Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 12

FX -CAN User's Manual
3U
8.12 Control Effort ............................................................................................................................. 165
8.13 Position Actual Value/Target Position ....................................................................................... 165
8.13.1 Position actual value.................................................................................................................. 165
8.13.2 Target position........................................................................................................................... 166
8.14 Profile Velocity .......................................................................................................................... 166
8.15 Velocity Actual Value/Target Velocity ....................................................................................... 166
8.15.1 Target velocity ........................................................................................................................... 166
8.15.2 Velocity actual value.................................................................................................................. 166
8.16 Load Value ................................................................................................................................ 166
8.17 Load Signalling.......................................................................................................................... 166
9. CAN Layer 2 Mode
9.1 Receive/Transmit Process Data.................................................................................................. 167
9.2 Layer 2 Message Specific Error Code List.................................................................................. 170
9.3 Pre-defined Layer 2 Message Configuration............................................................................... 170
9.3.1 Pre-defined Layer 2 transmit messages...................................................................................... 171
9.3.2 Pre-defined Layer 2 receive messages ....................................................................................... 173
9.4 Layer 2 RTR Flags ...................................................................................................................... 175
9.5 Message Transmit Trigger Flags ................................................................................................ 176
9.6 PLC RUN>STOP Messages ....................................................................................................... 176
9.7 CIF Sending Layer 2 Message.................................................................................................... 178
10. Command Interface
10.1 [BFM #1000 to #1066] Command Interface .............................................................................. 179
10.2 SDO Request ............................................................................................................................ 180
10.2.1 CIF SDO read access................................................................................................................ 180
10.2.2 CIF Multi SDO read access ....................................................................................................... 181
10.2.3 CIF SDO write access ............................................................................................................... 182
10.2.4 CIF Multi SDO write access....................................................................................................... 183
10.3 Set Heartbeat ............................................................................................................................ 184
10.4 Set Node Guarding / NMT Slave Assignment........................................................................... 185
10.5 Send an Emergency Message .................................................................................................. 186
10.6 Store Object Dictionary Settings ............................................................................................... 188
10.7 Restore Object Dictionary Default Settings............................................................................... 189
10.8 Display Current Parameter........................................................................................................ 189
10.9 Error Messages......................................................................................................................... 190
10.9.1 Error messages ......................................................................................................................... 190
10.9.2 CIF busy message..................................................................................................................... 192
11. PLC RUN/STOP
12. Communication Settings Procedure
12.1 CANopen
12.2 CANopen
12.3 11 bit / 29 bit CAN-ID Layer 2 Mode ......................................................................................... 197
6
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405 Mode ............................................................................................................... 195
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417 Mode ............................................................................................................... 196
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