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Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Communication Profile Area

Functions

MELSEC-L Series – CANopen

 Module ME3CAN1-L

4 – 29

4.6.8 Heartbeat

The heartbeat protocol defines an error control service without a request. A heartbeat producer trans-
mits a heartbeat message cyclically. One or more heartbeat consumer receives the indication. The 
relationship between producer and consumer is configurable via the Object Dictionary. The heart-
beat 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 ME3CAN1-L is configured as Flying Master, the heartbeat producing and consuming is auto-
matically activated (refer to section 4.8.10).

Object 1016

H

, Sub-index 01

H

–7F

H

: 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.

Object 1017

H

: Producer heartbeat time

The unit of 16 bit producer heartbeat time is ms. The value 0 disables the producer heartbeat.

 Fig. 4-17: 

Heartbeat

NOTE

Heartbeat produces a high bus load, but only half that of node guarding.

 Fig. 4-18: 

 

Bit allocation for sub-index 01

H

–0F

H

: Consumer 

heartbeat time

Heartbeat producer

Request

1017

H

: Producer hear

tbeat time

Heartbeat consumers

Indication

COB-ID = 1792 + Node-ID

s: NMT slave state

0

= Boot-Up  Event

4 = Stopped

5 = Operational

127 =  Pre-operational

Request

s

s

1016

H

: C

o

nsumer h

e

ar

tbeat time

Indication

Indication

Indication

Indication

Indication

Bit 31 ... Bit 24

Heartbeat time

Bit 23 ... Bit 16

Bit 15 ... Bit 0

Node-ID

0

H

Summary of Contents for CANopen ME3CAN1-L

Page 1: ...INDUSTRIAL AUTOMATION MELSEC L Series Programmable Logic Controllers User s Manual CANopen쏐 Module ME3CAN1 L Art no 286236 11 05 2015 Version A Versioncheck ...

Page 2: ......

Page 3: ... any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor see back cover You can find the latest information and answers to frequently asked questions on our website at https eu3a mitsubishielectric com MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical spec...

Page 4: ......

Page 5: ...CANopen쏐 Module ME3CAN1 L User s Manual Art no 286236 Version Changes Additions Corrections A 05 2015 pdp dk First edition ...

Page 6: ......

Page 7: ...igned manufactured testedanddocumented in strict compliance with the relevant safety standards Unqualified modification of the hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and or damage to property Only peripherals and expansion equipment specifically recommended and approved by Mitsubishi Electric may be used with...

Page 8: ...ct the equipment and the cables from the power supply and replace the defective cabling Beforeusingtheequipmentforthefirsttimecheckthatthepowersupplyratingmatchesthat of the local mains power Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot cause undefined states in the equipment You are responsible for taking the necessary precautions to ensure that pro...

Page 9: ...n tables Instructionsintablesareexplainedinfootnotesunderneaththetables insuperscript Thereisafoot note character at the appropriate position in the table in superscript If there are several footnotes for one table then these are numbered consecutively underneath the table black numbers in white circle in superscript Text Text Text Writing conventions and guidance notes Keys or key combinations ar...

Page 10: ...IV ...

Page 11: ... 2 Signal Layout of the Connector 3 3 3 2 Specifications 3 4 3 2 1 External Dimensions 3 5 3 3 I O Signals for the Programmable Controller CPU 3 6 3 3 1 List of I O signals 3 6 3 3 2 Details of I O signals 3 7 3 4 Buffer Memory Overview 3 12 3 4 1 Buffer Memory Assignment 3 13 3 5 Buffer Memory Details CANopen Mode 3 15 3 5 1 Data Exchange Control Un G20 3 15 3 5 2 Function Mode Un G21 3 15 3 5 3 ...

Page 12: ...lot specific error code list Un G5001 Un G5042 3 32 3 6 2 Pre defined Layer 2 message configuration Un G6000 Un G6167 3 33 3 6 2 1 Pre defined Layer 2 transmit messages 34 3 6 2 2 Pre defined Layer 2 receive messages 36 3 6 3 Layer 2 RTR flags Un G8350 Un G8352 3 38 3 6 4 Message transmit trigger flags Un G8400 Un G8402 3 39 3 6 5 PLC RUN STOP messages Un G8450 Un G8477 3 40 3 6 6 Receive Transmit...

Page 13: ... handling 4 46 4 8 8 Request NMT 4 47 4 8 9 Request node guarding 4 48 4 8 10 Flying master 4 48 4 8 11 Layer Setting Services LSS 4 52 4 8 12 Configuration manager 4 53 4 9 Device Profile CiA 405 4 55 5 Command Interface 5 1 SDO Request 5 2 5 1 1 CIF SDO read access 5 2 5 1 2 CIF Multi SDO read access 5 3 5 1 3 CIF SDO write access 5 4 5 1 4 CIF Multi SDO write access 5 6 5 2 Send an Emergency Me...

Page 14: ...unication using Function Blocks 7 1 7 1 1 System configuration 7 1 7 1 2 Local Label setting 7 2 7 1 3 Program 7 5 7 2 Layer 2 Communication 7 21 7 2 1 Layer 2 communication using function blocks 7 21 7 2 2 Layer 2 communication without function blocks 7 30 8 Troubleshooting 8 1 Error Processing and Recovery Method 8 1 8 1 1 Preliminary check by LED status 8 1 8 1 2 Detailed error check 8 2 8 2 Er...

Page 15: ...ng to CiA 303 1 V1 8 Various bit rates Pre defined according to CANopen standard 10 kbps 20 kbps 50 kbps 100 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps CANopen services according to CiA 301 V4 2 256 TPDO 1024 word write TheProcessDataObject PDO issentbyanode theproducer andwillbereceivedbyothernodes the consumers which subscribed to it The Transmit PDO TPDO is used to send input data of the n...

Page 16: ...ayer Setting Services master LSS according to the Standard CiA 305 V2 2 It is necessary to set the baud rate and node number of the CANopen devices But some CANopen devices e g devices with high IP protection like rotary encoders waterproof sensor etc don t have DIP switches for these setting Such devices must be configured by CAN using this LSS CANopen device profiles according to CiA 405 V2 0 In...

Page 17: ...rotocols The CiA Members develop specifications which are published as CiA specifications http can cia org RPDO Receive Process Data Objects are data read from other nodes via the CAN bus TPDO Transmit Process Data Objects are data send to other nodes via the CAN bus CIF Command interface used to access the Object Dictionary of the local node or a network node SDO Service Data Object SYNC Synchron...

Page 18: ...Abbreviations and Generic Terms Overview MELSEC L Series CANopen Module ME3CAN1 L 1 4 ...

Page 19: ... L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63P MITSUBISHI L6DSPU L02CPU POWER L63...

Page 20: ...to a head module No special restriction is applied for the ME3CAN1 L 2 3 How to Check the Function Version and Serial No of the Modules The serial No and function version can be checked on the label attached to the right side of the module Using the programming software GX Works2 the serial No and the function version can be checked while the PLC is operating From the Diagnostics menu select Syste...

Page 21: ...e grated in some D sub connector Resistors are required to terminate the CAN network at both ends CAN bus network cable Communication cable for CAN network CANopen node CANopen node from other manufacturer Repeater Repeater for CAN network EDS file Electronic data sheet EDS to describe the mod ule Used for 3rd party configuration tool Tab 2 1 System Equipment ME2PNR2 L Terminating resistor Termina...

Page 22: ...System Configuration System Equipment 2 4 MITSUBISHI ELECTRIC ...

Page 23: ...for the ME3CAN1 L Fig 3 1 Names of parts No Name Description Indicator LEDs Used to indicate the status of the ME3CAN1 L For a detailed description please refer to section 3 1 1 CAN interface connector D sub 9 pin male connector This connector connects the communication cable to the ME3CAN1 L For details refer to section 3 1 2 Tab 3 1 Description of the LEDs and the connector of the ME3CAN1 L ...

