Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 143

FX -CAN User's Manual
3U
Assign Source TPDO COB-ID to Destination RPDO COB-ID
This command copies the COB-ID of the Source Node TPDO to the Destination Node RPDO. Please ensure
that the PDO mapping parameter data fit together before executing this command. Otherwise it can result in
communication failures and/or a malfunction of the Destination Node.
To change the PDO communication parameter or the PDO mapping parameter, please use the SDO
command in the CIF or a CANopen
→ For the CANopen
• Mode B TPDO/RPDO COB-ID Setup scenarios
COB-ID read
FX -CAN =
3U
Destination
Source Node
Node (RPDO)
(TPDO)
COB-ID set
BFM No.
H8301:
H83FF:
BFM #1000
HFFFF:
H000F:
BFM #1001
BFM #1002
Diagnosis Data
H0000:
All other values: The corresponding
BFM #1063
BFM #1064
BFM #1065
BFM #1066
Note
With one execution of the Mode B COB-ID mapping command, up to 33 binding connections between
®
CANopen stations can be made. To establish more data connections, the command can be repeated as
often as necessary.
IMPORTANT
If less than 33 bindings are used (max. number), the next BFM (n+1) needs to be terminated with HFFFF.
1. Source parameter
The Source parameter specifies the data telegram producer to be bound. It consists of two bytes, with the
node ID in the high byte and the PDO number in the low byte.
• Node ID
The node ID range is 1 to 127.
The local FX
3U
• TPDO number
The TPDO number setting range is 1 to 255.
The FX -CAN will read the TPDO COB-ID from the object dictionary of the source node. This COB-ID is
3U
written in the next step to the Destination node's RPDO communication parameter.
Example:
Source parameter = H1009
The high byte of the source parameter represents the node ID (H10). The low byte specifies TPDO 9. This
node/TPDO will be bound to the node/RPDO in the destination BFM that directly follows the source BFM.
Note
An error will be generated if the Destination parameter is not configured.
®
network configuration software.
→ For the SDO write access command in the CIF, refer to Subsection 10.2.3
®
configuration software, refer to the manual of the software to be used
COB-ID set
FX -CAN =
3U
Destination
Node (RPDO)
COB-ID read
FROM (Read Access)
Mapping successfully established
Parameter Error
CIF Busy
Error
No Error
p a r a m e t e r c a u s e d a n
error.
→ Refer to the Subsection 7.2.6
-CAN can be specified by its actual node number or by using "0".
7.2 PDO Mapping/Binding of the Network for CANopen
Source Node
FX -CAN
3U
(TPDO)
COB-ID read
Description
TO (Write Access)
High Byte
Command: H8300
Node ID number of Source 1
Node ID number of Destination 1
Node ID number of Source 32
Node ID number of Destination 32
Node ID number of Source 33
Node ID number of Destination 33
®
7 CANopen 405 Mode
®
405 Mode
Source Node Destination
(TPDO) Node (RPDO)
COB-ID set
Low Byte
Specific TPDO of Source 1
Specific RPDO of Destination 1
Specific TPDO of Source 32
Specific RPDO of Destination 32
Specific TPDO of Source 33
Specific RPDO of Destination 33
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