Bit 10 fixed to OFF (0). Bit 11 to 13 ms Manufacturer-specific
Bit 14 rcl OFF (0): Emergency recall operation mode inactive ON (1): Emergency recall operation mode active
Bit 15 insp OFF (0): Car top inspection operation mode inactive ON (1): Car top inspection mode active
insp rcl ms H0 omsoms frh evqseo so
1415 13 ... 11 10 9 8 01236 ... 47Bit
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Specifications
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Interface and Device Profile (405 m
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Lift Application Profile (417 M
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CAN Layer 2 M
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10
Com m
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Status transition
Note
At the following Transition numbers occur a automatic status transition: 0, 1, 13, 14 Automatic transition to enable operation state after executing SWITCHED ON state functionality.
Command Bits of the control word
Transition No. Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2, 6, 8 Switch on 0 0 1 1 1 3 Switch on + enable operation 0 1 1 1 1 3 + 4 (Note) Disable voltage 0 X X 0 X 7, 9, 10, 12 Quick stop 0 X 0 1 X 7, 10, 11 Disable operation 0 0 1 1 1 5 Enable operation 0 1 1 1 1 4, 16 Fault reset 0 1 X X X X 15
Number: Transition No.
Power disabled
0
1
2
38
9 10
15
12
13
14
11
16
4 5
6
7
Fault
Power enabled
Start Fault reaction active
Fault
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enabled
Quick stop active
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8.10.2 Status word
This Car drive Status word is equivalent to object H6041 in the CiA 402-2 V3.0 specification.
Bit No. Item Description / set range Bit 0 rtso Ready to switch on Bit 1 so Switched on Bit 2 oe Operation enabled Bit 3 f Fault
Bit 4 ve Voltage enabled ON when high voltage is applied to the Power drive system.
Bit 5 qs Quick stop OFF When the Power drive system is reacting on a quick stop request.
Bit 6 sod Switch on disabled
Bit 7 w Warning ON when being a warning condition. The status of the Power drive system Finite state automaton will not be changed, as warning is not an error or fault.
Bit 8 ms Manufacturer-specific
Bit 9 rm Remote When this bit is ON, the control word is processed. If it is off (local), the control word is not processed.
Bit 10 tr
Target reached ON when the Power drive system has reached the set-point. The set-point is operation mode specific. This Bit
is set to on, if the operation mode has been changed. ON if the quick stop option code is 5, 6, 7 or 8, when the quick stop operation is finished and the Power drive
system is halted. ON when halt occurred and the Power drive system is halted.
Bit 11 ila Internal limit active ON when an internal limit is active.
Bit 12 to 13 oms Operation mode specific Bit 14 to 15 ms Manufacturer-specific
Status Word Power Drive System Finite State Automaton State xxxx xxxx x0xx 0000 b Not ready to switch on xxxx xxxx x1xx 0000 b Switch on disabled xxxx xxxx x01x 0001 b Ready to switch on xxxx xxxx x01x 0011 b Switched on xxxx xxxx x01x 0111 b Operation enabled xxxx xxxx x00x 0111 b Quick stop active xxxx xxxx x0xx 1111 b Fault reaction active xxxx xxxx x0xx 1000 b Fault
ms oms ila tr qsmsrm sodw oe sofve rtso
15 ... 14 13 ... 12 11 10 9 8 012367 45Bit
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Specifications
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Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Interface and Device Profile (405 m
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8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
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10
Com m
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8.11 Modes of operation/Modes of operation display
When BFM #3436 to #3443 and #12436 to 12443 are read, the Modes of operation display is read from BFMs. When BFM #13436 to #13443 are read, the Modes of operation is read from BFMs. And when BFM #3436 to #3443 and #13436 to #13443 are written to, the Modes of operation is written to BFMs.
8.11.1 Modes of operation
This Car drive mode of operation is equivalent to object H6060 in the CiA 402-2 V3.0 specifications. Bits 8 to 15 are fixed to OFF (0). Even if set to ON (1), these bits will remain OFF (0).
8.11.2 Modes of operation display
This Car drive mode of operation display is equivalent to object H6061 in the CiA 402-2 V3.0 specifications. This object provides the actual operation mode. Bits 8 to 15 are fixed to OFF (0) in these BFMs. The value description can be shown in the Modes of operation.
Refer to Subsection 8.11.1
8.12 Control Effort
This Car drive control effort shall contain the breaking point or breaking distance depending on the target position given respectively as absolute value or relative value. The value (32 bit data) shall be given in user-defined position units. It is necessary to read position value by 32 bit instructions.
8.13 Position Actual Value/Target Position
When BFM #3460 to #3475 and #12460 to 12475 are read, the Position actual value is read from BFMs. When BFM #13460 to #13475 are read, the Target position is read from BFMs. And when BFM #3460 to #3475 and #13460 to #13475 are written to, the Target position is written to BFMs.
8.13.1 Position actual value
This Car drive position actual value is equivalent to object H6064 in the CiA 402-2 V3.0 specification and shall contain the position of the drive shaft. This information is used to calculate the slippage of the position unit. The value (32 bit data) shall be given in user-defined position units. This value needs to be handled by 32 bit instructions.
Low byte Value (Dec) Description
-128 to -1 Manufacturer-specific operation modes 0 No mode change or no mode assigned
+1 Profile position mode +2 Velocity mode +3 Profile velocity mode +4 Torque profile mode +5 Reserved +6 Homing mode +7 Interpolated position mode +8 Cyclic sync position mode +9 Cyclic sync velocity mode
+10 Cyclic sync torque mode +11 to +127 Reserved
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8.13.2 Target position
This Car drive target position is equivalent to object H607A in the CiA 402-2 V3.0 specifications. This Target position contains the commanded position that the drive should move to in position profile mode using the current settings of the motion control parameters such as velocity, acceleration, deceleration, motion profile type etc. The value (32 bit data) shall be interpreted as absolute or relative depending on the 'abs/rel' flag in the control word. This value needs to be handled by 32 bit instructions. It shall be given in user-defined position units and shall be converted to position increments.
8.14 Profile Velocity
This Car drive profile Velocity is equivalent to object H6081 in the CiA 402-2 V3.0 specifications. The value (32 bit data) is in units of mm/s. This value needs to be handled by 32 bit instructions.
8.15 Velocity Actual Value/Target Velocity
When BFM #3492 to #3507 and #12492 to 12507 are read, the Velocity actual value is read from BFMs. When BFM #13492 to #13507 are read, the Target velocity is read from BFMs. And when BFM #3492 to #3507 and #13492 to #13507 are written to, the Target velocity is written to BFMs.
8.15.1 Target velocity
This Car drive target velocity is equivalent to object H60FF in the CiA 402-2 V3.0 specifications. The value (32 bit data) is in units of mm/s. This value needs to be handled by 32 bit instructions.
8.15.2 Velocity actual value
This Car drive velocity actual value is equivalent to object H606C in the CiA 402-2 V3.0 specification. The value (32 bit data) is in units of mm/s. This value needs to be handled by 32 bit instructions.
8.16 Load Value
These BFMs contain the Car drive load value and its related SI unit. The load value is the absolute value of the load (payload). It is in units of the configured SI unit. The load value of HFFFF shall be an error value that is applied if the sensor is in error state or does not have an actual value.
SI unit structure
The default SI unit is kg. The SI unit and prefix field values shall use the coding as defined in the CiA 303-2 specifications.
8.17 Load Signalling
These BFMs contain Car drive load signal information. It is used to signal measuring values of the load measuring system. Load signal contains different kinds of load signal. If one of the load bits (for zero load, norm load, full load, and overload) is set to ON (1), the related condition is true. If the bit is set to 0, the related condition is not true. Load signal interrupt contains the information about whether the related load bit shall be processed (1) or not (0). Bits 8 to 15 are fixed to OFF (0) in these BFMs.
Load signal structure
SI unitPrefix
15 ... 8 7 ... 0Bit
OverloadReserved Full load Norm load Zero load
12315 ... 4 0Bit
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Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
ode
10
Com m
and Interface
9. CAN Layer 2 Mode
This chapter describes the data transfer locations and setting, etc. of the 11 bit/29 bit CAN-ID Layer 2 mode. In the 11 bit/29 bit CAN-ID Layer 2 mode, the FX3U-CAN can send/receive up to 42 pre-defined messages. Moreover, Layer 2 messages can be sent via CIF.
Difference between 11 bit/29 bit CAN-ID Layer 2 Modes
The bit numbers of the CAN-ID used in 11 bit/29 bit CAN-ID Layer 2 modes differ between 11 bit and 29 bit.
Note
To ensure that the FX3U-CAN module can handle the CAN Layer 2 message in a consistent way, it is necessary to set BFM #20 bit 0 to ON before reading the received message (FROM) and after writing the transmitted message (TO) to the module.
For BFM #20 bit 0, refer to Section 6.4 To activate the 11 bit/29 bit CAN-ID Layer 2 mode, write into BFM #21 the value K11 or K29, set BFM #22
to K1 to store the BFM configuration and reset the module. For module reset, refer to Section 6.8
BFMs (#0 to #19, #27, #50 to #59, #750 to #859, #900 to #963, and #3000 to #3539), which are active in the CANopen 405 mode or CANopen 417 mode, are not active and not accessible in CAN Layer 2 Mode.
9.1 Receive/Transmit Process Data
The data transfer locations of the 11 bit/29 bit CAN-ID Layer 2 mode are as follows.
Note
The following settings of each message have to be defined in Layer 2 configuration mode, before shifting to the Layer 2 online mode. The CAN-ID LW, CAN-ID HW and transmitting data byte number (in RTR/new/DLC) in the following BFMs Layer 2 message configuration in BFM #1100 to #1276
Sets the parameters (transmitting/receiving message, etc.) for each message. For Layer 2 message configuration in BFM #1100 to #1267, refer to Section 9.3
BFM No. Name Description Initial
value Read/ Write
Stored to Flash ROMHigh Byte Low Byte
BFM #0 to #19 Reserved - - -
BFM #100 CAN-ID 1 LW 11/29 bit CAN-Identifier low word
Layer 2 message 1
HFFFF R/W *1
BFM #101 CAN-ID 1 HW 29 bit CAN-Identifier high word HFFFF R/W *1
BFM #102 RTR / new / DLC High Byte: Remote Transmission Request Low Byte: Data length count H0 R/W *1
BFM #103
Data bytes
2nd data byte 1st data byte H0 R/W*2 -
BFM #104 4th data byte 3rd data byte H0 R/W*2 -
BFM #105 6th data byte 5th data byte H0 R/W*2 -
BFM #106 8th data byte 7th data byte H0 R/W*2 -
.. .. .. .. .. ..
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*1. These BFM will be stored into the Flash ROM when the save command is executed. For the save command, refer to Section 6.6
*2. Receive messages are read only, transmit messages can be read and written.
1. When transmitting messages The CAN-ID, RTR/new/DLC and data bytes of each message are as follows. 1) CAN-ID
The destination of the message is specified by CAN-ID. CAN-ID is as follows, corresponding to the function mode to be used.
For function mode, refer to Section 6.5
*2. The "n" corresponds to the Layer 2 message number. 2) RTR/new/DLC
RTR/new/DLC is set as follows.
*3. Bit 15 defines whether the message is transmitted as a data frame (Bit 15 = OFF) or a Remote Transmit Request frame (Bit 15 = ON). Bit 12 = ON enables a strict DLC check for received RTR frames. If Bit 12 is OFF, only the CAN-ID of an inbound RTR frame is checked for a match with a user message; if the bit is ON, the CAN-ID and the DLC of the RTR frame must match the user message to cause a response or BFM #1270 to #1272 flag to be set. Bit 15 and Bit 12 cannot be set ON at the same time. Bit 15 can be set ON if the parameter B is set to H5FFF. Bit 12 can be set ON if the parameter B is set to H6FFF or H7FFF.
For parameter B, refer to Section 9.3 3) Data bytes
Store the data to transmit. The data length of the transmit data is set by DLC.
BFM #387 CAN-ID 42 LW 11/29 bit CAN-Identifier low word
Layer 2 message 42
HFFFF R/W *1
BFM #388 CAN-ID 42 HW 29 bit CAN-Identifier high word HFFFF R/W *1
BFM #389 RTR / new / DLC High Byte: Remote Transmission Request Low Byte: Data length count H0 R/W *1
BFM #390
Data bytes
2nd data byte 1st data byte H0 R/W*2 -
BFM #391 4th data byte 3rd data byte H0 R/W*2 -
BFM #392 6th data byte 5th data byte H0 R/W*2 -
BFM #393 8th data byte 7th data byte H0 R/W*2 -
BFM #394 to #399 Reserved - - -
Function Mode Description
11 bit CAN-ID Layer 2 Mode Store CAN-ID in the 11 bits, bit 0 to 10, in the CAN-ID n*2 LW. In this function mode, CAN-ID n*2 HW are ignored.
29 bit CAN-ID Layer 2 Mode Store CAN-ID in the 29 bits, bit 0 to 28, in the CAN-ID n*2 LW and CAN-ID n*2 HW. Handle CAN-ID n*2 LW and CAN-ID n*2 HW by 32 bit instructions.
High Byte/Low Byte Description
High byte Bit 12 ON: Strict DLC check for RTR Bit 15 OFF: Send data frame Bit 15 ON: Send RTR frame*3
Low byte Number of data bytes to transmit (K0 to K8)*3
BFM No. Name Description Initial
value Read/ Write
Stored to Flash ROMHigh Byte Low Byte
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2. When receiving messages The CAN-ID, RTR/new/DLC and data bytes of each message are as follows.
Note
In case more than one ID can pass the filter set in BFM #1100 to #1267, the received CAN-ID might change and will always display the CAN-ID, DLC and data of the latest received message.
For Layer 2 message configuration in BFM #1100 to #1267, refer to Section 9.3
1) CAN-ID The source CAN-ID of the received Layer 2 message is stored. CAN-ID is as follows corresponding to the function mode to be used.
For the function mode, refer to Section 6.5
*1. The "n" corresponds to the Layer 2 message number. 2) RTR/new/DLC
*2. If bit 8 of the RTR/new/DLC is ON, a new message including new data has been received and stored. If bit 9 is ON but bit 8 is OFF, the same message (same ID, DLC and data) has been received. If bit 10 is ON, at least one more message has been stored in this message buffer while bit 8 was ON which caused an overflow condition.
3) Data bytes The data received of length specified by DLC is stored. In case the received DLC is less than 8, unused data bytes are set to H00.
Function Mode Description
11 bit CAN-ID Layer 2 Mode CAN-ID is stored in the 11 bits, bit 0 to 10, in the CAN-ID n*1 LW. In this function mode, CAN-ID n*1 HW does not used.
29 bit CAN-ID Layer 2 Mode CAN-ID is stored in the 29 bits, bit 0 to 28, in the CAN-ID n*1 LW and CAN-ID n*1 HW. Handle CAN-ID n*1 LW and CAN-ID n*1 HW by 32 bit instructions.
High Byte/Low Byte Description
High byte
H00: New data is not received. Bit 8: ON when new data is received. Bit 9: ON when new frame is received. Bit 10: ON when overflowing.*2
Low byte Data length count (DLC) of the received CAN frame.
Flags RTR / new / DLC
Receive messages only
New frame no new data
New frame new data
New frame no new data
overflow occur
New frame new data
overflow occur No data received
New data (bit 8) OFF ON OFF ON - (Do not care) New frame (bit 9) ON ON ON ON OFF Overflow (bit 10) OFF OFF ON ON - (Do not care)
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9.2 Layer 2 Message Specific Error Code List
This List contains an error message for each Layer 2 message.
Error code in Layer 2 message
9.3 Pre-defined Layer 2 Message Configuration
This section describes the Pre-defined Layer 2 message configuration. The parameters of Layer 2 message number are used to define if the corresponding Layer 2 message number in BFM #100 to #393 is a transmit or receive message.
Note
The Pre-defined Layer 2 message configuration can be set in Layer 2 configuration mode (BFM #25 bit 4 is OFF).
For the communication status (BFM #25), refer to Section 6.8 If an invalid value is written to one of BFM #1100 to #1267, then BFM #29 bit 6 is set, and the BFM address
is displayed in BFM #39. If the Layer 2 message number is not used, parameter A and B should be set to HFFFF.
BFM No. Detailed Error Code for Each Layer 2 Message BFM #401 Message 1 error code BFM #402 Message 2 error code
.. ..
BFM #442 Message 42 error code
Error Code Error Code Description H0000 No error H2000 Receive buffer overflowed
BFM No. Name Description Initial value Read/Write BFM #1100 Layer 2 message 1 parameter A
Layer 2 message 1 parameter
HFFFF R/W BFM #1101 Layer 2 message 1 parameter B HFFFF R/W BFM #1102 Layer 2 message 1 parameter C H0000 R/W BFM #1103 Layer 2 message 1 parameter D H0000 R/W BFM #1104 Layer 2 message 2 parameter A
Layer 2 message 2 parameter
HFFFF R/W BFM #1105 Layer 2 message 2 parameter B HFFFF R/W BFM #1106 Layer 2 message 2 parameter C H0000 R/W BFM #1107 Layer 2 message 2 parameter D H0000 R/W
.. .. .. .. ..
BFM #1260 Layer 2 message 41 parameter A
Layer 2 message 41 parameter
HFFFF R/W BFM #1261 Layer 2 message 41 parameter B HFFFF R/W BFM #1262 Layer 2 message 41 parameter C H0000 R/W BFM #1263 Layer 2 message 41 parameter D H0000 R/W BFM #1264 Layer 2 message 42 parameter A
Layer 2 message 42 parameter
HFFFF R/W BFM #1265 Layer 2 message 42 parameter B HFFFF R/W BFM #1266 Layer 2 message 42 parameter C H0000 R/W BFM #1267 Layer 2 message 42 parameter D H0000 R/W
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9.3.1 Pre-defined Layer 2 transmit messages
This subsection describes parameters A to D for the transmit message.
1. Parameter A and B for each Layer 2 message A message buffer in BFM #100 to #393 is assigned to a Layer 2 transmit message by writing HFFFF in parameter A, and writing H7FFF, H6FFF or H5FFF in parameter B. When Layer 2 message number is not used, set HFFFF to both parameter A and B.
Note
The Layer 2 implementation of the FX3U-CAN can handle up to 28 transmit slots with RTR handling (parameter B = H7FFF or H6FFF). If the configuration violates this rule, the first 28 transmit message configurations remain as they are, and RTR handling is disabled for any further transmit messages as parameter B is forced to H5FFF.
