Mitsubishi Electric FX3U-CAN, Руководство пользователя

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6 Allocation of Buffer Memories
6.3 Receive/Transmit Process Data
111
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
6.3 Receive/Transmit Process Data
BFM #10000 to #10319 and #11000 to #11319 locations in the FX
3U
-CAN module are used for data
communication to the CAN bus. The mapping for where each data is sent/received is explained in the
following chapter.
→
When using CANopen
®
405 mode, refer to Chapter 7
→
When using CANopen
®
417 mode, refer to Chapter 8
→ When using the 11 bit CAN-ID Layer 2 mode or 29 bit CAN-ID Layer 2 mode,
refer to Chapter 9
Note
In the CANopen
®
417 Mode (BFM #21 = K417), only BFM #0 to #3, BFM #10000 to #10003 and BFM #11000
to #11003 (TPDO1/RPDO1) are usable. BFM #4 to #399, BFM #10004 to #10319 and BFM #11004 to
#11319 are not accessible.
6.4 [BFM #20] Data Exchange Control
To ensure that the FX
3U
-CAN module can handle the CANopen
®
data in a consistent way, it is necessary to
set in BFM #20 the corresponding Bit to ON before reading data (FROM) and after writing data (TO). The
data exchange control signal ensures, by internal buffer exchange, that TO data from the PLC will be
transmitted by PDO.
PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and after setting
the corresponding bits in BFM #20 to ON. As long as the reading of the previous data is not finished and a
new exchange command to BFM #20 has not been sent, FROM data will not be overwritten by further PDO.
If the module is in NMT state Operational, PDO data received from other nodes can be read by the FX
3G
/
FX
3GC
/FX
3U
/FX
3UC
/FX5U/FX5UC PLC by using a FROM instruction, and transmit PDO data can be written
to the module and sent to the network by using a TO instruction.
The exchange data bit's will be reset automatically when the data exchange between BFM and Object
Dictionary/Data exchange buffer is finished.
Note
• BFM #20 bit 0 will be reset automatically.
• During an active data exchange (BFM #20 bit 0 is ON), new write access to this BFM will be ignored.
Bit
Description
FROM (Read Access) TO (Write Access)
Bit 0
Data exchange status
OFF: Data exchange between BFM's and Data Exchange
Buffer completed
ON: Module exchanges data between BFM's and Data
exchange buffer
Note: This bit has the same function as Bit 8
Data exchange mode Control
OFF: No data exchange between BFMs and CANopen
®
object dictionary / Layer 2 message buffer
ON: Activate data exchange between BFMs and
CANopen
®
object dictionary / Layer 2 message buffer
Notes:
•
This bit merges the function of Bit 8, 9 and 12.
• If the bit is set and the Module is not in CANopen
®
state
Pre-Operational or Stopped, the PDO data will be
exchanged after going into Operational state.
Bit 1 to 7 Reserved
Bit 8
Only in CANopen
®
modes:
Data exchange status (only OD data)
OFF: Data exchange between BFM's and Data Exchange
Buffer completed
ON: Module exchanges data between BFM's and Data
exchange buffer
Note: This bit has the same function as Bit 0
Only in CANopen
®
modes:
Data exchange mode setting (only OD data)
OFF: No data exchange between BFM and CANopen
®
object dictionary
ON: Activate data exchange between BFM and CANopen
®
object dictionary
Notes:
•
The RPDO data of the Virtual Input mapping BFMs are
not included in this data exchange. It can be handled
separately by Bit 9.
• The data will be also exchanged by setting Bit 0
• If the bit is set and the Module is not in CANopen
®
state
Operational, the PDO data will be exchanged after going
into Operational state.