Mitsubishi Electric MELSEC-F FX3U-CAN User Manual page 91

FX -CAN User's Manual
3U
Point
When using the Flying Master function, please consider the following points:
• The Network communication will be reset after the Active NMT Master fails which will result in an
Interruption of the System Application.
• Application data will be not synchronized by the Flying Master mechanisms. This has to be handled by a
proper CANopen
• Be careful with the setting of the NMT flying master timing parameters. An inappropriate setting will result
in a Malfunction of the Flying Master negotiation. Test the System Configuration before field use.
Figure 5.5: NMT flying master process
OD Index H1F90
Sub-index H02
OD Index H1F90
Sub-index H01
Flying master priority =
Priority level  128 + Node-Id
The lower the number is, the
higher the priority!
From the next page
®
configuration and CANopen
Power on / BFM #25 bit 0 Reset
Initialization
NMT master negotiation time
This time should be set so that all
Flying masters finish in nearly the
same time as the negotiation time.
Service active master detection.
The active master has to
answer within the NMT master
time out time.
no
Active Master
found?
yes
Confirmation NMT flying master negotiation
Time = Priority level  Priority time slot +
Node-Id  CANopen
The first flying master where this time
elapse shall have the highest priority.
To the next page
®
system planning.
yes
From power-on /
BFM #25 bit 0
Reset
no
Start NMT flying
master negotiation
Wait time before sending Service
and become active NMT master.
® device time slot
Service
Confirmation
NMT flying master
negotiation
received?
yes
5 Introduction of Functions
5.8 Network Management
NMT service Reset
communication all
Nodes
OD Index H1F90
Sub-index H03
OD Index H1F90
Sub-index H04
OD Index H1F90
Sub-index H05
BFM #27
no
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