Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 145

FX -CAN User's Manual
3U
BFM No.
H8301:
H83FF:
BFM #1000
HFFFF:
H000F:
BFM #1001
BFM #1002
Diagnosis Data
H0000:
All other values: The corresponding
BFM #1063
BFM #1064
BFM #1065
BFM #1066
Note
With one execution of the Mode B COB-ID mapping command, up to 33 binding connections between
®
CANopen stations can be made. To establish more data connections, the command can be repeated as
often as necessary.
IMPORTANT
If less than 33 bindings are used (max. number), the next two BFMs (n+1 and n+2) need to be terminated
with HFFFF.
1. Source parameter
The Source parameter defines the node which is the default "owner" of the COB-ID. It consists of two bytes,
with the node ID in the high byte and the PDO number in the low byte.
• Node ID
The node ID range is 1 to 127.
The local FX
3U
• TPDO number
The TPDO number setting range is 1 to 4.
This COB-ID is written to the local node's PDO communication parameter. The TPDO COB-ID is equal to:
H0180 + Source node ID for TPDO1, H0280 + Source node ID for TPDO2, H0380 + Source node ID for
TPDO3, H0480 + Source node ID for TPDO4.
2. Destination Parameter
The Destination parameter defines the destination for the corresponding source parameter data. It consists of
two bytes, with the node ID in the high byte and the PDO number in the low byte.
• Node ID
The node ID must be set to H80.
• RPDO number
The TPDO number setting range is 5 to 80.
Example:
Source = H7F01, Destination = H8005
The local FX -CAN module will use the COB-ID of TPDO1 from node 127 as its own TPDO5 (COB-ID H1FF
3U
= H180 + H7F).
Note
• For default COB-IDs used for TPDO 1 to 4, refer to Subsection 5.6.1.
• An attempt to assign a COB-ID to the first four PDO will cause an error.
• A setting of the Source Node ID to the local node number will cause an error.
FROM (Read Access)
Mapping successfully established
Parameter Error
CIF Busy
Error
No Error
parameter caused
error.
→ Refer to the Subsection 7.2.6
-CAN can't be the Source.
7.2 PDO Mapping/Binding of the Network for CANopen
Description
TO (Write Access)
High Byte
Command: H8300
Node ID number of Source 1
Destination Node ID: H80
Node ID number of Source 32
an
Destination Node ID: H80
Node ID number of Source 33
Destination Node ID: H80
®
7 CANopen 405 Mode
®
405 Mode
Low Byte
Specific TPDO of Source 1
Specific TPDO of local Node 1
Specific TPDO of Source 32
Specific TPDO of local Node 32
Specific TPDO of Source 33
Specific TPDO of local Node 33
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