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CANopen Module ME3CAN1-L User's Manual Art.-no.: 286236 Version Changes / Additions / Corrections 05/2015 pdp-dk First edition...
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Any operations or modifications to the hardware and/or software of our products not specifically described in this manual may only be performed by authorised Mitsubishi Electric staff. Proper use of the products The programmable logic controllers of the MELSEC-L series are only intended for the specific appli- cations explicitly described in this manual.
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General safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment. These precautions must always be observed in the design, installation and operation of all control systems. DANGER: ●...
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Symbols used in the Manual Use of notes Notes concerning important information are marked separately and are displayed as follows: NOTE Note text Use of examples Examples are marked separately and are displayed as follows: Example Example text The end of an example is marked with the following symbol: Use of numbering in the figures Numbering within the figures is displayed by white numbers within black circles and is explained in a table following it using the same number, e.g.:...
Introduction Overview Overview This User's Manual describes the specifications, handling and programming methods for the CANopen Module ME3CAN1-L (hereinafter referred to as the ME3CAN1-L) which is used with the programmable controllers of the MELSEC-L series. Before using the ME3CAN1-L, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC-L series programmable controller to handle the product correctly.
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CAN layer 2 communication Besides the CANopen mode, the ME3CAN1-L can be switched to CAN layer 2 communication mode, and be set up so that it can be used for the customer's own CAN based communication protocol. 1 – 2 MITSUBISHI ELECTRIC...
Abbreviations and Generic Terms Overview Abbreviations and Generic Terms Unless otherwise specified, this manual uses the following generic terms and abbreviations to describe the CANopen Module ME3CAN1-L. General term / Abbreviation Description ME3CAN1-L Abbreviation for the CANopen Module ME3CAN1-L. MELSEC-L CPU Generic term for L series CPU modules, e.g.
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Abbreviations and Generic Terms Overview MELSEC-L Series – CANopen Module ME3CAN1-L 1 – 4...
Overview System Configuration System Configuration Overview The ME3CAN1-L can be connected to a CPU module, an extension module or a CC-Link IE Field net- work head module of the MELSEC-L series. CANopen Node (ME3CAN1-L) MITSUBISHI L63P MITSUBISHI CANopen Node CAN bus network Terminating Terminating resistor...
PLC is operating. From the Diagnostics menu select System Monitor and then select Product Information List. Model name Serial number Function (first 5 digits) version Product Information List for a PLC with a ME3CAN1-L Fig. 2-3: 2 – 2 MITSUBISHI ELECTRIC...
System Equipment System Configuration System Equipment MELSEC-L series PLC Configuration by FBs with ME3CAN1-L in GX Works2 ME2PNR2-L USB cable Terminating Terminating resistor resistor CAN bus network CANopen Node Repeater CANopen Node Terminating Terminating resistor resistor CAN bus network Import EDS file 3rd party MELSEC-L series PLC...
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System Configuration System Equipment 2 – 4 MITSUBISHI ELECTRIC...
Part Names Detailed Description of the Module Detailed Description of the Module Part Names This section explains the names of the components for the ME3CAN1-L. Fig. 3-1: Names of parts Name Description Used to indicate the status of the ME3CAN1-L. Indicator LEDs For a detailed description, please refer to section 3.1.1.
Detailed Description of the Module Part Names 3.1.1 Indicator LEDs The LEDs are arranged in two groups: ● General LEDs are arranged on the left side. ● LEDs for CAN communication are arranged on the right side. Fig. 3-2: Indicator LEDs of the ME3CAN1-L Color Status Description...
Part Names Detailed Description of the Module 3.1.2 Signal Layout of the Connector CANopen interface Pin no. Signal Description connector — Reserved CAN_L CAN_L bus line (dominant low) CAN_GND CAN ground — Reserved CAN_SHLD CAN shield — Reserved CAN_H CAN_H Bus line (dominant high) —...
A DC/DC converter is used to insulate the power supply from the CAN input. Number of occupied I/O points 32 points (I/O assignment: Intelligent 32 points) Internal current consumption (5 V DC) 0.39 A Weight 0.14 kg Tab. 3-4: Specifications of the ME3CAN1-L 3 – 4 MITSUBISHI ELECTRIC...
Specifications Detailed Description of the Module 3.2.1 External Dimensions DIN rail center 28.5 Unit: mm Fig. 3-3: Dimensions of the ME3CAN1-L MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 5...
The "Use prohibited" signals cannot be used by the user since they are for system use only. If these are turned ON/OFF by the sequence program, the performance of the CANopen module cannot be guaranteed. 3 – 6 MITSUBISHI ELECTRIC...
I/O Signals for the Programmable Controller CPU Detailed Description of the Module 3.3.2 Details of I/O signals Module ready signal (Xn0) ● This signal turns ON when the ME3CAN1-L is enabled for access from the CPU module. ● This signal turns OFF when the ME3CAN1-L is disabled for access from the CPU module due to a module watchdog timer error or hardware fault.
