Mitsubishi Electric FX3U-CAN, Руководство пользователя

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5 Introduction of Functions
5.8 Network Management
77
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
Object H1F80: NMT startup
This object configures the start up behaviour of a CANopen
®
device via SDO access. If the node is set as
Master without the flying master capability, the node starts as NMT master and ignores "all Nodes" NMT
commands from the network. After the FX
3U
-CAN has been configured as the NMT master, parameters have
to be stored, and the FX
3U
-CAN has to be restarted by BFM #25 bit 0 or NMT request Reset Node.
→
For storing parameters, refer to Subsection 5.6.11
→
For module restart (BFM #25 bit 0), refer to Section 6.8
Bit No. Item Description
Bit 0 NMT master
OFF (0): Module is NMT Slave
ON (1):
Module is NMT Master
Note:
• If it's set to 0, all other settings of Object H1F80 and H1F81 are ignored.
• In a CANopen
®
network, only one (active) NMT Master allowed!
Bit 1 Start all nodes
OFF (0): NMT master sends during the NMT startup the NMT service Start remote node for each
assigned NMT slave. The NMT slaves will be started during the NMT startup individually.
ON (1): NMT master sends during the NMT startup the NMT service Start all remote nodes. The
NMT slaves will be started during the NMT master startup all at the same time.
Notes if setting is ON (1):
• Note Figure 5.2 NMT Master simple startup.
• Don't use this setting to start remote nodes which are not assigned to the master via Index H1F81.
→
Refer to Subsection 5.8.6
Bit 2 NMT master start
OFF (0): NMT Master switch during NMT master startup automatically into NMT state Operational
ON (1):
NMT Master does not switch during NMT master startup automatically into NMT state
Operational
Notes if setting is ON (1):
The NMT Master has to be set manually with the SDO write command in the CIF over 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 Figure 5.2 NMT Master simple startup and Figure 5.3 NMT
Slave startup process.
Bit 4 Reset all nodes
OFF (0): In case of error control event of an assigned NMT slave defined as mandatory, the NMT
service reset communication with node-ID of the CANopen
®
device that caused the error
control event shall be executed.
ON (1): In case of error control event of an assigned NMT Slave defined as mandatory, the NMT
service reset communication all Nodes shall be executed.
→
Refer to Subsection 5.8.6
Note:
• In case of optional NMT Slaves, the NMT service reset communication with node-ID of the
CANopen
®
device that caused the error control event will always be executed.
• If bit 6 is set to 1, this bit setting will be ignored for mandatory NMT slaves.
Bit 5 Flying master
OFF (0): Do not use Flying master service.
ON (1):
Use Flying master service
Note:
• If the device loses the Flying Master negotiation, the device works as NMT slave.
• If the Flying Master Service is used, all NMT Master in the network need to be set as Flying Master!
• If the setting is 1, additional settings need to be considered.
→ Refer to Subsection 5.8.11
Bit 6 Stop all nodes
OFF (0): Do not Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT
Slave
ON (1): Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT Slave
Note:
• If the setting is 1, the bit 4 setting is ignored.
• To restart the network, the NMT master has to be reset manually with BFM #25 bit 0 or with the
SDO write command in the CIF over the Object H1F82 into NMT state Reset Communication or
Application all Nodes.
→ Refer to Section 6.8 and Section 10.2
Bit 7 to 31 -
Start all
nodes
H0
Flying
master
Reset all
nodes
Start nodes
Stop all
nodes
NMT
master
NMT
master
start
0 1 2 3 4 5 6 31...7