For the RTR message reception list, refer to Section 9.4
When using the auto RTR response Set H7FFF to parameter B for the Layer 2 message. The FX3U-CAN automatically responds to Remote Transmit Requests (RTRs) if the 11/29 bit CAN-ID (i.e. set in BFM #100) matches the ID in the RTR message. The RTR message is not stored to the RTR flag list.
When using the manual RTR response Set H6FFF to parameter B for the Layer 2 message. The FX3U-CAN will not automatically respond to Remote Transmit Requests, but the RTR ID will be added to the RTR flag list.
When using the disable RTR handling Set H5FFF to parameter B for the Layer 2 message. The FX3U-CAN will discard any incoming RTR telegrams matching the CAN-ID of this Layer 2 message.
Parameter Description Initial value Layer 2 message number parameter A Constant HFFFF HFFFF
Layer 2 message number parameter B
H7FFF (auto RTR response) H6FFF (manual RTR response) H5FFF (disable RTR handling) HFFFF (message disabled)
HFFFF
Layer 2 message number parameter C Transmission type H0000 Layer 2 message number parameter D Cycle time in [10 ms] H0000
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2. Parameter C "transmission type" for each Layer 2 message The transmission type defines the transmit/receive message and transmission trigger event of the message as follows.
3. Parameter D "cycle time" for each Layer 2 message This parameter is used when the transmission type (event) is set to K2 or K3. The cycle time is in units of ms
Note
The cycle time should be set in consideration of the PLC scan cycle and communications response time, etc.
If cycle time is set to K0, cycle time operates as 1 ms.
Transmission Type value Message Type Transmission Trigger Event
K0
Transmit message
When BFM #20 bit 0 is set to ON, the Layer 2 message is always transmitted.
K1 When BFM #20 bit 0 is set to ON, the Layer 2 message is transmitted. However, if data has not been changed, it is not transmitted.
K2 The Layer 2 message transmits with following condition. With a cycle time set by parameter D BFM #20 bit 0 set to ON
K3
The Layer 2 message transmits with following condition. However, if data has not been changed, it is not transmitted. With a cycle time set by parameter D BFM #20 bit 0 set to ON
K4
The Layer 2 message transmits with following condition. Request via RTR frames
Request via RTR frames works for maximum 28 transmit messages. Message transmit trigger flags
The Layer 2 message transmits when the corresponding message transmit trigger flag in BFM #1280 to #1282 is set to ON.
For the message transmit trigger flag, refer to Section 9.5
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9.3.2 Pre-defined Layer 2 receive messages
This subsection describes parameters A to D for the receive message.
1. Parameter A and B for each Layer 2 message Set the source CAN ID of the received message to parameter A and B. CAN-ID is as follows, corresponding to the function mode to be used. When Layer 2 message number is not used, set HFFFF to both parameter A and B.
For function mode, refer to Section 6.5
2. Parameter C and D for each Layer 2 message Set the filter for the ID set in parameter A and B. If the filter is set to H00000000, incoming messages are checked for an exact match with the ID set in parameter A and B. Any bit set in the filter will be omitted when comparing received IDs with the ID set in parameter A and B.
Example 1: Layer 2 message 1 parameter A/B = H00000181 Layer 2 message 1 parameter C/D = H00000000
BFM #100 to #106 store received messages with the CAN-ID H181 only. Relation between received CAN message, BFM #20 bit 0 and "RTR/new/DLC" high byte is shown below.
The flags "RTR/new/DLC" are cleared by PLC program after . They remain H00 after , because there was no message stored between and . The first received CAN message that matches parameter A/B and C/D is stored into the internal buffers, and as this is the only message between and , the high byte value is set to H03. The high byte value H07 after shows that the buffer was overwritten at least once (in this example two times) since . The data bytes in the BFM are the data received with the last message.
Note
In this example, it is expected that the PLC program resets the RTR/new/DLC flags after reading the data at , , and .
Parameter Description Initial Value Layer 2 message number parameter A Reception CAN-ID low word HFFFF Layer 2 message number parameter B Reception CAN-ID high word HFFFF Layer 2 message number parameter C Reception ID filter bit mask low word H0000 Layer 2 message number parameter D Reception ID filter bit mask high word H0000
Function Mode Description 11 bit CAN-ID Layer 2 Mode Store CAN-ID in the 11 bits, bit 0 to 10, in the parameters A and B by 32 bit instructions. 29 bit CAN-ID Layer 2 Mode Store CAN-ID in the 29 bits, bit 0 to 28, in the parameters A and B by 32 bit instructions.
CAN bus
BFM #20 bit 0
RTR/new/DLC high byte
Message H0181
Message H0181
Message H0181
Message H0181
H00 (no new data between and )
H03 (new frame + data between and )
H07 (new frame + data and overflow between
and ) H00Hxx
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Example 2: Layer 2 message 2 parameter A/B = H00000180 Layer 2 message 2 parameter C/D = H00000006
BFM #107 to #113 stores received messages with CAN-IDs H180, H182, H184 and H186 because ID bits 1 and 2 are not evaluated. Relation between received CAN message, BFM #20 bit 0 and "RTR/new/DLC" high byte is shown below.
Note
Please remember that in this case all four messages are stored in the same location! If more than one of the messages with ID H180, H182, H184 or H186 is received between two write operations BFM #20 = K1, only the last received CAN-ID, DLC, and data is available in BFM #107 to #113.
Behaviour until is similar to that described in example 1. Same as in the first example, the high byte value H07 after shows that the buffer was overwritten at least once, since and the data bytes in the BFM are also the data received with the last message. But this time, it is required to check the 11 bit CAN-ID in the corresponding Layer 2 message (BFM #100 to #399) to determine which message ID was received. In this case the last message is H0180, and the data of this message is stored to the data BFM. The data of messages H0182 and H0186 are lost.
Note
In this example, it is expected that the PLC program resets the RTR/new/DLC flags after reading the data at , , and .
CAN bus
BFM #20 bit 0
RTR/new/DLC high byte
Message H0184
Message H0182
Message H0186
Message H0180
H00 (no new data between and )
H03 (new frame + data between and )
H07 (new frame + data and overflow between
and ) H00Hxx
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9.4 Layer 2 RTR Flags
If the FX3U-CAN is set to Layer 2 communication mode, an incoming RTR message is indicated in the BFM if the following conditions are satisfied:
Matching the "CAN-ID n*1" of one of the Layer 2 messages
The Layer 2 message "n*1" is configured as a transmit Layer 2 message
The Layer 2 message "n*1" is set to "no auto RTR response" (H6FFF) *1. Where "n" is one of the Layer 2 messages 1 to 42.
The bits in the "RTR message reception list" are updated independently from BFM #20 bit 0. A bit is set if a valid RTR message has been received. The bit can be evaluated by PLC program and required changes to the response message data can be made (BFM #20 bit 0 must be set in order to refresh the internal data buffer and trigger the transmission). The flag is automatically reset when a message is transmitted from the Layer 2 message.
RTR message reception list BFM No. Bit No. Description Read/Write
BFM #1270
Bit 0 RTR message for Layer 2 message 1 received R
.. .. R
Bit 15 RTR message for Layer 2 message 16 received R
BFM #1271
Bit 0 RTR message for Layer 2 message 17 received R
.. .. R
Bit 15 RTR message for Layer 2 message 32 received R
BFM #1272
Bit 0 RTR message for Layer 2 message 33 received R
.. .. R
Bit 9 RTR message for Layer 2 message 42 received R Bit 10
Unused R..
Bit 15
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9.5 Message Transmit Trigger Flags
The transmission of a message in Layer 2 mode can be triggered via the following flags. Transmit requests on receive Layer 2 messages are discarded. When a bit is set to ON, the corresponding transmit message will be sent as soon as a transmit buffer is available. The flags are reset automatically as soon as the message is written into the transmit buffer.
9.6 PLC RUN>STOP Messages
FX3U-CAN can transmit the message according to its state, if the PLC is in one of the following two states. Up to four transmit messages can each be registered. If PLC state had changed to STOP from RUN, or FROM/TO Watchdog in FX3U-CAN has been timed-out
In this case, the message registered into RUN>STOP messages 1 to 4 are transmitted.
Warning
Depending on PLC Type and baud rate and bus load, FX3U-CAN may be unable to send the message. In such a case, additional H/W and/or S/W should be considered for safe system behavior. If possible use only one "RUN>STOP message" which will increase the possibility that the information is transmitted in the event "RUN>STOP" occurs. If more than one message is defined, messages are transmitted in order of priority "message 1" to "message 4".
Note
The time differs depending on the number of I/Os and on the number and types of extension blocks.
BFM No. Bit No. Transmit request Layer 2 message Remarks
BFM #1280
Bit 0 Layer 2 message 1 R/W .. .. R/W
Bit 15 Layer 2 message 16 R/W
BFM #1281
Bit 0 Layer 2 message 17 R/W
.. .. R/W
Bit 15 Layer 2 message 32 R/W
BFM #1282
Bit 0 Layer 2 message 33 R/W
.. .. R/W
Bit 9 Layer 2 message 42 R/W Bit 10 to 15 Reserved R/W
BFM No. Function Description
Layer 2 Message Initial Value High Byte Low Byte
BFM #1900 CAN-ID 1 LW 11/29 bit CAN-Identifier low word
RUN>STOP message 1
HFFFF BFM #1901 CAN-ID 1 HW 29 bit CAN-Identifier high word HFFFF BFM #1902 DLC Data length count H0 BFM #1903
Data bytes
2nd data byte 1st data byte H0 BFM #1904 4th data byte 3rd data byte H0 BFM #1905 6th data byte 5th data byte H0 BFM #1906 8th data byte 7th data byte H0
.. .. .. .. ..
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*1. RTR is prohibited for these messages.
BFM #1921 CAN-ID 4 LW 11/29 bit CAN-Identifier low word
RUN>STOP message 4
HFFFF BFM #1922 CAN-ID 4 HW 29 bit CAN-Identifier high word HFFFF BFM #1923 DLC Data length count H0 BFM #1924
Data bytes
2nd data byte 1st data byte H0 BFM #1925 4th data byte 3rd data byte H0 BFM #1926 6th data byte 5th data byte H0 BFM #1927 8th data byte 7th data byte H0
BFM Function Description
11/29 bit CAN-ID n CAN-ID is used to transmit this message into the network. Sets HFFFF to the CAN-ID n LW and CAN-ID n HW when not using the message.
DLC High byte H00 = send data frame*1
Low byte = number of data bytes to transmit (K0 to K8) Data bytes Data bytes 1 to 8. Number of attached data bytes is defined by DLC.
BFM No. Function Description
Layer 2 Message Initial Value High Byte Low Byte
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9.7 CIF Sending Layer 2 Message
Using this function, the FX3U-CAN can send any Layer 2 messages to the CAN bus. This function is accessible only in Layer 2 Mode.
Execution procedure: Set Node guarding/NMT Slave Assignment
1) Write the CAN-ID, RTR, DLC and the data byte to BFM #1001 to #1008. 2) Write the command code H000C to BFM #1000.
When the command code H000C is written to BFM #1000, the command is executed. 3) When the executed command is successful, H000D is written to BFM #1000.
If H000F or HFFFF is read from BFM #1000, refer to Section 10.9
*1. Set this BFM to K0 for normal transmission. If this BFM is set to K1, a remote transmit request frame is sent. This request makes the producer of the associated CAN-ID specified in BFM #1001 and #1002 send the actual data.
*2. The data length in bytes (0 to 8).
BFM No. Description
FROM (Read Access) TO (Write Access)
High Byte Low Byte
BFM #1000
H000D: Data written to transmit buffer HF00C: Setting Error HFFFF: CIF Busy H000F: Error
Command: H000C
BFM #1001 Diagnosis Data H0000: No Error HF00C: Setting Error
Displays the error cause. All other values: The corresponding parameter
caused an error.
11/29 bit CAN-Identifier low word BFM #1002 29 bit CAN-Identifier high word
BFM #1003 RTR (Remote Transmission Request)*1
BFM #1004 DLC (Data Length Count)*2
BFM #1005
Unused
2nd data byte 1st data byte BFM #1006 4th data byte 3rd data byte BFM #1007 6th data byte 5th data byte BFM #1008 8th data byte 7th data byte BFM #1009 to #1066 Unused
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10. Command Interface
This chapter describes the Command Interface supported by FX3U-CAN. Command Interface that can be used with each Function Mode is shown in the following table.
10.1 [BFM #1000 to #1066] Command Interface
The Command Interface (CIF) can be used to access the Object Dictionary of the local node or a network node. Access is performed by commands for SDO read/write, special direct command for Node Guarding, Heartbeat, PDO Mapping or Emergency Messages.
Note
The TO buffer will not be cleared after command execution. The former written TO data will be display by making new TO accesses or using the Display current Parameter command.
Refer to Section 10.8 Check always before a TO access to the CIF if the BFM #1000 does not display HFFFF (CIF Busy)!
If a TO access occurs during CIF busy, it will generate a Command or Parameter change while CIF was busy error.
Refer to Subsection 10.9.1
Command Interface Function Mode Selection
Reference Mode 405 Mode 417 Mode 11 Mode 29
SDO Request - - Section 10.2
Set Heartbeat - - Section 10.3
Set Node Guarding / NMT slave assignment - - Section 10.4
Send an Emergency Message - - Section 10.5
Store Object Dictionary settings - - Section 10.6
Restore Object Dictionary default settings - - Section 10.7
Communication Mapping Modes - - - Section 7.2
Display current Parameter Section 10.8
Sending Layer 2 Message - - Section 9.7
BFM No. Description
FROM (Read Access) TO (Write Access) BFM #1000 Command execution result code Command code (trigger for command execution)
BFM #1001 to #1066 Command parameter read back or detailed error information Command parameter
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10.2 SDO Request
Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF command if the NMT Startup Master accesses the remote Node at the same time.
10.2.1 CIF SDO read access
Description of CIF SDO read access is shown below. The local FX3U-CAN can be specified by its actual node number or by using "0".
Execution procedure: CIF SDO read access
1) Write the Node number and the Index / Sub-index of the target Object Dictionary to BFM #1001 to #1003. 2) Write the command code H0004 for SDO read access to BFM #1000.
When the command code H0004 is written to BFM #1000, the command is executed. 3) When the executed command is successful, H0005 is written to BFM #1000.
If H000F or HFFFF is read from BFM #1000, refer to Section 10.9 4) When H0005 is read from BFM #1000, the specified byte length (BFM #1004) of the result data from BFM
#1005 is read. A maximum of 124 bytes of result data is stored in BFM #1005 to #1066.
Result Data Structure in BFM #1005 to #1066
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000 H0005: SDO read success H000F: Error HFFFF: CIF Busy
Command H0004: SDO read
BFM #1001 Node number (read back) Node number BFM #1002 Index (read back) Index BFM #1003 Sub-index (read back) Sub-index BFM #1004 Data length Unused BFM #1005 to #1066 Result data Unused
BFM No. Description
High Byte Low Byte BFM #1005 2nd data byte 1st data byte BFM #1006 4th data byte 3rd data byte BFM #1007 6th data byte 5th data byte BFM #1008 8th data byte 7th data byte
... ..
... ..
... ..
BFM #1065 122nd data byte 121st data byte BFM #1066 124th data byte 123rd data byte
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10.2.2 CIF Multi SDO read access
With the multi SDO read access command, up to 8 SDO read accesses can be made within one command. The maximum data length for each access is 8 bytes. At first write the node number (0, 1-127), the Object Dictionary Index and the Sub index to the BFMs. Finally the command code for multi SDO read access "8" must be written to BFM #1000 in order to trigger the command execution. If the access has been successful, BFM #1000 will display "9" and BFM #1001 to #1064 will contain the node number, index and sub index for verification purposes.
*1. If the final setting is located before BFM #1057, write HFFFF in the last BFM (Node number).
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H0009: SDO read success H000F: Error (refer to Section 10.9) H00F9: Error
(show Node number and Result data for details) HFFFF: CIF Busy
Command H0008: SDO Multi read
BFM #1001 Success: Node number (read back) Error: High Byte H0F, Low Byte Node number
(read back) Node number
BFM #1002 Index (read back) Index
BFM #1003 Sub-index (read back) Low byte: Sub index High byte: reserved
BFM #1004 Success: Data length Error: H0
Unused BFM #1005
Success: Result data Error: SDO access error code
BFM #1006 BFM #1007 BFM #1008
... ..
... ..
... ..
BFM #1057 Success: Node number (read back) Error: High Byte H0F, Low Byte Node number
(read back) Node number*1
BFM #1058 Index (read back) Index
BFM #1059 Sub-index (read back) Low byte: Sub index High byte: reserved
BFM #1060 Success: Data length Error: H0
Unused BFM #1061
Success: Result data Error: SDO access error code
BFM #1062 BFM #1063 BFM #1064 BFM #1065 to #1066 Unused Unused
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10.2.3 CIF SDO write access
Description of CIF SDO write access is shown below. The local FX3U-CAN can be specified by its actual node number or by using "0".
Execution procedure: CIF SDO write access
1) Write the Node number and the Index / Sub-index of the target Object Dictionary to BFM #1001 to #1003. 2) Write the data length (in bytes) to be written, to BFM #1004, and the data to be written, to BFM #1005 to
# 1066. 3) Write the command code H0002 for SDO write access to BFM #1000.
When the command code H0002 is written to BFM #1000, the command is executed. 4) When the executed command is successful, H0003 is written to BFM #1000.
If H000F or HFFFF is read from BFM #1000, refer to Section 10.9
Command Parameter Data Structure in BFM #1005 to #1066
Example Setting: When changing the NMT state of the whole network to state OPERATIONAL
Write to BFM #1000 to #1005 as follows according to the above-mentioned procedure.
Note
This procedure can only be performed when the FX3U-CAN is set up as the master.
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H0003: SDO write success HFFFF: CIF Busy H000F: Error
Refer to Section 10.9
Command H0002: SDO write
BFM #1001 Node number (read back) Node number BFM #1002 Index (read back) Index BFM #1003 Sub-index (read back) Sub-index BFM #1004 Unused Data length (in byte) BFM #1005 to #1066 Unused Command parameter data
BFM No. Description
High Byte Low Byte BFM #1005 2nd data byte 1st data byte BFM #1006 4th data byte 3rd data byte BFM #1007 6th data byte 5th data byte BFM #1008 8th data byte 7th data byte
... ..
