Mitsubishi Electric FX3U-CAN User Manual Download Page 132 | Manualshive

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7 CANopen

®

405 Mode

7.1 Data Transfer Location for CANopen

®

405 Mode

126

FX

3U

-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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Summary of Contents for FX3U-CAN

Page 1: ...FX3U CAN USER S MANUAL ...

Page 2: ......

Page 3: ...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 user s 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...

Page 4: ...o 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 dam...

Page 5: ...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 speci...

Page 6: ...Safety Precautions Read these precautions before use 4 MEMO ...

Page 7: ...and read it whenever necessary Always forward it to the end user 2012 MITSUBISHI ELECTRIC CORPORATION Manual number JY997D43301 Manual revision D Date 8 2016 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 ma...

Page 8: ...ed 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 ...

Page 9: ...rminal 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 Wiri...

Page 10: ... 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 ...

Page 11: ...n 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 ...

Page 12: ... 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 ...

Page 13: ... Table of Contents 13 Program Example 198 13 1 System Configuration 198 13 2 Local Label Setting 199 13 3 Program 202 14 Diagnostics 215 14 1 Preliminary Checks 215 14 2 Detail Error Check 217 Warranty 219 Revised History 220 ...

Page 14: ... 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 t...

Page 15: ...es 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...

Page 16: ...45401 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 Additional Manual FX...

Page 17: ... 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 JY997D34...

Page 18: ...on 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 u...

Page 19: ...S 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 binar...

Page 20: ...ter 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 ...

Page 21: ...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 ...

Page 22: ...er 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 ...

Page 23: ...iA 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 SY...

Page 24: ...n 1 2 2 8 CAN bus connector 4 Top cover 9 Direct mounting hole 2 holes of φ4 5 0 18 mounting screw M4 screw 5 DIN rail mounting groove DIN rail DIN46277 35 mm 1 38 width 90 3 55 80 3 15 mounting hole pitch 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...

Page 25: ... 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 heart...

Page 26: ... 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...

Page 27: ...n 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 Serie...

Page 28: ...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...

Page 29: ...m 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...

Page 30: ...fficiently 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...

Page 31: ...l 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 C...

Page 32: ...c 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 ma...

Page 33: ... 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 ...

Page 34: ... 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 respec...

Page 35: ...ith 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 ...

Page 36: ...al 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 N ...

Page 37: ... 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 Ω or less Class D 1 ...

Page 38: ... 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 M...

Page 39: ...ergency 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...

Page 40: ...sing 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 30...

Page 41: ...scribed 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 0...

Page 42: ...beat 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 Emer...

Page 43: ...O 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...

Page 44: ...o 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 ...

Page 45: ...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 A58...

Page 46: ...E10 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 A58215...

Page 47: ... 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 ...

Page 48: ...E10 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 A10215...

Page 49: ... 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...

Page 50: ... 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...

Page 51: ...eserved 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...

Page 52: ...ed 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 Rese...

Page 53: ...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 F...

Page 54: ...erved 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 R...

Page 55: ...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 o...

Page 56: ...ved 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 ...

Page 57: ...B100208 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 Reser...

Page 58: ...served 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 Rese...

Page 59: ...4 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...

Page 60: ...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 67...

Page 61: ...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 E...

Page 62: ...e 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 ...

Page 63: ...he 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...

Page 64: ...xample To map the first unsigned 16bit data of RPDO1 to BFM0 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 Th...

Page 65: ...s 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...

Page 66: ...r 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 ...

Page 67: ...ered 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 ...

Page 68: ... 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 th...

Page 69: ...nhibit 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 wit...

Page 70: ...en 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 data Address data Request MPDO consumers MPDO producer Indication Indication Indication ...

Page 71: ...ubsection 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 μs 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 ...

Page 72: ...ed 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...

Page 73: ...AN 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 he...

Page 74: ...ion 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 ...

Page 75: ...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 ...

Page 76: ...figures 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 EM...

Page 77: ... 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 a...

Page 78: ...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 directl...

Page 79: ...on 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 Protoco...

Page 80: ...onds 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 s...

Page 81: ...m 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 ...

Page 82: ...ith 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 ...

Page 83: ...ver 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 Figu...

Page 84: ...ion 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 start...

Page 85: ... 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 N...

Page 86: ...s 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...

Page 87: ...o 0 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 durin...

Page 88: ... 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 s...

Page 89: ...o 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 opera...

Page 90: ...cally 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 ma...

Page 91: ...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 tim...

Page 92: ... 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...

Page 93: ... 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 con...

Page 94: ...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...

Page 95: ...t 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 netw...

Page 96: ...st 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 variabl...

Page 97: ...nit 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 H6...

Page 98: ...cess 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...

Page 99: ... 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...

Page 100: ...t 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 obj...

Page 101: ...nction field Bit 8 to 15 value hex Description Basicfunction 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 Pr...

Page 102: ...ata 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 1 Lift 2 Lift 3 Lift 4 Lift 5 23 22 21 20 19 18 17 ...

Page 103: ...all 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 ...

Page 104: ... 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 ...

