Canopen 405 Mode; Data Transfer Location For Canopen ® 405 Mode; Direct To Bfm Access To The Canopen ® 405 Object - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
7. CANopen
7.1 Data Transfer Location for CANopen
This section explains data transfer locations for CANopen
#11319 are used as data transfer locations.
Note
• The data will be exchanged only when the module is in OPERATIONAL State.
• To ensure that the FX
to use the data exchange by BFM #20 bit 0 or 8 to ON before reading PDO data (FROM) and after writing
PDO data (TO) to the module.
The data exchange control signal ensures, by internal buffer exchange, that TO data from the PLC will be
transmitted with its corresponding PDO at the same time.
7.1.1 Direct TO BFM Access to the CANopen
Use the TO instruction to write data to the following locations. The default TPDO mapping is assigned to
unsigned 16 bit objects (Index HA100).
To change this setting, use the SDO command in the CIF or a CANopen
→ For the CANopen
Note
The data which are written to the BFM will only be copied into the Object Dictionary when they are mapped
into a PDO. Example: BFM #11000 is assigned to the Object Dictionary Indexes/Sub-indexes HA240/H01,
HA200/H01, HA1C0/H01, HA100/H01, HA0C0/H01, HA040/H01, H02 and HA000/H01, H02. If none of these
Indexes are mapped into a TPDO, the data will not be copied from the BFM into any of the assigned Object
Dictionary Indexes/Sub-indexes.
Index Index
HA240 HA200
float unsigned
32 bit 32 bit
object object
sub- sub-
index index
(hex) (hex)
01 01
02 02
03 03
124
®
405 Mode
-CAN module can handle the CANopen
3U
®
configuration software, refer to the manual of the software to be used
Index Index
HA1C0 HA100
signed unsigned
32 bit 16 bit
object object
sub- sub-
index index
(hex) (hex)
01
01
02
03
02
04
05
03
06
7.1 Data Transfer Location for CANopen
®
405 Mode
®
405 mode. BFM #10000 to #10319 and #11000 to
®
®
405 Object
→ For SDO command in the CIF, refer to Section 10.2
Index Index Index
HA0C0 HA040 HA000
signed unsigned signed
16 bit 8 bit 8 bit
object object object
sub- sub- sub-
index index index
(hex) (hex) (hex)
01 01
01
02 02
03 03
02
04 04
05 05
03
06 06
07 07
04
08 08
09 09
05
0A 0A
0B 0B
06
0C 0C
7 CANopen
data in a consistent way, it is necessary
®
configuration software.
Assigned BFM
BFM #0 and #11000, lower 8 bit
BFM #0 and #11000, higher 8 bit
BFM #1 and #11001, lower 8 bit
BFM #1 and #11001, higher 8 bit
BFM #2 and #11002, lower 8 bit
BFM #2 and #11002, higher 8 bit
BFM #3 and #11003, lower 8 bit
BFM #3 and #11003, higher 8 bit
BFM #4 and #11004, lower 8 bit
BFM #4 and #11004, higher 8 bit
BFM #5 and #11005, lower 8 bit
BFM #5 and #11005, higher 8 bit
®
405 Mode
®
405 Mode