... ..
... ..
BFM #1065 122nd data byte 121st data byte BFM #1066 124th data byte 123rd data byte
BFM No. Description
FROM (Read Access) TO (Write Access) BFM #1000 SDO write success: H0003 Command SDO write: H0002
BFM #1001 Node number (The FX3U-CAN self): H0 (read back) Node number (The FX3U-CAN self): H0
BFM #1002 Index (Request NMT): H1F82 (read back) Index (Request NMT): H1F82 BFM #1003 Sub-index (all nodes): H80 (read back) Sub-index (all nodes): H80 BFM #1004
Unused
Data length (1 byte): K1
BFM #1005 Command parameter data (NMT service remote node): H05
BFM #1006 to #1066 Unused
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10.2.4 CIF Multi SDO write access
With the multi SDO write access command, up to 8 SDO write accesses can be made within one command. The maximum data length for each access is 8 bytes. At first write the node number (0, 1-127), the Object Dictionary Index, the Sub-index, the data length (in byte) and the data to be sent to the BFMs. Finally the command code for multi SDO write access "6" must be written to BFM #1000 in order to trigger the command execution. If the access has been successful, BFM #1000 will display "7" and the following BFMs will contain the node number, index and sub index for verification purposes number.
*1. If the final setting is located before BFM #1057, write HFFFF in the last BFM (Node number).
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H0007: SDO write success H000F: Error (refer to Section 10.9) H00F7: Error
(show Node number and Result data for details) HFFFF: CIF Busy
Command H0006: SDO Multi write
BFM #1001 Success: Node number (read back) Error: High Byte H0F, Low Byte Node number
(read back) Node number
BFM #1002 Index (read back) Index
BFM #1003 Sub-index (read back) Low byte: Sub index High byte: reserved
BFM #1004 Unused Data length (in byte) BFM #1005
Success: Unused Error: SDO access error code Command parameter data (1 to 8 byte)
BFM #1006 BFM #1007 BFM #1008
... ..
... ..
... ..
BFM #1057 Success: Node number (read back) Error: High Byte H0F, Low Byte Node number
(read back) Node number*1
BFM #1058 Index (read back) Index
BFM #1059 Sub-index (read back) Low byte: Sub index High byte: reserved
BFM #1060 Unused Data length (in byte) BFM #1061
Success: Unused Error: SDO access error code Command parameter data (1 to 8 byte)
BFM #1062 BFM #1063 BFM #1064 BFM #1065 to #1066 Unused Unused
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10 Command Interface 10.3 Set HeartbeatFX3U-CAN User's Manual
10.3 Set Heartbeat
Nodes can be easily set to Heartbeat Producer or Heartbeat Consumer status by writing values to Index H1016 and H1017 using the Command Interface (CIF). The parameters for Heartbeat are included in the information that can be written to the CAN bus. The local FX3U-CAN can be specified by its actual node number or by using "0". Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF command if the NMT Startup Master accesses the remote Node at the same time.
For Object H1016 and H1017 (Heartbeat), refer to Subsection 5.6.9
1. Heartbeat producing setting
Execution procedure: Heartbeat producing setting
1) Write target Node number and Producer heartbeat time value (in units of ms) to BFM #1001 to #1066. Write HFFFF to the node number following the last target node to complete Heartbeat producing settings.
2) Write the command code H7410 to BFM #1000. When the command code H7410 is written to BFM #1000, the command is executed.
3) When the executed command is successful, H7411 is written to BFM #1000. If H741F, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
2. Heartbeat consuming setting With this command, the Heartbeat consuming Index H1016 Sub index K1 to K32 will be set up at the node specified in BFM #1001. To setup a Sub index higher than K32, use the SDO write command.
For Heartbeat, refer to Subsection 5.6.9 For SDO Request, refer to Section 10.2
Execution procedure: Heartbeat consuming setting
1) Write the Node number that has to be set up to BFM #1001. The local FX3U-CAN can be specified by its actual node number or by using "0".
2) Write target Node-ID to be Consumed and Consumer heartbeat time (in units of ms) to BFM #1002 to #1065. Write HFFFF to the Node-ID following the last consuming node to complete Heartbeat consuming settings.
3) Write the command code H7400 to BFM #1000. When the command code H7400 is written to BFM #1000, the command is executed.
4) When the executed command is successful, H7401 is written to BFM #1000.
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H7411: Producing has been assigned H741F: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H7410
BFM #1001
Diagnosis Data H0000: No Error All other values: The corresponding parameter
caused an SDO error.
1st target node
Node number of producer BFM #1002 Producer heartbeat time value (in units of ms) BFM #1003 2nd target
node Node number of producer
BFM #1004 Producer heartbeat time value (in units of ms) BFM #1005 3rd target
node Node number of producer
BFM #1006 Producer heartbeat time value (in units of ms)
.. .. ..
BFM #1065 33rd target node
Node number of producer BFM #1066 Producer heartbeat time value (in units of ms)
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Introduction
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Specifications
3
Installation
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W iring
5
Introduction of Functions
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Allocation of Buffer M
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If H740F, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
10.4 Set Node Guarding / NMT Slave Assignment
Nodes can be easily set to Guarding-Master or Guarding-Slave status by writing values to Index H1F81 using the Command Interface (CIF). The parameters for guarding are included in the information that can be written to the CAN bus. The module needs to be NMT Master to use these functions.
For Object H1F81, refer to Subsection 5.8.5 Note
If the node number to be guarded exceeds the range K1 to K127, the corresponding BFM will display the value which caused the problem.
The FX3U-CAN module may write a value of HFFFF to the "Slave configuration" parameter of a node that has a parameter configuration error.
The FX3U-CAN module may write a value of HFFFF to the "Guard Time" parameter of a node that has a parameter configuration error.
If the "Retry Factor" parameter exceeds 255, an error value will be displayed in the corresponding BFM. The FX3U-CAN module may write a value of HFFFF to the "Retry Factor" parameter of a node that has a
parameter configuration error. If the node number, slave configuration, retry factor and guarding time is just copied to the corresponding
result BFM, the remote node does not support Index H100C (guarding time)/H100D (retry factor). In this case, the remote node cannot detect a missing guarding request of the network master.
Execution procedure: Set Node guarding/NMT Slave Assignment
1) Write the Slave number, Slave Configuration, Guard Time and Retry of the target node to BFM #1001 to #1064. Set the Node-ID of the configured NMT Slave to Slave number. For the setting value of the Slave Configuration, Guard Time and Retry Factor, refer to the following section. Write HFFFF to the Slave number following the last target node to complete "Node guarding/NMT slave assignment" settings.
Refer to Subsection 5.8.7 2) Write the command code H8400 to BFM #1000.
When the command code H8400 is written to BFM #1000, the command is executed. 3) When the executed command is successful, H8401 is written to BFM #1000.
If H84FF, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H7401: Consuming has been assigned H740F: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H7400
BFM #1001
Diagnosis Data H0000: No Error All other values: The corresponding parameter
caused an SDO error.
Node number which has to be set up BFM #1002 1st
consumed node
Node-ID to be consumed
BFM #1003 Consumer heartbeat time (in units of ms)
BFM #1004 2nd consumed
node
Node-ID to be consumed
BFM #1005 Consumer heartbeat time (in units of ms)
BFM #1006 3rd consumed
node
Node-ID to be consumed
BFM #1007 Consumer heartbeat time (in units of ms)
.. .. ..
BFM #1064 32nd consumed
node
Node-ID to be consumed
BFM #1065 Consumer heartbeat time (in units of ms)
BFM #1066 Reserved
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10 Command Interface 10.5 Send an Emergency MessageFX3U-CAN User's Manual
10.5 Send an Emergency Message
This command can be used to send an emergency message from the PLC to the CANopen network.
Execution procedure: Send an emergency message
1) Write the Emergency error code*1, Error register and Manufacturer-specific error code*2 that will be sent as the Emergency Message to BFM #1001 to #1004. Unused Manufacturer-specific error code bytes have to be H00.
For Error register, refer to following Subsection 5.6.2 2) Write the command code H000A to BFM #1000.
When the command code H000A is written to BFM #1000, the command is executed. 3) When the executed command is successful, H000B is written to BFM #1000.
If H000F or HFFFF is read from BFM #1000, refer to Section 10.9
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H8401: Slaves have been assigned H84FF: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H8400
BFM #1001
Diagnosis Data H0000: No Error All other values: The corresponding parameter
caused an error.
1st target node
Slave Number to be Guarded BFM #1002 Slave Configuration BFM #1003 Guard Time BFM #1004 Retry Factor BFM #1005
2nd target node
Slave Number to be Guarded BFM #1006 Slave Configuration BFM #1007 Guard Time BFM #1008 Retry Factor
.. .. ..
BFM #1061 16th
target node
Slave Number to be Guarded BFM #1062 Slave Configuration BFM #1063 Guard Time BFM #1064 Retry Factor BFM #1065 Unused BFM #1066 Unused
BFM No. Description
FROM (Read Access) TO (Write Access)
High Byte Low Byte
BFM #1000
H000B: Command finished HFFFF: CIF Busy H000C: Communication Error H000F: Error
Command: H000A
BFM #1001
H0000: No Error H0001: EMCY Inhibit time not
elapsed H0002: Device is not in CANopen
state Operational or Pre- operational
Emergency error code*1
BFM #1002
Unused
0th byte of Manufacturer-specific error code*2 Error register
BFM #1003 2nd byte of Manufacturer-specific error code*2
1st byte of Manufacturer-specific error code*2
BFM #1004 4th byte of Manufacturer-specific error code*2
3rd byte of Manufacturer-specific error code*2
BFM #1005 to #1066 Unused
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Specifications
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Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Interface and Device Profile (405 m
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*1. Emergency error codes In different CiA Device/Application Profiles, more EMCY Error Codes are defined.
*2. For EMCY Manufacturer specific error code, refer to the following section. Refer to Section 6.23
Error Code (hex)
Description Error Code (hex)
Description
0000 Error reset or no error 7000 Additional modules generic error
0010 CiA 417: CAN warning level 8000 Monitoring generic error
1000 Generic error 8100 Communication generic 2000 Current generic error 8110 CAN overrun (objects lost) 2100 Current, CANopen device input side generic 8120 CAN in error passive mode 2200 Current inside the CANopen device generic 8130 Life guard error or heartbeat error 2300 Current, CANopen device output side generic 8140 Recovered from bus off 3000 Voltage generic error 8150 CAN-ID collision 3100 Mains voltage generic 8200 Protocol error generic
3111 CiA 417: Mains Over voltage 8210 PDO not processed due to length error
3121 CiA 417: Mains Under voltage 8220 PDO length exceeded
3200 Voltage inside the CANopen device generic 8230 DAM MPDO not processed, destination object not available
3211 CiA 417: Over voltage (device internal) 8240 Unexpected SYNC data length
3221 CiA 417: Under voltage (device internal) 8250 RPDO timeout
3300 Output voltage generic 8F01
to 8F7F
Life guard error or heartbeat error caused by Node-ID 1 to Node-ID 127.
4000 Temperature generic error 9000 External error generic error 4100 Ambient temperature generic F000 Additional functions generic error
4200 Device temperature generic FF00 Device specific generic error*2
5000 CANopen device hardware generic error FF01 CiA 417: Light barrier defect*2
6000 CANopen device software generic error FF02 CiA 417: Finger protector defect*2
6100 Internal software generic FF03 CiA 417: Motion detection defect*2
6200 User software generic FF04
CiA 417: Application error, Manufacturer-specific error code: Byte 0 and 1 contain a Text error code, Byte 2 to 4 are reserved*26300 Data set generic
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10 Command Interface 10.6 Store Object Dictionary SettingsFX3U-CAN User's Manual
10.6 Store Object Dictionary Settings
This command is an easy to use command for the store parameter command in the Object Dictionary Index H1010 Sub-index H01. Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF SDO command if the NMT Startup Master accesses the remote Node at the same time.
For the Object Dictionary Index H1010, refer to Subsection 5.6.11
Execution procedure: Store object dictionary settings
1) Write the target node-ID for which Object Dictionary settings are to be stored, to BFM #1001 to #1066. When HFFFF is set as node-ID in BFM #1002 to #1066, the "Store Object Dictionary settings" is finished. The local FX3U-CAN can be specified by its actual node number or by using 0.
2) Write the command code H6000 to BFM #1000. When the command code H6000 is written to BFM #1000, the command is executed.
3) When the Object Dictionary settings have been saved, H6001 is written to BFM #1000. If H600F, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H6001: Object Dictionary settings have been saved H600F: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H6000
BFM #1001 Diagnosis Data
H0000: No Error HFFFF: Parameter caused an error
1st target node-ID
.. ..
BFM #1066 66th target node-ID
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10 Command Interface 10.7 Restore Object Dictionary Default SettingsFX3U-CAN User's Manual
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Specifications
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Installation
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W iring
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Introduction of Functions
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Allocation of Buffer M
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Lift Application Profile (417 M
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CAN Layer 2 M
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10.7 Restore Object Dictionary Default Settings
This command is an easy to use command for the load parameter command in the Object Dictionary Index H1011 Sub-index H01. The CANopen devices need to be reset after the command to make the change become effective. Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF SDO command if the NMT Startup Master accesses the remote Node at the same time.
For the Object Dictionary Index H1011, refer to Subsection 5.6.12
Execution procedure: Restore object dictionary default settings
1) Write the target node-ID for which the object dictionary default settings are to be restored, to BFM #1001 to #1066. When HFFFF is set as node-ID in BFM #1002 to #1066, the "Restore object dictionary factory default settings" is finished. The local FX3U-CAN can be specified by its actual node number or by using "0".
2) Write the command code H6010 to BFM #1000. When the command code H6010 is written to BFM #1000, the command is executed.
3) When the Object Dictionary default settings have been restored, H6011 is written to BFM #1000. If H601F, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
4) To activate the default settings, the device has to reboot. Do not use the "Store Object Dictionary Settings" command between the "Restore Object Dictionary Default Settings" command and the Reset command.
10.8 Display Current Parameter
This command can be used to display the parameter in BFM #1001 to #1066 of the last executed CIF command. If a command caused an error, this function allows the parameter which caused the error to be displayed and to make the necessary adjustments to the parameter set and sequence program.
Execution procedure: Display current parameter
1) Write the command code H0000 to BFM #1000. 2) When the parameter value of the last executed CIF command has been restored to BFM #1001 to #1066,
H0000 is displayed to BFM #1000.*1 If HFFFF is read from BFM #1000, refer to Section 10.9
*1. Afterwards, when a new parameter is written to BFM #1000 to #1066, the parameters of the last executed CIF command will be displayed again except for the parameter that was just written.
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000
H6011: Object Dictionary default settings have been restored
H601F: Parameter Error HFFFF: CIF Busy H000F: Error
Command: H6010
BFM #1001 Diagnosis Data
H0000: No Error HFFFF: Parameter caused an error
1st target node-ID
.. ..
BFM #1066 66th target node-ID
BFM No. Description
FROM (Read Access) TO (Write Access)
BFM #1000 H0000: Input buffer is displaying. HFFFF: CIF Busy Command: H0000
BFM #1001 to #1066 Parameter values of the last executed CIF command Unused
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10 Command Interface 10.9 Error MessagesFX3U-CAN User's Manual
10.9 Error Messages
10.9.1 Error messages
If an error occurs during the execution of a command, H000F is written to BFM #1000, and the Error Class and additional data are stored to BFM #1001 to BFM #1066.
1. When using Unknown command The written command to BFM #1000 is an unknown command. Confirm the function mode setting and the executed command.
For the function mode setting, refer to Section 6.5 For command interface that can be executed in each functional mode,
refer to Chapter 10 Note
This error will be also occur when a command in this function mode is not supported.
2. When queue was not available Access to the internal transmission queue was rejected. Possibly the bus load was too high. This error may occur during Mode B mapping command execution for errors other than source or destination parameter errors. Please execute again after waiting a little.
3. Command or parameter change while CIF was busy During FX3U-CAN Command interface execution, HFFFF is written in the read access area of BFM #1000. During Command interface execution, a new command cannot be executed. If accessing BFM #1000 to BFM #1066 during the CIF execution, an error may occur, and H000F will be shown in the BFM #1000.
For the executing Command interface discontinuance procedure, refer to Subsection 10.9.2
4. Clear/Reset the "CIF was busy" Error To Reset the CIF after a Command or Parameter Change while CIF was busy Error, HFFFF must be written using the TO command to BFM #1000. The CIF is available again if the BFM #1000 displays H0000.
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class BFM #1002 to #1066 Additional data depending on an Error class
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: H0064 BFM #1002 to #1066 Unused
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: H8FFF BFM #1002 to #1066 Unused
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: HFFFF BFM #1002 to #1066 Unused
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1
Introduction
2
Specifications
3
Installation
4
W iring
5
Introduction of Functions
6
Allocation of Buffer M
em ories
7
Interface and Device Profile (405 m
ode)
8
Lift Application Profile (417 M
ode)
9
CAN Layer 2 M
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10
Com m
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5. SDO error Node-ID of an error and SDO access abort code are stored in BFM #1002 to #1004.
*1. SDO access abort codes In different CiA Device/Application Profiles, more SDO access abort codes are defined.
