Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Buffer Memory Details: CANopen Mode Detailed Description of the Module
MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 17
3.5.5 Communication Status (Un\G25)
The buffer memory address Un\G25 displays the ME3CAN1-L communication status.
3.5.6 Node Address (Un\G27)
The buffer memory address 27 sets the CANopen Node-ID. The setting value range is 1 to 127.
The buffer memory setting needs to be stored by Un\G22 bit 0 and afterwards to be restarted by Yn2
to make the new setting effective (Refer to section 3.5.3).
A setting out of the above range or a write access in Layer-2 function mode will generate a failure mes-
sage in Un\G29 bit 6.
Bit Description
0
CANopen modes:
Bit = 0: Not in Operational State
Bit = 1: Operational State
1
Bit = 0: The error counter is below the warning level. (Refer to sections 3.5.8 and 3.5.9)
Bit = 1: The error counter of the CAN controller has reached the warning level.
2
Reserved
3
4
5
6
Bit = 0: No NMT Reset received.
Bit = 1: The CANopen
Application was reset by an NMT Reset communication or NMT Reset Application com-
mand. 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 sections 4.8.8 and 4.6.10). The bit is set to 0 in the beginning of the reset process.
7
Module initialization state
Bit = 0: Module initialization finished
Bit = 1: Module is in initialization state
The module is initializing the internal data structures and the buffer memory.
While this bit is on, it is recommended to execute a read access to Un\G25 and Un\G29 only.
In case of a module restart request with Yn2 or over a CANopen
NMT command this bit will be set.
This bit shall be monitored in the PLC program all the time to prohibit Un\G29 failures.
8
CANopen Network state
Bit 9 Bit 8 Description
0 0 Stopped State
0 1 Pre-operational State
1 0 Operational State
1 1 Reserved
9
10
Bit = 0: LSS Master routine inactive
Bit = 1: LSS Master routine active
This bit is only "1" when the LSS Master is searching and configuring LSS Slaves.
11 Reserved
12
Bit = 0: No Time Stamp object received or bit is reset
Bit = 1: Time Stamp object received (Only if Consumer is set)
Write a 0 to reset the bit. (Refer to sections 4.6.9 and 3.5.11)
13 Reserved
14
Bit = 0: NMT Start-up Master:
No Slave start-up in progress
Bit = 1: NMT Start-up Master: Slave start-up in progress (Refer to section 4.8.5)
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.
15
Bit = 0: Module works as NMT Slave
Bit = 1: Module works as NMT Master
Tab. 3-11: Assignment of the bits in buffer memory address Un\G25