Page 24: ...ate Operational 앫 Layer 2 mode The device is in Layer 2 online mode FLICKERING LSS services in progress BLINKING CANopen쏐 mode The device is in CANopen state Pre operational SINGLE FLASH The device is in CANopen쏐 state Stopped OFF Layer 2 mode The device is in Layer 2 offline mode CAN ERR Red ON 앫 The CAN controller is Bus OFF state 앫 The CAN controller has too many transmission errors FLICKERING ...

Page 25: ...tor Pin no Signal Description 1 Reserved 2 CAN_L CAN_L bus line dominant low 3 CAN_GND CAN ground 4 Reserved 5 CAN_SHLD CAN shield 6 Reserved 7 CAN_H CAN_H Bus line dominant high 8 Reserved 9 Reserved Tab 3 3 Pin assignments of the CAN interface connector D sub 9 pin male connector on the ME3CAN1 L E WARNING Leave the reserved pins unconnected NOTE An inch screw thread 4 40UNC is used to fix the c...

Page 26: ... for PDO Node number Selectable from 1 to 127 Communication method Acyclic cyclic or event driven Supported transmission speed maximum bus length The maximum bus length varies depending on the transmission speed 앫 1 Mbps 25 m 앫 800 kbps 50 m 앫 500 kbps 100 m 앫 250 kbps 250 m 앫 125 kbps 500 m 앫 100 kbps 600 m 앫 50 kbps 1 000 m 앫 20 kbps 2 500 m 앫 10 kbps 5 000 m Connection cable The cable should co...

Page 27: ...pecifications Detailed Description of the Module MELSEC L Series CANopen Module ME3CAN1 L 3 5 3 2 1 External Dimensions Fig 3 3 Dimensions of the ME3CAN1 L 4 DIN rail center 45 Unit mm 45 95 90 4 4 28 5 ...

Page 28: ...it trigger request Layer 2 modes only Xn5 Use prohibited Yn5 Use prohibited Xn6 Yn6 Xn7 Yn7 Xn8 Yn8 Xn9 Yn9 XnA YnA XnB YnB XnC YnC XnD YnD XnE YnE XnF ME3CAN1 L error YnF ME3CAN1 L error clear request X n 1 0 NMT Error Control failure available CANopen mode only Y n 1 0 NMT Error Control failure clear request CANopen mode only X n 1 1 EMCY message available CANopen mode only Y n 1 1 EMCY message ...

Page 29: ...the internal buffer exchange and thereby which data is transmitted from the PLC by PDO PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and after setting Yn1 to ON As long as the reading of the previous data is not finished and a new data exchange command has not been sent data will not be overwritten by further PDO If the module is in NMT state Operatio...

Page 30: ...6 seconds to complete Module in Layer 2 online mode Xn3 Layer 2 online mode request Yn3 The Layer 2 online mode request signal Yn3 must be set to ON to start data exchange with other network nodes The module in Layer 2 online mode signal Xn3 will turn ON if the module can be set to online mode The configuration of the module can only be changed while this signal is OFF Message transmit trigger com...

Page 31: ...ON How to clear the error of all nodes To clear the error of all nodes write 0000H to Un G400 this is the default setting of Un G400 and turn ON the Clear NMT Error Control failure request Y n 1 0 The NMT error control failures of all nodes will be then cleared and the NMT Error Control failure available X n 1 0 will be turned OFF How to clear the error of a certain node To clear the error of a no...

Page 32: ...amp set request Y n 1 2 After the setting is finished the time stamp setting completed signal X n 1 2 will be turned ON and the request signal can be turned OFF When the ME3CAN1 L is the current network master and Pro ducer then the first time stamp will be sent Time stamp information is available in buffer memory X n 1 3 Time stamp read request Y n 1 3 To read the time stamp please set the time s...

Page 33: ...tion refertosection3 5 3 Afterthattherequest can be executed by setting Y n 1 F to ON When the request is completed the corresponding bits in Un G22 will be cleared and X n 1 F will be turned ON NOTE 앫 If both bits Un G22 0 and Un G22 1 are set simultaneously the buffer memory and Flash ROM will be reset to factory defaults 앫 If only bit Un G22 1 is set factory default values are written to the co...

Page 34: ...nit but not in remote I O stations Format of the device address Un Gn Un Head address of the special function module Gn Buffer memory address decimal For example the device address U3 G11designates the buffer memory address 11 in the special func tion module with the head address 3 X Y30 to X Y3F In this User s Manual the latter form of addressing is used throughout For full documentation of all t...

Page 35: ... CAN Controller in multiples of 0 1 875 R 39 Buffer memory setting error display 0H R 3 5 10 40 Buffer memory initialization online mode write error display 0H R 41 49 System area 50 Time stamp CANopen modes only Producer consumer 1 R W 3 5 11 51 Year 14 52 Month 8 53 Day 1 54 Hour 0 55 Minute 0 56 Second 0 57 Day of the week 5 R 58 Transmission interval 0 R W 59 Daily correction CANopen modes onl...

Page 36: ...52 Layer 2 RTR flags Layer 2 modes only 0H R 3 6 3 8353 8399 System area 8400 8402 Message transmit trigger flags Layer 2 modes only 0H R W 3 6 4 8403 8449 System area 8450 8477 PLC RUN STOP messages Layer 2 modes only 0H R W 3 6 5 8478 9999 System area Layer 2 modes only 10000 10293 Receive Transmit Process Data 0H R W 3 6 6 From 10294 System area 405 Mode only 10000 11023 Receive Process Data RP...

Page 37: ...lue 앫 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 9 11 Reserved 12 Data exchange status only EMCY data Bit 0 No data exchange between Emergency Message buffer memories and EMCY Receive Buffer Bit 1 Exchange data between Emergency Message buffer memories and EMCY Receive Buffer For more information please ref...

Page 38: ... in buffer memory address Un G22 NOTES If both bit 0 and bit 1 are set simultaneously the buffer memory and Flash ROM will be reset to the factory defaults If only bit 1 is set factory default values are written to the configuration buffer memory but not stored in the Flash ROM In order to store changes made to the configuration buffer memory set Un G22 bit 0 after changing the configuration Value...

Page 39: ...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 wil...

Page 40: ... to section 3 5 8 Restart the Module Refer to section 3 3 2 4 FLASH memory error Invalid data in the Flash memory might be caused by power loss during a write operation to the Flash ROM If this bit is not cleared after a module restart Yn2 or another power cycle please contact your Mitsubishi Electric representative 5 Invalid write access in Layer 2 mode Invalid write access to configuration buffe...

Page 41: ...re this failure occurred In case of a multiple write error the first failure will be displayed The buffer memory will be reset by set ting YnF to ON Buffer memory initialization online mode write error display Un G40 If a write access is done while the module is in Layer 2 online mode or in initialization mode bit 5 of Un G29 is set to 1 and Un G40 indicates the buffer memory address where this fa...

Page 42: ...when the time stamp set request Y n 1 2 is set to ON For a description of the signals Y n 1 2 and Y n 1 3 please refer to section 3 3 2 The date and time will be checked when the time stamp set request Y n 1 2 is set to ON If a value is outside of the allowed range Un G29 bit 6 will be set to 1 Refer to section 3 5 7 The clock data will start to run after the time stamp set request Y n 1 2 is set ...

Page 43: ...0 Un G400 specifies the number of the node whose NMT errors are to be cleared To clear the NMT errors of all nodes Un G401 Un G527 write 0000H to this buffer memory address This is also the default setting AfterwritingavaluetothisUn G400 pleaseexecutetheNMTerrorclearbysettingtheoutputY n 1 0 to ON Please refer to section 3 3 2 55 Time stamp Minute Value range 0 to 59 56 Second Value range 0 to 59 ...

Page 44: ...Un G400 and turn ON the Clear NMT error of CANopen node request Y n 1 0 Address Decimal Description Tab 3 16 Allocation of the buffer memory addresses Un G401 to Un G527 401 Node 1 status 402 Node 2 status 403 Node 3 status 404 Node 4 status 526 Node 126 status 527 Node 127 status Bit Description 0 Guarding Node Guarding is active 1 Heartbeat Heartbeat is active Will be set after the reception of ...

