Chapter 3 Function List - Mitsubishi Electric MELSEC iQ-R Series User Manual

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FUNCTION LIST
This chapter describes the functions of the RJ71CN91. For details on the functions, refer to the following.
 MELSEC iQ-R CANopen Module User's Manual (Application)
CANopen communications
Function

NMT
Node control
NMT startup
Error event control
Boot-up control
Flying master
LSS
Configuration manager
SDO
PDO
SYNC
TIME
EMCY
Node guarding
Heartbeat
Operation setting at error
occurrence
CAN communications
Function
Layer 2 message transmission and
receive
CPU module STOP transition
message
Description
This function is used to control the CANopen network.
Controls the NMT state of the CANopen node from the NMT master.
When the NMT master is started up, detects NMT slaves on the CANopen network and sets parameters.
When the NMT master detects an error in an NMT slave, controls the status of the NMT slave or network.
After NMT startup, if the NMT master detects a new NMT slave, the detected NMT slave is started up.
When the NMT master on the same network fails, its own node becomes the NMT master to continue the CANopen
network control.
Sets CANopen node where node IDs and baud rate cannot be set with switches via CANopen network.
Sets the NMT slave parameters when the NMT master starts up an NMT slave.
Reads from and writes to the object dictionary for any of CANopen nodes.
Transfers data in real time between multiple CANopen nodes. There are data transmission TPDO and data reception
RPDO.
Synchronizes timing of TPDO and RPDO.
Synchronizes the time between CANopen nodes on the network.
Notifies errors found in its own node to other nodes.
Monitors the NMT slaves with the NMT master to detect errors of the NMT slaves.
Monitors other nodes with a given CANopen node to detect errors of other nodes.
Sets an NMT state to which the RJ71CN91 is allowed to move when a communication error occurs.
Description
Used to communicate data between CAN nodes.
When the CPU module state moved from RUN to STOP, the RJ71CN91 sends a given data to the CAN node with a
Layer 2 message.
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