5 Introduction of Functions
5.6 Communication Profile Area
58
FX
3U
-CAN User's Manual
1. Object H1400 to H144F
1) Sub-index H01: RPDO COB-ID
2) Sub-index H02: RPDO transmission type
3) Sub-index H03: RPDO inhibit time
For RPDOs, the inhibit time has no function.
4) Sub-index H05: RPDO event-timer
The RPDO event timer is used for deadline monitoring.
When the time elapsed without receiving an event driven object (transmission type is set to HFE or HFF)
an EMCY with the error code H8250 will be sent.
The value is a multiple of 1ms. The value 0 disables the event-timer.
→
For emergency error code, refer to Section 6.23
2. Object H1600 to H164F Sub-index H01 to H08: RPDO mapping parameter
The default mapping is to unsigned 16 bit objects.
→
Refer to Subsection 7.1.2
Example:
To map the first unsigned 16bit data of RPDO1 to 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
This bit fixed to OFF (0).
Bit 31
Valid
OFF (0): Valid
ON (1):
Invalid
Value (hex)
Description
00 to F0
Synchronous
Received PDO data will be processed after the next SYNC message,
independent of the transmission rate specified by the transmission type.
F1 to FD
Reserved
FE
Event-driven (Function Mode 405)
FF
Event-driven (Function Mode 417)
Item
Description
Index
Index of the mapped Object
Sub-index
Sub-index of the mapped Object
Length
Bit length of the mapped Object
11-bit CAN-ID
H0000
H0
Reserved
Valid
31
29
28 ... 11
10 ... 0
30
Index
Sub-index
Length
7 ... 0
15 ... 8
31 ... 16
Summary of Contents for FX3U-CAN
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