Mitsubishi Electric FX3U-CAN, Руководство пользователя

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5 Introduction of Functions
5.6 Communication Profile Area
60
FX
3U
-CAN User's Manual
4. Object H1A00 to H1A4F Sub-index H01 to H08: TPDO mapping parameter
The default mapping is to unsigned 16 bit objects.
→
Refer to Subsection 7.1.1
Example:
To map unsigned 16bit data of BFM0 to the first 16 bits of TPDO 1, set Index H1A00 Sub-index H01 to
HA1000110.
This stands for Object Dictionary Index HA100, Sub-index H01 and a data size of 16bit.
Timing chart
The following figures show the relation between Transmit Process Data BFM's (BFM data), BFM #20 bit 0,
PDO Inhibit time, PDO Event timer 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 data
exchange is triggered by BFM #20.
Item Description / set range
Index Index of the mapped Object
Sub-index Sub-index of the mapped Object
Length Bit length of the mapped Object
Index Sub-index Length
7 ... 0 15 ... 8 31 ... 16
H0001 H5374 H2102 H3528
H0000 H5374 H2102 H3528 H0001
BFM data
BFM #20 bit0
OD data
TPDO 1
Inhibit time
TPDO 1
Event timer
CAN Bus
TPDO 1
H0001 H5374 H2102 H3528