Mitsubishi Electric MELSEC iQ-R Series User Manual page 143

PDO communication is not available
The following table lists the actions to be taken if PDO communication is not available.
Check item
Are the NMT state of the CANopen node for PDO transmission and the NMT
state of the CANopen node for PDO reception Operational?
Were the TPDO and RPDO for CANopen Configuration Tool set correctly?
Do the current PDO settings match the parameters?
(Read the settings using the [Read PDO list] button in CANopen Configuration
Tool, and compare them with the parameters.)
Is 'Data exchange request' (Y1) turned on?
Is the send data changed from the previous transmission when "Transmission
type" is Event-driven and "Event timer" is not set?
Is the SYNC message transmission of the NMT master enabled when
Transmission type is Synchronous?
*1 All CDCFs can be deleted by using the [Restore Object Dictionary to default on all nodes] button in the "CANopen Configuration"
window.
Page 82 "CANopen Configuration" window
Action
Set both the NMT state of the CANopen node for PDO transmission and the
NMT state of the CANopen node for PDO reception as Operational. (
Page 140 The NMT state of a CANopen node does not change to
"Operational")
By paying attention to the following, set parameters correctly for CANopen
Configuration Tool.
• Is PDO communication enabled?
• Do a TPDO and RPDO that form a pair have the same CAN-ID?
• Delete the unnecessary CDCFs from Concise DCF (index 1F22H, subindex
01H to 7FH) in the object dictionary of the NMT master.
• If the object dictionary with unmatched settings was changed through SDO
communication, modify or delete the relevant process.
Turn on 'Data exchange request' (Y1) to update send/receive data.
Change the send data from the previous transmission, and turn on 'Data
exchange request' (Y1).
Enable the SYNC message transmission of the NMT master.
5.4 Troubleshooting by Symptom
*1
5 TROUBLESHOOTING
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