Mode B Cob-Id Mapping - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
Execution procedure: Mode A mapping
1) To execute the Mode A command, write H8200 to BFM #1000.
2) After the Mapping is successfully established, H8201 is written to BFM #1000.
BFM No.
BFM #1000
BFM #1001 to #1066 Unused
7.2.5

Mode B COB-ID mapping

With Mode B COB-ID Mapping, it is possible to build up bindings between any nodes connected to the FX
CAN module and the FX
COB-ID mapping is limited to the binding of the PDO COB-ID already configured in the remote stations (No
change of the PDO mapping parameter).
All three Mode B COB-ID mapping options can be mixed within one CIF Function call.
Mode B COB-ID Mapping options
Reset Mapping Table to default Mode B COB-ID mapping
Assign Source TPDO COB-ID to Destination RPDO COB-ID
Assign Additional TPDO COB-IDs to the Local Node
The Mode B COB-ID mapping command will modify the current PDO COB-ID at the Destination, therefore it
is important to have a clearly defined mapping base before executing any Mode B commands. Executing the
Mode B COB-ID Mapping commands before adjusting the PDO mapping parameters (adjusting the PDO data
length) may create errors in the data transmission or module operation.
The PDO mapping base can be the "Mode 0" mapping or the "Mode A" mapping explained in previous
sections to prepare default RPDO and TPDO formats. Another method to create (or reset) a Mapping base is
to initialize the Mode B Mapping with a special instruction at the beginning of the Mode B Mapping Command.
If it is necessary to change the remote node hardware mapping, this can be done by the SDO write access
command or by a standard CANopen
The configuration with the Mode B mapping is controlled by parameters, which are displayed in the table on
the following page.
→ For the CANopen
→ For the default RPDO and TPDO formats, refer to Subsection 7.2.1 and Subsection 7.2.2
Reset Mapping Table to default Mode B COB-ID mapping
This command sets Mode B default settings on the local Node. All RPDO/TPDO communication and mapping
parameter and the BFM/Object dictionary assignment will be reset to factory default. The BFM content of the
Receive / Transmit Process Data BFM's will be set to zero. The COB-IDs will be changed to the values shown
in the tables in the Subsection 7.2.1 and Subsection 7.2.2.
BFM No.
H8301:
BFM #1000 HFFFF:
H000F:
BFM #1001 H0
BFM #1002 H0
BFM #1003
Other Mode B COB-ID mapping command response.
BFM #1066
136
FROM (Read Access)
H8201: Mapping successfully established
H82FF: Local node number not in range 1 to 8
Local node number must be in the range 1 to 8
HFFFF: CIF Busy
H000F: Error
-CAN module itself or any other nodes also connected to the FX
3U
®
network configuration tool.
→ For the SDO write access command in the CIF, refer to Subsection 10.2.3
→ For BFM assignment of the Receive/Transmit Process Data BFM's,
®
configuration software, refer to the manual of the software to be used
FROM (Read Access)
Mapping successfully established
CIF Busy
Error
7.2 PDO Mapping/Binding of the Network for CANopen
→ In case of trouble, refer to Section 10.9
Description
Command:
Unused
Reference
page 136
page 137
page 138
refer to Subsection 7.1.1 and Subsection 7.1.2
Description
Command: H8300
H0
H0
Other Mode B COB-ID mapping options or terminate with
HFFFF in BFM #1003.
®
7 CANopen 405 Mode
®
405 Mode
TO (Write Access)
H8200
-CAN. Mode B
3U
TO (Write Access)
-
3U