Set Heartbeat - Mitsubishi Electric MELSEC-F FX3U-CAN User Manual

FX -CAN User's Manual
3U
10.3

Set Heartbeat

Nodes can be easily set to Heartbeat Producer or Heartbeat Consumer status by writing values to Index
H1016 and H1017 using the Command Interface (CIF). The parameters for Heartbeat are included in the
information that can be written to the CAN bus.
The local FX
3U
Note that the NMT Master startup process uses SDO's which can be result in an Error of the CIF command if
the NMT Startup Master accesses the remote Node at the same time.
1. Heartbeat producing setting
Execution procedure: Heartbeat producing setting
1) Write target Node number and Producer heartbeat time value (in units of ms) to BFM #1001 to #1066.
Write HFFFF to the node number following the last target node to complete Heartbeat producing settings.
2) Write the command code H7410 to BFM #1000.
When the command code H7410 is written to BFM #1000, the command is executed.
3) When the executed command is successful, H7411 is written to BFM #1000.
BFM No.
H7411:
H741F:
BFM #1000
HFFFF:
H000F:
BFM #1001
BFM #1002
BFM #1003
BFM #1004
Diagnosis Data
BFM #1005
BFM #1006
BFM #1065
BFM #1066
2. Heartbeat consuming setting
With this command, the Heartbeat consuming Index H1016 Sub index K1 to K32 will be set up at the node
specified in BFM #1001.
To setup a Sub index higher than K32, use the SDO write command.
Execution procedure: Heartbeat consuming setting
1) Write the Node number that has to be set up to BFM #1001.
The local FX
2) Write target Node-ID to be Consumed and Consumer heartbeat time (in units of ms) to BFM #1002 to
#1065.
Write HFFFF to the Node-ID following the last consuming node to complete Heartbeat consuming
settings.
3) Write the command code H7400 to BFM #1000.
When the command code H7400 is written to BFM #1000, the command is executed.
4) When the executed command is successful, H7401 is written to BFM #1000.
184
-CAN can be specified by its actual node number or by using "0".
→ For Object H1016 and H1017 (Heartbeat), refer to Subsection 5.6.9
→ If H741F, H000F or HFFFF is read from BFM #1000, refer to Section 10.9
FROM (Read Access)
Producing has been assigned
Parameter Error
CIF Busy
Error
H0000: No Error
All other values: The corresponding parameter
caused an SDO error.
-CAN can be specified by its actual node number or by using "0".
3U
Description
TO (Write Access)
Command: H7410
Node number of producer
1st target
node
Producer heartbeat time value (in units of ms)
Node number of producer
2nd target
node
Producer heartbeat time value (in units of ms)
Node number of producer
3rd target
node
Producer heartbeat time value (in units of ms)
Node number of producer
33rd target
node
Producer heartbeat time value (in units of ms)
→ For Heartbeat, refer to Subsection 5.6.9
→ For SDO Request, refer to Section 10.2
10 Command Interface
10.3 Set Heartbeat