Page 45: ...the current NMT State of the NMT Slave is showing the actual NMT State as long as the error control messages are received Node Guarding can be only processed by the active NMT Master Refer to sections 4 6 8 and 4 6 7 about how to setup Heartbeat and Node Guarding NOTE If no error control service is configured or if error control messages are missing it s possible that not the actual remote NMT sta...

Page 46: ...mal Name Description High byte Low byte 750 Node ID Stack buffer The node ID number which sent the emergency message to the network is displayed 751 EMERGENCY data Emergency Error code oldest message 752 Byte 0 of manufacturer spe cific error code msef Error register 753 Byte 2 of msef Byte 1 of msef 754 Byte 4 of msef Byte 3 of msef 800 Node ID The node ID number which sent the emergency message ...

Page 47: ...NMT Startup master is active for one or more NMT slaves bit 14 in Un G25 is ON Refer to section 3 5 5 NOTES The addresses will not be cleared after command execution The former written transmit data will be displayed by making new write accesses or using the Display current parameter command Refer to section 5 3 Before a write access to the CIF command interface always check if Un G1000 does not d...

Page 48: ...ange this setting please use the SDO command in the CIF command interface refer to sections 4 6 5 and 5 1 or a CANopen net work configuration software Signed and unsigned 8 bit object NOTE The data will only be exchanged when the ME3CAN1 L is in Operational state NOTE If data are written with an SDO into the Object Dictionary to one of the buffer memory corresponding Index Sub index only the last ...

Page 49: ... bit FD 11015 lower 8 bit FE higher 8 bit A4C8 A488 01 11016 lower 8 bit 02 higher 8 bit 0F 11023 lower 8 bit 10 higher 8 bit Index Hexadecimal Sub index Hex Buffer memory address Decimal Unsigned 16 bit object Signed 16 bit object A580 A540 1 10000 2 10001 FE 10253 A581 A541 1 10254 FE 10507 A582 A542 1 10508 FE 10761 A583 A543 1 10762 FE 11015 A584 A544 1 11016 08 11023 Tab 3 23 Direct receive b...

Page 50: ...cimal Sub index Hex Buffer memory address Decimal Float 32 bit object Unsigned 32 bit object Signed 32 bit object A6C0 A680 A640 1 10000 10001 2 10002 10003 FE 10506 10507 A6C1 A681 A641 1 10508 10509 FE 11014 11015 A6C2 A682 A642 1 11016 11017 04 11022 11023 Tab 3 24 Direct receive buffer memory access for float unsigned and signed 32 bit objects ...

Page 51: ...1H A0C0H 01H A040H 01H 02H and A000H 01H 02H If none of these indexes are mapped into a TPDO the data will not copy from the buffer memory into one of the assigned OD Indexes Sub indexes Index Hexadecimal Sub index Hex Buffer memory address Decimal Unsigned 8 bit object Signed 8 bit object A040 A000 01 13000 lower 8 bit 02 higher 8 bit 03 13001 lower 8 bit 04 higher 8 bit FD 13126 lower 8 bit FE h...

Page 52: ...23 lower 8 bit 10 higher 8 bit Index Hexadecimal Sub index Hex Buffer memory address Decimal Unsigned 16 bit object Signed 16 bit object A100 A0C0 1 13000 2 13001 FE 13253 A101 A0C1 1 13254 FE 13507 A102 A0C2 1 13508 FE 13761 A103 A0C3 1 13762 FE 14015 A104 A0C4 1 14016 08 14023 Tab 3 26 Direct transmit buffer memory access for unsigned and signed 16 bit objects Index Hexadecimal Sub index Hex Buf...

Page 53: ...dex Hexadecimal Sub index Hex Buffer memory address Decimal Float 32 bit object Unsigned 32 bit object Signed 32 bit object A240 A200 A1C0 1 13000 13001 2 13002 13003 FE 13506 13507 A241 A201 A1C1 1 13508 13509 FE 14014 14015 A242 A202 A1C2 1 14016 14017 04 11022 11023 Tab 3 27 Direct transmit buffer memory access for float unsigned and signed 32 bit objects ...

Page 54: ...specific error code list contains an error for each message slot NOTES All CANopen Functions are deactivated in Layer 2 Message mode The buffer memory addresses Un G20 24 25 29 35 36 and the CIF command interface have the same function like in the CANopen Mode except CANopen specific functions The buffer memory addresses of the Emergency Message Buffer and the Heartbeat Node Guarding Status are no...

Page 55: ...ameter D 0000H 6004 Layer 2 message 2 parameter A Layer 2 message 2 parameter FFFFH R W 6005 Layer 2 message 2 parameter B FFFFH 6006 Layer 2 message 2 parameter C 0000H 6007 Layer 2 message 2 parameter D 0000H 6160 Layer 2 message 41 parameter A Layer 2 message 41 parameter FFFFH R W 6161 Layer 2 message 41 parameter B FFFFH 6162 Layer 2 message 41 parameter C 0000H 6163 Layer 2 message 41 parame...

Page 56: ... RTR flag list Refer to section 3 6 3 Manual RTR response If parameter B is set to 6FFFH the ME3CAN1 L will NOT automatically respond to Remote Transmit Requests but the RTR will be added to the RTR flag list Refer to section 3 6 3 Disable RTR handling If parameter B is set to 5FFFH the ME3CAN1 L will discard any incoming RTR telegrams matching the CAN ID of this Layer 2 message slot Parameter Des...

Page 57: ... cycle time sets the interval for message transmission in units of ms A value of 0 will be forcibly set to 1 1 ms Transmission type 2 will trigger the transmission every interval Transmission type 3 will trigger the transmission only if the data was changed since the last transmission Transmission type value Description transmission trigger event 0 When Yn1 is set to ON the Layer 2 message is alwa...

Page 58: ...TR new DCL high byte is described in table 3 39 The flags RTR new DLC are cleared by the PLC program after They remain 00H 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 buf fers and as this is the only message between and the high byte value is set to 03H The high byte value 07H after shows that t...

Page 59: ... and the data of this message is stored to the data buffer memory The data of the messages 0182H and 0186H is lost NOTE In this example it is expected that the PLC program resets the RTR new DLC flags after reading the data at and Example 2 Filter setting 0000 0006H NOTE In this case all four messages are stored in the same location If more than one of the messages with the ID 180H 182H 184H or 18...

Page 60: ... automatically reset when a message has been transmitted from the message slot RTR message reception list Indicates whether reading from and writing to a sequence program are enabled R Read enabled W Write enabled Address Decimal Bit No Description R W 8350 Bit 0 RTR message for Layer 2 message slot 1 received R Bit 1 RTR message for Layer 2 message slot 2 received Bit 14 RTR message for Layer 2 m...

Page 61: ...nsmit 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 Message transmit trigger completed Xn4 will turn ON if all the messages are written into the transmit buffer Please refer also to section 3 3 1 Message trigger list Address Decimal Bit No Transmit request message slot R W 8400 Bit 0 Messa...

Page 62: ...ge 4 Address Decimal Function Description Message slot Default Remark High Byte Low Byte 8450 CAN ID 1 LW 11 29 bit CAN Identifier low word RUN STOP message 1 FFFFH R W 8451 CAN ID 1 HW 11 29 bit CAN Identifier high word FFFFH 8452 DLC Data length count 0H 8453 Data bytes Data byte 2 Data byte 1 0H 8454 Data byte 4 Data byte 3 0H 8455 Data byte 6 Data byte 5 0H 8456 Data byte 8 Data byte 7 0H 8471...

Page 63: ...ages and read write for transmit messages NOTE The buffer memory addresses are refreshed every time the signal Yn1 is turned ON refer to sec tion 3 3 2 Address Decimal Function Description Message slot Default Remark High Byte Low Byte 10000 CAN ID 1 LW 11 29 bit CAN Identifier low word Layer 2 message 1 FFFFH R W 10001 CAN ID 1 HW 11 29 bit CAN Identifier high word FFFFH 10002 RTR new DLC RemoteT...