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(Yn4). ● The message transmit trigger completed signal (Xn4) will turn ON when all the messages have been written into the transmit buffer. Please refer also to section 3.6.4. 3 – 8 MITSUBISHI ELECTRIC...
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I/O Signals for the Programmable Controller CPU Detailed Description of the Module ME3CAN1-L error (XnF), ME3CAN1-L error clear request (YnF) ● If one or more of the following bits in the buffer memory address Un\G29 (error state) are turned ON, XnF will be turned ON: Bits 1, 2, 4, 5, 6, 8, or 15. Please refer to section 3.5.7. ●...
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● These signals are used for execution of Command Interface 1. ● After writing the necessary command parameter (refer to section 3.5.18), turn ON Y(n+1)7 to execute the command. If the command execution is finished, X(n+1)7 will be turned ON. 3 – 10 MITSUBISHI ELECTRIC...
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I/O Signals for the Programmable Controller CPU Detailed Description of the Module Save configuration/Restore factory default completed (X(n+1)F), Save configuration/Restore factory default configuration request (Y(n+1)F) These signals are used to execute the save configuration / restore factory default request. The request must be specified in Un\G22 (Save/Restore Configuration, refer to section 3.5.3).
NOTE As long as Un\G25 bit 7 is ON ("Module is in initialization state"), any write access to the buffer memory is prohibited and will generate a Un\G29 bit 5 error. Refer to section 3.5.7. 3 – 12 MITSUBISHI ELECTRIC...
Buffer Memory Overview Detailed Description of the Module 3.4.1 Buffer Memory Assignment Address Stored to Reference Description Default (Decimal) Flash ROM (Section) 0–19 System area — — — — Data Exchange Control — 3.5.1 ✔ Function mode 3.5.2 Save/Restore Configuration —...
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Indicates whether reading from and writing to a sequence program are enabled. R: Read enabled W: Write enabled Only in Layer 2 mode the contents of some buffer memory addresses is stored into the Flash-ROM (Refer to section 3.6.6). 3 – 14 MITSUBISHI ELECTRIC...
Buffer Memory Details: CANopen Mode Detailed Description of the Module Buffer Memory Details: CANopen Mode 3.5.1 Data Exchange Control (Un\G20) This buffer memory address allows the control of the OD and EMCY data exchange. Description 0–7 Reserved Only in CANopen modes: Data exchange mode setting (only OD data) Bit = 0: No data exchange between buffer memory and CANopen...
At low baud rates a too fast data exchange and/or high bus load can result in a transmission data queue overflow error (bit 8 in Un\G29, refer to section 3.5.7). 3 – 16 MITSUBISHI ELECTRIC...
Buffer Memory Details: CANopen Mode Detailed Description of the Module 3.5.5 Communication Status (Un\G25) The buffer memory address Un\G25 displays the ME3CAN1-L communication status. Description CANopen modes: Bit = 0: Not in Operational State Bit = 1: Operational State Bit = 0: The error counter is below the warning level. (Refer to sections 3.5.8 and 3.5.9) Bit = 1: The error counter of the CAN controller has reached the warning level.
Description/Corrective action Reserved This bit can only be reset by switching the power OFF/ON. Hardware error Contact your Mitsubishi Electric representative. Reserved The CAN controller has too many transmission errors (Refer to section 3.5.8). The CAN controller is bus OFF.
Buffer Memory Details: CANopen Mode Detailed Description of the Module 3.5.8 CAN transmission error counter (Un\G35) The ME3CAN1-L stores the current value of the CAN transmit error counter. The displayed value range is 0 to 256. The counter counts 8 up if a transmission error is detected. For each transmission without error, the counter counts 1 down.
Value range: 1 to 31 A setting outside of the range, such as "February 30", is prohibited. 24 hour format Hour Value range: 0 to 23 Tab. 3-15: Buffer memory addresses for the time stamp 3 – 20 MITSUBISHI ELECTRIC...
Buffer Memory Details: CANopen Mode Detailed Description of the Module Address Name Description / Value range (Decimal) Minute Value range: 0 to 59 Second Value range: 0 to 59 Display range: 0 to 6 (0: Sunday to 6: Saturday) Day-of-the-week The Day of the week will be calculated during the setup of the clock data automatically.
Un\G400 and turn ON the Clear NMT error of CANopen node request (Y(n+1)0). ● To clear the error of a node, write the node number to Un\G400 and turn ON the Clear NMT error of CANopen node request (Y(n+1)0). 3 – 22 MITSUBISHI ELECTRIC...
Buffer Memory Details: CANopen Mode Detailed Description of the Module 3.5.16 NMT State (Un\G601–Un\G727) The buffer memory addresses Un\G601 to Un\G727 display the NMT status of the CANopen nodes (Index 1F82 , Sub index 0–127 of the CANopen Object Dictionary (Refer to section 4.8.8)). If no Heartbeat Consuming or Node Guarding is configured and the module is active NMT Master the buffer memory displays the NMT states of all slaves, which were sent by the active NMT Master to the slaves.
