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FX3U-CAN USER`S MANUAL

1. ik units blocks SE T AN gt SI FXw 20Ssc H 3 D al FX2NC CNV IF e An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC PLC 9 e The optional FXoN 65EC FXoN 30EC and FX2N CNV BC are necessary to lengthen the extension cable 33 e The number of I O points occupied by the FX3U CAN is eight Make sure that the total number of I O points 2 occupied I O points of the main unit extension unit s extension block s and the number of points M occupied by special function blocks does not exceed the maximum number of I O points of the PLC For further information of the maximum number of I O points of the PLC refer to the respective product manual Refer to FX3G Hardware Edition e gt Refer to FX3Gc Hardware Edition 38 gt Refer to FX3u Hardware Edition 2 3 gt Refer to FX3uc Hardware Edition a 21 1 Introduction FX3U CAN User s Manual 1 4 System Start up Procedure 1 4 System Start up Procedure FX3U CAN Refer to Chapter 1 e Outline of system e Applicable PLC e CANopen nodes Applicable CANopen configuration tool Outline Refer to Chapter 2 Specifications e Operation environment e Power supply specifications e Performance specifications Maximum bus length depends on baud rate Check of specifications Refer to Chapter 1 and 2 System
2. 73 0920 NMT Slave Startu cesscencsecs H 17 5 8 7 NMT Slave assigned ri 79 5 0 9 NMTBo0otup Error Event handling ooi oto SiO 81 O celi ium d DE 82 5 0 10 Requestiode guardia dis 83 58 MM o A EET 83 REA EI ree ee a ee ee ee 86 5 8 13 Configuration manager ssssssssssssesessssesen eene nnne nnne nnn nnns nn arn rns nn nnn nennen nnn nnne 86 5 9 Device Profile CiA 405 V2 0 for IEC 61131 3 Programmable Devices eseesssssss 88 5 10 Application Profile CiA 417 V2 1 for Lift Control SIM Sic 90 A A M ae 93 5 10 2 virtuel IN DUE IMAI DING scsi a densi aires aia do an hu aa 94 31073 VITA QUEUE MAI E 96 10 44 TOON COMMON WONG sec ti dass 99 5105 DOUE SAUS a a in 100 510 6 MET audio INN IS MESA ES QUEM ERE EE TOU 102 S107 Greece WONG stars tl A a ars 102 IS ES roe REN NT 104 910 9 MOdES OF OPEN do stc eset pede dat Duende Deusto 105 5 10 10 Modes of operation diSplay ooocccccocccccconnccconcnconnnnononnnonononononnnononnnonnncnnnnnnnnnnnnnnonnononanenons 105 Adal Target pos EET IET 105 oM ION 12 Load Valet id lides 105 SEIN OM Eos igo Meet 105 6 Allocation of Buffer Memories 106 6 1 BulerMemories BEM D EISIS e aM daa 106 6 2 How to Read Write from to Buffer Memory cccccoccocococnnccccocnncononnncononnnnononnconanoncnnannncnonaneness 109 6 2 1 Direct specification of buffer memory FX3U FX3UC on
3. FX3u CAN extension Series main unit equipment DIN rail n the case of the FX3GC FX3uUc PLC 1 to 2mm 1 to 2mm 0 04 to 0 08 0 04 to 0 08 BE AH FX3GC FX3UC Other Series FX3U CAN extension main unit equipment DIN rail FX2NC CNV IF or FX3uc 1PS 5V 3 Installation FX3U CAN User s Manual 3 2 Mounting 3 2 2 Direct Mounting The product can be installed directly with screws An interval space of 1 to 2 mm 0 04 to 0 08 between each unit is necessary For further information of installation refer to the following respective PLC manual For mounting hole pitches refer to Section 1 2 Refer to FX3G Hardware Edition Refer to FX3Gc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition Create mounting holes in the mounting surface according to the external dimensions diagram Fit the FX3u CAN A in the figure to the right to the mounting holes and tighten with M4 screws B in the figure to the right For further information of the screw position and quantity refer to the dimensioned drawing specified below For dimensions refer to Section 1 2 Connect the extension cable Connect the extension cable to the main unit I O extension unit block or special function unit block on the left side of the product Refer to Step 3 in Subsection 3 2 1 For further information of the extension cable connection procedure refer to the resp