Page 64: ...received If bit 10 is 1 at least one more message has been stored in this message buffer while bit 8 was 1 which caused an overflow condition The RTR flag will not be displayed in case of receive messages For details of the handling for received RTR messages refer to section 3 6 3 The various cases for the bits 8 to 10 are shown in the following table 쑗 Bit 0 쎲 Bit 1 X Bit status is don t care In ...

Page 65: ... is given in the unit bytes 0 to 8 Data structure in Un G1005 to Un G1008 Address Decimal Description Transmit message Receive message 1000 Command 000CH Send Layer 2 Message 앫 000DH Data written to transmit buffer 앫 F00CH Setting error 앫 FFFFH CIF command interface busy 1001 11 29 bit CAN Identifier low word Diagnosis Data 앫 0000H No error 앫 F00CH Setting error 앫 All other values Displays the err...

Page 66: ...Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 44 MITSUBISHI ELECTRIC ...

Page 67: ...n object 4 6 6 Node guarding Node guarding service 4 6 7 Heartbeat Heartbeat service 4 6 8 TIME Time stamp object 4 6 9 EMCY Emergency object 4 6 12 General NMT General Network Management service 4 8 NMT master Network Management Master service Boot up Device boot Up message service 4 8 2 Flying master Flexible network management 4 8 10 LSS Layer Setting Service for devices 4 8 11 Configuration ma...

Page 68: ...the parameter or data of the index Function mode Description 11 bit CAN ID Layer 2 mode This mode supports full access to layer 2 of the CAN communication protocol Layer 2 messages with 11 bits identifier can be sent and received in this mode 29 bit CAN ID Layer 2 mode This mode supports full access to Layer 2 of the CAN communication protocol Layer 2 messages with 29 bits identifier can be sent a...

Page 69: ...s only Indexes 0002H to 0008H 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 details please refer to section 4 6 5 Command interface Function mode Reference Section Mode 405 Layer 2 mode 11 bit 29 bit SDO request 쎲 쑗 쑗 5 1 Send Emergency Message 쎲 쑗 쑗 5 2 Display current parameter 쎲 쎲 쎲 5 3 Sending Layer 2 Me...

Page 70: ...o section 4 6 7 U8 0H R W 100E 100F 00 Reserved 1010 00 Store parameters Highest sub index U8 01H R 01 Save all parameters Refer to section 4 6 10 U32 1H R W 1011 00 Restore default parameters Highest sub index U8 01H R 01 Restore all parameters Refer to section 4 6 11 U32 1H R W 1012 00 COB ID Time Refer to section 4 6 9 U32 8000H 0100 R W 1013 00 Reserved 1014 00 COB ID EMCY Refer to section 4 6...

Page 71: ... 03 Inhibit time U16 04 Compatibility entry U8 05 Event timer U16 1900 19FF 00 Reserved 1A00 1BFF 00 TPDO mapping parameter Refer to section 4 6 5 Numberofvalid object entries U8 Refer to table 4 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 1...

Page 72: ...8 80H R 01 7F Refer to section 4 8 9 Node ID value U8 0H R W 80 All Nodes W 1F84 00 Device type Highest sub index U8 7FH R 01 7F Refer to section 4 8 4 U32 0H R W 1F85 00 Vendor identification Highest sub index U8 7FH R 01 7F Refer to section 4 8 4 U32 0H R W 1F86 00 Product code Highest sub index U8 7FH R 01 7F Refer to section 4 8 4 U32 0H R W 1F87 00 Revision number Highest sub index U8 7FH R 0...

Page 73: ... 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 A5...

Page 74: ...210 A580F310 A580F410 0 0 0 0 163D 4 A580F510 A580F610 A580F710 A580F810 0 0 0 0 163E 4 A580F910 A580FA10 A580FB10 A580FC10 0 0 0 0 163F 4 A580FD10 A580FE10 A5810110 A5810210 0 0 0 0 1640 4 A5810310 A5810410 A5810510 A5810610 0 0 0 0 1641 4 A5810710 A5810810 A5810910 A5810A10 0 0 0 0 1642 4 A5810B10 A5810C10 A5810D10 A5810E10 0 0 0 0 1643 4 A5810F10 A5811010 A5811110 A5811210 0 0 0 0 1644 4 A58113...

Page 75: ...C710 A581C810 A581C910 A581CA10 0 0 0 0 1672 4 A581CB10 A581CC10 A581CD10 A581CE10 0 0 0 0 1673 4 A581CF10 A581D010 A581D110 A581D210 0 0 0 0 1674 4 A581D310 A581D410 A581D510 A581D610 0 0 0 0 1675 4 A581D710 A581D810 A581D910 A581DA10 0 0 0 0 1676 4 A581DB10 A581DC10 A581DD10 A581DE10 0 0 0 0 1677 4 A581DF10 A581E010 A581E110 A581E210 0 0 0 0 1678 4 A581E310 A581E410 A581E510 A581E610 0 0 0 0 167...

Page 76: ...E10 A5829F10 A582A010 0 0 0 0 16A7 4 A582A110 A582A210 A582A310 A582A410 0 0 0 0 16A8 4 A582A510 A582A610 A582A710 A582A810 0 0 0 0 16A9 4 A582A910 A582AA10 A582AB10 A582AC10 0 0 0 0 16AA 4 A582AD10 A582AE10 A582AF10 A582B010 0 0 0 0 16AB 4 A582B110 A582B210 A582B310 A582B410 0 0 0 0 16AC 4 A582B510 A582B610 A582B710 A582B810 0 0 0 0 16AD 4 A582B910 A582BA10 A582BB10 A582BC10 0 0 0 0 16AE 4 A582BD...

Page 77: ...37310 A5837410 A5837510 A5837610 0 0 0 0 16DC 4 A5837710 A5837810 A5837910 A5837A10 0 0 0 0 16DD 4 A5837B10 A5837C10 A5837D10 A5837E10 0 0 0 0 16DE 4 A5837F10 A5838010 A5838110 A5838210 0 0 0 0 16DF 4 A5838310 A5838410 A5838510 A5838610 0 0 0 0 16E0 4 A5838710 A5838810 A5838910 A5838A10 0 0 0 0 16E1 4 A5838B10 A5838C10 A5838D10 A5838E10 0 0 0 0 16E2 4 A5838F10 A5839010 A5839110 A5839210 0 0 0 0 16...

Page 78: ...f sub index hex 00H R W 01H R W 02H R W 03H R W 04H R W 05H R W 06H R W 07H R W 08H R W 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...

Page 79: ...AD10 A100AE10 A100AF10 A100B010 0 0 0 0 1A2C 4 A100B110 A100B210 A100B310 A100B410 0 0 0 0 1A2D 4 A100B510 A100B610 A100B710 A100B810 0 0 0 0 1A2E 4 A100B910 A100BA10 A100BB10 A100BC10 0 0 0 0 1A2F 4 A100BD10 A100BE10 A100BF10 A100C010 0 0 0 0 1A30 4 A100C110 A100C210 A100C310 A100C410 0 0 0 0 1A31 4 A100C510 A100C610 A100C710 A100C810 0 0 0 0 1A32 4 A100C910 A100CA10 A100CB10 A100CC10 0 0 0 0 1A3...

Page 80: ...410 A1018510 A1018610 0 0 0 0 1A61 4 A1018710 A1018810 A1018910 A1018A10 0 0 0 0 1A62 4 A1018B10 A1018C10 A1018D10 A1018E10 0 0 0 0 1A63 4 A1018F10 A1019010 A1019110 A1019210 0 0 0 0 1A64 4 A1019310 A1019410 A1019510 A1019610 0 0 0 0 1A65 4 A1019710 A1019810 A1019910 A1019A10 0 0 0 0 1A66 4 A1019B10 A1019C10 A1019D10 A1019E10 0 0 0 0 1A67 4 A1019F10 A101A010 A101A110 A101A210 0 0 0 0 1A68 4 A101A3...