Buffer Memory Details: CANopen Mode Detailed Description of the Module 3.5.18 Command Interface (Un\G1000–Un\G1066) The Command Interface (CIF) can be used to access the Object Dictionary of the local node or a net- work node. The access is performed by commands for SDO read/write, Emergency Messages, etc. After writing the command parameter, turn ON Y(n+1)7 to execute the command.
8 bit 10380 higher 8 bit lower 8 bit 10381 higher 8 bit A4C3 A483 lower 8 bit 10507 higher 8 bit Tab. 3-22: Direct receive buffer memory access for unsigned and signed 8 bit objects 3 – 26 MITSUBISHI ELECTRIC...
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Buffer Memory Details: CANopen Mode Detailed Description of the Module Index (Hexadecimal) Sub-index Buffer memory address (Hex.) (Decimal) Unsigned 8 bit object Signed 8 bit object lower 8 bit 10508 higher 8 bit A4C4 A484 lower 8 bit 10634 higher 8 bit lower 8 bit 10635 higher 8 bit...
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A6C0 A680 A640 10003 10506 10507 10508 10509 A6C1 A681 A641 11014 11015 11016 11017 A6C2 A682 A642 11022 11023 Tab. 3-24: Direct receive buffer memory access for float, unsigned and signed 32 bit objects 3 – 28 MITSUBISHI ELECTRIC...
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Buffer Memory Details: CANopen Mode Detailed Description of the Module Direct transmit buffer memory access to the CiA-405 Object Use a TO or MOV instruction to write data to the following locations. The default TPDO mapping is assigned to unsigned 16 bit objects. To change this setting, please use the SDO command in the CIF (command interface, refer to sections 4.6.5 and 5.1) or CANopen...
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13000 13001 A100 A0C0 13253 13254 A101 A0C1 13507 13508 A102 A0C2 13761 13762 A103 A0C3 14015 14016 A104 A0C4 14023 Tab. 3-26: Direct transmit buffer memory access for unsigned and signed 16 bit objects 3 – 30 MITSUBISHI ELECTRIC...
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Buffer Memory Details: CANopen Mode Detailed Description of the Module ● Signed, unsigned and float 32 bit object Index (Hexadecimal) Sub-index Buffer memory address Float 32 bit Unsigned 32 bit Signed 32 bit (Hex. (Decimal) object object object 13000 13001 13002 A240 A200...
Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.2 Pre-defined Layer 2 message configuration (Un\G6000–Un\G6167) The parameters of a Layer 2 message number are used to define if the corresponding Layer 2 message number in Un\G10000–Un\G10293 is a transmit or receive message. Address Description Default...
(Parameter B = 7FFF or 6FFF ). If the configuration violates this rule, the first 28 transmit message configurations remain as they are and any further transmit messages parameter B is forced to 5FFF (Refer to section 3.6.3). 3 – 34 MITSUBISHI ELECTRIC...
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Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module ● Transmission: Layer 2 message n parameter C "transmission type" The transmission type defines under which conditions a transmit message is sent. "Transmission type" Description/transmission trigger event value When Yn1 is set to ON, the Layer 2 message is always transmitted.
The high byte value 07 after shows that the buffer was overwritten at least once (in this example two times) since . The data bytes in the buffer memory are the data received with the last message. 3 – 36 MITSUBISHI ELECTRIC...
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Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module NOTE In this example, it is expected that the PLC program resets the "RTR/new/DLC" flags after reading the data at Example 2 Filter setting: 0000 0006 – Layer 2 message 1 parameter A/B = 0000 0180 –...
Not used — Bit 15 Not used Tab. 3-34: Allocation of the buffer memory addresses Un\G8350 to Un\G8352 Indicates whether reading from and writing to a sequence program are enabled. R: Read enabled W: Write enabled 3 – 38 MITSUBISHI ELECTRIC...
Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.4 Message transmit trigger flags (Un\G8400–Un\G8402) The transmission of a message in Layer 2 mode can be triggered via the following flags. Transmit requests on receive message slots are discarded (refer to section 3.6.2 for details on configuring mes- sage slots).
Low byte: Number of data bytes to transmit (0 to 8) Data bytes 1 to 8. Data bytes The number of attached data bytes is defined by DLC. Tab. 3-37: Function of Un\G8450 to Un\G8477 RTR is prohibited for these messages. 3 – 40 MITSUBISHI ELECTRIC...
Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.6 Receive/Transmit Process Data (Un\G10000–Un\G10293) In Layer 2 message mode the ME3CAN1-L can send/receive up to 42 messages pre-defined by the user. Transmission of Layer 2 messages is also possible via the CIF (command interface): Sending Layer 2 Message (Refer to section 3.6.7).