4. For the CANopen configuration software refer to the manual of the software to be used For BFM assignment of the Receive Transmit Process Data BFM s refer to Subsection 7 1 1 and Subsection 7 1 2 For Mode B COB ID mapping command refer to Subsection 7 2 5 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode Execution procedure Mode A mapping 1 o Oo o 1 To execute the Mode A command write H8200 to BFM 1000 a 2 After the Mapping is successfully established H8201 is written to BFM 1000 d n case of trouble refer to Section 10 9 Description D BFM No P FROM Read Access TO Write Access 2 O Mapping successfully established Local node number not in range 1 to 8 a BFM 1000 Local node number must be in the range 1to8 Command H8200 CIF Busy Error uoneejsu OO 7 2 5 Mode B COB ID mapping With Mode B COB ID Mapping it is possible to build up bindings between any nodes connected to the FX3u CAN module and the FX3U CAN module itself or any other nodes also connected to the FX3U CAN Mode B COB ID mapping is limited to the binding of the PDO COB ID already configured in the remote stations No change of the PDO mapping parameter All three Mode B COB ID mapping options can be mixed within one CIF Function call Gum E Mode B COB ID Mapping options Reference Reset Mapping Table to default Mode B COB ID mapping page 135 Assign Sourc
5. 2 When receiving messages The CAN ID RTR new DLC and data bytes of each message are as follows Note In case more than one ID can pass the filter set in BFM 1100 to 1267 the received CAN ID might change and will always display the CAN ID DLC and data of the latest received message For Layer 2 message configuration in BFM 1100 to 1267 refer to Section 9 3 1 CAN ID The source CAN ID of the received Layer 2 message is stored CAN ID is as follows corresponding to the function mode to be used For the function mode refer to Section 6 5 Function Mode Description CAN ID is stored in the 11 bits bit O to 10 in the CAN ID n LW 11 bit CAN ID Layer 2 Mode In this function mode CAN ID n HW does not used CAN ID is stored in the 29 bits bit O to 28 in the CAN ID n LW and CAN ID n HW 29 bit CAN ID Layer 2 Mode 4 4 Handle CAN ID n LW and CAN ID n HW by 32 bit instructions 1 The n corresponds to the Layer 2 message number 2 RTR new DLC High Byte Low Byte Description HOO New data is not received Bit 8 ON when new data is received High byte Bit 9 ON when new frame is received Bit 10 ON when overflowing Low byte Data length count DLC of the received CAN frame 2 f bit 8 of the RTR new DLC is ON a new message including new data has been received and stored If bit 9 is ON but bit 8 is OFF the same message same ID DLC and data has been received If bit 10 is ON at least o
6. 2 When the parameter value of the last executed CIF command has been restored to BFM 1001 to 1066 H0000 is displayed to BFM 1000 If HFFFF is read from BFM 1000 refer to Section 10 9 Description BFM No FROM Read Access TO Write Access H0000 Input buffer is displaying BFM 1000 HFFFF CIF Busy Command H0000 BFM 1001 to 1066 Parameter values of the last executed CIF command Unused 1 Afterwards when a new parameter is written to BFM 1000 to 1066 the parameters of the last executed CIF command will be displayed again except for the parameter that was just written 188 10 Command Interface FX3U CAN User s Manual 10 9 Error Messages 10 9 Error Messages 3 S 10 9 1 Error messages If an error occurs during the execution of a command HOOOF is written to BFM 1000 and the Error Class 2 and additional data are stored to BFM 1001 to BFM 1066 9 BFM No Description BFM 1000 Error HOOOF BFM 1001 Error Class BFM 1002 to 1066 Additional data depending on an Error class 1 When using Unknown command The written command to BFM 1000 is an unknown command Confirm the function mode setting and the executed command For the function mode setting refer to Section 6 5 For command interface that can be executed in each functional mode refer to Chapter 10 uoneejsu OO Note Gum E This error will be also occur when a command in this function mode is not supported BFM No D