For SDO access abort codes that are not in the following table, refer to the manual of the device which sent the message
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: H0003 BFM #1002 Node-ID
BFM #1003 Low Word of SDO access abort code*1
BFM #1004 High Word of SDO access abort code*1
BFM #1005 to #1066 Unused
SDO access abort code (hex) Description
High Word Low Word 0503 0000 Toggle bit not alternated. 0504 0000 SDO protocol timed out. (FX3U-CAN: 500ms) 0504 0001 Client/server command specifier not valid or unknown. 0504 0002 Invalid block size (block mode only). 0504 0003 Invalid sequence number (block mode only). 0504 0004 CRC error (block mode only). 0504 0005 Out of memory. 0601 0000 Unsupported access to an object. 0601 0001 Attempt to read a write only object. 0601 0002 Attempt to write a read only object. 0602 0000 Object does not exist in the object dictionary. 0604 0041 Object cannot be mapped to the PDO. 0604 0042 The number and length of the objects to be mapped would exceed PDO length. 0604 0043 General parameter incompatibility reason. 0604 0047 General internal incompatibility in the device. 0606 0000 Access failed due to a hardware error. 0607 0010 Data type does not match, length of service parameter does not match 0607 0012 Data type does not match, length of service parameter too high 0607 0013 Data type does not match, length of service parameter too low 0609 0011 Sub-index does not exist. 0609 0030 Invalid value for parameter (download only). 0609 0031 Value of parameter written too high (download only). 0609 0032 Value of parameter written too low (download only). 0609 0036 Maximum value is less than minimum value. 060A 0023 Resource not available: SDO connection 0800 0000 General error 0800 0020 Data cannot be transferred or stored to the application. 0800 0021 Data cannot be transferred or stored to the application because of local control. 0800 0022 Data cannot be transferred or stored to the application because of the present device state. 0800 0023 Object dictionary dynamic generation fails or no object dictionary is present 0800 0024 No data available 5000 0000 Time out or impossible to allocate identifier for SDO transmission or Protocol mismatch
6060 0000 Buffer too small for received SDO data (this error will occur during initialization of the transmission)
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10 Command Interface 10.9 Error MessagesFX3U-CAN User's Manual
6. Bus off The FX3U-CAN is in Bus off and cannot send CAN messages.
7. Device in wrong state The state of the FX3U-CAN cannot execute the requested command interface. Confirm the function mode setting and the state of FX3U-CAN.
For the function mode setting, refer to Section 6.5 For command interface which can be executed in each functional mode,
refer to Chapter 10 For the FX3U-CAN status, refer to Section 6.8
10.9.2 CIF busy message
During FX3U-CAN Command interface execution, HFFFF is written in the read access area of BFM #1000. During Command interface execution, a new command cannot be executed. If a new command will be executed or a parameter of the running command will be changed, discontinue the executing command by using the following method. If BFM #1000 to BFM #1066 are written to during command interface execution, an error may occur, and H000F will be written to BFM #1000.
For error message, refer to Subsection 10.9.1
Executing Command interface discontinuance procedure
1) Write HFFFF to BFM #1000 to discontinue the processing command. 2) If the executed command is reset, H0000 is displayed in BFM #1000. 3) The CIF is available again when BFM #1000 is H0000.
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: HB0FF BFM #1002 to #1066 Unused
BFM No. Description BFM #1000 Error: H000F BFM #1001 Error Class: H0F0F BFM #1002 to #1066 Unused
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11 PLC RUN/STOP FX3U-CAN User's Manual
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Program
Exam ple
14
Diagnostics
15
CANopen Configuration Tool
11. PLC RUN/STOP
FX3U-CAN operates as follows when the STOP/RUN state of the PLC changes.
1. CANopen NMT Slave RUNSTOP
FX3U-CAN changes into the CANopen state as set in the Error behaviour Object. In addition an EMCY is sent.
For Error behaviour, refer to Section 5.7 For EMCY, refer to Subsection 5.6.13
STOPRUN FX3U-CAN stays in the current CANopen state.
2. CANopen NMT Master without Flying Master function RUNSTOP
FX3U-CAN changes into the CANopen state as set in the Error behaviour Object. The NMT Master Entity, the Heartbeat producing and the Node Guarding will be stopped. NMT Slaves with Heartbeat consuming or Life Guarding have the possibility to respond to the loss of the NMT Master. In addition an EMCY is sent.
For Error behaviour, refer to Section 5.7 For EMCY, refer to Subsection 5.6.13
STOPRUN The Module enables Heartbeat and NMT Master services again, and starts the NMT Master startup service.
For NMT Master startup, refer to Subsection 5.8.5
3. CANopen NMT Master with Flying Master function RUNSTOP
FX3U-CAN changes into the CANopen state as set in the Error behaviour Object. The NMT Master Entity, the Heartbeat producing and the Node Guarding will be stopped. Other NMT Flying Masters will start a Flying Master negotiation if the Module was the active NMT Master. In addition an EMCY is sent.
For Error behaviour, refer to Section 5.7 For EMCY, refer to Subsection 5.6.13
STOPRUN The Module enables Heartbeat and NMT Master services again, and starts a Flying Master negotiation.
For Flying Master, refer to Subsection 5.8.11
4. Layer 2 RUNSTOP
FX3U-CAN sends the PLC RUN>STOP message (if configured) and changes into Offline state after this. STOPRUN
FX3U-CAN stays in the current state.
STARTUP AND MAINTENANCE PRECAUTIONS Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated
manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.
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12 Communication Settings Procedure FX3U-CAN User's Manual
12. Communication Settings Procedure
STARTUP AND MAINTENANCE PRECAUTIONS Do not touch any terminal while the PLC's power is on.
Doing so may cause electric shock or malfunctions. Before cleaning or retightening terminals, cut off all phases of the power supply externally.
Failure to do so may cause electric shock. Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated
manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.
STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC.
Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.
Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.
Do not drop the product or exert strong impact to it. Doing so may cause damage.
Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, display module, expansion boards, and special adapters - Input/output extension units/blocks, FX Series terminal blocks and special function units/blocks - Battery and memory cassette
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12 Communication Settings Procedure 12.1 CANopen 405 ModeFX3U-CAN User's Manual
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Diagnostics
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CANopen Configuration Tool
12.1 CANopen 405 Mode
When using CANopen 405 mode, the outline of the communication setting procedure is as follows. To set the Object Dictionary and the TPDO/RPDO mapping, the use of CANopen configuration software is recommended.
For further information on CANopen configuration software, refer to the manual of the software to be used
For further information on the Object Dictionary, refer to Chapter 5 For further information on BFMs, refer to Chapter 6
For further information on data transfer location and PDO mapping, refer to Chapter 7 For further information on the CIF, refer to Chapter 10
For example program, refer to Chapter 13
1) Set the following.
Function mode (BFM #21)
Baud rate (BFM #24) Watchdog timer (BFM #26) Node address (BFM #27)
6) FX3U-CAN restart
5) Store setting to Flash ROM. (BFM #22)
1) Set the following required function.
NMT master/Flying Master
2) Save the Object Dictionary.
FX3U-CAN restart
Refer to Subsection 5.6.11 and Section 10.6
1) Set the following required functions.
Heartbeat / the Node Guarding (either settings are possible.) TIME
- Set up Boot time - Set up NMT Slave identification data H1F84 to H1F88 - Set up NMT Slave assignment H1F81
NMT Master: Layer Setting Services (LSS)
Note: When using FX3U-CAN as the Producer of the TIME message, parameters have to be set in BFM #50 to #59 in the program used for normal operation.
2) Set the TPDO/RPDO mapping.
Save the Object Dictionary.
Shift the NMT state to OPERATIONAL. When FX3U-CAN is NMT Master, shift the NMT state of NMT slave into OPERATIONAL.
The TPDO/RPDO data and Emergency Message, etc. can be exchanged to CAN bus.
Step 1
Refer to Section 5.8
Refer to Chapter 6
Refer to Chapter 6
4) Set the following. 3) FX3U-CAN restart
2) Store setting to Flash ROM. (BFM #22) Refer to Chapter 6
Refer to Chapter 7
Refer to Subsection 5.6.11 and Section 10.6
Refer to Section 5.8
Refer to Section 5.6, Section 5.8 and Section 6.18
For Module restart, refer to Section 6.8
For example program, refer to Chapter 13
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
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12 Communication Settings Procedure 12.2 CANopen 417 ModeFX3U-CAN User's Manual
12.2 CANopen 417 Mode
When using CANopen 417 mode, the outline of the communication setting procedure is as follows. To set the Object Dictionary, the use of CANopen configuration software is recommended.
For further information on CANopen configuration software, refer to the manual of the software to be used
For further information on the Object Dictionary, refer to Chapter 5 For further information on BFMs, refer to Chapter 6
For further information on data transfer location, refer to Chapter 8 For further information on the CIF, refer to Chapter 10
For example program, refer to Chapter 13
1) Set the following. Function mode (BFM #21)
Baud rate (BFM #24) Watchdog timer (BFM #26) Node address (BFM #27)
3) FX3U-CAN restart
4) Set the following.
2) Store setting to Flash ROM. (BFM #22)
1) Set the following required function.
NMT master/Flying Master
2) Save the Object Dictionary.
FX3U-CAN restart
Refer to Subsection 5.6.11 and Section 10.6
1) Set the following required functions.
Heartbeat / the Node Guarding (either settings are possible.) TIME
- Set up Boot time - Set up NMT Slave identification data H1F84 to H1F88 - Set up NMT Slave assignment H1F81
NMT Master: Layer Setting Services (LSS)
Note: When using FX3U-CAN as the Producer of the TIME message, parameters have to be set in BFM #50 to #59 in the program for normal operation.
2) Set the Lift number. Refer to Section 5.10 and Section 8.2
Note: When setting Lift number in BFM #3000, set BFM #20 bit 0 to ON after setting it.
Save the Object Dictionary.
Shift the NMT state to OPERATIONAL. When FX3U-CAN is NMT Master, shift the NMT state of NMT slave into OPERATIONAL.
The Lift application data and Emergency Message, etc. can be exchanged to CAN bus.
For Module restart, refer to Section 6.8
Refer to Subsection 5.6.11 and Section 10.6
Refer to Chapter 6
Refer to Section 5.8
Refer to Section 5.6, Section 5.8 and Section 6.18
Refer to Section 5.8
For data transfer location, refer to Chapter 8 For example program, refer to Chapter 13
Refer to Chapter 6
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
Step 7
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12 Communication Settings Procedure 12.3 11 bit / 29 bit CAN-ID Layer 2 ModeFX3U-CAN User's Manual
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Diagnostics
15
CANopen Configuration Tool
12.3 11 bit / 29 bit CAN-ID Layer 2 Mode
When using the 11 bit / 29 bit CAN-ID Layer 2 Mode, the outline of the communication setting procedure is as follows.
For further information on BFMs, refer to Chapter 6 For further information on data transfer location, refer to Chapter 9
For the CIF available in these modes, refer to Chapter 9 For example program, refer to Chapter 13
1) Set the following. Refer to Chapter 6
- Function mode (BFM #21) - Baud rate (BFM #24) - Watchdog timer (BFM #26)
2) Store setting to Flash ROM. (BFM #22) Refer to Chapter 6
FX3U-CAN restart
Set the configuration of transmitted and received data. Refer to Chapter 9
Store setting to Flash ROM. (BFM #22) Refer to Chapter 6
Shift FX3U-CAN to Layer 2 online mode.
The CAN messages can be exchanged to CAN bus. For example program, refer to Chapter 13
For Module restart, refer to Section 6.8
Refer to Section 6.8
Step 1
Step 2
Step 3
Step 4
Step 5
Step 6
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13 Program Example 13.1 System ConfigurationFX3U-CAN User's Manual
13. Program Example
The Programs shown below are examples of how to set local parameters, set up a CANopen network, and exchange data over the CANopen bus with the FX3U-CAN. Large networks can be configured more quickly and easily by using a CANopen configuration tool instead.
Note
These program examples together with the Function blocks can be downloaded from http://eu3a.mitsubishielectric.com/fa/en/ in the MyMitsubishi section (free registration necessary).
Note
The sample ladder program use labels. For label setting operation on GX Works2,
refer to GX Works2 Version 1 Operating Manual (Simple Project)
13.1 System Configuration
The sample Program sets up the initial BFM and Object dictionary settings and starts PDO Communication.
STARTUP AND MAINTENANCE PRECAUTIONS Do not touch any terminal while the PLC's power is on.
Doing so may cause electric shock or malfunctions. Before cleaning or retightening terminals, cut off all phases of the power supply externally.
Failure to do so may cause electric shock. Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated
manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.
STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC.
Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.
Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.
Do not drop the product or exert strong impact to it. Doing so may cause damage.
Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, display module, expansion boards, and special adapters - Input/output extension units/blocks, FX Series terminal blocks and special function units/blocks - Battery and memory cassette
FX3G/FX3GC/ FX3U/FX3UC/
FX5U/FX5UC PLC FX3U-CAN Remote I/O
Terminating resistor
Terminating resistor
198
13 Program Example 13.2 Local Label SettingFX3U-CAN User's Manual
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Diagnostics
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CANopen Configuration Tool
13.2 Local Label Setting
No. Class Label Name Data Type 1 VAR CANID Word[Unsigned]/Bit String[16-bit] 2 VAR CommandSequence Word[Signed] 3 VAR NMTMasterSetError Bit 4 VAR NMTMasterSetErrorCount Word[Signed] 5 VAR NMTMasterSetCompleted Bit 6 VAR NMTMasterSetOkCount Word[Signed] 7 VAR ConsumedNodeAddress Word[Signed](0..32) 8 VAR ConsumerHeartbeatTime Word[Signed](0..32) 9 VAR ConsumerSetupError Bit 10 VAR ConsumerSetupErrorCounter Word[Signed] 11 VAR ConsumerSetupCompleted Bit 12 VAR ConsumerSetupOkCounter Word[Signed] 13 VAR ConsumingNodeID Word[Signed] 14 VAR ErrorReset Bit 15 VAR ErrorStatus Word[Unsigned]/Bit String[16-bit] 16 VAR ExecuteMapping Bit 17 VAR FillData Word[Unsigned]/Bit String[16-bit] 18 VAR FirstPDOProcessing Bit 19 VAR FourthPDOProcessing Bit 20 VAR FX3UCANOpenInit CANopenInit 21 VAR FX3UMasterSetup NMTMasterSettings 22 VAR GuardedTime Word[Signed](0..15) 23 VAR HeartbeatConsumer HeartbeatConsumerSetup 24 VAR HeartbeatConsumingSetting Bit 25 VAR HeartbeatProducer HeartbeatProducerSetup 26 VAR HeartbeatProducerSetting Bit 27 VAR Master Bit 28 VAR MasterNodeAddress Word[Signed] 29 VAR NodeAddress Word[Signed] 30 VAR NodeHeartbeatStatus Word[Unsigned]/Bit String[16-bit](0..126) 31 VAR NodeNMTStatus Word[Unsigned]/Bit String[16-bit](0..2) 32 VAR NoOfConsumedNodes Word[Signed] 33 VAR NoOfEntries Word[Signed] 34 VAR NoOfProducingNodes Word[Signed] 35 VAR NumberOfSlaveNodes Word[Signed] 36 VAR ObjectIndex Word[Unsigned]/Bit String[16-bit](1..8) 37 VAR ObjectLength Word[Unsigned]/Bit String[16-bit](1..8) 38 VAR ObjectSubindex Word[Unsigned]/Bit String[16-bit](1..8) 39 VAR Operational Bit 40 VAR PDOnumber Word[Signed] 41 VAR PdoRead PDORead 42 VAR PDOReadData Word[Unsigned]/Bit String[16-bit](0..3) 43 VAR PDOSetupError Bit 44 VAR PDOSetupErrCounter Word[Signed] 45 VAR PDOSetupOkCounter Word[Signed] 46 VAR PDOSetupProcessing Bit 47 VAR PdoWrite PDOWrite 48 VAR PDOWriteData Word[Unsigned]/Bit String[16-bit](0..3) 49 VAR PreOperational Bit 50 VAR ProducerHeartbeatTime Word[Signed](0..32) 51 VAR ProducerNodeID Word[Signed](0..32) 52 VAR ProducerSetupError Bit
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13 Program Example 13.2 Local Label SettingFX3U-CAN User's Manual
53 VAR ProducerSetupErrorCounter Word[Signed] 54 VAR ProducerSetupCompleted Bit 55 VAR ProducerSetupOkCounter Word[Signed] 56 VAR SDOReadCompleted Bit 57 VAR ReadData Word[Unsigned]/Bit String[16-bit](0..61) 58 VAR ReadDataLength Word[Signed] 59 VAR SDOReadErrorCode Double Word[Unsigned]/Bit String[32-bit] 60 VAR SDOReadError Bit 61 VAR SDOReadErrorCounter Word[Signed] 62 VAR ReadIndex Word[Unsigned]/Bit String[16-bit] 63 VAR ReadNodeAddress Word[Signed] 64 VAR ReadSubIndex Word[Unsigned]/Bit String[16-bit] 65 VAR ReceiveOrTransmit Bit 66 VAR ReleaseAnalogInputdata Bit 67 VAR RemoteNodeID Word[Unsigned]/Bit String[16-bit] 68 VAR NMTRequestCompleted Bit 69 VAR RequestData Word[Unsigned]/Bit String[16-bit] 70 VAR NMTRequestError Bit 71 VAR NMTRequestErrorCounter Word[Signed] 72 VAR RetryFactor Word[Signed](0..15) 73 VAR RPDOnumber Word[Signed] 74 VAR SDOREadCommand SDORead 75 VAR SDOReadRequest Bit 76 VAR SDOwriteCommand SDOWrite 77 VAR SecondPDOProcessing Bit 78 VAR ExecNMTMasterConfig Bit 79 VAR SetupPDOs PDOSetup 80 VAR SlaveConfiguration Word[Signed](0..15) 81 VAR NMTSlaveSetup NMTSlaveSettings 82 VAR NMTSlaveSetupError Bit 83 VAR NMTSlaveSetupErrorCounter Word[Signed] 84 VAR NMTSlaveSetCompleted Bit 85 VAR NMTSlaveSetupOkCounter Word[Signed] 86 VAR StartAllNodes Bit 87 VAR StartCANOpenNodes NMTRequestWrite 88 VAR StartConsumerSetup Bit 89 VAR StartPDOCommunication Bit 90 VAR StartPDORead Bit 91 VAR StartPDOSetup Bit 92 VAR StartPDOWrite Bit 93 VAR StartProducerSetup Bit 94 VAR StartNMTRequest Bit 95 VAR StartSDORead Bit 96 VAR StartSDOWrite Bit 97 VAR StartNMTSlaveSetup Bit 98 VAR StartupConfigurationValue Word[Unsigned]/Bit String[16-bit] 99 VAR TargetSlaveNumber Word[Signed](0..15) 100 VAR ThirdPDOProcessing Bit 101 VAR TPDOnumber Word[Signed] 102 VAR TransmissionType Word[Unsigned]/Bit String[16-bit] 103 VAR MELSEC_STliteHeartbeatActive Bit 104 VAR MELSEC_STlitePreOperational Bit 105 VAR SDOWriteCompleted Bit 106 VAR WriteData Word[Unsigned]/Bit String[16-bit](0..61) 107 VAR WriteDataLength Word[Signed]
No. Class Label Name Data Type
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13 Program Example 13.2 Local Label SettingFX3U-CAN User's Manual
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Diagnostics
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CANopen Configuration Tool
108 VAR SDOWriteErrorCode Double Word[Unsigned]/Bit String[32-bit] 109 VAR SDOWriteError Bit 110 VAR SDOWriteErrorCounter Word[Signed] 111 VAR WriteIndex Word[Unsigned]/Bit String[16-bit] 112 VAR WriteNodeAddress Word[Signed] 113 VAR WriteSubIndex Word[Unsigned]/Bit String[16-bit] 114 VAR SDOWriteOkCounter Word[Signed] 115 VAR PDOSetupCompleted Bit 116 VAR NMTRequestOkCounter Word[Signed] 117 VAR SDOReadOKCounter Word[Signed] 118 VAR InitComplete Bit 119 VAR StartCommunication Bit 120 VAR SlaveSettingsSetup Bit 121 VAR StartNode Word[Signed] 122 VAR NumberOfNodes Word[Signed] 123 VAR MELSEC_STliteOperational Bit 124 VAR NMTStatusRead NMTStatus 125 VAR CheckNMTStatus Bit 126 VAR HeartbeatStatusRead HeartbeatStatus 127 VAR CheckHeartbeatStatus Bit 128 VAR Stopped Bit
No. Class Label Name Data Type
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
13.3 Program
1
2
3
4
Copyright Mitsubishi Electric Europe BV, 2013
All examples are only intended to improve understanding of the functionality and handling of the product. In view of the wide range of applications for this product, users must acquire sufficient knowledge themselves in order to ensure that it is correctly used in their specific application.