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Cases for bits 8 to 10 of RTR/new/DLC : Bit = 0, b: Bit = 1, X: Bit status is "don't care" In case the received DLC is lower than 8, unused data bytes are set to 00 3 – 42 MITSUBISHI ELECTRIC...
Buffer Memory Details: Layer 2 Message Mode Detailed Description of the Module 3.6.7 CIF (command interface): Sending Layer 2 Message Using this function, the PLC can send any Layer 2 message to the CAN bus. This function is accessible in Layer 2 Mode only. Execution procedure ●...
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Detailed Description of the Module Buffer Memory Details: Layer 2 Message Mode 3 – 44 MITSUBISHI ELECTRIC...
Function Summary Functions Functions Function Summary Reference Function Description (Section) Function modes Different function modes of the module Object Dictionary Link between CANopen network and PLC Command interface; used to access the Object Dictionary of the local node or a network node. Service Data Object 4.6.4 RPDO / TPDO...
Data type definitions 00A0–0FFF Reserved — 1000–1FFF Communication profile area (CiA-301/CiA-302) 2000–5FFF Manufacturer-specific profile area 6000–9FFF Reserved — A000–AFFF Standardized profile area (CiA-405) B000–FFFF Reserved — Tab. 4-3: General layout of the CANopen standard Object Dictionary 4 – 2 MITSUBISHI ELECTRIC...
Command Interface Functions Command Interface The Command Interface (CIF) provides access to the Object Dictionary of the ME3CAN1-L and other CANopen nodes in the network. The various CIF functions can be used for SDO read/write, config- uring/mapping RPDO and TPDO, configuring Node Guarding, Heartbeat, Emergency Messages and others.
01–7F Refer to section 4.6.12 Node ID Highest sub-index — 1029 Error behavior ✔ Refer to section 4.7 102A NMT inhibit time Refer to section 4.8.6 — Tab. 4-6: Communication profile area of the ME3CAN1-L 4 – 4 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions Initial Index Sub-index Stored to Object Description Data type (hex) (hex) Flash ROM value 102B–13FF Reserved — — — — — Highest sub-index — ✔ RPDO communication COB-ID 1400–14FF Refer to table 4-7 Refer to parameter Transmission ✔...
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Data will be saved in the Flash ROM by using the Store Parameter command in index 1010 . Be careful with write han- dling. The maximum number of writes to the built-in flash ROM is 10,000 times. 4 – 6 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions Mode 405 RPDO communication parameter Default value of Sub-index (hex) Index (hex) 1400 200 + Node ID 1401 300 + Node ID 1402 400 + Node ID 1403 500 + Node ID 1404–14FF 80000000 Tab. 4-7: Mode 405 RPDO communication parameter R = Read access W = Write access...
Communication Profile Area Functions Restricted CAN-IDs In a self-defined CAN-ID scheme, use of the following CAN-IDs are restricted and shall not be used as a CAN-ID by any configurable communication object. CAN-ID (hex) Used by COB Tab. 4-13: Restricted CAN-IDs 1–7F Reserved 101–180...
The PDO mapping parameter contains information about the contents of the PDO. PDO producer PDO consumers Request Process data Indication 0 < L 8 Request Indication Process data: L bytes of application data Indication Fig. 4-4: Transfer of PDOs 4 – 20 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions With the Parameter "transmission type", two transmission modes are configurable: – Synchronous transmission – Event-driven transmission Use the following way to change the PDO communication or mapping parameter: ● Set the PDO to not valid (communication parameter sub-index 01 bit 31).
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Bit = 0: Remote transmission Request (RTR) allowed Bit = 1: Remote transmission Request (RTR) not allowed This bit is constantly set to "1" in the ME3CAN1-L. 11-bit CAN-ID of the CAN base frame. 11-bit CAN-ID Refer to section 4.6.1. 4 – 22 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions ● Sub-index 02 : TPDO transmission type Value (hex) Description Synchronous (acyclic) The PDO will be transmitted after occurrence of the SYNC but acyclic (not periodically), only if an event occurred before the SYNC. Synchronous (cyclic every SYNC) Synchronous (cyclic every 2nd SYNC) Synchronous (cyclic every 3rd SYNC) Synchronous (cyclic every 240th SYNC)
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The behavior is the same as for case 1, but with the following condition added: – A PDO will only be sent if the inhibit time is not active and the data exchange is requested. 4 – 24 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions ● Case 3: Inhibit time = 0, Event time > 0 Buffer memory data 0001 2102 3528 Data exchange request (Yn1) 0001 Object Dictionary 0000 2102 3528 TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 0001 0001 2102...
SYNC producer corresponding approximately to the latency from some other message being transmitted just before the SYNC. SYNC producer SYNC consumers Request 0 byte Indication Indication Indication SYNC Object SYNC triggered PDO Objects Time Communication cycle period Fig. 4-14: Transfer of a SYNC message 4 – 26 MITSUBISHI ELECTRIC...
