Mitsubishi Electric MELSEC iQ-R Series User Manual page 212

Error behavior
• Index: 1029H
• Subindex: 01H
Set operation at error occurrence.
Setting value
00H
01H
02H
*1 When the CPU module switches from RUN state to STOP state, the NMT state of the RJ71CN91 transitions to Pre-operational.
Note that the module can transition NMT state back to Operational even if the CPU module is in the STOP state.
NMT inhibit time
• Index: 102AH
Set the minimum transmission cycle for sending node control messages. Set a 16-bit value in 100s units. Setting the value 0
to this object disables the Inhibit time.
For the RJ71CN91, the setting range is fixed to 0.
RPDO communication parameter
• Index: 1400H to 14FFH
• Subindex: 01H to 02H
Set the COB-ID and transmission type of RPDO.
■Subindex 01H: COB-ID
Set the COB-ID of RPDO.
Bit Item
b0 to b10 11-bit CAN-ID
b11 to b30 Fixed to 0
b31 Enabled
■Subindex 02H: Transmission type
Set the transmission type of RPDO.
Setting value
00H to F0H
FEH, FFH
For SDO communication, execute the following steps to change the RPDO communication parameter.
Step Description
1 Disable the target RPDO.
2 Change the RPDO communication parameter if
required.
3 Enable the target RPDO.
APPX
210
Appendix 3 Object Dictionary
Description
Switch NMT state to Pre-operational. (Only if the current NMT state is Operational)
*1
No change of the NMT state
Switch NMT state to Stop.
Description
11-bit CAN-ID of the CAN base frame
0: Valid
1: Invalid
Description
Synchronous setting
Received data will be processed after the subsequent SYNC message is received.
Event-driven transmission (CANopen 405 mode)
Object to be used
Subindex 01H of the RPDO communication
parameter
Subindex 01H to 02H of the RPDO communication
parameter
Subindex 01H of the RPDO communication
parameter
Remarks
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