Page 81: ...5910 A1025A10 A1025B10 A1025C10 0 0 0 0 1A96 4 A1025D10 A1025E10 A1025F10 A1026010 0 0 0 0 1A97 4 A1026110 A1026210 A1026310 A1026410 0 0 0 0 1A98 4 A1026510 A1026610 A1026710 A1026810 0 0 0 0 1A99 4 A1026910 A1026A10 A1026B10 A1026C10 0 0 0 0 1A9A 4 A1026D10 A1026E10 A1026F10 A1027010 0 0 0 0 1A9B 4 A1027110 A1027210 A1027310 A1027410 0 0 0 0 1A9C 4 A1027510 A1027610 A1027710 A1027810 0 0 0 0 1A9...

Page 82: ...010 A1033110 A1033210 0 0 0 0 1ACB 4 A1033310 A1033410 A1033510 A1033610 0 0 0 0 1ACC 4 A1033710 A1033810 A1033910 A1033A10 0 0 0 0 1ACD 4 A1033B10 A1033C10 A1033D10 A1033E10 0 0 0 0 1ACE 4 A1033F10 A1034010 A1034110 A1034210 0 0 0 0 1ACF 4 A1034310 A1034410 A1034510 A1034610 0 0 0 0 1AD0 4 A1034710 A1034810 A1034910 A1034A10 0 0 0 0 1AD1 4 A1034B10 A1034C10 A1034D10 A1034E10 0 0 0 0 1AD2 4 A1034F...

Page 83: ...A103CD10 A103CE10 0 0 0 0 1AF2 4 A103CF10 A103D010 A103D110 A103D210 0 0 0 0 1AF3 4 A103D310 A103D410 A103D510 A103D610 0 0 0 0 1AF4 4 A103D710 A103D810 A103D910 A103DA10 0 0 0 0 1AF5 4 A103DB10 A103DC10 A103DD10 A103DE10 0 0 0 0 1AF6 4 A103DF10 A103E010 A103E110 A103E210 0 0 0 0 1AF7 4 A103E310 A103E410 A103E510 A103E610 0 0 0 0 1AF8 4 A103E710 A103E810 A103E910 A103EA10 0 0 0 0 1AF9 4 A103EB10 A...

Page 84: ...ects Node ID 0 Peer to peer objects Node ID 1 127 Fig 4 1 Structure of a CAN message COB Function Code binary Resulting CAN ID NMT 0000b 0H SYNC 0001b 80H TIME 0010b 100H Tab 4 11 Broadcast objects Node ID 0 and resulting CAN ID COB Function Code binary Resulting CAN ID EMCY 0001b 81H FFH TPDO1 0011b 181 1FFH RPDO1 0100b 201 27FH TPDO2 0101b 281 2FFH RPDO2 0110b 301 37FH TPDO3 0111b 381 3FFH RPDO3...

Page 85: ... Pre defined error field This object provides the errors that occurred on the module and were signaled via the emergency object Sub index 00H Number of errors The sub index 00H displays the number of errors that are recorded The entire history will be deleted by writing 0H to this sub index Values other than 0H are not allowed Sub index 01H 0FH Standard error fields List of the last 15 EMCY errors...

Page 86: ...cts PDO The 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 mappingofapplicationobjectsintoaPDOmaybetransmitted...

Page 87: ... 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 4 5 Object 1400H to 14FFH Sub index 01H RPDO COB ID Sub index 02H RPDO transmission type Fig 4 5 Bit allocation for sub index 01H RPDO COB ID Bit Item Description Tab 4 14 Description for sub index 01H RPDO ...

Page 88: ...ect unit bit Example To map the first unsigned 16 bit data of RPDO1 to Un G10000 set Index 1600H Sub index 01H to A5800110H This stands for Object Dictionary Index A580H Sub index 01H and a data size of 16 bit Fig 4 7 Bit allocation for sub index 01H TPDO COB ID Bit Item Description Tab 4 17 Description for sub index 01H TPDO COB ID Valid Bit 0 Valid Bit 1 Invalid RTR Bit 0 Remote transmission Req...

Page 89: ... Description 00 Synchronous acyclic The PDO will be transmitted after occurrence of the SYNC but acyclic not periodically only 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 FD Reserved FE Event driven function mode 405 Tab 4 18 Description for sub index 02H TP...

Page 90: ...no PDO will be sent even if the data exchange is triggered by Yn1 Case 2 Inhibit time 0 Event time 0 The behavior is the same as for case 1 but with the following condition added A PDO will only be sent if the inhibit time is not active and the data exchange is requested NOTE The event and inhibit timer are started every time when PDO transmission is started Fig 4 9 Relationships for inhibit time ...

Page 91: ...e inhibit time is not active and the data exchange is requested A PDO will also be sent whenever the event timer elapses Fig 4 11 Relationships for inhibit time 0 and event time 0 Fig 4 12 Relationships for inhibit time 0 event time 0 and inhibit time event time Object Dictionary Buffer memory data Data exchange request Yn1 TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 0001H 2102H 3528H 000...

Page 92: ...e 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 Fig 4 13 Relationships for inhibit time 0 event time 0 and inhibit time event time Fig 4 14 Transfer of a SYNC message Object Dictionary Buffer memory data Data exchange request Yn1 ...

Page 93: ...e lifetime may be different for each NMT slave If the NMT slave has not been polled during its life time 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 the NMT master does not receive the confirmation after the RTR within the node life time the response of the NMT guarding slave state does...

Page 94: ...uarding 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 Object 1F81H NMT slave assignment master setting For the NMT slave assignment please refer to section 4 8 6 Fig 4 16 Node guarding NOTE Node guarding produces a high bus load It is recommended to use heartbeat instead NMT Master Request 1F81 H Retry factor NMT sl...

Page 95: ...oring 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...

Page 96: ...an be directly changed at Un G50 refer to section 3 5 11 Incaseoftimeoverflow timelaterthan31stDecember207923 59 59 thetimereturnsto1stJanuary 2000 00 00 00 Buffer memory display for year will be 00 to 99 in all cases Object 1012H COB ID time stamp object NOTE For TIME consuming a received time stamp before 1st January 2000 0 00 00 is set to 1st January 2000 00 00 00 Fig 4 19 Time stamping Fig 4 2...

Page 97: ...n read access the ME3CAN1 L gives back information about its restoring functionality NOTE The store parameter command is not necessary for CDCF files stored on Object 1F22H Bit Description 0 Constant 1 Device does save parameter on command 1 Constant 0 Device does not save parameter without user request 2 31 Reserved Tab 4 22 Storage functionality information Fig 4 21 Restore procedure NOTES Do no...

Page 98: ...e Object 1014H COB ID EMCY For the resulting COB ID refer to section 4 6 1 Object 1015H Inhibit time EMCY This object configures the minimum time between two EMCY messages The unit of the 16 bit value is 100 μs The value 0 disables the inhibit time The ME3CAN1 L counting resolution is 1ms values smaller than 1 ms will set internally to 1ms values starting from 1ms will be divided by 1000 Fig 4 22 ...

Page 99: ...o the related node ID For the resulting COB ID refer to section 4 6 1 Fig 4 24 Bit allocation for object 1028H sub index 01H 7FH Bit Item Description Tab 4 25 Description for object 1028H sub index 01H 7FH Valid Bit 0 EMCY consuming of remote Node is valid Bit 1 EMCY consuming of remote Node is not valid 11 bit CAN ID 11 bit CAN ID of the CAN base frame Refer to section 4 6 1 Bit 31 11 bit CAN ID ...

Page 100: ...LC RUN STOP If the setting value is 01H the ME3CAN1 L will change into Pre operational but can be set again to Operational when the PLC is in STOP With the setting value 00H or 02H the ME3CAN1 L cannot set into Operational as long as the PLC is in STOP Severe CANopen device errors also may be caused by CANopen device internal failures Object 1029H Sub index 01H Error behavior object PLC RUN STOP I...

