Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 217

FX -CAN User's Manual
3U
43
Then, initialize the communication parameters data for the fourth PDO setup command:
FourthPDOProcessing
44
Change the PDO communication and/or mapping parameters of a specified PDO
ReceiveOrTransmit
TransmissionType
ExecuteMapping
ObjectSubindex
StartPDOSetup
45
If a PDO setup command execution is completed, increase the command complete counter
PDOSetupCompleted
PDOSetupError
46
If a PDO setup command execution error occurs, increase the command error counter
PDOSetupError
47
If a PDO setup command execution is completed reset status signal
PDOSetupCompleted
48
If a PDO setup command was executed, move to the next one
PDOSetupProcessing
StartPDOSetup
MOV
EN ENO
K1 s d NodeAddress
MOV
EN ENO
K2 s d PDOnumber
MOV
EN ENO
H283 s d CANID
MOV
EN ENO
s d TransmissionType
HFE
MOV
EN ENO
H2 s d NoOfEntries
SET
EN ENO
d StartPDOSetup
SetupPDOs
PDOSetup
K0 HeadAddress
NodeAddress NodeAddress
ReceiveOrTransmit
PDOnumber PDOnumber
CANID CANID
TransmissionType
ExecuteMapping
NoOfEntries NoOfMappedObjects
ObjectIndex ObjectIndex
ObjectSubIndex
ObjectLength ObjectLength
StartSetup
AND
INCP
EN ENO
d
PDOSetupErrCounter
RST
EN ENO
d StartPDOSetup
AND
SetupCompleted PDOSetupCompleted
SetupError PDOSetupError
INCP
EN ENO
d PDOSetupOkCounter
INC
EN ENO
d CommandSequence
13 Program Example
13.3 Program
11
12
13
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