Communication Profile Area Functions Object 1005 : COB-ID SYNC message In order to guarantee timely access to the network, the SYNC is given a very high priority CAN-ID. Bit 31 Bit 30 Bit 29 ... Bit 11 Bit 10 ... Bit 0 gen.
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Both Objects have to be set to activate Node guarding. The order in which Guard time and Life time factor are set does not matter. Object 1F81 : NMT slave assignment (master setting) For the NMT slave assignment, please refer to section 4.8.6. 4 – 28 MITSUBISHI ELECTRIC...
Communication Profile Area Functions 4.6.8 Heartbeat The heartbeat protocol defines an error control service without a request. A heartbeat producer trans- mits a heartbeat message cyclically. One or more heartbeat consumer receives the indication. The relationship between producer and consumer is configurable via the Object Dictionary. The heart- beat consumer guards the reception of the heartbeat within the heartbeat consumer time.
The device needs to be active NMT master to produce TIME messages. 11-bit CAN-ID 11-bit CAN-ID of the CAN base frame. (Refer to section 4.6.1) Tab. 4-21: Description for object 1012 : COB-ID time stamp object 4 – 30 MITSUBISHI ELECTRIC...
Communication Profile Area Functions 4.6.10 Store parameters To store all parameters to the non-volatile memory, write SDO 65766173 (ISO8859 string code: "save") to Object Index 1010 , sub-index 01 or use the store command in the CIF (command inter- face, refer to section 3.5.18). After each power-up or restart, the saved parameters will be valid. NOTE The store parameter command is not necessary for CDCF files stored on Object 1F22 On read access, the ME3CAN1-L gives back information about its storage functionality:...
100 μs. The value 0 disables the inhibit time. The ME3CAN1-L counting resolution is 1ms, values smaller than 1 ms will set internally to 1ms, values starting from 1ms will be divided by 1000. 4 – 32 MITSUBISHI ELECTRIC...
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Communication Profile Area Functions Object 1028 , Sub-index 01 –7F : Emergency consumer object This object configures the COB-IDs for the EMCY objects that the module is consuming. The sub-index refers to the related node-ID. Fig. 4-24: Bit 31 Bit 30 ... Bit 11 Bit 10 ...
Not used Tab. 4-26: Error class values PLC RUN STOP: In case setting value 01 the ME3CAN1-L will change into Pre-operational but can be set again to Opera- tional also when the PLC is in STOP. 4 – 34 MITSUBISHI ELECTRIC...
Network Management Functions Network Management NMT provides services for controlling the network behavior of CANopen devices. All CANopen devices of a network referred to as NMT slaves are controlled by services provided by an NMT master. The NMT master is usually but not necessarily the application master. The ME3CAN1-L supports the following master functions: –...
NMT state Initialization. The protocol uses the same CAN-ID as the error control protocols. One data byte is transmitted with value 0. Boot-up producer Boot-up consumers Request COB-ID = 1792 + Node-ID Indication Fig. 4-26: Protocol Boot-Up 4 – 36 MITSUBISHI ELECTRIC...
Network Management Functions 4.8.3 NMT protocol (node control) The NMT protocol is used by the NMT Master to control the NMT state of remote nodes. Only the NMT Master is allowed to produce this protocol. The active NMT master ignores NMT messages with the Node ID 0 (all nodes). NMT Master NMT Slaves Request...
Configured as OD Index NMT master? 1F80 Bit 0 lost NMT flying master OD Index process 1F80 Bit 5 Switch to NMT slave mode To the next page Fig. 4-28: NMT Master startup process (1) 4 – 38 MITSUBISHI ELECTRIC...
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Network Management Functions Continued from the previous page Keep a NMT Slaves OD Index in Operational? 1F81 Bit 4 NMT service Reset NMT service Reset communication Note: communication for each individual CANopen® all devices If the Flying Master function is used, a Reset Communication all individual whom Reset communication bit is not set Nodes will be sent during the Flying Master negotiation.
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Communication and Start address Un\G70 remote all Nodes (default: 500 ms) OD Index 1F80 Start remote all Nodes? Bit 1 NMT service Start remote all Nodes End of startup Fig. 4-29: NMT Master simple startup 4 – 40 MITSUBISHI ELECTRIC...
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Network Management Functions Object 1F80 : NMT start-up By using a SDO access, this object configures the start-up behavior of a CANopen device. This object configures the start-up behaviour of a CANopen® device via SDO access. If the node is set as Master without the flying master capability, the node starts as NMT master and ignores all NMT commands from the network.
Bit 0 NMT Slave Response received? End boot-up with no NMT Slave response received NMT Slave OD Index device type equal 1F84 or don’t care? To the next page Fig. 4-31: NMT Slave startup process (1) 4 – 42 MITSUBISHI ELECTRIC...