Page 101: ...ng device initializa tion 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 start up master into the NMT state Operational Fig 4 25 NMT states State change Description Shift to the NMT state Initialization automatically at power on Shift to the NMT state Pre oper...

Page 102: ...elation The relation between NMT states and communication objects is shown in the following table Ser vices 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 쎲 Applicable ...

Page 103: ...ill 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 Object 1F84H Sub index 01H to 7FH Device Type The sub index corresponds to the node ID The value refers to the object 1000H sub index 00H of the corresponding node ID Object 1F85H Sub index 01H to 7FH Vendor identification The s...

Page 104: ...the NMT master shifts from NMT state Pre operational to NMT state Operational all assigned NMT slaves shall be booted The main flow chart for the NMT master start up is shown in fig 4 28 Figure 4 29 shows a simple start up overview to show the influence of the Un G70 setting It is rec ommended not to use the simple start up since it cannot been guaranteed that every NMT slave will besetintoOperati...

Page 105: ...lave received Note NMT Slave startup of optional NMT Slaves continues Yes Response from NMT Slave OK No No Yes Signal to continue NMT Master startup process All optional NMT Slaves once processed All mandatory NMT Slaves booted Yes Switch NMT master automatically into NMT state OPERATIONAL OD Index 1F80H Bit 2 OD Index 1F81H Bit 0 Bit 3 Yes To the next page Serious Problem in the network or faulty...

Page 106: ... with NMT start all nodes No Network startup finished without failures NMT service Start remote node with node ID 0 all nodes NMT service Start remote for each NMT slave individually all assigned slaves All optional NMT slaves started successfully Yes No Continued from the previous page Power on Reset OD Index 1F81H Bit 0 Bit 4 Keep NMT Slaves in Operational NMT service Reset communication all Nod...

Page 107: ...NMT State Operational Refer to section 4 8 8 and section 3 5 18 Start node How to start the NMT slaves Bit 0 The NMT master shall start the NMT slaves Bit 1 Not the NMT master but the PLC application shall start the NMT slaves If this bit is set to 1 앫 Consider the result behavior shown in fig 4 29 and fig 4 31 Reset all nodes Describes which NMT service shall be executed if an error control event...

Page 108: ...oint where the last mandatory slave gets to the NMT state Operational If identification data of NMT slaves doesn t match to the setting in the NMT Master the whole NMT startup process will be stopped and the NMT start up master will be disabled If the identification is successful the configuration manager configures the NMT Slave at the time when configuration data are stored in the NMT Master Ref...

Page 109: ...e state Operational Yes Yes Configuration check OK No Yes Start NMT error control service No Yes Start NMT error control service OK OD Index 1F81H Bit 2 NMT Slave shall be started by NMT Master Yes Yes CANopen devices shall be started OD Index 1F80H Bit 3 OD Index 1F80H Bit 1 No No Yes Yes CANopen devices shall be started individu ally No Is NMT Master in NMT state Operational NMT Service Start Re...

Page 110: ...ent The value 0 disables the node guarding of the CANopen device Setting range K0 to K255 Configuration Fig 4 32 Bit allocation for NMT slave assignment Fig 4 33 Bit allocation for the configuration field of NMT slave assignment Bit Item Description Remark NMT slave Bit 0 Remote node is NMT master or not assigned Bit 1 Remote node is NMT slave and assigned to this NMT master 앫 If the NMT master sh...

Page 111: ...efer to section 4 8 5 앫 For LSS slave this bit must be set to 1 to enable the LSS service for this NMT slave Refer to sec tion 4 8 11 Reset communication How shall the NMT service Reset communication be executed for the CANopen device Bit 0 May be executed at any time Bit 1 Shall not be executed when the CANopen device is in NMT state Operational 앫 When using flying master service all nodes reset ...

Page 112: ...ster refer to section 4 8 2 If the NMT master is in NMT state stopped the NMT start up master will not be able to start the NMT slave Fig 4 34 NMT error handler OD Index 1F81H Bit 0 Start NMT error handler OD Index 1F81H Bit 3 OD Index 1F80H Bit 6 OD Index 1F81H Bit 3 OD Index 1F80H Bit 4 Node is assigned NMT Slave Yes No Node is mandatory and all nodes shall be stopped No Node is mandatory and al...

Page 113: ...ssing Reserved 02 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 앫 Remote Node Reserved 앫 Local Node NMT state Reset communication NMT service Reset communication 08 7E Reserved 7F NMT state Pre operational NMT service Enter pre operational 80 83 Reserved 84 Reserved NMT service Stop remote ...

Page 114: ...he higher priority In Un G25 bit 15 indicates whether the module is the current NMT master refer to section 3 5 5 NOTE If node guarding is not set the node guarding will not start Value hex Description Read Write 00 Node guarding stopped Stop node guarding 01 Node guarding started Start node guarding 02 FE Reserved Tab 4 32 Description for object 1F83H Fig 4 35 CANopen network with flying masters ...

Page 115: ...ation before going into productive state NOTES If a flying master which is not a ME3CAN1 L is in the network please ensure that heartbeat pro ducing is enabled in this node otherwise the ME3CAN1 L with activated flying master will send endless NMT messages reset communication All flying masters should have the same configuration for the slaves Configure the negotiation response wait time of all fl...

Page 116: ...tiation Wait time before sendingservice Confirmation NMT flying master negotiation and become active NMT master Time Priority level 쎹 Priority time slot 쎵 Node ID 쎹 CANopen device time slot The first flying master where this time elapses shall have the highest priority OD Index 1F90H Sub index 03H OD Index 1F90H Sub index 04H OD Index 1F90H Sub index 05H Un G27 Service Confirmation NMT flying mast...

Page 117: ...The value is in units of ms Sub index 03H NMT master priority Sub index H04 Priority time slot The value is in units of ms Formula for the priority time slot Priority time slot 127 쎹 CANopen device time slot sub index 05H Sub index 05H CANopen device time slot The value is in units of ms Sub index 06H Multiple NMT master detect cycle time The value is in units of ms Fig 4 37 Bit allocation for sub...

Page 118: ... LSS client Theidentificationinformationwhichisavailableattheobjectdictionaryindexes1000H and1018H at the LSS client Refer to section 4 8 4 Index 1F81H the sub index for 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 at the configured baud rate the ME3CAN1 L changes the baud rate auto matically in o...

Page 119: ...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 ind...

Page 120: ...e ID will be ignored and no error will be generated IfnodataarestoredfortheNodeIDinsub index01H to7FH aSDOerror08000024H willbegenerated A configuration request to the self node ID will be ignored Object 1F26H Sub index 01H 7FH Expected configuration date This object is used by CANopen configuration software to verify the configuration date of the CANopen devices in the network The value contains ...

Page 121: ...dex U8 FEH R 01 FE Signed integer 8 bit I8 0 R A008 00 Highest sub index U8 10H R 01 10 Signed integer 8 bit I8 0 R A040 A047 00 Highest sub index U8 FEH R 01 FE Unsigned integer 8 bit U8 0 R A048 00 Highest sub index U8 10H R 01 10 Unsigned integer 8 bit U8 0 R A0C0 A0C3 00 Highest sub index U8 FEH R 01 FE Signed integer 16 bit I16 0 R A0C4 00 Highest sub index U8 08H R 01 08 Signed integer 16 bi...

Page 122: ...87 00 Highest sub index U8 FEH R 01 FE Signed integer 8 bit I8 0 R W A488 00 Highest sub index U8 10H R 01 10 Signed integer 8 bit I8 0 R W A4C0 A4C7 00 Highest sub index U8 FEH R 01 FE Unsigned integer 8 bit U8 0 R W A4C8 00 Highest sub index U8 10H R 01 10 Unsigned integer 8 bit U8 0 R W A540 A543 00 Highest sub index U8 FEH R 01 FE Signed integer 16 bit I16 0 R W A544 00 Highest sub index U8 08...

