Appendix 4 Operation Of The Rj71Cn91 When The Cpu Module Operating Status Is Changed - Mitsubishi Electric MELSEC iQ-R Series User Manual

Appendix 4
When the operating status of the CPU module with which the RJ71CN91 is installed is changed, the communication status of
the RJ71CN91 is also changed. (Including the case in which the CPU module goes into the STOP state due to a stop error.)
The following tables show the details of how the RJ71CN91 communication status is changed.
CANopen 405 mode
■NMT slave
CPU module operating status
STOPRUN
(Including the case in which the
status is RUN immediately after
startup)
RUNSTOP
(Including the case in which the
status is STOP immediately after
startup)
*1 For details on the NMT state, refer to the following.
Page 18 NMT state
■NMT master (when the flying master function is not used)
CPU module operating status
STOPRUN
(Including the case in which the
status is RUN immediately after
startup)
RUNSTOP
(Including the case in which the
status is STOP immediately after
startup)
*1 The operations include NMT startup (including LSS and configuration manager), SYNC producer, TIME producer, and node guarding.
*2 For details on the NMT state, refer to the following.
Page 18 NMT state
■NMT master (when the flying master function is used)
CPU module operating status
STOPRUN
(Including the case in which the
status is RUN immediately after
startup)
RUNSTOP
(Including the case in which the
status is STOP immediately after
startup)
*1 The operations include NMT startup (including LSS and configuration manager), SYNC producer, TIME producer, and node guarding.
*2 For details on the NMT state, refer to the following.
Page 18 NMT state
Operation of the RJ71CN91 When the
CPU Module Operating Status Is
Changed
RJ71CN91 communication status
Not changed
• The NMT state is changed to the state set by "Operation at Error
Occurrence".
• An EMCY message (manufacturer-specific error code:
4D45303032H) is sent.
RJ71CN91 communication status
• Start heartbeat.
• Start operations as the NMT master.
• Start NMT startup.
• The NMT state is changed to the state set by "Operation at Error
Occurrence".
• Stop operations as the NMT master.
• Stop heartbeat.
• An EMCY message (manufacturer-specific error code:
4D45303032H) is sent.
RJ71CN91 communication status
• Start heartbeat.
• Start operations as the NMT master.
• The NMT state is changed to the state set by "Operation at Error
Occurrence".
• Stop operations as the NMT master.
• Stop heartbeat.
• An EMCY message (manufacturer-specific error code:
4D45303032H) is sent.

Appendix 4 Operation of the RJ71CN91 When the CPU Module Operating Status Is Changed

Remarks

The transmission/reception status for PDO,
SDO, SYNC, EMCY, and TIME changes
according to the NMT state.
Remarks

*1
The transmission/reception status for PDO,
SDO, SYNC, EMCY, and TIME changes
*1
according to the NMT state.
Remarks
• When the priority of the own node among the
*1
flying masters is the highest, the own node
becomes the active NMT master.
• The transmission/reception status for PDO,
SDO, SYNC, EMCY, and TIME changes
according to the NMT state.
• When the own node was the active NMT
master before STOP, a remaining flying
*1
master becomes the active NMT master.
• The transmission/reception status for PDO,
SDO, SYNC, EMCY, and TIME changes
according to the NMT state.
*1
A
*2
*2
*2
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