7. co Label Name Data Type e CANID Word Unsigned Bit String 16 bit CommandSequence Word Signed NMTMasterSetError Bit E LI wordSiened WoraSioned 0 32 yum a ALA VAR ConsumerselupEror B LEN NNNM VAR GonsumerSetupcompited fB VAR GonsumerSeiupOkCounter WoriBigned Me aR o msa o C AS SO String 16 bit Word Unsigned Bit String 16 bit LM RN wert Sioned 35 s VaR eraa El Master Bit EC M NNNM ee Nodes WordSloned Word Unsigned Bit String 16 bit 0 126 VAR NodeNMTStatus Word Unsigned Bit String 16 bit 0 2 E Ne NoOfEntries Word Signed NoOfProducingNodes Word Signed VAR NumberofSiaveNades Were C Word Unsigned Bit String 16 bit 1 8 Word Unsigned Bit String 16 bit 1 8 VAR ObjectSubindex PEU String 16 bit 1 8 Wm ems 5 5 5 WordiSgned L e NNNM one String 16 bit 0 3 WordiSgned ws memes Return o 1 15 A aE String 16 bit 0 3 a ProducerHeartbeatTime Word Signed 0 32 ProducerNodelD Word Signed 0 32 VAR ProducerSetupError Bit 199 eJnpeooJd 1 Q D O 5 S D Ss O Z dO1S NNY gt sBumes uoneoiunuuuo5 IN Old 13 Program Example FX3U CAN User s Manual 13 2 Local Label Setting s WordiSigned s WordiSgned 57 VAR Word Unsigned Bit String 16 bit 0 61 s Wordiigned 59 Double Word Unsigned Bit String 32 bit 5 WordiSgned 62
8. e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 5 Data Type Definition Area 5 5 Data Type Definition Area Static data types are placed in the object dictionary for definition purposes only Indexes H0002 to H0008 may be mapped in order to define the appropriate space in the RPDO as not being used by the device An SDO access results in an error For RPDO refer to Subsection 5 6 5 0002 Signed 8bit 18 0003 Signed 16bit 116 0004 O 0 Signed 32bit 132 0005 0 Dala type Unsigned 8bit U8 definition 0006 O 0 Unsigned 16bit U16 0007 O 0 Unsigned 32bit U32 0008 O OO Float 32 bit Real32 5 6 Communication Profile Area The table below provides a brief description and reference information for the FX3U CAN CANopen Object Dictionary Note Stored to Flash ROM Data will be saved in the Flash ROM by using the Store Parameter command in Index H1010 Be careful with write handling The maximum number of writes to the built in flash ROM is 10 000 times Note Here the RPDO and TPDO settings for CANopen 405 mode are described For the settings in CANopen 417 mode refer to the EDS file How to obtain EDS files For EDS files FX3U CAN 405 eds FX3U CAN 417 eds of FX3U CAN consult with your local Mitsubishi Electric representative ues id inti D Read ona hex index Description Set Range Data Type Initial Value Write to Flash hex ROM Describes the device profile or th
9. 02 0 O Cc oO o NI 04 e je 01 to 7F 01 to 7F 01 to 7F 01 to 7F 01 to 7F Read Stored Description Set Range Data Type Initial Value to Flash Write ROM BH Number of valid e 8 y object entries 18 Mapped object U32 7 2d Mapped object U32 34 Mapped object U32 gt Refer to Table 5 2 v RPDO mapping parameter gt Reter to Refer to Table 5 6 i 6 5 4h j U32 v Subsection 5 6 5 4 Mapped object Refer to Table 5 7 5th Mapped object U32 ES 6 Mapped object Y 7 Mapped object V 8t Mapped object U32 v Reserved TPDO communication parameter Highest sub index Q O ri O Cc Co T Transmission type Refer to v U8 Refer to Table 5 3 y Subsection 5 6 5 d Inhibit time U16 gt Refer to Table 5 8 E p ILI gt Refer to Table 5 4 d TPDO mapping parameter es Refer to Table 5 9 y gt Refer to Table 5 10 Concise DCF gt Refer to Subsection 5 8 13 ode D value DOMAIN o m Pe ff l Node ID value gt gt Refer to Node ID value Ho wee Subsection 5 8 13 AL nodes Highest sub index 8 H RJ Expected configuration date P i RIO Node TER U32 HO R W J Subsection 5 8 13 Expected configuration time gt Refer to Subsection 5 8 13 o de ID value U32 HO R W Y Al l NMT startup Refer to Subsection 5 8 5 U32 v Highest sub index U8 HO U32 Configuration request NMT slave assignment Ref