Persons responsible for the application and the product must themselves ensure that each application is in compliance with all relevant requirements, standards and legislation in respect to configuration and safety.
Mitsubishi Electric cannot assume any liability if these examples are used in real applications.
On the initial scan, start the communication and set the NMT status settings
ENM8002 StartCommunication
ENO d
SET
K1
K3
EN CheckNMTStatus
ENO d
RST
EN CheckHeartbeatStatus
ENO d
RST
EN s StartNode
ENO d
MOVP
EN s NumberOfNodes
ENO d
MOVP
Setup the initial settings for the FX3U-CAN module
HeadAddress NodeAddress BaudRate WDTValue ErrorReset
K0 K1
K1000 K20
ErrorReset
InitComplete OperationalState
PreOperationalState StoppedState ActiveMaster
ModuleErrorStatus
CANopenInit
FX3UCANOpenInit
InitComplete Operational PreOperational Stopped Master ErrorStatus
If the init procedure is completed start the NMT master setup procedure
InitComplete StartCommunication
AND EN sH3 StartupConfigurationValue
ENO d
MOV
EN ExecNMTMasterConfig
ENO d
SET
EN StartCommunication
ENO d
RST
Check the NMT status of specified nodes
Enable HeadAddress StartNodeNumber NumberOfNodes
CheckNMTStatus K0
StartNode NumberOfNodes
NodeNMTStatus NMTStatus
NMTStatusRead
NodeNMTStatus[0]
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Diagnostics
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CANopen Configuration Tool
5
6
7
8
9
10
11
12
Check if the MELSEC_STlite CANopen node is in pre-operational mode
NodeNMTStatus[2] H7F
EQ EN
MELSEC_STlitePreOperational ENO
d
OUT
Check if the MELSEC_STlite CANopen node is in operational mode
NodeNMTStatus[2] H5
EQ EN
MELSEC_STliteOperational ENO
d
OUT
Check the heartbeat status of all nodes
Enable HeadAddress
CheckHeartbeatStatus K0
NodeHeartbeatStatus HeartbeatStatus
HeartbeatStatusRead
NodeHeartbeatStatus
Check if the MELSEC_STlite slave node has an active Heartbeat signal
NodeHeartbeatStatus[2] H2
EQ EN
MELSEC_STliteHeartbeatActive ENO
d
OUT
Configure the start up behaviour of the CANopen master device
HeadAddress NodeAddress StartUpConfiguration StartMasterSetup
K0 K1
StartupConfigurationValue ExecNMTMasterConfig
SettingsCompleted SettingsError
NMTMasterSettings
FX3UMasterSetup
NMTMasterSetCompleted NMTMasterSetError
If a NMT Master setup command execution is completed, reset its execution signal
NMTMasterSetCompleted EN ExecNMTMasterConfig
ENO d
RST
If a NMT Master setup command execution error occurs, increase the command error counter
NMTMasterSetError EN NMTMasterSetErrorCount
ENO d
INCP
If a NMT Master setup command execution is completed, increase the command complete counter and move to the next command
NMTMasterSetCompleted NMTMasterSetError
AND EN
NMTMasterSetOkCount ENO
d
INCP
EN CheckNMTStatus
ENO d
SET
EN HeartbeatProducerSetting
ENO d
SET
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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14
15
16
17
Initialize the Heartbeat producer setup command data
HeartbeatProducerSetting StartProducerSetup
MELSEC_STlitePreoperational
AND EN s ProducerNodeID[0]
ENO d
MOV
K3
K2100
K1
EN s ProducerHeartbeatTime[0]
ENO d
MOV
EN s NoOfProducingNodes
ENO d
MOV
EN StartProducerSetup
ENO d
SET
EN HeartbeatProducerSetting
ENO d
RST
Issue an Heartbeat producing setup command
HeadAddress ProducerNodeAddresses ProducerHeartbeatTime NumberOfNodes SetHeartbeatProducer
K0 ProducerNodeID
ProducerHeartbeatTime NoOfProducingNodes
StartProducerSetup
SettingsCompleted SettingsError
HeartbeatProducerSetup
HeartbeatProducer
ProducerSetupCompleted ProducerSetupError
If a command execution is completed, reset its execution signal
ProducerSetupCompleted EN StartProducerSetup
ENO d
RST
If a command execution error occurs, increase the command error counter
ProducerSetupError EN ProducerSetupErrorCounter
ENO d
INCP
If a command execution is completed, increase the command complete counter and move to the next command
ProducerSetupCompleted ProducerSetupError
AND EN
ProducerSetupOkCounter ENO
d
INCP
EN HeartbeatConsumingSetting
ENO d
SET
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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CANopen Configuration Tool
18
19
20
21
22
Issue an Heartbeat consuming setup command
HeartbeatConsumingSetting StartConsumerSetup
MELSEC_STlitePreOperational
AND EN s ConsumingNodeID
ENO d
MOV
K1
K3
K1
EN s ConsumedNodeAddress[0]
ENO d
MOV
K3200 EN s ConsumerHeartbeatTime[0]
ENO d
MOV
EN s NoOfConsumedNodes
ENO d
MOV
EN StartConsumerSetup
ENO d
SET
EN HeartbeatConsumingSetting
ENO d
RST
Issue an Heartbeat consuming setup command
HeadAddress NodeAddress ConsumedNodeAddresses ConsumerHeartbeatTime NumberOfNodes SetHeartbeatConsumer
K0 ConsumingNodeID
ConsumedNodeAddress ConsumerHeartbeatTime
NoOfConsumedNodes StartConsumerSetup
SettingsCompleted SettingsError
HeartbeatConsumerSetup
HeartbeatConsumer
ConsumerSetupCompleted ConsumerSetupError
If a Heartbeat consuming setup command execution is completed, reset its execution signal
ConsumerSetupCompleted EN StartConsumerSetup
ENO d
RST
If a Heartbeat consuming setup command execution error occurs, increase the command error counter
ConsumerSetupError EN ConsumerSetupErrorCounter
ENO d
INCP
If a Heartbeat consuming setup command execution is completed, increase the command complete counter and move to the next command
ConsumerSetupCompleted ConsumerSetupError
AND EN
ConsumerSetupOkCounter ENO
d
INCP
EN SlaveSettingsSetup
ENO d
SET
EN CheckHeartbeatStatus
ENO d
SET
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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24
25
26
27
Initialize the set NMT Slave behaviour command data
SlaveSettingsSetup StartNMTSlaveSetup
Master MELSEC_STliteHeartbeatActive
MELSEC_STlitePreoperational
AND EN s SlaveConfiguration[0]
ENO d
MOV
H1
K3 EN s TargetSlaveNumber[0]
ENO d
MOV
K1 EN s NumberOfSlaveNodes
ENO d
MOV
EN StartNMTSlaveSetup
ENO d
SET
EN SlaveSettingsSetup
ENO d
RST
Configure the NMT behaviour of CANopen slave devices
HeadAddress SlaveConfiguration TargetSlaveNumber GuardTime RetryFactor NumberOfNodes StartSlavesSetup
K0 SlaveConfiguration
TargetSlaveNumber GuardedTime
RetryFactor NumberOfSlaveNodes
StartNMTSlaveSetup
SettingsCompleted SettingsError
NMTSlaveSettings
NMTSlaveSetup
NMTSlaveSetCompleted NMTSlaveSetupError
If a NMT slave setup command execution is completed reset status signal and move to the next one
NMTSlaveSetCompleted EN StartNMTSlaveSetup
ENO d
RST
If a NMT slave setup command execution error occurs, increase the command error counter
NMTSlaveSetupError EN NMTSlaveSetupErrorCounter
ENO d
INCP
If a NMT slave setup command execution is completed, increase the command complete counter
NMTSlaveSetCompleted NMTSlaveSetupError
AND EN
ReleaseAnalogInputdata ENO
d
SET
EN NMTSlaveSetupOkCounter
ENO d
INCP
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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CANopen Configuration Tool
28
29
30
31
32
Issue an SDO write command to activate the transmission of analog input data from the MELSEC_STlite node
ReleaseAnalogInputdata StartSDOWrite
MELSEC_STliteHeartbeatActive MELSEC_STlitePreoperational
AND EN s WriteNodeAddress
ENO d
MOV
K3
H6423 EN s WriteIndex
ENO d
MOV
H0
K1
K1
EN s WriteSubIndex
ENO d
MOV
EN s WriteDataLength
ENO d
MOV
EN s WriteData[0]
ENO d
MOV
EN StartSDOWrite
ENO d
SET
EN ReleaseAnalogInputdata
ENO d
RST
Execute an SDO write command to the index 6423, sub-index 0 of node address 3
HeadAddress NodeAddress Index SubIndex WriteDataLength WriteData WriteCommand
0 WriteNodeAddress
WriteIndex WriteSubIndex
WriteDataLength WriteData[0]
StartSDOWrite
WriteCompleted WriteError
WriteErrorCode
SDOWrite
SDOWriteCommand
SDOWriteCompleted SDOWriteError SDOWriteErrorCode
If a SDO write command execution is completed, reset its execution signal
SDOWriteCompleted EN StartSDOWrite
ENO d
RST
If a SDO write command execution error occurs, increase the command error counter
SDOWriteError EN SDOWriteErrorCounter
ENO d
INCP
If a SDO write command execution is completed, increase the command complete counter and move to the next command
SDOWriteCompleted SDOWriteError
AND EN
SDOWriteOkCounter ENO
d
INCP
EN PDOSetupProcessing
ENO d
SET
EN s CommandSequenceK1
ENO d
MOV
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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34
35
36
Check if the first PDO setup command needs to be executed
FirstPDOProcessing AND
CommandSequence 1
EQ
PDOSetupProcessing StartPDOSetup
Set the communication parameters for the selected PDO
FirstPDOProcessing K3
EN s NodeAddress
ENO d
MOV
K1 EN s PDOnumber
ENO d
MOV
H181
HFF
EN s CANID
ENO d
MOV
EN s TransmissionType
ENO d
MOV
EN ReceiveOrTransmit
ENO d
SET
EN ExecuteMapping
ENO d
RST
EN StartPDOSetup
ENO d
SET
Check if the second PDO setup command needs to be executed
SecondPDOProcessing AND
CommandSequence 2
EQ
PDOSetupProcessing StartPDOSetup
Set the data for the mapped object in the selected PDO
SecondPDOProcessing HA4C0
EN s ObjectIndex[1]
ENO d
MOV
H1 EN s ObjectSubIndex[1]
ENO d
MOV
H8 EN s ObjectLength[1]
ENO d
MOV
EN ReceiveOrTransmit
ENO d
SET
EN ExecuteMapping
ENO d
SET
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38
39
Set the communication parameters for the selected PDO
SecondPDOProcessing K1
EN s NodeAddress
ENO d
MOV
K1 EN s PDOnumber
ENO d
MOV
H183
HFE
H1
EN s CANID
ENO d
MOV
EN s TransmissionType
ENO d
MOV
EN s NoOfEntries
ENO d
MOV
EN StartPDOSetup
ENO d
SET
Check if the third PDO setup command needs to be executed
ThirdPDOProcessing AND
CommandSequence 3
EQ
PDOSetupProcessing StartPDOSetup
Set the communication parameters for the selected PDO
ThirdPDOProcessing K3
EN s NodeAddress
ENO d
MOV
K2 EN s PDOnumber
ENO d
MOV
H281
HFF
EN s CANID
ENO d
MOV
EN s TransmissionType
ENO d
MOV
EN ReceiveOrTransmit
ENO d
SET
EN ExecuteMapping
ENO d
RST
EN StartPDOSetup
ENO d
SET
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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41
42
Check if the fourth PDO setup command needs to be executed
FourthPDOProcessing AND
CommandSequence 4
EQ
PDOSetupProcessing StartPDOSetup
First, initialize the data for the first mapped object of the fourth PDO setup command
FourthPDOProcessing HA580
EN s ObjectIndex[1]
ENO d
MOV
H5 EN s ObjectSubIndex[1]
ENO d
MOV
H10 EN s ObjectLength[1]
ENO d
MOV
EN ReceiveOrTransmit
ENO d
SET
EN ExecuteMapping
ENO d
SET
Initialize the data for the second mapped object of the fourth PDO setup command
FourthPDOProcessing HA580
EN s ObjectIndex[2]
ENO d
MOV
H6 EN s ObjectSubIndex[2]
ENO d
MOV
H10 EN s ObjectLength[2]
ENO d
MOV
EN ReceiveOrTransmit
ENO d
SET
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43
44
45
46
47
48
Then, initialize the communication parameters data for the fourth PDO setup command:
FourthPDOProcessing K1
EN s NodeAddress
ENO d
MOV
K2 EN s PDOnumber
ENO d
MOV
H283
HFE
H2
EN s CANID
ENO d
MOV
EN s TransmissionType
ENO d
MOV
EN s NoOfEntries
ENO d
MOV
EN StartPDOSetup
ENO d
SET
Change the PDO communication and/or mapping parameters of a specified PDO
HeadAddress NodeAddress ReceiveOrTransmit PDOnumber CANID TransmissionType ExecuteMapping NoOfMappedObjects ObjectIndex ObjectSubIndex ObjectLength StartSetup
K0 NodeAddress
ReceiveOrTransmit PDOnumber
CANID TransmissionType
ExecuteMapping NoOfEntries ObjectIndex
ObjectSubindex ObjectLength
StartPDOSetup
SetupCompleted SetupError
PDOSetup
SetupPDOs
PDOSetupCompleted PDOSetupError
If a PDO setup command execution is completed, increase the command complete counter
PDOSetupCompleted PDOSetupError
AND EN
PDOSetupOkCounter ENO
d
INCP
If a PDO setup command execution error occurs, increase the command error counter
PDOSetupError EN PDOSetupErrCounter
ENO d
INCP
If a PDO setup command execution is completed reset status signal
PDOSetupCompleted EN StartPDOSetup
ENO d
RST
If a PDO setup command was executed, move to the next one
PDOSetupProcessing StartPDOSetup
AND EN
CommandSequence ENO
d
INC
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13 Program Example 13.3 ProgramFX3U-CAN User's Manual
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50
51
52
53
54
When ALL the PDO setup commands are normaly completed, start the next command
PDOSetupProcessing AND
CommandSequence 4
GT
EN StartAllNodes
ENO d
SET
EN PDOSetupProcessing
ENO d
RST
When the previous command is completed, issue a Start all nodes command from the CANOpen master
StartAllNodes StartNMTRequest
AND EN s RemoteNodeID
ENO d
MOV
H80
H5 EN s RequestData
ENO d
MOV
K1 EN s MasterNodeAddress
ENO d
MOV
EN StartNMTRequest
ENO d
SET
EN StartAllNodes
ENO d
RST
Use the NMT request write command to start all remote nodes
HeadAddress NodeAddress RemoteNodeID RequestCode StartRequest
0 MasterNodeAddress
RemoteNodeID RequestData
StartNMTRequest
RequestCompleted RequestError
NMTRequestWrite
StartCANOpenNodes
NMTRequestCompleted NMTRequestError
If a NMT write request execution is completed, reset its execution signal
NMTRequestCompleted EN StartNMTRequest
ENO d
RST
If a NMT write request execution error occurs, increase the command error counter
NMTRequestError EN NMTRequestErrorCounter
ENO d
INCP
If a NMT write request execution is completed, increase the command complete counter and move to the next command
NMTRequestCompleted NMTRequestError
AND EN
NMTRequestOkCounter ENO
d
INCP
EN StartPDOCommunication
ENO d
SET
EN SDOReadRequest
ENO d
SET
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When the previous command is completed, issue a SDO Read command
SDOReadRequest StartSDORead
AND EN s ReadNodeAddressK3
ENO d
MOV
H1400
H1
EN s ReadIndex
ENO d
MOV
EN s ReadSubIndex
ENO d
MOV
EN StartSDORead
ENO d
SET
EN SDOReadRequest
ENO d
RST
Use the SDO read command to read index 1400, sub-index 1 from node address 3 (it reads the CAN-ID of the first RPDO of the MELSEC_STlite node)
HeadAddress NodeAddress Index Subindex ReadCommand
0 ReadNodeAddress
ReadIndex ReadSubIndex StartSDORead
ReadCompleted ReadDataLength
ReadData ReadError
ReadErrorCode
SDORead
SDOReadCommand
SDOReadCompleted ReadDataLength ReadData[0] SDOReadError SDOReadErrorCode
If a SDO Read command is completed, reset its execution signal
SDOReadCompleted EN StartSDORead
ENO d
RST
If a SDO Read command error occurs, increase the command error counter
SDOReadError EN SDOReadErrorCounter
ENO d
INCP
If a SDO Read command is completed, increase the command complete counter
SDOReadCompleted SDOReadError
AND EN
SDOReadOKCounter ENO
d
INCP
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When the previous is completed, start the PDO communication and start an SDO Read request
StartPDOCommunication K1
EN s TPDOnumber
ENO d
MOV
H1000 EN s FillData
ENO d
MOV
K1 EN s RPDOnumber
ENO d
MOV
EN StartPDOWrite
ENO d
SET
EN StartPDORead
ENO d
SET
EN StartPDOCommunication
ENO d
RST
On the rising edge of the one second clock, increase the PDO write data
M8013 StartPDOWrite
AND EN
FillData ENO
d
INCP
FillData K2
EN s n*
PDOWriteData[0] ENO
d
FMOVP
Write the PDO data
HeadAddress TPDOnumber WriteData StartCommunication
K0 TPDOnumber
PDOWriteData StartPDOWrite
PDOWrite
PDOWrite
Read the PDO data
HeadAddress RPDOnumber StartCommunication
ReadData PDOReadDataK0 RPDOnumber
StartPDORead
PDORead
PDORead
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14. Diagnostics
14.1 Preliminary Checks
Check the RUN, FROM/TO, Tx/Rx, ERROR and POWER LED status.
