Mitsubishi Electric FX3U-CAN, Руководство пользователя

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7 CANopen
®
405 Mode
7.2 PDO Mapping/Binding of the Network for CANopen
®
405 Mode
139
FX
3U
-CAN User's Manual
1
Introduc
tion
2
Specifi
cations
3
Inst
allati
on
4
Wi
rin
g
5
Introduc
tion of
Functions
6
All
ocation of
B
uff
er
Memor
ies
7
Interface and D
evice P
rofile
(40
5 mode)
8
Lift Appl
icati
on
P
ro
file
(417 M
ode)
9
CAN
Layer 2
Mode
10
Comm
and
Interface
Note
With one execution of the Mode B COB-ID mapping command, up to 33 binding connections between
CANopen
®
stations can be made. To establish more data connections, the command can be repeated as
often as necessary.
IMPORTANT
If less than 33 bindings are used (max. number), the next two BFMs (n+1 and n+2) need to be terminated
with HFFFF.
1. Source parameter
The Source parameter defines the node which is the default "owner" of the COB-ID. 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 range is 1 to 127.
The local FX
3U
-CAN can't be the Source.
• TPDO number
The TPDO number setting range is 1 to 4.
This COB-ID is written to the local node's PDO communication parameter. The TPDO COB-ID is equal to:
H0180 + Source node ID for TPDO1, H0280 + Source node ID for TPDO2, H0380 + Source node ID for
TPDO3, H0480 + 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 FX
3U
-CAN module will use the COB-ID of TPDO1 from node 127 as its own TPDO5 (COB-ID H1FF
= H180 + H7F).
Note
• For default COB-IDs used for TPDO 1 to 4, refer to Subsection 5.6.1.
• An attempt to assign a COB-ID to the first four PDO will cause an error.
• A setting of the Source Node ID to the local node number will cause an error.
BFM No.
Description
FROM (Read Access)
TO (Write Access)
High Byte Low Byte
BFM #1000
H8301: Mapping successfully established
H83FF: Parameter Error
HFFFF: CIF Busy
H000F:
Error
Command: H8300
BFM #1001
Diagnosis Data
H0000: No Error
All other values: The corresponding
parameter caused an
error.
→
Refer to the Subsection 7.2.6
Node ID number of Source 1 Specific TPDO of Source 1
BFM #1002 Destination Node ID: H80 Specific TPDO of local Node 1
..… ..… ..…
BFM #1063 Node ID number of Source 32 Specific TPDO of Source 32
BFM #1064 Destination Node ID: H80 Specific TPDO of local Node 32
BFM #1065 Node ID number of Source 33 Specific TPDO of Source 33
BFM #1066 Destination Node ID: H80 Specific TPDO of local Node 33