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
140
FX
3U
-CAN User's Manual
7.2.6 Mode B COB-ID Mapping Errors
This subsection describes the parameter error H83FF occurring in mode B COB-ID Mapping.
If the CIF was not able to execute the "mode B COB-ID Mapping" command with the given parameter set, it
will return H83FF in BFM #1000. BFM #1001 to #1066 will show which parameter caused the error(s).
Example:
If the source parameter 5 (BFM #1009) caused an error, the return value of BFM #1009 will not be H0000.
1. Source Parameter Errors
If an error occurs in the Source Parameters, the error code in the following table is stored in BFM #1001 to
#1066 as diagnosis data. The "nn" part of the error code indicates Node ID, and the "mm" indicates PDO
number.
2. Destination Parameter Errors
If an error occurs in the Destination Parameters, the error code in the following table is stored in BFM #1001
to #1066 as diagnosis data. The "nn" part of the error code indicates Node ID, and the "mm" indicates PDO
number.
*1. Please take care with this error message.
If the RPDO in the destination is disabled, it is uncertain whether there exists some mapping inside
the destination node for this RPDO. This node might receive the data, but it is maybe not transferred
to any I/O or data register.
When the Destination node is an FX
3U
-CAN, the PDO data will be mapped to a BFM (if the mapping
parameter was not changed previously). In the case of the FX
3U
-CAN, the error can be judged as a
warning that can be completely avoided if the mapping is done by the remote FX
3U
-CAN node itself.
Another possibility is to set the remote FX
3U
-CAN to Mode A mapping. In this case, RPDO 1 to 32
COB-IDs are different from H80000000. The disadvantage is that if all RPDO are mapped, they will
also be received. This is not really a problem, but the FX
3U
-CAN cycle time will be a little bit longer,
and it may be confusing if unused BFM are also changing their data values.
Note
If the local FX
3U
-CAN is the destination, error H00mm is disabled.
3. Other Errors
If the parameter is not set properly, the error code in the following table is stored in BFM #1001 to #1066 as
diagnosis data. The "nn" part of the error code indicates Node ID and the "mm" indicates PDO number.
Error No. (Hex) Description
HFFFF
Node ID higher than 127, or PDO number is 0.
Check the Node ID and PDO number.
Hnn00
No response from node "nn" (time out).
Check the status of the Node ID "nn".
H00mm COB-ID is H80000000 (PDO disabled)
Hnnmm
Node ID "nn" can not be accessed to PDO number "mm" in the communication parameter.
Check that the PDO number is supported.
Error No. (Hex) Description
HFFFF
The following states are possible.
Check the Node ID and PDO number.
•
Node ID higher than 127.
• PDO number is 0.
• The parameter may have been skipped if a Source error occurred.
Hnn00
No response from node ID "nn" (time out).
Check the status of the Node ID "nn".
H00mm
Previous COB-ID of destination was H80000000. RPDO was disabled. Binding was accomplished, but there
might be an error in the RPDO mapping parameter for the destination node.
*1
Hnnmm
Node ID "nn" can not be accessed to PDO number "mm" in the communication parameter.
Check the PDO number is supported.
Error No. (Hex) Description
Hnnmm
Source node ID "nn" must be in the range 1 to 127, PDO number "mm" must be 1 to 4 for the source parameter
and 5 to 127 for the destination parameter.