Page 105: ... 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 t...

Page 106: ... 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 Var...

Page 107: ...le 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 rev...

Page 108: ...ot 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...

Page 109: ...ystem 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 ...

Page 110: ...ntrol 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 3 8 9 10 15 12 13 14 11 16 4 5 6 7 Fault Power enabled S...

Page 111: ...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 ...

Page 112: ...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 ...

Page 113: ...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 ...

Page 114: ...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...

Page 115: ...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 3540 to 9999 Reserved BFM 10000 to 10319 3 Receive Process Data RPDO CANopen 405 Mode only H0 R Section 7 1 BFM 10320 to 10999 Reserved BFM 11000 to 11319 3 Transmit Process Data TPDO CANo...

Page 116: ...wing 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 buf...

Page 117: ... 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...

Page 118: ...xchange 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 ...

Page 119: ...ommands 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 de...

Page 120: ...g 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 w...

Page 121: ...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...

Page 122: ...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 ne...

Page 123: ...or 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 ...

Page 124: ...re 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 25 C 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 1...

Page 125: ...n 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 setti...

Page 126: ... 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 Ob...

Page 127: ...e 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 E...

Page 128: ... 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 Out...

Page 129: ... 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...

Page 130: ...guration 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...

Page 131: ...x 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 ...

Page 132: ...A4C0 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 ...

Page 133: ...0120 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 I...

Page 134: ...he 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...

Page 135: ...de 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 110...

Page 136: ...1140 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 ...

Page 137: ...6 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 ...

Page 138: ...ode 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...

Page 139: ... 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 1...

Page 140: ...0244 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 ...

Page 141: ...rk 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 para...

Page 142: ...mmand 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 softwar...

Page 143: ...h 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 communicat...

Page 144: ... 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 t...

Page 145: ...0480 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 w...

Page 146: ... 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 ...

Page 147: ...ill 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 Sub...

Page 148: ...or 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 BF...

Page 149: ...105 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 B...

Page 150: ...M 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 Do...

Page 151: ...it 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 1231...

Page 152: ...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...

Page 153: ... 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 val...

Page 154: ...62 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 BF...

Page 155: ...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 3...

Page 156: ...4 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 1...

Page 157: ...ode 10 Command 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 Rese...

Page 158: ...ue 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 Functio...

Page 159: ... 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...

Page 160: ...nction 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...

Page 161: ...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 acknow...

Page 162: ...gging 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 acknow...

Page 163: ...e 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 out...

Page 164: ...t 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 ...

Page 165: ...er 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 B...

Page 166: ...t 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...

Page 167: ...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 ...

Page 168: ...n 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...

Page 169: ...o 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 Num...

Page 170: ...ntrol 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...

Page 171: ...ction 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 ...

Page 172: ...valent 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 ...

Page 173: ...FM 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...

Page 174: ...ime 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 ...

Page 175: ... 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 I...

Page 176: ...ge 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 ...

Page 177: ...ling 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 t...

Page 178: ...ansmit 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 ...

Page 179: ... 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...

Page 180: ...13 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 r...

Page 181: ...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 ...

Page 182: ...ase 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 ...

Page 183: ... 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 t...

Page 184: ...f 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 Diagn...

Page 185: ...ion 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 Mod...

Page 186: ...mand 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 SD...

Page 187: ... 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 B...

Page 188: ...e 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 100...

Page 189: ...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 H...

Page 190: ...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 ...

Page 191: ...e 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 o...

Page 192: ... 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 ...

Page 193: ...d 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 interna...

Page 194: ...tionary 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 ...

Page 195: ...tored 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 ...

Page 196: ...ase 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 i...

Page 197: ... 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 lengt...

Page 198: ...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 C...

Page 199: ...les 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 RUN STOP 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 M...

Page 200: ...hinery 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 exe...

Page 201: ...g 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 CA...

Page 202: ...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...

Page 203: ...on 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 Ref...

Page 204: ...ff 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 D...

Page 205: ...rdedTime 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...

Page 206: ...t 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 StartCANOpen...

Page 207: ...ed 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 NM...

Page 208: ...can start the communication and set the NMT status settings EN M8002 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 PreOperationalSta...

Page 209: ...2 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 executio...

Page 210: ...rOfNodes 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 er...

Page 211: ...berOfNodes 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 Heartb...

Page 212: ...umberOfNodes 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 ...

Page 213: ...o 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 ...

Page 214: ...NO 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 ...

Page 215: ... 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 Tr...

Page 216: ...ject 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 ...

Page 217: ... 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 PDOS...

Page 218: ...te 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 req...

Page 219: ...t 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 SDOReadCompl...

Page 220: ...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 RPDOn...

Page 221: ...oing 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 d...

Page 222: ...es 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 2...

Page 223: ...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 ...

Page 224: ...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 q...

Page 225: ...tsubishi 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 contr...

Page 226: ...on 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 o...

Page 227: ......

Page 228: ...HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN JY997D43301D MEE Effective August 2016 Specifications are subject to change without notice FX3U CAN USER S MANUAL ...

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