Page 123: ... the SDO connection to the remote Node During the first initial network startup the NMT Startup Master occupies up to 126 SDO connections at the same time If an NMT Slave fails after the initial Network Startup the NMT Startup Master occupies the SDO connection to the specific NMT Slave If the NMT Startup master is active for one or more NMT slaves bit 14 in Un G25 is ON Refer to section 3 5 5 Com...

Page 124: ...G1004 Un G1005toUn G1066willcontainupto124databytes Buffer memory allocation Node number 0 is accessing the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is useful as the configuration of the local node can be programmed independently from the node address Result data structure in Un G1005 to Un G1066 Address Decimal Description Transmit message Receive message...

Page 125: ...e can be programmed independently from the node address If the final setting is located before Un G1057 write FFFFH in the last buffer memory address Node number Address Decimal Description Transmit message Receive message 1000 Command 0008H SDO Multi read 앫 0009H SDO read success 앫 000FH Error Refer to section 5 4 앫 00F9H Error refer to Node number and Result data for details 앫 FFFFH CIF Busy 100...

Page 126: ...g the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is useful as the configuration of the local node can be programmed independently from the node address Command parameter data structure in Un G1005 to Un G1066 Address Decimal Description Transmit message Receive message 1000 Command 0002H SDO write 앫 0003H SDO write success 앫 000FH Error Refer to section 5 4 ...

Page 127: ...and 0002H SDO write 0003H SDO write success 1001 Node number The ME3CAN1 L itself 0H Node number read back 0H the ME3CAN1 L 1002 Index Request NMT 1F82H Index read back 1F82H Request NMT 1003 Sub index all nodes 80H Sub index read back 80H all nodes 1004 Data length 1 byte 1 Unused 1005 Command parameter data NMT service Start remote node 05H Unused 1006 1066 Unused Unused Tab 5 7 Example setting ...

Page 128: ...as the configuration of the local node can be programmed independently from the node address If the final setting is located before Un G1057 write FFFFH in the last buffer memory address Node number Address Decimal Description Transmit message Receive message 1000 Command 0006H SDO Multi write 앫 0007H SDO write success 앫 000FH Error Refer to section 5 4 앫 00F7H Error refer to Node number and Resul...

Page 129: ...be turned ON Buffer memory allocation For Emergency error codes please refer to section 8 2 1 Address Decimal Description Transmit message Receive message 1000 Command 000AH Send emergency message 앫 000BH Command success 앫 000CH Communication error 앫 000FH Error Refer to section 5 4 앫 FFFFH CIF Busy 1001 Emergency error code 앫 0000H No Error 앫 0001H EMCY Inhibit time not elapsed 앫 0002H Device is ...

Page 130: ...r set and PLC program Execution procedure Display current parameter Write the command code 0000H to Un G1000 TurnONY n 1 7inordertotriggerthecommandexecution Ifthecommandexecutionisfinished X n 1 7 will be turned ON When the parameter value of the last executed CIF command has been restored to Un G1001 to Un G1066 0000H is displayed to Un G1000 Buffer memory allocation Address Decimal Description ...

Page 131: ... while CIF was busy error is displayed in the result buffer memory This error status must be acknowledged reset by a special command to make the CIF available again refer to the next section 5 4 3 below 5 4 3 Clear Reset the CIF was busy error To reset the CIF after a Command or parameter change while CIF was busy error refer to section 5 4 3 above FFFFH must be written to Un G1000 Then Y n 1 7 mu...

Page 132: ...cimal Description Tab 5 14 SDO error message 1000 000FH Error 1001 Error Class 0003H 1002 Node ID 1003 Low word of error code 1004 High word of error code 1005 1066 Unused NOTE For SDO error codes please refer to section 8 2 3 Address Decimal Description Tab 5 15 Error message when the ME3CAN1 L is in Bus OFF state 1000 000FH Error 1001 Error Class B0FFH 1002 1066 Unused Address Decimal Descriptio...

Page 133: ...on 2 1 For details on the implementation and installation of the ME3CAN1 L refer to the user s manual Hardware design maintenance and inspection for the CPU module used 6 1 1 Handling Precautions The following are precautions for handling the ME3CAN1 L as a unit Do not drop the module or subject it to heavy impact Do not remove the printed circuit board of each module from its case This may cause ...

Page 134: ...art for the setup of the CANopen module Start Module mounting Add the ME3CAN1 L to the MELSEC L series system Wiring Connect the CAN bus Perform the start up procedure Programming and debugging Create and check the sequence program Refer to the user s manual for the CPU module used Refer to section 6 3 Refer to section 6 4 Refer to chapter 7 ...

Page 135: ...o that neither the connector nor the connected parts are directly stressed Make sure that foreign matter such as cutting chips and wire scraps does not enter the ME3CAN1 L Failure to observe this could lead to fires faults or malfunctioning Make sure to affix the CAN bus connector with fixing screws Tightening torque should be within 0 20 to 0 28 Nm Loose connections may cause malfunctions Do not ...

Page 136: ...cable No of Pairs 2 Conformance Standard ISO 11898 1993 Cross sectional area 0 3 mm2 to 0 82 mm2 or more AWG22 to AWG18 Impedance 120 Tab 6 2 Specifications of the CAN bus cable Bus length m Cable cross section mm2 Length related resistance m m 0 to 40 0 3 to 0 34 70 40 to 300 0 34 to 0 60 쏝60 300 to 600 0 50 to 0 60 쏝40 600 to 1000 0 75 to 0 80 쏝26 Tab 6 3 Relation between bus length and cable cr...

Page 137: ... bus connector with built in bus terminator b WARNING For safety always check the potential differences between the grounding points If potential differences are found proper measures must be taken to avoid damages Fig 6 3 Grounding of the CAN bus cable Fig 4 4 Grounding of the ME3CAN1 L For noise prevention please attach at least 35mm of the shield from the twisted pair CAN bus cable to the groun...

Page 138: ...ication and mapping parameter 12 On the NMT Master Setup NMT Slave assignment OD Index 1F81H 4 8 6 Setup NMT Slave Identification data OD Indexes 1F84H to 1F88H the OD Index 1F84H is in most cases sufficient 4 8 4 Setup the Boot time OD Index 1F89H 4 8 6 13 Store the OD configuration OD Index 1010H 4 6 10 Tab 6 4 Start up procedure for CANopen쏐 405 mode Step Action Reference Section 1 Set the func...

Page 139: ...pen PDO Communication using Function Blocks 7 1 1 System configuration The sample program sets up the initial buffer memory and Object dictionary settings and starts PDO communication b WARNING When applying the program example or parts of the program examples introduced in this chap ter to the actual system verify the applicability and confirm that no problems will occur in the system control NOT...

Page 140: ...Programming CANopen PDO Communication using Function Blocks 7 2 MITSUBISHI ELECTRIC 7 1 2 Local Label setting Fig 7 2 Local Label for this example 1 ...

Page 141: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 3 Fig 7 3 Local Label for this example 2 ...

Page 142: ...Programming CANopen PDO Communication using Function Blocks 7 4 MITSUBISHI ELECTRIC Fig 7 4 Local Label for this example 3 ...

Page 143: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 5 7 1 3 Program Fig 7 5 Example Program 1 ...

Page 144: ...Programming CANopen PDO Communication using Function Blocks 7 6 MITSUBISHI ELECTRIC Fig 7 6 Example Program 2 ...

Page 145: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 7 Fig 7 7 Example Program 3 ...

Page 146: ...Programming CANopen PDO Communication using Function Blocks 7 8 MITSUBISHI ELECTRIC Fig 7 8 Example Program 4 ...

Page 147: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 9 Fig 7 9 Example Program 5 ...

Page 148: ...Programming CANopen PDO Communication using Function Blocks 7 10 MITSUBISHI ELECTRIC Fig 7 10 Example Program 6 ...