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Network Management Functions Continued from the previous page OD Indexes 1F85 1F88 OD Indexes Request OD Index Response Identity check 1F85 1018 from NMT received and OK? required? 1F88 Slave Keep alive bit Check Node state for this NMT Node state received? OD Index Slave set? 1F81...
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NMT service Boot-up? NMT boot slave Refer to sections 4.8.1, 4.8.2 and 4.8.12. Bit = 0: Shall not be allowed. Bit = 1: Shall be performed Tab. 4-30: Description of t he configuration field 4 – 44 MITSUBISHI ELECTRIC...
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Network Management Functions Bit/Item Description Remark How shall the CANopen device be present prior For mandatory slaves, please consider the bit 4 to network start-up? and 6 of the object 1F80 . (Refer to section 4.8.5). Bit = 0: May be present (CANopen device is Mandatory optional).
Node is mandatory and Reset communication all all nodes shall be reset? devices OD Index 1F80 Bit 4 NMT service Reset communication faulty node Start startup handler for faulty device End error handler Fig. 4-34: NMT error handler 4 – 46 MITSUBISHI ELECTRIC...
Network Management Functions 4.8.8 Request NMT This object indicates at the NMT Master the current NMT state of a unique CANopen device in the network. The sub-index corresponds to the node-ID of the CANopen devices in the network. The sub-index 80 represents all nodes.
If the heartbeat producing and consuming is set manually, please set a different consuming time for each NMT master (active and hot stand-by). This is necessary so that when the active NMT mas- ter is timed-out, that only one hot stand-by NMT master initiates the flying master negotiation. 4 – 48 MITSUBISHI ELECTRIC...
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Network Management Functions NOTES If a flying master which is not a ME3CAN1-L is in the network, please ensure that heartbeat pro- ducing is enabled in this node, otherwise the ME3CAN1-L with activated flying master will send endless NMT messages reset communication. All flying masters should have the same configuration for the slaves.
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NMT flying master negotiation OD Index 1F90 Sub-index 03 priority > own priority Un\G27 Send service Force NMT flying master negotiation NMT master mode NMT slave mode Continue with NMT master startup Fig. 4-36: NMT flying master process 4 – 50 MITSUBISHI ELECTRIC...
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Network Management Functions Object 1F80 : NMT start-up Set bit 5 to ON to participate in the NMT flying master negotiation. Refer to section 4.8.5. Object 1F90 : NMT flying master timing parameter This object defines the parameters for the NMT flying master negotiation process. ●...
) after configuration to prevent an unwanted start of the LSS master. NOTE Check if the LSS client activates an internal bus termination. If necessary, deactivate the bus termi- nation first to prevent unwanted behavior of the connected nodes on the bus. 4 – 52 MITSUBISHI ELECTRIC...
Network Management Functions 4.8.12 Configuration manager The configuration manager provides mechanisms to configure the CANopen devices in a CANopen network. For saving and requesting the CANopen device configuration, the following objects are used. The sub-indexes are according to node ID. The configuration manager can only be used on the active NMT master.
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, Sub-index 01 –7F : Expected configuration time This object is used by CANopen configuration software to verify the configuration time of the CANopen devices in the network. The value contains the number of ms after midnight. 4 – 54 MITSUBISHI ELECTRIC...
Device Profile CiA-405 Functions Device Profile CiA-405 This section describes the standardized CANopen interface and device profile for IEC 61131-3 pro- grammable devices, e.g. PLCs. The supported objects for data read/write support signed 8 bit, unsigned 8 bit, signed 16 bit, unsigned 16 bit, signed 32 bit, unsigned 32 bit and float 32 bit. The cor- responding objects in the object dictionary can be directly accessed via the buffer memory from the PLC.
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The "Default" value is the initial value set after the power is turned ON or the PLC CPU is reset. Indicates whether reading from and writing to CAN bus are enabled. R: Read enabled W: Write enabled 4 – 56 MITSUBISHI ELECTRIC...
Command Interface Command Interface This chapter describes the Command Interface supported by the ME3CAN1-L. For the command interface, the buffer memory addresses Un\G1000–Un\G1066 are used (section 3.5.18). The following commands are supported: Reference Tab. 5-1: Command Interface (Section) Commands 5.1.1 SDO read 5.1.2 SDO multi read...
1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte 1065 122nd data byte 121st data byte 1066 124th data byte 123rd data byte 5 – 2 MITSUBISHI ELECTRIC...
SDO Request Command Interface 5.1.2 CIF Multi SDO read access With the multi SDO read access command, up to 8 SDO read accesses can be made within one com- mand. The maximum data length for each access is 8 bytes. Execution procedure: CIF Multi SDO read access ●...
1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte 1065 122nd data byte 121st data byte 1066 124th data byte 123rd data byte 5 – 4 MITSUBISHI ELECTRIC...
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SDO Request Command Interface Example Setting: Changing the NMT state of the whole network to state Operational* * The module needs to be active NMT Master. Description Address (Decimal) Transmit message Receive message 1000 Command 0002 : SDO write 0003 : SDO write success 1001 Node number (The ME3CAN1-L itself ): 0...