1. RUN LED
*1. RUN LED has three kinds of flicker states: single flash, blinking, and flickering. This LED flickers as follows.
STARTUP AND MAINTENANCE PRECAUTIONS Do not touch any terminal while the PLC's power is on.
Doing so may cause electric shock or malfunctions. Before cleaning or retightening terminals, cut off all phases of the power supply externally.
Failure to do so may cause electric shock. Before modifying or disrupting the program in operation or running the PLC, carefully read through this manual and the associated
manuals and ensure the safety of the operation. An operation error may damage the machinery or cause accidents.
STARTUP AND MAINTENANCE PRECAUTIONS Do not disassemble or modify the PLC.
Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative.
Turn off the power to the PLC before connecting or disconnecting any extension cable. Failure to do so may cause equipment failures or malfunctions.
Do not drop the product or exert strong impact to it. Doing so may cause damage.
Turn off the power to the PLC before attaching or detaching the following devices. Failure to do so may cause equipment failures or malfunctions. - Peripheral devices, display module, expansion boards, and special adapters - Input/output extension units/blocks, FX Series terminal blocks and special function units/blocks - Battery and memory cassette
LED State Description OFF FX3U-CAN is in Layer 2 offline mode.
SINGLE FLASH*1 FX3U-CAN is in CANopen STOPPED state. Periodically turns ON for 100 ms, and OFF for 1 s.
BLINKING*1 FX3U-CAN is in CANopen PRE-OPERATIONAL state. Turns ON/OFF in 200 ms intervals.
FLICKERING*1 LSS Services in progress Turns ON/OFF in 50 ms intervals.
ON CANopen mode: CANopen OPERATIONAL state Layer 2 mode: Layer 2 online mode
FLICKERING
0.05 s 0.05 s
0.2 s
BLINKING
0.2 s
SINGLE FLASH
0.2 s 1 s
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2. FROM/TO LED
3. Tx/Rx LED
4. ERROR LED
*1. ERROR LED has four kinds of flicker states: single flash, double flash, blinking, and flickering. This LED flickers as follows.
LED State Description
OFF PLC is not accessing BFMs in FX3U-CAN using FROM/TO instructions or other instructions which specify buffer memory values directly.
ON PLC is accessing BFMs in FX3U-CAN using FROM/TO instructions or other instructions which specify buffer memory values directly.
LED State Description OFF FX3U-CAN is not transmitting or receiving CAN messages. ON FX3U-CAN is transmitting or receiving CAN messages.
LED State Description OFF No error
SINGLE FLASH*1
At least one of the error counters of the module has reached or exceeded the error passive level. Check the following points in the network. Check that the terminating resistors at both ends of the network are connected. Check that all nodes have the same baud rate setting. Check that all nodes have a unique Node-Id setting. Check that the CAN_H, CAN_L and CAN_GND wires are not broken. Check that the CAN_SHLD is grounded. Check that the CAN_SHLD is connected at all nodes. Check that the CAN cable wires do not short circuit other CAN cable wires.
DOUBLE FLASH*1 A NMT guarding failure (NMT-Slave or NMT-Master) or a heartbeat failure has occurred. Check the error status in BFM #29.
Refer to Section 14.2
BLINKING*1 General error has occurred. Check the error status in BFM #29.
Refer to Section 14.2
FLICKERING*1 LSS Services in progress
ON
FX3U-CAN is in BUS-OFF state, or CPU error occurs in PLC main unit. The LED will always be ON if there is a BUS_OFF error, a general error (BFM #29, bit 0), or the FROM/TO watchdog is expired. Check the error status in BFM #29.
Refer to Section 14.2 Check the ERROR LED of the PLC
For FX3G Series PLC, refer to FX3G Hardware Edition For FX3GC Series PLC, refer to FX3GC Hardware Edition
For FX3U Series PLC, refer to FX3U Hardware Edition For FX3UC Series PLC, refer to FX3UC Hardware Edition
For FX5U PLC, refer to MELSEC iQ-F FX5U User's Manual (Hardware) For FX5UC PLC, refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
Check the sequence program for FROM/TO watchdog. For the FROM/TO watchdog, refer to Section 6.9
0.2 s
BLINKING
0.2 s
SINGLE FLASH
0.2 s 1 s
DOUBLE FLASH
0.2 s 0.2 s 0.2 s 1 s
FLICKERING
0.05 s 0.05 s
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5. POWER LED
*1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC.
*2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC.
14.2 Detail Error Check
Please check the bit status of Error Status in BFM #29.
Note
The error flags b5, b6, b8, b10, b13 and b15 are latched, and it is necessary to write K0 to the appropriate bit of BFM #29 or the whole BFM, which will clear all latched error flags in BFM #29. All other bits are reset automatically if the cause for the error is resolved.
In case of a FROM/TO watchdog timer error (bit 7 is ON), the following message will be sent to the network. If the module is in a CANopen Mode the module will switch to CANopen State Stopped.
For the FROM/TO watchdog, refer to Section 6.9 - When CANopen 405/417 mode is used
FX3U-CAN transmits the EMCY Object (emergency message) on the CAN network. For the EMCY Object (emergency message), refer to Subsection 5.6.13 and Section 6.23
- When the 11 bit / 29 bit CAN-ID Layer 2 mode is used FX3U-CAN transmits the PLC RUN>STOP message on the CAN network.
For the PLC RUN>STOP message, refer to Section 9.6
Module failures
The module stays in initial status (Displayed in BFM #25). The CANopen configuration may be faulty. Reset the Object Dictionary to default settings using the CIF.
For Restore Object Dictionary default settings, refer to Section 10.7 For module restart, refer to Section 6.8
LED State Description
Lit The power is being correctly supplied from FX3G/FX3U/FX3GC*1/FX3UC*1/FX5U*2/FX5UC*2 PLC via the extension cable to FX3U-CAN.
Otherwise
The power is being incorrectly supplied from FX3G/FX3U/FX3GC*1/FX3UC*1/FX5U*2/FX5UC*2 PLC via the extension cable to FX3U-CAN. Check the connection of the extension cable to the PLC. Check the power supply of the FX3G/FX3U/FX3GC*1/FX3UC*1/FX5U*2/FX5UC*2 PLC.
For FX3G Series PLC, refer to FX3G Hardware Edition For FX3GC Series PLC, refer to FX3GC Hardware Edition
For FX3U Series PLC, refer to FX3U Hardware Edition For FX3UC Series PLC, refer to FX3UC Hardware Edition
For FX5U PLC, refer to MELSEC iQ-F FX5U User's Manual (Hardware) For FX5UC PLC, refer to MELSEC iQ-F FX5UC User's Manual (Hardware)
For power supply specifications for FX3U-CAN, refer to Section 2.2
Bit No. Description
Bit 0 General error General error has occurred. This bit is ON if bit 1, 2, 3, 4, 5, 6, 7, 8, 10, 11, 12 or 15 are ON. Check the ON bit.
Bit 1 Hardware error
Hardware error has occurred. If this error flag is not cleared after a module reset (BFM #25 bit 0) or another power cycle, FX3U-CAN is probably damaged. Please contact your local Mitsubishi Electric representative.
For module restart, refer to Section 6.8
Bit 2 Internal power supply error
Internal power supply error has occurred. If this error flag is not cleared after a module reset (BFM #25 bit 0) or another power cycle, FX3U-CAN is probably damaged. Please contact your local Mitsubishi Electric representative.
For module restart, refer to Section 6.8
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*1. Any CANopen node will check all CAN messages on the bus for errors. Depending on the error state, the action that the node will take is different: - In error active:
The node will actively mark the frame as invalid. - In error passive:
The node will not actively mark the frame as invalid to avoid bus disturbance if the node itself has an H/W problem.
Bit 3 CAN bus off error
The FX3U-CAN is bus OFF. The FX3U-CAN has too many transmission errors. Check the following points in the network. And then, turn on the power for PLC again or restart the FX3U-CAN.
For module restart, refer to Section 6.8 Check that the terminating resistors at both ends of the network are connected. Check that all nodes have the same baud rate setting. Check that all nodes have a unique Node-Id setting. Check that the CAN_H, CAN_L and CAN_GND wires are not broken. Check that the CAN_SHLD is grounded. Check that the CAN_SHLD is connected at all nodes. Check that the CAN cable wires do not short circuit other CAN cable wires.
Bit 4 FLASH memory error
FLASH memory error has occurred. Invalid data in the Flash memory might be caused by power loss during a write operation to the Flash ROM. If this error flag is not cleared after a module reset (BFM #25 bit 0) or another power cycle, please contact your local Mitsubishi Electric representative.
For module restart, refer to Section 6.8
Bit 5
CANopen modes: Write access while module is in initialisation mode. Write to BFMs, after BFM #25 bit 7 is OFF.
For the communication status (BFM #25), refer to Section 6.8 Layer 2 mode: Invalid write access to configuration BFM while in online/initialisation mode.
Do not write to configuration BFM when module is online. Write to configuration BFMs, after switching to configuration mode and off line mode.
For the communication status (BFM #25), refer to Section 6.8 This failure is displayed in BFM #40.
Bit 6 BFM setting error
BFM setting error has occurred. ON when a value that is out of range is written to a BFM. This failure BFM address is displayed in BFM #39. In Layer 2 mode, this bit can not be reset while the module is in online mode.
For BFM #39, refer to Section 6.17
Bit 7 FROM/TO watchdog timer error
FROM/TO watchdog timer expired. Please see the above note. This error flag can be reset by writing to BFM #26.
For the FROM/TO watchdog, refer to Section 6.9
Bit 8 Internal data queue overflow
Internal data queue overflowed. Extreme bus load can cause the internal queues to overflow. Decrease the bus load. At a low baud rate, data exchange that is too fast can overflow the CAN Transmit Buffer (Depends also on the bus-load of the CAN).
For Data Exchange Control flag, refer to Section 6.4 Bit 9 Reserved
Bit 10 CANopen NMT Error Control failure
CANopen NMT Error Control failure has occurred. At least one of the assigned NMT slaves failed during NMT Error Control.
For NMT Error Control failure, refer to Section 6.24
Bit 11 Baud rate change error
Baud rate change error has occurred. ON when an invalid baud rate is written to BFM #24. In this case, the BFM will keep its former value.
For the baud rate setting, refer to Section 6.7
Bit 12 Node address change error
Node address change error has occurred. ON when an invalid node address is written to BFM #27. In this case, the BFM will keep its former value.
For the node address setting, refer to Section 6.10
Bit 13 CANopen emergency
CANopen emergency message was received from the assigned slave. For the emergency message, refer to Section 6.23
Bit 14 CAN error passive state
This flag shows the CAN error active state/passive state*1. OFF: Error active state
CAN reception error counter value is in the range of K0 to K127. ON: Error passive state
CAN reception error counter value is K128. This bit will be reset automatically if the internal error counters return back to below K128.
For the CAN transmission error counter, refer to Section 6.13 For the CAN reception error counter, refer to Section 6.14
Bit 15 Layer 2 Message specific error
Layer 2 Message specific error exists. Check the Layer 2 Message specific error code in BFM #401 to #442.
For the Layer 2 Message specific error code, refer to Section 9.2
Bit No. Description
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15. CANopen Configuration Tool
This chapter describes CANopen Configuration Tool.
15.1 Window Structure
The following figure shows the window structure.
No. Name Reference (1) Navigator window - (2) Parameter window Subsection 15.1.2 (3) Description window Subsection 15.1.3
(1) (2)
(3)
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15.1.1 Menu
The following table lists the menu items of CANopen Configuration Tool.
1. Project Creates, saves, exports, or imports a project.
2. Online For the FX3U-CAN, sets the connection destination or writes the settings configured with CANopen Configuration Tool.
3. Diagnostics A search can be made for the connected CANopen node or the status of the CANopen node can be checked.
4. Tools The display language can be selected.
Item Description Project Creates, saves, exports, or imports a project.
Online For the FX3U-CAN, sets the connection destination or writes the settings configured with CANopen Configuration Tool.
Diagnostics The status of the FX3U-CAN can be checked or a search can be made for the connected CANopen node.
Tools The display language can be selected. Windows Whether to display/hide the description window can be selected. Help Displays the version information of CANopen Configuration Tool.
Item Description New Creates a new project. Open Opens a saved project file. Close Closes the currently opened project. Save Saves the currently opened project. Save as Saves the currently opened project with a different name.
Export Exports the currently opened project in XML format. Refer to Subsection 15.3.3
Import Imports a project file saved in XML format. Refer to Subsection 15.3.3
Recent Projects Displays the names of 10 recently used projects from the saved projects. (Excluding projects opened by import operation)
Exit Closes CANopen Configuration Tool.
Item Description
Transfer Setup To communicate with the FX3U-CAN, the connection destination can be set and a communication test can be conducted.
Refer to Subsection 15.2.2
Download Configuration Writes the set project into the FX3U-CAN. Refer to Subsection 15.2.4
SDO Send/Receive SDO read and SDO write can be executed. Also, the execution results can be checked.
Refer to Subsection 15.3.2
NMT Master Reset Resets and restarts the connected NMT master. Refer to Subsection 15.3.6
Item Description
Network Scan A search can be made for all CANopen nodes connected to the network. Refer to Subsection 15.3.1
Module Status The status of the connected CANopen node can be checked. Refer to Subsection 15.3.4
Item Description
Select Language The display language for CANopen Configuration Tool can be selected. (Default: English) Refer to Subsection 15.3.5
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5. Windows Whether to display/hide the description window can be selected.
6. Help Displays the version information of CANopen Configuration Tool.
15.1.2 Parameter window
The following describes the windows displayed in the parameter window tab page.
1. "CANopen Configuration" window This window is used for setting such as the node ID, baud rate for the CANopen node. "Navigator" "CANopen Configuration"
(1) Module basic settings (2) CANopen node list (3) Operation buttons
Item Description Description Whether to display/hide the description window can be selected.
Item Description
About The version information of CANopen Configuration Tool can be checked. Refer to Section 15.4
(1)
(2)
(3)
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1) Module basic settings
*1. Do not disconnect the FX3U-CAN from the programmable controller or power off the system while the basic settings are being read. Doing so may cause an attempt to open a project to fail.
2) CANopen node list Using the configuration manager, parameters (CDCF) to be set for other nodes can be added. By operating a button such as the "Write CANopen node" button, parameters can be read from or written to other nodes currently connected to the local node.
*1. The name and number assigned by the CANopen node device manufacturer are displayed.
Item Description Setting range
Module number Set the module number of the FX3U-CAN.
0 to 16 (FX3: 0 to 7) (FX5: 1 to 16) (Default: 0)
Function mode Displays the function mode (CANopen 405 mode) of the FX3U-CAN. - (Default: Mode 405)
Node ID Set the node ID for the FX3U-CAN. 1 to 127 (Default: 127)
Baud-Rate Set the baud rate for CANopen. (Unit: bps) Set the same value for all CANopen nodes connected to CANopen.
10K 20K 50K 100K 125K 250K 500K 800K 1000K (Default: 250K)
FROM/TO Watchdog Defines the watchdog being used by FROM/TO instructions. The value can only be set in 10ms steps. The value '0' disables the FROM/TO watchdog timer. (Unit: ms)
0 to 65530 (Default: 200)
SDO timeout Set the timeout time for SDO communication. (Unit: ms) 50 to 32767 (Default: 500)
[Restore default values] button Restores the default values for the module basic settings. -
[Read module basic settings] button*1 Reads the basic settings of the connected the FX3U-CAN. -
[Write module basic settings] button
Writes the values set for the module basic settings into the connected FX3U-CAN. Please note that if the module basic settings are already written in the connected FX3U-CAN, they will be overwritten.
-
Item Description Setting range
Node ID Set the node ID for the CANopen node. 1 to 127 (Default: 127)
Node name Set the name for the CANopen node. - (Default: CANopen node)
Download target Defines the target where to store the configuration. (Fixed as "Target node") The configuration is written to the target node (via CANopen network).
Target node (Default: Target node)
Device name Displays the device name of CANopen node.*1 -
Vendor-ID Displays the vendor ID of CANopen node.*1 -
(Default: 0x0)
Product code Displays the product code of CANopen node.*1 -
(Default: 0x0)
Revision number Displays the revision number of CANopen node.*1 -
(Default: 0x0)
Serial number Displays the serial number of CANopen node.*1 -
(Default: 0x0)
Hardware version Displays the hardware version of CANopen node.*1 -
Software version Displays the software version of CANopen node.*1 -
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Note
A new CANopen node can be added in the CANopen node list by setting a node ID in an empty row. To delete a CANopen node from the CANopen node list, select the left end of the target row, and press the
[Delete] button. 3) Operation buttons
*1. Do not disconnect the CANopen nodes from the programmable controller or power off the system while the information is being read. Doing so may cause an attempt to open a project to fail.
2. "CANopen node settings" window This window is used to check the information of the CANopen node. "Navigator" "CANopen Configuration" Node name
Item Description [Restore Object Dictionary to default on all nodes] button Restores the object dictionary of all CANopen nodes connected to CANopen to default.
[Save Object Dictionary on all nodes] button
Saves the settings for the object dictionary of all CANopen nodes connected to CANopen into non- volatile memory.
[Read all CANopen nodes] button*1
Reads the following information from all CANopen nodes connected to CANopen. Transmit PDO (TPDO) Receive PDO (RPDO) NMT settings (NMT master/slave, Heartbeat) Hardware information
Item Description Setting range
Node ID Displays the number set for the node ID in the CANopen node list. For CANopen node list, refer to Subsection 15.1.2 -
Node name Set the name for the CANopen node. - (Default: CANopen node)
Download target Defines the target where to store the configuration. (Fixed as "Target node") The configuration is written to the target node (via CANopen network).