Page 149: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 11 Fig 7 11 Example Program 7 ...

Page 150: ...Programming CANopen PDO Communication using Function Blocks 7 12 MITSUBISHI ELECTRIC Fig 7 12 Example Program 8 ...

Page 151: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 13 Fig 7 13 Example Program 9 ...

Page 152: ...Programming CANopen PDO Communication using Function Blocks 7 14 MITSUBISHI ELECTRIC Fig 7 14 Example Program 10 ...

Page 153: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 15 Fig 7 15 Example Program 11 ...

Page 154: ...Programming CANopen PDO Communication using Function Blocks 7 16 MITSUBISHI ELECTRIC Fig 7 16 Example Program 12 ...

Page 155: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 17 Fig 7 17 Example Program 13 ...

Page 156: ...Programming CANopen PDO Communication using Function Blocks 7 18 MITSUBISHI ELECTRIC Fig 7 18 Example Program 14 ...

Page 157: ...CANopen PDO Communication using Function Blocks Programming MELSEC L Series CANopen Module ME3CAN1 L 7 19 Fig 7 19 Example Program 15 ...

Page 158: ...Programming CANopen PDO Communication using Function Blocks 7 20 MITSUBISHI ELECTRIC Fig 7 20 Example Program 16 ...

Page 159: ...n be downloaded from http eu3a mitsubishielectric com fa en in the MyMitsubishi section free registration necessary In the sample ladder programs labels are used For label setting operation on GX Works2 refer to the GX Works2 Operating Manual Simple Project The ME3CAN1 L must be set to the 29 bit CAN ID Layer 2 mode beforehand Please refer to section 3 5 2 Fig 7 21 System configuration for this ex...

Page 160: ...Programming Layer 2 Communication 7 22 MITSUBISHI ELECTRIC Local Label Setting Fig 7 22 Local Label for this example 1 ...

Page 161: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 23 Fig 7 23 Local Label for this example 2 ...

Page 162: ...Programming Layer 2 Communication 7 24 MITSUBISHI ELECTRIC Program Fig 7 24 Example Program 1 ...

Page 163: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 25 Fig 7 25 Example Program 2 ...

Page 164: ...Programming Layer 2 Communication 7 26 MITSUBISHI ELECTRIC Fig 7 26 Example Program 3 ...

Page 165: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 27 Fig 7 27 Example Program 4 ...

Page 166: ...Programming Layer 2 Communication 7 28 MITSUBISHI ELECTRIC Fig 7 28 Example Program 5 ...

Page 167: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 29 Fig 7 29 Example Program 6 ...

Page 168: ...N1 L has the head address X Y10 Layer 2 Message Transmission Local Label Setting Global Label Setting Fig 7 30 System configuration for this example NOTE The ME3CAN1 L must be set to the 29 bit CAN ID Layer 2 mode beforehand Please refer to section 3 5 2 Fig 7 31 Local Label setting for this program example Fig 7 32 Global Label setting for this program example ME3CAN1 L Terminating resistor Termi...

Page 169: ...ANopen Module ME3CAN1 L 7 31 The Global Labels Message1Param and Message1Data are Structured Data Types Fig 7 33 Navigator window of the example project Fig 7 34 Structured Data Type Layer2MessageParameter Fig 7 35 Structured Data Type Layer2MessageData ...

Page 170: ...1Data some detailed setting is required Click on Detail Setting in the Global Label Setting dialog refer to fig 7 32 and enter the appropriate data please refer to the program shown below Fig 7 36 Detailed setting for the Global Label Message1Param Fig 7 37 Detailed setting for the Global Label Message1Data ...

Page 171: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 33 Program Fig 7 38 Example Program 1 Copy message parameter ...

Page 172: ...Programming Layer 2 Communication 7 34 MITSUBISHI ELECTRIC Fig 7 39 Example Program 2 Set message parameter to module ...

Page 173: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 35 Fig 7 40 Example Program 3 Request online mode copy message data request data exchange ...

Page 174: ...Global Label Setting The Global Labels Message1Param and Message1Data are Structured Data Types Fig 7 41 Local Label setting for this program example Fig 7 42 Global Label setting for this program example Fig 7 43 Navigator window of the example project Fig 7 44 Structured Data Type Layer2MessageParameter ...

Page 175: ...ailed setting is required Click on Detail Setting in the Global Label Setting dialog refer to fig 7 42 and enter the appropriate data please refer to the program shown below Fig 7 45 Structured Data Type Layer2MessageData Fig 7 46 Detailed setting for the Global Label Message1Param Fig 7 47 Detailed setting for the Global Label Message1Data ...

Page 176: ...Programming Layer 2 Communication 7 38 MITSUBISHI ELECTRIC Program Fig 7 48 Example Program 1 Copy message parameter Fig 7 49 Example Program 2 Set message parameter to module ...

Page 177: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 39 Fig 7 50 Example Program 3 Set online mode request data exchange copy received message ...

Page 178: ...Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 40 ...

Page 179: ...rogress BLINKING General error Check the error status in Un G29 DOUBLE FLASH Error control event A NMT guarding failure NMT Slave or NMT Master or a heart beat failure heartbeat con sumer has occurred Check the error status in Un G29 SINGLE FLASH Warning limit reached 앫 Check that the terminating resistors at both ends of the network are connected 앫 Check that all nodes have the same baud rate set...

Page 180: ...e CAN cable wires do not short circuit other CAN cable wires 4 FLASH memory error Invalid data in the Flash memory might be caused by power loss during a write opera tion to the Flash ROM If this error flag is not cleared after a module restart Yn2 or another power cycle the ME3CAN1 L is probably damaged Please contact your local Mitsubishi Electric representative 5 Layer 2 mode Invalid write acce...

Page 181: ...OFFLINE INIT The affected configurations buffer memories are Un G10000 to Un G10293 Un G6000 to Un G6167 and Un G8400 to Un G8402 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 앫 In error active state The node will actively mark the frame as invalid 앫 In error passive state The node will not actively m...

Page 182: ... 6100 Internal software generic 6200 User software generic 6300 Data set generic 7000 Additional modules generic error 8000 Monitoring generic error 8100 Communication generic 8110 CAN overrun objects lost 8120 CAN in error passive mode 8130 Life guard error or heartbeat error 8140 recovered from bus off 8150 CAN ID collision 8200 Protocol error generic 8210 PDO not processed due to length error 8...

Page 183: ...ice 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...

Page 184: ...Troubleshooting Error Code and Error Message Summary 8 6 MITSUBISHI ELECTRIC ...

Page 185: ...n 2 2 I Input signal Command 1 execution completed 3 10 Data exchange completed 3 7 EMCY message available 3 10 Layer 2 online mode 3 8 ME3CAN1 L error 3 9 Message transmit trigger completed 3 8 Module ready 3 7 Module restart completed 3 8 NMT Error Control failure available 3 9 Time stamp setting completed 3 10 L Layer 2 Message mode Programming 7 21 M Manufacturer specific error codes 8 5 ME3CA...

Page 186: ... set request 3 10 R Reception error counter 3 19 RUN LED 3 2 S Save configuration Restore factory default completed input signal 3 11 Save configuration Restore factory default configuration request output signal 3 11 SYNC message 4 26 T Time stamp Buffer memory 3 20 Information available in buffer memory input signal 3 10 Message 4 30 Read request output signal 3 10 Set request output signal 3 10...

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Page 188: ...blic Kafkova 1853 3 CZ 702 00 Ostrava 2 Phone 420 595 691 150 Fax 420 595 691 199 Beijer Electronics A S Denmark Lykkegardsvej 17 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 45 0 46 75 56 26 HANS FØLSGAARD A S Denmark TheilgaardsTorv 1 DK 4600 Køge Phone 45 4320 8600 Fax 45 4396 8855 Beijer Electronics Eesti OÜ Estonia Pärnu mnt 160i EE 11317Tallinn Phone 372 0 6 51 81 40 Fax 372 0 6 51 81 49 Beij...

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