Node number 0 is accessing the local ME3CAN1-L modules Object Dictionary, regardless of its real node address. This is useful as the configuration of the local node can be programmed independently from the node address. If the final setting is located before Un\G1057 write FFFF in the last buffer memory address (Node number). 5 – 6 MITSUBISHI ELECTRIC...
Send an Emergency Message Command Interface Send an Emergency Message This command can be used to send an emergency message by the PLC to the CANopen network. Execution procedure: Send an emergency message ● Write the command code 000A to Un\G1000. ●...
Error Messages Command Interface Error Messages If an error occurs during the execution of a command, 000F is written to Un\G1000, and the error class and additional data are stored to Un\G1000 to Un\G1066. Address Tab. 5-11: Description (Decimal) Storing of error messages in the buffer memory 1000 000F (Error)
Device in wrong state The ME3CAN1-L is in wrong device state for the command. Address Tab. 5-16: Description (Decimal) Error message when the ME3CAN1-L is in wrong 1000 000F (Error) state 1001 Error Class: 0F0F 1002–1066 Unused 5 – 10 MITSUBISHI ELECTRIC...
Implementation and Installation Setup and Procedures before Operation Setup and Procedures before Operation This chapter explains the procedures for connecting the ME3CAN1-L to a CAN network, wiring and other information. Implementation and Installation This section provides the handling precautions, from unpacking to installation of the ME3CAN1-L. The ME3CAN1-L can be connected to a CPU module, an extension module or a CC-Link IE Field net- work head module of the MELSEC-L series (refer to section 2.1).
Connect the CAN bus. Perform the start-up procedure. Refer to section 6.4 Programming and debugging Refer to chapter 7 Create and check the sequence program. Fig. 6-1: Function chart for the setup of the CANopen module 6 – 2 MITSUBISHI ELECTRIC...
Wiring Setup and Procedures before Operation Wiring 6.3.1 Wiring Precautions Please observe the following precautions for external wiring: ● Perform class D grounding (grounding resistance: 100 or less) to the shield of the twisted shield cable (refer to section 6.3.2). Do not use common grounding with heavy electrical systems. ●...
CAN_SHLD CAN_H CAN_H CAN_H CAN_V+ CAN_V+ CAN_V+ Grounding resistance of Grounding resistance of or less (Class D) or less (Class D) Optional external supply for transmission hardware Fig. 6-2: Connection of the CAN bus cable. 6 – 4 MITSUBISHI ELECTRIC...
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Wiring Setup and Procedures before Operation WARNING: For safety, always check the potential differences between the grounding points. If potential differences are found, proper measures must be taken to avoid damages. MELSEC-L series PLC Power ME3CAN1-L supply Grounded mounting plate or grounded DIN rail with a grounding resistance of 100 or less (Class D).
Setup and Procedures before Operation Start-up Procedure Start-up Procedure 6.4.1 CANopen 405 mode Reference Step Action (Section) Set the function mode (Un\G21) 3.5.2 3.5.3 Store the buffer memory configuration (set Un\G22 then turn Y(n+1)F ON) 3.3.2 Restart the ME3CAN1-L (turn Yn2 ON) 3.3.2 Set the baud rate (Un\G24) 3.5.4...
CANopen PDO Communication using Function Blocks Programming Programming This chapter describes the programming of the CANopen module ME3CAN1-L. The program shown in section 7.1 is an example of how to set local parameters, set up a CANopen network, and exchange data over the CANopen bus with the ME3CAN1-L. Large networks can be configured more quickly and easily by using a CANopen...
Programming CANopen PDO Communication using Function Blocks 7.1.2 Local Label setting Fig. 7-2: Local Label for this example (1) 7 – 2 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-3: Local Label for this example (2) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 3...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-4: Local Label for this example (3) 7 – 4 MITSUBISHI ELECTRIC...
CANopen PDO Communication using Function Blocks Programming 7.1.3 Program Fig. 7-5: Example Program (1) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 5...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-6: Example Program (2) 7 – 6 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-7: Example Program (3) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 7...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-8: Example Program (4) 7 – 8 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-9: Example Program (5) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 9...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-10: Example Program (6) 7 – 10 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-11: Example Program (7) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 11...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-12: Example Program (8) 7 – 12 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-13: Example Program (9) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 13...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-14: Example Program (10) 7 – 14 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-15: Example Program (11) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 15...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-16: Example Program (12) 7 – 16 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-17: Example Program (13) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 17...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-18: Example Program (14) 7 – 18 MITSUBISHI ELECTRIC...
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CANopen PDO Communication using Function Blocks Programming Fig. 7-19: Example Program (15) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 19...
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Programming CANopen PDO Communication using Function Blocks Fig. 7-20: Example Program (16) 7 – 20 MITSUBISHI ELECTRIC...