10. 05 to OD OE Sub function field Bit 8 to Description 15 value hex P00 Reserve Generic input 1 FE FF Q D 5 O O o c N gl A Reserved Reserved 01 Hall call up 02 03 04 05 Hall call down Hall call Hall call extra up Hall call extra down Hall call extra 07 to FF Reserved Reserved 01 to FE FF Floor number 1 to 254 Reserved Reserved 01 Request fan 1 O 2 Request fan 2 03 4 Request load time 2 05 Request load time 1 O Key lock 1 Key lock 2 Key lock 3 Key lock 4 Request door open 07 O A Request door close Fire recall key switch hall panel OC Fire service key switch car panel Hall call disable OE OF 10 Out of order Bed passenger service Attendant service VIP service Sher Description Value hex OD High priority call to destination floor OE Special function OF Access code upload request 10 Speech connection request 11 Area monitoring connection request 12 Fire detector 13 to 15 Reserved 16 Status of safety related circuitries This is not safety related information 17 to 1F Reserved 20 Guest call 21 to 7F Reserved 80 to FF Manufacturer specific Basic function field Bit 0 to 7 value hex OE OF to 11 12 13 to 15 16 17 to 1F 20 21 to 7F 80 to FF Sub function field Bit 8 to Description 15 value hex Special service 13 Service run 4 Dogging service enable Dogging service up 6
11. 8 gan 3 2 E Value hex Description S T 0000 Priority high a 0001 Priority medium 222 0002 Priority low 0003 to FFFF Reserved 3 6 Object H1F90 Sub index H04 Priority time slot 3323 The value is in units of ms S 2 Formula for the Priority time slot S Priority time slot gt 127 x CANopen device time slot Sub index H05 9 7 Object H1F90 Sub index H05 CANopen device time slot SS The value is in units of ms a 8 Object H1F90 Sub index H06 Multiple NMT master detect cycle time The value is in units of ms e eoeeju puewwog 85 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 12 LSS The FX3U CAN uses the layer setting services and protocols to configure via the CAN network the Baud Rate and the Node Address of an LSS slave device that is sealed against harsh environments and that does not have any hardware components like DIP switches for setting the node ID or bit timing parameters Within a CANopen network only one LSS Master is allowed to exist For the LSS Master Mode the module has to be the active NMT Master To activate the LSS Master configure in the Object dictionary e Index H1F89 The Boot time out The time shall be longer than the boot time of the NMT Client which needs the longest time for boot up Power On until Boot up message e Indexes H1F84 to H1F88 the Sub index which corresponds to the Node ld which shall be set at the LSS Client Th
12. 3 OFF 0 EMCY producing is valid A nd ON 1 EMCY producing is not valid a jad Note 3 On the FX3U CAN the setting is fixed and can not be changed 2 Object H1015 Inhibit time EMCY This object configures the minimum time between two EMCY messages The unit of the 16 bit value is 100 us The value O disables the inhibit time The FX3U CAN counting resolution is 1ms values smaller than 1ms will set internally to 1ms values starting from 1ms will be divided by 1000 4 z E 3 Object H1028 sub index H01 to H7F Emergency consumer object This Object configures the COB IDs for the EMCY objects that the module is consuming The Sub index refers to the related node ID suojoun4 jo uononpouu 30 29 28 11 10 0 valid HO0000 11 bit CAN ID gt For the resulting COB ID refer to Subsection 5 6 1 o Bit No Description EE Bit O to 10 11 bit CAN ID 11 bit CAN ID of the CAN base frame o Bit 11 to 28 Bit 11 to 28 fixed to OFF 0 D Bit 29 EE Bit 29 fixed to OFF 0 Bit 30 o o Bit 30 fixed to OFF 0 T Bs OFF 0 EMCY consuming of remote Node is valid ON 1 EMCY consuming of remote Node is not valid apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 69 5 Introduction of Functions FX3U CAN User s Manual 5 7 Error Behaviour 9 7 Error Behaviour If a serious CANopen device failure is detected in NMT state
