Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Network Management Functions
MELSEC-L Series – CANopen Module ME3CAN1-L 4 – 53
4.8.12 Configuration manager
The configuration manager provides mechanisms to configure the 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 only be used on the active
NMT master.
Object 1020
H
: Verify configuration
This object indicates the downloaded configuration date and time in the NMT Slave. A configuration
manager uses this object to verify the configuration after a restart to check if a reconfiguration is nec-
essary. If the object dictionary configuration is changed in a NMT slave, the sub-indexes 01
H
and 02
H
values will be set to 0.
During NMT slave boot-up, the configuration manager compares the corresponding entries of 1020
H
of the slave with its own setting in the indexes 1F26
H
and 1F27
H
(see below) and decides if a recon-
figuration is necessary or not. This mechanism reduces the NMT Slave boot-up time.
●
Sub-index 01
H
: Configuration date; contains the number of days since 1984-01-01.
●
Sub-index 02
H
: Configuration time; contains the number of ms after midnight.
Object 1F22
H
, Sub-index 01
H
–7F
H
: CDCF
Configuration files are stored in these objects in the CDCF format: The sub-index indicates the cor-
responding node ID. A CANopen
configuration software and a CAN-Bus PC interface is necessary to
generate the CANopen configuration and to save it via the CAN Bus.
Up to 60 CDCFs can be stored on the ME3CAN1-L. The maximum size for each entry is 65531 bytes.
NOTE If a failure occurs during the configuration upload to the NMT slave, the configuration will be
stopped, except SDO access failures, when reading only indexes and sub-indexes.
NOTES To delete a sub-index entry, write 0 to this sub-index. During this time, it is not possible to write a
new file. If the flash ROM is busy, a SDO write access error 06060000
H
will occur.
If the ME3CAN1-L responds to a SDO write access to a sub-index with an SDO Error 06010002
H
,
this sub-index already had been used. Delete the sub-index entry before by using the method
described above.
If the ME3CAN1-L responds to a SDO write access to a sub-index with an SDO access Error
06070010
H
, 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 before by using the method described above.
If the CANopen configuration software has a problem with the automatic transfer of the CDCF,
flash ROM busy errors will occur. In this case, please use the selective file download if supported.
All 1F22
H
sub-indexes can also be deleted by the restore default parameter command (refer to
section 4.6.11).
The self-configuration by configuring the sub-index of the self-node ID is not supported.
The CDCF data will be directly stored in the flash ROM. A store parameter command by using the
object dictionary index 1010
H
is not necessary (refer to section 4.6.10).