Layer 2 Communication Programming Layer 2 Communication 7.2.1 Layer 2 communication using function blocks NOTES This program examples together with the function blocks can be downloaded from http://eu3a.mitsubishielectric.com/fa/en/ in the MyMitsubishi section (free registration necessary). In the sample ladder programs labels are used. (For label setting operation on GX Works2, refer to the GX Works2 Operating Manual (Simple Project).) The ME3CAN1-L must be set to the 29 bit CAN-ID Layer 2 mode beforehand (Please refer to section 3.5.2).
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Programming Layer 2 Communication Local Label Setting Fig. 7-22: Local Label for this example (1) 7 – 22 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-23: Local Label for this example (2) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 23...
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Programming Layer 2 Communication Program Fig. 7-24: Example Program (1) 7 – 24 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-25: Example Program (2) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 25...
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Programming Layer 2 Communication Fig. 7-26: Example Program (3) 7 – 26 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-27: Example Program (4) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 27...
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Programming Layer 2 Communication Fig. 7-28: Example Program (5) 7 – 28 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-29: Example Program (6) MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 29...
The ME3CAN1-L must be set to the 29 bit CAN-ID Layer 2 mode beforehand (Please refer to section 3.5.2). Layer 2 Message Transmission ● Local Label Setting Fig. 7-31: Local Label setting for this program example ● Global Label Setting Fig. 7-32: Global Label setting for this program example 7 – 30 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming The Global Labels "Message1Param" and "Message1Data" are Structured Data Types: Fig. 7-33: Navigator window of the example project Fig. 7-34: Structured Data Type "Layer2MessageParameter" Fig. 7-35: Structured Data Type "Layer2MessageData" MELSEC-L Series – CANopen Module ME3CAN1-L 7 –...
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Detail Setting in the Global Label Setting dialog (refer to fig. 7-32) and enter the appropriate data (please refer to the program shown below). Fig. 7-36: Detailed setting for the Global Label "Message1Param" Fig. 7-37: Detailed setting for the Global Label "Message1Data" 7 – 32 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming ● Program Fig. 7-38: Example Program (1): Copy message parameter MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 33...
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Programming Layer 2 Communication Fig. 7-39: Example Program (2): Set message parameter to module 7 – 34 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-40: Example Program (3): Request online mode, copy message data, request data exchange MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 35...
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● Global Label Setting Fig. 7-42: Global Label setting for this program example The Global Labels "Message1Param" and "Message1Data" are Structured Data Types: Fig. 7-43: Navigator window of the example project Fig. 7-44: Structured Data Type "Layer2MessageParameter" 7 – 36 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-45: Structured Data Type "Layer2MessageData" For the Global Labels "Message1Param" and "Message1Data" some detailed setting is required. Click on Detail Setting in the Global Label Setting dialog (refer to fig. 7-42) and enter the appropriate data (please refer to the program shown below).
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Programming Layer 2 Communication ● Program Fig. 7-48: Example Program (1): Copy message parameter Fig. 7-49: Example Program (2): Set message parameter to module 7 – 38 MITSUBISHI ELECTRIC...
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Layer 2 Communication Programming Fig. 7-50: Example Program (3): Set online mode, request data exchange, copy received message MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 39...
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Layer 2 Communication Programming MELSEC-L Series – CANopen Module ME3CAN1-L 7 – 40...
Error Processing and Recovery Method Troubleshooting Troubleshooting Error Processing and Recovery Method 8.1.1 Preliminary check by LED status Status Cause Action The watchdog monitoring time Please consult your local Mitsubishi representative, has been exceeded. explaining a detailed description of the problem. Check the error status in Un\G29.
If this error flag is not cleared after a module restart (Yn2) or Hardware error another power cycle, the ME3CAN1-L is probably damaged. Please contact your local Mitsubishi Electric representative. Reserved — Check the following points in the network, then restart the Mod- ule (Refer to section 3.5.5).
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Error Processing and Recovery Method Troubleshooting Layer 2 modes: The configuration must not be changed when the module is set to ONLINE, before changing the configu- ration set Yn0 to OFF (configuration mode) and wait until Xn0 is OFF (module OFFLINE/INIT). The affected configurations buffer memories are Un\G10000 to Un\G10293, Un\G6000 to Un\G6167 and Un\G8400 to Un\G8402.
NOTE More EMCY Emergency error codes are defined in the various CiA Device/Application Profiles. For the case of not listed EMCY Error codes please refer to the manual of the device which sends the message. 8 – 4 MITSUBISHI ELECTRIC...
Error Code and Error Message Summary Troubleshooting 8.2.2 EMCY Manufacturer specific error codes Manufacturer specific Emergency Error code Description (hex) error code (hex) FF00 4D45303031 "ME001": Main unit program/CPU error occurs FF00 4D45303032 "ME002": Main unit state changed from RUN to STOP 6200 4D45303034 "ME004": Module restart by Yn2 (Refer to section 3.3.2)