13. 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Table 5 1 Mode 405 RPDO communication Parameter R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex H03 H05 RW 1450 to 15F1 Reserved m O O O O O al Table 5 2 Mode 405 RPDO mapping Parameter R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex H07 H08 RW RW O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O 38 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex gt Pee a ee g 1628 a ano ASIAN ASOYZBAO as 0 9 9 2 E ep uoneejsu OO 4 z jo UONINPOAU o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju Oi O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O ab 4 ASOZ3D1O AGszETD ASSZSFIO Peono 0 o 90 8 eic 4 aao wii ASB2AS1O wenuio o o 0 235 ar 4 aano wei ASEZAFTO memoo o 9o 9 E 1650 to 17F1 Reserved 9 D NO e eoeeju puewwog 39 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Table 5 3 Mode 405 TPDO communicati
14. Execution procedure CIF SDO read access 1 Write the Node number and the Index Sub index of the target Object Dictionary to BFM 1001 to 1003 2 Write the command code H0004 for SDO read access to BFM 1000 When the command code H0004 is written to BFM 1000 the command is executed 3 When the executed command is successful HOOO5 is written to BFM 1000 gt If HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 4 When H0005 is read from BFM 1000 the specified byte length BFM 1004 of the result data from BFM 1005 is read A maximum of 124 bytes of result data is stored in BFM 1005 to 1066 uonejejsu QJ Buum d Description FROM Read Access TO Write Access H0005 SDO read success BFM No al BFM 1000 HOOOF Error Command H0004 SDO read S3 HFFFF CIF Busy B2 BFM 1001 Node number read back Node number e S O BFM 1002 Index read back Index BFM 1003 Sub index read back Sub index BFM 1004 Data length Unused o BFM 1005 to 1066 Result data Unused a gt T Result Data Structure in BFM 1005 to 1066 5 O O h Description BFM No gt P BFM 1005 1st data byte BFM 1006 3rd data byte BFM 1007 5th data byte BFM 1008 7th data byte BFM 1065 122nd data byte 121st data byte BFM 1066 124th data byte 123rd data byte j apou sop 9 jOJd 309d pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO O ae D D lt lt ED NO 179
15. Use the TO instruction to write data to the following locations The default TPDO mapping is assigned to unsigned 16 bit objects Index HA100 To change this setting use the SDO command in the CIF ora CANopen configuration software For SDO command in the CIF refer to Section 10 2 For the CANopen configuration software refer to the manual of the software to be used Note The data which are written to the BFM will only be copied into the Object Dictionary when they are mapped into a PDO Example BFM 11000 is assigned to the Object Dictionary Indexes Sub indexes HA240 H01 HA200 H01 HA1C0 H01 HA100 H01 HAOCO H01 HA040 H01 H02 and HA000 H01 H02 If none of these Indexes are mapped into a TPDO the data will not be copied from the BFM into any of the assigned Object Dictionary Indexes Sub indexes Index Index Index Index HA240 HA200 HA100 HA040 float unsigned unsigned unsigned 32 bit 32 bit 16 bit 8 bit object object object object Assigned BFM sub sub sub sub sub sub sub index index index index index index index hex hex hex hex hex hex hex 01 01 BFM 0 and 11000 lower 8 bit oa o0 pe BFM 0 and 11000 higher 8 bit an higher 8 bi 03 03 BFM 1 and 11001 8 bit an lower i 02 EBENE NEN UNI wer 8 bit BFM 1 and 11001 higher 8 bit 05 05 BFM 2 and 11002 lower 8 bit 03 IEEE SR GN wer 8 bi 06 BFM 2 and 11002 higher 8 bit is i 07 07 BFM 3 and 11003 8 bit an