Target node (Default: Target node)
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1) Hardware specific data
*1. The name and number assigned by the CANopen node device manufacturer are displayed. *2. Do not disconnect the CANopen node from the programmable controller or power off the system while
the hardware information is being read. Doing so may cause an attempt to open a project to fail. 2) EDS file information
EDS file information is displayed only when a CANopen node that supports EDS files is selected.
Note
EDS files are files defining CANopen device information.
3) Operation buttons
*1. Do not disconnect the CANopen node from the programmable controller or power off the system while the information is being read. Doing so may cause an attempt to open a project to fail.
Item Description Setting range
Device name Displays the device name of CANopen node.*1 -
Vendor-ID Displays the vendor ID of CANopen node.*1 -
(Default: 0x0)
Product code Displays the product code of CANopen node.*1 -
(Default: 0x0)
Revision number Displays the revision number of CANopen node.*1 -
(Default: 0x0)
Serial number Displays the serial number of CANopen node.*1 -
(Default: 0x0)
Hardware version Displays the hardware version of CANopen node.*1 -
Software version Displays the software version of CANopen node.*1 -
[Read from module] button*2 Reads hardware information from the connected CANopen node. -
Item Description Setting range EDS file version Displays the EDS file version. - EDS file revision Displays the EDS file revision. -
Item Description [Restore Object Dictionary to default] button Restores the object dictionary of the connected CANopen node to default.
[Save Object Dictionary] button
Saves the current settings for the object dictionary of the connected CANopen node to non-volatile memory.
[Read CANopen node] button*1
Reads the following information from the connected CANopen node. Transmit PDO (TPDO) Receive PDO (RPDO) NMT settings (NMT master/slave, Heartbeat)
[Write CANopen node] button
Writes the following information to the connected CANopen node. Transmit PDO (TPDO) Receive PDO (RPDO) NMT settings (NMT master/slave, Heartbeat)
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3. PDO list window This window displays a list of TPDOs and RPDOs. "Navigator" "CANopen Configuration" Node name "Transmit PDO"
"Navigator" "CANopen Configuration" Node name "Receive PDO"
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1) PDO list
*1. A PDO is sent after a SYNC message is generated. However, it is acyclic and sent only when an event occurs before SYNC message generation.
*2. The received PDO data is processed after the next SYNC message is received, regardless of the transmission rate specified by the transmission type.
Item Description Setting range
PDO number Set the number for identifying the PDO. 1 to 80 (Default: -)
COB-ID Set the COB-ID for the PDO. The COB-ID is the ID referred to in CANopen. By setting the COB-ID, the CAN-ID is determined.
TPDO1 (Default: 0x40000180+Node ID) TPDO2 (Default: 0x40000280+Node ID) TPDO3 (Default: 0x40000380+Node ID) TPDO4 (Default: 0x40000480+Node ID) TPDO5 to 80 (Default: 0xC0000000)
RPDO1 (Default: 0x00000200+Node ID) RPDO2 (Default: 0x00000300+Node ID) RPDO3 (Default: 0x00000400+Node ID) RPDO4 (Default: 0x00000500+Node ID) RPDO5 to 80 (Default: 0x80000000)
Transmission type
For TPDO Set the TPDO transmission type. 0x00: Synchronous (acyclic)*1 0x01: Synchronous (Send data every time a SYNC message is received.) 0x02: Synchronous (Send data when a SYNC message is received once.) 0x03: Synchronous (Send data when SYNC messages are received twice.)
0x00 to 0xFF (Default: 0xFE)
... ...
0xF0: Synchronous (Send data when SYNC messages are received 239 times.)
0xF1 to 0xFD: System-reserved 0xFE: Event-driven 0xFF: Event-driven For RPDO Set the RPDO transmission type. 0x00 to 0xF0: Synchronous*2
0xF1 to 0xFD: System-reserved 0xFE: Event-driven 0xFF: Event-driven
Inhibit time Set the minimum time interval between PDO transmissions. (Unit: 100 s) The counting resolution of FX3U-CAN is 1 ms. To disable this item, set 0.
0 to 65535 (Default: 0)
Event timer
Set the event timer. (Unit: ms) When an event-driven transfer is not executed by the time the event timer times out, a message containing the current value for the object dictionary will be sent. To disable this item, set 0.
0 to 65535 (Default: 0)
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Note
A new PDO can be added in the PDO list by setting a PDO number in an empty row. To delete a PDO from the PDO list, select the left end of the target row, and press the [Delete] button. A maximum of 80 PDOs can be added. 2) PDO area selection
To read and write from the PDO list, a choice can be made from "All", "Starting from", and "Range". When "Starting from" is selected, specify any number for "Start PDO number". (1 to 80) When "Range" is selected, specify any number for "Start PDO number" and "End PDO number". (1 to 80)
*1. Do not disconnect the CANopen node from the programmable controller or power off the system while the PDOs are being read. Doing so may cause an attempt to open a project to fail.
Item Description
[Read PDO List] button*1 Reads PDOs from the connected CANopen node.
[Write PDO List] button Writes the PDOs to the flash ROM of the connected CANopen node.
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4. TPDO details window This window is used for setting detailed parameters for the TPDO. "Navigator" "CANopen Configuration" Node name "Transmit PDO" "PDO 1" (When the PDO number is 1)
*1. A PDO is sent after a SYNC message is generated. However, it is acyclic and sent only when an event occurs before SYNC message generation.
1) COB-ID Set the details of the COB-ID set in the PDO list window.
Item Description Setting range
PDO number Set the number for identifying the PDO. 1 to 80 (Default: -)
Transmission type
Set the TPDO transmission type. 0x00: Synchronous (acyclic)*1 0x01: Synchronous (Send data every time a SYNC message is received.) 0x02: Synchronous (Send data when a SYNC message is received once.) 0x03: Synchronous (Send data when SYNC messages are received twice.) 0x00 to 0xFF
(Default: 0xFE)
... ...
0xF0: Synchronous (Send data when SYNC messages are received 239 times.) 0xF1 to 0xFD: System-reserved 0xFE: Event-driven 0xFF: Event-driven
Inhibit time Set the minimum time interval between PDO transmissions. (Unit: 100 s) To disable this item, set 0.
0 to 65535 (Default: 0)
Event timer
Set the event timer. (Unit: ms) When a data exchange is not executed by the time the event timer times out, a message containing the current value for the object dictionary will be sent. To disable this item, set 0.
0 to 65535 (Default: 0)
Item Description Setting range
valid Selected: The PDO is valid. Cleared: The PDO is not valid.
Not selected Selected PDO1 to 4 (Default: Selected) PDO5 to 80 (Default: Not selected)
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CAN-ID (11-bit) Set the CAN-ID for the COB-ID.
0x000 to 0x57F PDO1 (Default: 0x180+Node ID) PDO2 (Default: 0x280+Node ID) PDO3 (Default: 0x380+Node ID) PDO4 (Default: 0x480+Node ID) PDO5 to 80 (Default: 0x0)
Item Description Setting range
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2) Mapping parameter Set the objects to be mapped to the PDO.
Note
By setting values for "Object name" and "Object description", the corresponding "Index" and "Sub-index" are automatically displayed.
By entering values for "Index" and "Sub-index", the corresponding "Object name" and "Object description" are automatically generated.
Up to 64-bit data can be set for mapping parameters.
Item Description Setting range
Object name Set the object name to be used in the buffer memory area.
BFM Area Integer8 (PLC write access)
BFM Area Unsigned8 (PLC write access)
BFM Area Integer16 (PLC write access)
BFM Area Unsigned16 (PLC write access)
BFM Area Integer32 (PLC write access)
BFM Area Unsigned32 (PLC write access)
BFM Area Float (PLC write access)
(Default: Blank)
Object description
Set the buffer memory address to be used in the object. When "BFM Area Integer8 (PLC write access)" or "BFM Area Unsigned8
(PLC write access)" is specified for "Object name" BFM#11000 LByte (TO) BFM#11000 HByte (TO)
Refer to the left.
... ...
BFM#11319 LByte (TO) BFM#11319 HByte (TO) When "BFM Area Integer16 (PLC write access)" or "BFM Area Unsigned16
(PLC write access)" is specified for "Object name" BFM#11000 (TO) BFM#11001 (TO)
... ...
BFM#11319 (TO) When "BFM Area Integer32 (PLC write access)", "BFM Area Unsigned32
(PLC write access)" or "BFM Area Float (PLC write access)" is specified for "Object name"
BFM#11001, #11000 (TO) BFM#11003, #11002 (TO)
... ...
BFM#11319, #11318 (TO)
Data type
Displays the data type of send data. The type depends on what is specified for "Object name". Signed 8 bit Signed 16 bit Signed 32 bit Unsigned 8 bit Unsigned 16 bit Unsigned 32 bit Real 32 bit
-
Index Specify the index in the object dictionary. For indexes, refer to the following.
Refer to Section 5.3
0x0000 to 0xFFFF (Default: Blank)
Sub-index Specify the subindex in the object dictionary. For subindexes, refer to the following.
Refer to Section 5.3
0x00 to 0xFF (Default: Blank)
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5. RPDO details window This window is used for setting detailed parameters for the RPDO. "Navigator" "CANopen Configuration" Node name "Receive PDO" "PDO 1" (When the PDO number is 1)
*1. The received PDO data is processed after the next SYNC message is received, regardless of the transmission rate specified by the transmission type.
1) COB-ID Set the details of the COB-ID set in the PDO list window.
Item Description Setting range
PDO number Set the number for identifying the PDO. 1 to 80 (Default: -)
Transmission type
Set the RPDO transmission type. 0x00 to 0xF0: Synchronous*1
0xF1 to 0xFD: System-reserved 0xFE: Event-driven 0xFF: Event-driven
0x00 to 0xFF (Default: 0xFE)
Item Description Setting range
valid Selected: The PDO is valid. Cleared: The PDO is not valid.
Not selected Selected PDO1 to 4 (Default: Selected) PDO5 to 80 (Default: Not selected)
CAN-ID (11-bit) Set the CAN-ID for the COB-ID.
0x000 to 0x57F PDO1 (Default: 0x200+Node ID) PDO2 (Default: 0x300+Node ID) PDO3 (Default: 0x400+Node ID) PDO4 (Default: 0x500+Node ID) PDO5 to 80 (Default: 0x0)
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2) Mapping parameter Set the objects to be mapped to the PDO.
Note
By setting values for "Object name" and "Object description", the corresponding "Index" and "Sub-index" are automatically displayed.
By entering values for "Index" and "Sub-index", the corresponding "Object name" and "Object description" are automatically generated.
Up to 64-bit data can be set for mapping parameters.
Item Description Setting range
Object name Set the object name to be used in the buffer memory area. If mapping is not required, set dummies.
BFM Area Integer8 (PLC read access)
BFM Area Unsigned8 (PLC read access)
BFM Area Integer16 (PLC read access)
BFM Area Unsigned16 (PLC read access)
BFM Area Integer32 (PLC read access)
BFM Area Unsigned32 (PLC read access)
BFM Area Float (PLC read access)
Dummy Signed 8 bit Dummy Signed 16 bit Dummy Signed 32 bit Dummy Unsigned 8 bit Dummy Unsigned 16 bit Dummy Unsigned 32 bit (Default: Blank)
Object description
Set the buffer memory address to be used in the object. When "BFM Area Integer8 (PLC read access)" or "BFM Area Unsigned8
(PLC read access)" is specified for "Object name" BFM#10000 LByte (FROM) BFM#10000 HByte (FROM)
Refer to the left.
... ...
BFM#10319 LByte (FROM) BFM#10319 HByte (FROM) When "BFM Area Integer16 (PLC read access)" or "BFM Area Unsigned16
(PLC read access)" is specified for "Object name" BFM#10000 (FROM) BFM#10001 (FROM)
... ...
BFM#10319 (FROM) When "BFM Area Integer32 (PLC read access)", "BFM Area Unsigned32
(PLC read access)" or "BFM Area Float (PLC read access)" is specified for "Object name"
BFM#10001, #10000 (FROM) BFM#10003, #10002 (FROM)
... ...
BFM#10319, #10318 (FROM)
Data type
Displays the data type of send data. The type depends on what is specified for "Object name". Signed 8 bit Signed 16 bit Signed 32 bit Unsigned 8 bit Unsigned 16 bit Unsigned 32 bit Real 32 bit
-
Index Specify the index in the object dictionary. For indexes, refer to the following.
Refer to Section 5.3
0x0000 to 0xFFFF (Default: Blank)
Sub-index Specify the subindex in the object dictionary. For subindexes, refer to the following.
Refer to Section 5.3
0x00 to 0xFF (Default: Blank)
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6. "NMT settings" window This window is used for reading or writing NMT settings. "Navigator" "CANopen Configuration" Node name "NMT settings"
*1. Do not disconnect the CANopen node from the programmable controller or power off the system while the NMT settings are being read. Doing so may cause an attempt to open a project to fail.
Item Description
[Read NMT settings] button*1 Reads the NMT settings from the connected CANopen node.
[Write NMT settings] button Writes the NMT settings to the flash ROM of the connected CANopen node.
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7. "NMT master / slave" window This window is used for setting the NMT master and NMT slave parameters to the connected CANopen node. "Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave"
1) NMT master settings Set detailed parameters for the NMT master.
Item Description Setting range
NMT master Set the own node type. Not selected: NMT slave Selected: NMT master
Not selected Selected (Default: Not selected)
Item Description Setting range
Start all nodes Set the method to start the NMT slaves by sending NMT service. Not selected: Send Remote node start to each NMT slave. Selected: Send Remote node start excluding NMT master.
Not selected Selected (Default: Not selected)
NMT master start Set whether to start the node automatically as the NMT master. Not selected: Shift automatically. Selected: Do not shift automatically.
Not selected Selected (Default: Not selected)
Start node
Set the startup method for NMT slaves. Not selected: The NMT master shall start the NMT slaves. Selected: The NMT master shall not start the NMT slaves, and the NMT
slaves shall be started by a program.
Not selected Selected (Default: Not selected)
Reset all nodes
Set whether to execute a node reset if a mandatory slave fails to respond to node guarding or heartbeat. Not selected: Execute communication reset only for the CANopen
nodes with an error. Selected: Execute communication reset for all nodes. When "Stop all nodes" is selected, this setting is disabled.
Not selected Selected (Default: Not selected)
Stop all nodes
Set whether to execute a remote node stop if a mandatory slave fails to respond to node guarding or heartbeat. Not selected: Do not stop all nodes. Selected: Stop all nodes.
Not selected Selected (Default: Not selected)
SYNC - Communication cycle period Set the transmission cycle of the SYNC message. (Unit: s) 0 to 4294967295
(Default: 0)
Boot time Set the boot time. (Unit: ms) 0 to 4294967295 (Default: 0)
Start all nodes delay Set the NMT Start all Nodes delay time. (Unit: ms) 0 to 65535 (Default: 500)
Flying master Set whether to use flying master in the own node. Not selected: Do not use flying master. Selected: Use flying master.
Not selected Selected (Default: Not selected)
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2) Flying master timing parameter Set detailed parameters for flying master.
3) NMT slave settings Set detailed parameters for NMT slaves.
4) Operation button
Item Description Setting range
Timeout Set the NMT master response waiting time. (Unit: ms) 0 to 65535 (Default: 100)
NMT master negotiation time delay
Set the waiting time before starting NMT master negotiation. (Unit: ms) This waiting time is set to secure time to allow other devices to be initialized before deciding the active NMT master.
0 to 65535 (Default: 500)
NMT master priority Set the NMT master priority level.
Low Medium High (Default: Medium)
Priority time slot
Set a coefficient used to calculate the response time of NMT master negotiation with the priority level used. (Unit: ms) Note that the setting value set for "Priority time slot" must be greater than the setting value of "CANopen device time slot" 127.
0 to 65535 (Default: 1500)
CANopen device time slot Set a coefficient used to calculate the response time of NMT master negotiation with the node ID used. (Unit: ms)
0 to 65535 (Default: 10)
Multiple NMT master detect cycle time
Set the interval for sending protocol messages for NMT master negotiation. (Unit: ms)
0 to 65535 (Default: 4000+10Node ID)
Item Description Setting range
Guard time Set the guard time of node guarding for CANopen nodes. (Unit: ms) The value 0 disables node guarding.
0 to 65535 (Default: 0)
Life time factor Set this object to calculate the node life time for node guarding. The value 0 disables node guarding.
0 to 255 (Default: 0)
Item Description [Restore default values] button Restores the default NMT master/slave settings.
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8. "NMT slave assignment" window This window is used for setting the NMT slaves to be assigned to the NMT master on a list basis. "Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave" "NMT Slave assignment"
Note
An NMT slave can be added in the list by setting a node ID in an empty row. To set a node ID in an empty row, ensure that the NMT master in the "NMT master / slave" window is selected.
To delete an NMT slave from the list, select the left end of the target row, and press the [Delete] button. A maximum of 126 NMT slave assignments can be set.
Item Description Setting range
Node ID Set the node ID to be assigned to the NMT slave. 1 to 127 (Default: Blank)
NMT slave Not selected: Remote node is NMT master or NMT slave that is not
assigned. Selected: Remote node is NMT slave and assigned to this NMT master.
Not selected Selected (Default: Not selected)
NMT boot slave
Specify whether the NMT master executes configuration manager or remote node start when starting up the NMT slaves. Not selected: Not executable Selected: Executable
Not selected Selected (Default: Not selected)
Mandatory
Set this item to indicate the existence of the CANopen node before starting up the network. Not selected: Not mandatory Selected: Mandatory
Not selected Selected (Default: Not selected)
Reset communication
Set the execution condition for communication reset for the CANopen node. Not selected: No communication reset condition always executable Selected: Not executable only when the CANopen node is in
Operational
Not selected Selected (Default: Not selected)
Retry factor Set the number of resends by the NMT master in case a node guarding event occurs. The value 0 disables node guarding.
0 to 255 (Default: 0)
Guard time Set the guard time of node guarding for CANopen nodes. (Unit: ms) The value 0 disables node guarding.
