Object Dictionary; Command Interface - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
5.3

Object Dictionary

The Object Dictionary is a structure for data organization within the CANopen
Object Dictionary is used to set CAN bus parameters, initialize special functions, control data flow, store data
in many formats and send emergency messages.
The Object Dictionary is structured in Indexes and Sub-Indexes. Each Index addresses a single parameter, a
set of parameters, network input/output data or other data. A Sub-Index addresses a subset of the parameter
or data of the Index.
General layout of CANopen
The general layout of the CANopen
Index (hex)
0000
0001 to 009F
00A0 to 0FFF
1000 to 1FFF
2000 to 5FFF
6000 to 9FFF
A000 to AFFF
B000 to FFFF
5.4

Command Interface

The Command Interface (CIF) provides access to the Object Dictionary of the FX
Dictionary of other CANopen
functions can be used for SDO read/write, RPDO and TPDO configuration/mapping, configuration of Node
Guarding, Heartbeat, Emergency Messages and others.
Command Interface
SDO Request
Set Heartbeat
Set Node Guarding / NMT slave assignment
Send an Emergency Message
Store Object Dictionary settings
Restore Object Dictionary default settings
Communication Mapping Modes
Display current Parameter
Sending Layer 2 Message
34
®
standard object dictionary
®
standard object dictionary is shown below.
Object
Not used
Data type definitions
Reserved
Communication profile area (CiA
→ Refer to Section 5.6 and Section 5.8
Manufacturer-specific profile area
®
Standardized Profile area (CiA
®
Standardized Profile area (CiA
Reserved
®
nodes in the network. Using the BFM area #1000 to #1066, the various CIF
→ Refer to Section 5.5
® ®
301/CiA 302)
417)
→ Refer to Section 5.10
405)
→ Refer to Section 5.9
→ For Command Interface, refer to Chapter 10
Function Mode Selection
Mode 405 Mode 417
-
- -
5 Introduction of Functions
5.3 Object Dictionary
®
network. The data within the
-CAN and the Object
3U
Reference
Mode 11 Mode 29
- - Section 10.2
- - Section 10.3
- - Section 10.4
- - Section 10.5
- - Section 10.6
- - Section 10.7
- - Section 7.2
Section 10.8
Section 9.7