Mitsubishi Electric MELSEC iQ-R CC-Link IE TSN, User Manual

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1 FUNCTIONS
1.1 Cyclic Transmission
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1
CANopen communications
CANopen communications are used for controlling a device that supports the CANopen profile.
CANopen communications have SDO communication using transient transmission and PDO communication using cyclic
transmission for devices that support the CANopen profile. SDO communication is performed using the SLMPSND
instruction. For details on the SLMPSND instruction, refer to the following.

MELSEC iQ-R Programming Manual (Module Dedicated Instructions)
Parameters for PDO communications are defined by the PDO mapping and the settings are specified in "Batch Setting of
PDO Mapping" or "PDO Mapping Setting".
Before using this function, check the firmware version of the RJ71GN11-T2. (

Page 320 Added and
Enhanced Functions)
Setting method
Set "Batch Setting of PDO Mapping" or "PDO Mapping Setting" in "Network Configuration Setting" of "Basic Settings". (

Page 127 PDO mapping setting)
Restriction of firmware version
If the firmware version of the master station does not support CANopen communications, Network parameter error (error
code: 2221H) or Initialization failure (event code: 00C54) occurs and data link cannot be performed.
Precautions
■ Motion control station
Do not set a slave station as the motion control station. Doing so results in a Parameter error (motion control station setting)
(error code: D64EH).
■
PDO mapping setting
When a servo amplifier is added to the slave station in "Network Configuration Setting" of "Basic Settings", set the parameters
of "PDO Mapping Setting".
■
Multi-axis servo amplifier
For a multi-axis servo amplifier, single module can use up to eight axes.
(1) Engineering tool
(2) HMI (Human Machine Interface)
(3) RJ71GN11-T2
(4) Servo amplifier

Writing PDO mapping settings

PDO communications
(1)
(2)
(3)
(4) (4)
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