0 to 65535 (Default: 0)
Device type Set the device type ID for NMT slaves. 0 to 4294967295 (Default: 0)
Vendor-ID Set the vendor ID for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
Product code Set the product code for NMT slaves. 0 to 4294967295 (Default: 0)
Revision number Set the revision number for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
Serial number Set the serial number for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
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9. "NMT slave" window This window is used for setting the NMT slaves to be assigned to the NMT master on a CANopen node basis. "Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave" "NMT Slave assignment" "Slave (Node ID: 1)" (When the node ID is 1)
1) Node guarding
Item Description Setting range
Node ID Set the node ID to be assigned to the NMT slave.
1 to 127 (Default: Value set in the "NMT slave assignment" window)
NMT slave Not selected: Remote node is NMT master or NMT slave that is not
assigned. Selected: Remote node is NMT slave and assigned to this NMT master.
Not selected Selected (Default: Not selected)
NMT boot slave
Specify whether the NMT master executes configuration manager or remote node start when starting up the NMT slaves. Not selected: Not executable Selected: Executable
Not selected Selected (Default: Not selected)
Mandatory
Set this item to indicate the existence of the CANopen node before starting up the network. Not selected: Not mandatory Selected: Mandatory
Not selected Selected (Default: Not selected)
Reset communication
Set the execution condition for communication reset for the CANopen node. Not selected: No communication reset condition Always executable Selected: Not executable only when the CANopen node is in
Operational
Not selected Selected (Default: Not selected)
Item Description Setting range
Retry factor Set the number of resends by the NMT master in case a node guarding event occurs. The value 0 disables node guarding.
0 to 255 (Default: 0)
Guard time Set the guard time of node guarding for CANopen nodes. (Unit: ms) The value 0 disables node guarding.
0 to 65535 (Default: 0)
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2) NMT slave identification
*1. Do not disconnect the CANopen node NMT master or the CANopen node NMT slave from the programmable controller or power off the system while the settings are being read. Doing so may cause an attempt to open a project to fail.
3) Operation button
10. "Heartbeat" window This window is used for setting heartbeat parameters. "Navigator" "CANopen Configuration" Node name "NMT settings" "Heartbeat"
Note
A consumer heartbeat parameter can be added in the list by setting a node ID in an empty row. To delete a consumer heartbeat parameter from the list, select the left end of the target row, and press the
[Delete] button. A maximum of 126 consumer heartbeat times can be set.
Item Description Setting range
Device type Set the device type ID for NMT slaves. 0 to 4294967295 (Default: 0)
Vendor-ID Set the vendor ID for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
Product code Set the product code for NMT slaves. 0 to 4294967295 (Default: 0)
Revision number Set the revision number for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
Serial number Set the serial number for NMT slaves. 0x0 to 0xFFFFFFFF (Default: 0x0)
[Read from master] button*1 Reads the settings from the connected CANopen node NMT master. -
[Read from slave] button*1 Reads the settings from the connected CANopen node NMT slave. -
Item Description [Restore default values] button Restores the default NMT slave settings.
Item Description Setting range
Node ID Set the node ID to use heartbeat. 1 to 127 (Default: Blank)
Consumer heartbeat time Set the CANopen node to be monitored and the heartbeat time for monitoring that CANopen node. (Unit: ms)
0 to 65535 (Default: 0)
Producer heartbeat time Set the transmission cycle of heartbeat messages sent from the own node. (Unit: ms)
0 to 65535 (Default: 0)
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15.1.3 Description window
The Description window displays information about the items selected in the Parameter window. Displayed information includes a setting range and default value.
15.2 Setting Procedure
This section describes the procedure for setting CANopen parameters with CANopen Configuration Tool.
1 Start CANopen Configuration Tool and create a project. Refer to Subsection 15.2.1
2 To communicate with the FX3U-CAN, set the connection destination. Refer to Subsection 15.2.2
3 Set parameters for CANopen. Refer to Subsection 15.2.3
4 Write the set parameters into the FX3U-CAN. Refer to Subsection 15.2.4
15.2.1 Creating a new project
Start CANopen Configuration Tool and create a project. "Project" "New"
In the above window, select the FX3U-CAN and click the [OK] button.
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15.2.2 Transfer setup
To communicate with the FX3U-CAN, set the connection destination. "Online" "Transfer Setup"
1. When connecting via Serial 1) In the "Transfer Setup" window, click the [Configure] button and create a list of settings. Click the [OK]
button to open the setup wizard.
2) Set the interface on the computer side and click the [Next] button.
Item Description Setting range
PC side I/F Select an interface on the computer side.
USB Serial Ethernet board
(MELSOFT) (Default: USB)
Connect port Select a connect port on the computer side. COM1 to 256 (Default: -)
Time out Set the communication timeout time. (Unit: ms) 1 to 2147483647 (Default: 1000)
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3) Set the interface on the PLC side and click the [Next] button.
4) Set the communication path and click the [Next] button.
Item Description Setting range PLC side I/F Select an interface on the PLC side. (Fixed as "CPU module") - CPU series Select a CPU module series. (Fixed as "FXCPU") -
CPU type Select a CPU module type.
FX5U FX3G(C)/FX3GE FX3U(C) (Default: FX5U)
Transmission speed Select the transmission speed.
9600 19200 38400 57600 115200 (Default: 9600)
Control Select the DTR / DSR signal control.
DTR Control RTS Control DTR and RTS Control DTR or RTS Control (Default: DTR or RTS Control)
Item Description Setting range Station type Select the communication path. (Fixed as "Host station") -
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5) Click the [Finish] button to finish the setup wizard.
2. When connecting via USB 1) In the "Transfer Setup" window, click the [Configure] button and create a list of settings. Click the [OK]
button to open the setup wizard.
2) Set the interface on the computer side and click the [Next] button.
Item Description Setting range
PC side I/F Select an interface on the computer side.
USB Serial Ethernet board
(MELSOFT) (Default: USB)
Time out Set the communication timeout time. (Unit: ms) 1 to 2147483647 (Default: 1000)
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3) Set the interface on the PLC side and click the [Next] button.
4) Set the communication path and click the [Next] button.
5) Click the [Finish] button to finish the setup wizard.
Item Description Setting range PLC side I/F Select an interface on the PLC side. (Fixed as "CPU module") -
CPU series Select a CPU module series.
RCPU FXCPU R Safety (Default: RCPU)
CPU type Select a CPU module type. (Fixed as "FX3G(C)/FX3GE") -
Item Description Setting range Station type Select the communication path. (Fixed as "Host station") -
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3. When connecting via Ethernet 1) In the "Transfer Setup" window, click the [Configure] button and create a list of settings. Click the [OK]
button to open the setup wizard.
2) Set the interface on the computer side and click the [Next] button.
Item Description Setting range
PC side I/F Select an interface on the computer side.
USB Serial Ethernet board
(MELSOFT) (Default: USB)
Connect module Set the module. (Fixed as "CPU module") -
Protocol Set the communication protocol. TCP UDP (Default: TCP)
Time out Set the communication timeout time. (Unit: ms) 1 to 2147483647 (Default: 1000)
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3) Set the interface on the PLC side and click the [Next] button.
Note
When the [Find CPU (Built-in Ethernet port) on network] button is clicked, a search is made for a CPU with built-in Ethernet port on the same network, and its IP address, PLC type, label, and comment are displayed. Click the [OK] button to input the selected IP address to "Host (IP Address)".
Item Description Setting range PLC side I/F Select an interface on the PLC side. (Fixed as "CPU module") -
Host(IP Address) Set the PLC side IP address. Blank 0.0.0.1 to 223.255.255.254 (Default: Blank)
[Find CPU (Built-in Ethernet port) on network] button
Searches for a CPU with built-in Ethernet port on the same network through connection via a hub. -
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4) Set the communication path and click the [Next] button.
5) Click the [Finish] button to finish the setup wizard.
In "Select transfer setup", select one name from the setup list and click the [OK] button.
Item Description Setting range Station type Select the communication path. (Fixed as "Host station") -
CPU series Select a CPU module series.
RCPU FXCPU R Safety (Default: RCPU)
CPU type Select a CPU module type.
FX5U FX3G(C)/FX3GE FX3U(C) (Default: FX5U)
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Note
Selecting "
Click the [Comm. Test] button to conduct a communication test.
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15.2.3 Parameter settings
Set parameters for CANopen. 1) In the "CANopen Configuration" window, set items for "Module basic settings".
For Module basic settings, refer to Subsection 15.1.2 "Navigator" "CANopen Configuration"
2) In the "PDO list" window, add an entry to the TPDO and RPDO lists. An entry can be added in each list by setting a value for "PDO number".
For PDO list window, refer to Subsection 15.1.2 TPDO
"Navigator" "CANopen Configuration" Node name "Transmit PDO"
RPDO "Navigator" "CANopen Configuration" Node name "Receive PDO"
Note
When an entry is added to the TPDO and RPDO lists, its corresponding item is added in the Navigator window.
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3) Set parameters for TPDO and RPDO. TPDO
For TPDO details window, refer to Subsection 15.1.2 "Navigator" "CANopen Configuration" Node name "Transmit PDO" "PDO 1" (When the PDO number is 1)
RPDO For RPDO details window, refer to Subsection 15.1.2
"Navigator" "CANopen Configuration" Node name "Receive PDO" "PDO 1" (When the PDO number is 1)
4) In the "NMT master / slave" window, set parameters for the NMT master and NMT slaves. For "NMT master / slave" window, refer to Subsection 15.1.2
"Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave"
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5) In the "NMT slave assignment" window, add an NMT slave to be assigned to the NMT master. An entry can be added in the list by setting a value for "Node ID".
For "NMT slave assignment" window, refer to Subsection 15.1.2 "Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave" "NMT Slave assignment"
Note
When an entry is added to the NMT slave list, its corresponding item is added in the Navigator window.
6) In the "NMT slave" window, set parameters for the NMT slave. For "NMT slave" window, refer to Subsection 15.1.2
"Navigator" "CANopen Configuration" Node name "NMT settings" "NMT master / slave" "NMT Slave assignment" "Slave (Node ID: 1)" (When the node ID is 1)
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7) In the "Heartbeat" window, set parameters for the heartbeat. An entry can be added in the list by setting a value for "Node ID".
For "Heartbeat" window, refer to Subsection 15.1.2 "Navigator" "CANopen Configuration" Node name "NMT settings" "Heartbeat"
15.2.4 Writing the settings
Write the set parameters into the FX3U-CAN. 1) Select "Download Configuration".
"Online" "Download Configuration"
2) Click the [YES] button to execute writing. Note
When the CPU module is in the STOP state, parameters can be written.
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15.3 Functions
This section describes the functions of CANopen Configuration Tool.
15.3.1 Network scan
CANopen Configuration Tool can scan for all CANopen nodes connected to CANopen. When a CANopen node is found, information for "Node ID" and "Product name" is displayed in the list on the left side of the "Network scan" window. The scan time can be shortened by limiting the node ID scan range.
1. Operation method The "Network scan" window can be displayed by the following operation. "Diagnostics" "Network scan"
Item Description
Found CANopen nodes Click the [Scan] button to display the scan results. Information for "Node ID" and "Product name" is displayed in the list.
Current Node ID Displays the status of scan progress.
Node ID area selection For a node ID scan, a choice can be made from "All", "Starting from", and "Range". When "Starting from" is selected, specify any number for "Start Node ID". (1 to 127) When "Range" is selected, specify any number for "Start Node ID" and "End Node ID". (1 to 127)
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15.3.2 SDO send / receive
In SDO send/receive, SDO read and SDO write can be executed. SDO is a function to directly access an object entry in the object dictionary of any CANopen node.
1. Operation method The "SDO send / receive" window can be displayed by the following operation. "Online" "SDO Send / Receive" Select "Read data" or "Write data", set necessary data, and click the [Execute] button to display the execution result.
Item Description Setting range
SDO parameter Data direction "Read data" or "Write data" can be selected. Read data Write data (Default: Read data)
Data
Node ID Set the node ID of the node from which data is read or to which data is written. 1 to 127 (Default: 127)
Index Set the index in the object dictionary. For indexes, refer to the following.
Refer to Section 5.3
0x0000 to 0xFFFF (Default: 0x0000)
Sub-index Set the subindex in the object dictionary. For subindexes, refer to the following.
Refer to Section 5.3
0x00 to 0xFF (Default: 0x00)
Data length Set the data length of data to transmit.
STRING BYTE_LENGTH_1 BYTE_LENGTH_2 BYTE_LENGTH_4 BYTE_LENGTH_6 BYTE_LENGTH_8 (Default: BYTE_LENGTH_2)
Data Set send data. Prepends with "0x" when specifying send data using a hexadecimal number.
- (Default: 0)
Result
Click the [Execute] button to display the SDO send/receive results. When "Read data" is successful, "SDO_READ_SUCCESS" is displayed and the result is displayed in each of the following data types. Hexadecimal number Decimal number Floating point number ASCII When "Write data" is successful, "SDO_WRITE_SUCCESS" is displayed. If "Read data" or "Write data" fails, the error details are displayed.
-
Explanation Displays the description of the selected item. -
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15.3.3 Export / import
A project set with CANopen Configuration Tool can be exported as a backup file and imported to another project. This operation allows the user to use the setting details in another project. The extension of the backup file is ".xml". The export and import procedures are as follows.
1. Export 1) The "Export" window is displayed by the following operation.
"Project" "Export" 2) Set a file name, select the save destination, and click the [Save] button.
2. Import 1) The "Import" window is displayed by the following operation.
"Project" "Import" 2) Select a file to be imported and click the [Open] button.
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15.3.4 Module status
The status of the connected CANopen node can be checked. If an error is displayed, resolve the error status, and then click the [Clear error] button to clear the error display. Also, click the [Refresh] button to display the latest status. Click the [Reset] button to reset the NMT master.
1. Operation method The "Module status" window can be displayed by the following operation. "Diagnostics" "Module Status"
15.3.5 Select language
The display language for CANopen Configuration Tool can be selected. (Default: English) After selecting the language, restart CANopen Configuration Tool to have the change take effect.
1. Operation method The "Language" window can be displayed by the following operation. "Tools" "Select Language"
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15.3.6 NMT master reset
Resets and restarts the connected NMT master. 1) Execute NMT master reset using the following operation.
"Online" "NMT Master Reset"
2) Click the [Yes] button to reset the NMT master.
15.4 Checking the Software Version
Check the software version of CANopen Configuration Tool in the following window. "Help" "About"
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FX3U-CAN User's Manual Warranty
Warranty
1. Gratis Warranty Term and Gratis Warranty Range
[Gratis Warranty Term]
If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module. Overseas, repairs shall be accepted by Mitsubishi's local
overseas FA Center. Note that the repair conditions at each FA Center may differ. The gratis warranty term of the product shall be for one
year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs. [Gratis Warranty Range]
The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.
(1)
Even within the gratis warranty term, repairs shall be charged for in the following cases.
(2)
Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design.
1.
Failure caused by unapproved modifications, etc., to the product by the user.
2.
Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued. Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(1)
Product supply (including repair parts) is not available after production is discontinued.
(2)
In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
(1)
Damages caused by any cause found not to be the responsibility of Mitsubishi.
(1)
Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(2)
Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(3)
Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
(4)
The Mitsubishi programmable logic controller has been designed and manufactured for applications in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for Railway companies or Public service purposes shall be excluded from the programmable logic controller applications. In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable logic controller range of applications. However, in certain cases, some applications may be possible, providing the user consults their local Mitsubishi representative outlining the special requirements of the project, and providing that all parties concerned agree to the special circumstances, solely at the users discretion.
(2)
When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided.
3.
Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced.
4.
Relay failure or output contact failure caused by usage beyond the specified Life of contact (cycles).
5.
Failure caused by external irresistible forces such as fires or abnormal voltages, and failure caused by force majeure such as earthquakes, lightning, wind and water damage.
6.
Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7.
Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.
8.
2. Onerous repair term after discontinuation of production
4. Exclusion of loss in opportunity and secondary loss from warranty liability
3. Overseas service
The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.
5. Changes in product specifications
6. Product application
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
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FX3U-CAN User's Manual Revised History
Revised History
Date Revision Description 4/2012 A First Edition
12/2013 B Firmware version 1.10 is supported. - The following objects are added:
Index H100C, Index H100D, Index H1020, Index H102A - The following Buffer memories are added:
BFM #70, BFM #71, BFM #10000 to 10319, BFM #11000 to #11319, BFM #12000 to #12539, BFM #13000 to #13539
- Supports BFM #20 bit 8,9 and 12. - The following error codes are added:
H3111, H3121, H8F01 to H8F7F Default value of communication parameter is added. [Section 5.6] Default value of mapping parameter is added. The explanation of Communication Profile Area is modified. [Section 5.6] The explanation of RPDO/TPDO is modified. [Subsection 5.6.5] The explanation of SYNC is modified. [Subsection 5.6.7] The explanation of Node guarding is modified. [Subsection 5.6.8] The explanation of Time is modified. [Subsection 5.6.10] The contents of protocol NMT is added. [Subsection 5.8.3] The contents of NMT slave identification is added. [Subsection 5.8.4] The explanation of NMT master startup is modified. [Subsection 5.8.5] The explanation of NMT slave startup is modified. [Subsection 5.8.6] The explanation of NMT slave assignment is modified. [Subsection 5.8.7] The contents of NMT Bootup / Error event handling is added. [Subsection 5.8.8] The explanation of Application Profile CiA 417 V2.1 for Lift Control Systems is
modified. [Section 5.10] The explanation of Flying master is modified. [Subsection 5.8.11] The explanation of LSS is modified. [Subsection 5.8.12] The explanation of Configuration manager is modified. [Subsection 5.8.13] The explanation of Allocation of Buffer Memories is modified. [Chapter 6] The explanation of CANopen 405 Mode is modified. [Chapter 7] The explanation of CANopen 417 Mode is modified. [Chapter 8] The explanation of Pre-defined Layer 2 receive messages is modified.
[Subsection 9.3.2] The contents of CIF Multi SDO read access is added. [Subsection 10.2.2] The contents of CIF Multi SDO write access is added. [Subsection 10.2.4] The explanation of Send an Emergency Message is modified. [Section 10.5] The contents of PLC RUN/STOP is added. [Chapter 11] Partial correction Errors are corrected.
4/2015 C A part of the cover design is changed. 8/2016 D Firmware version 1.12 is supported.
- Connection to FX5U/FX5UC PLC. The contents of power down message is removed.
10/2021 E The contents of CANopen Configuration Tool is added. [Chapter 15] Errors are corrected.
258 JY997D43301E
HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
JY997D43301E (MEE)
Effective October 2021 Specifications are subject to ch
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