16. eoeeju puewwog 119 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 23 BFM 750 to 859 Emergency Message Buffer 6 23 BFM 750 to 859 Emergency Message Buffer The FX3U CAN will store the Emergency messages which are received from the bus to an internal buffer This buffer can store up to 22 emergency messages and is separated into an 11 message stack buffer BFM 750 to 804 and an 11 message ring buffer BFM 805 to 859 The stack buffer will store the first 11 emergency messages received after Power On or after the Emergency message buffer was cleared the last time The ring buffer will store the next eleven Emergency messages all further received Emergency telegrams will overwrite the oldest message in the ring buffer The stack buffer will not be overwritten Note To ensure that the EMCY data is handled in a consistent way it is necessary to set in BFM 20 bit O or 12 to ON before reading the EMCY data FROM When clearing the entire buffer write HO to BFM 750 Description High Byte Low Byte BFM 750 Node ID The Node ID number which sent the emergency message to the network is displayed BFM 751 EMERGENCY data Emergency error code oldest message 1st byte of Manufacturer specific error Error register BFM 752 EMERGENCY data 29 For Error register object H1001 code refer to Subsection 5 6 2 3rd byte of Manufacturer specific error 2nd byte of Manufacturer specific error BFM 2753 EMER
17. 0 O Oo O O N CN p Te o o gt gt gt O 0 ma aa zz 4 lt O O Pd md ORO v O N Saved Function mode in BFM 21 Section 6 5 Saved Baud Rate in BFM 24 Section 6 7 Saved FROM TO Watchdog in BFM 26 Section 6 9 Saved Node Address in BFM 27 Section 6 10 Saved Daily correction in BFM 59 Section 6 19 Not saved The CAN ID and data length for transmitting message in BFM 100 to 399 Section 9 1 Not saved Pre defined Layer 2 message configuration in BFM 1100 to 1267 Section 9 3 Not saved PLC RUN gt STOP and power down message in BFM 1900 to 1955 Section 9 6 Saved NMT start all Nodes delay in BFM 70 Section 6 20 Saved SDO Time Out in BFM 71 Section 6 21 112 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 7 BFM 24 Baud Rate 6 7 BFM 24 Baud Rate Set the baud rate in this BFM The current baud rate can be found in BFM 37 Note The Baud Rate must be equal for all nodes in the network The new value needs to be stored by BFM 22 and the Module has to be restarted to make the new setting effective BFM Value Description K10 Baud Rate 10kbps K20 Baud Rate 20kbps K50 Baud Rate 50kbps K100 Baud Rate 100kbps K125 Baud Rate 125kbps K250 Baud Rate 250kbps K500 Baud Rate 500kbps K800 Baud Rate 800kbps K1000 Baud Rate 1000kbps Olhenval s Setting prohibited If an invalid baud rate is written to BFM 24 the BFM will keep its former value and BFM 29 bit 11 will be
18. 2 1B14 6C000020 6C300020 Reserved 1B15 to 1B17 Reserved 1B18 6B000110 6B000210 6C000310 6C000410 Reserved 2 1B19 to 1B21 Reserved D D 1B22 74000010 74030008 67FE0008 74300020 Reserved E O 1B23 Reserved O e 1B24 74200020 74230020 Reserved 1B25 to 1B27 Reserved 3 1B28 73000110 73000210 73000310 73000410 Reserved gt 1B29 to 1B31 Reserved 2 1B32 7C000010 7C300008 67FE0008 7C000020 Reserved S 1B33 Reserved S 1B34 7C000020 7C300020 Reserved 1B35 to 1B37 Reserved 4 1B38 7B000110 7B000210 7C000310 7C000410 Reserved 1B39 to 1B41 Reserved 1B42 84000010 84030008 67FE0008 84300020 Reserved 1B43 Reserved 1B44 84200020 84230020 Reserved 1B45 to 1B47 Reserved 1B48 83000110 83000210 83000310 83000410 Reserved 1B49 to 1B51 Reserved zi 1B52 8C000010 8C300008 87FE0008 8C000020 Reserved S 1B53 Reserved S O 1B54 8C000020 8C300020 Reserved 1B55 to 1B57 Reserved 6 1B58 8B000110 8B000210 8C000310 8C000410 Reserved Px 1B59 to 1B61 Reserved Sri OC 1B62 94000010 94030008 67FE0008 94300020 Reserved zo 1B63 Reserved 2 En 1B64 94200020 94230020 Reserved P 1B65 to 1B67 Reserved 7 1B68 93000110 93000210 93000310 93000410 Reserved 03 1B69 to 1B71 Reserved EI 3 fad 1B72 9C000010 9C300008 67FE0008 9C000020 Reserved 2 p Dog 1B73 Reserved Ta 1B74 9C000020 9300020 Reserved 1B75 to 1B77 Reserved 3 1878 9B000110 9B000210 9C000310 9C000410 Reserved Z
19. 22 On read access the CANopen device gives back information about its storage functionality 2 M Bit No Description OFF 0 Device does not save parameter on command ii ON 1 Device saves parameter on command FX3U CAN 1 0 OFF 0 Device does not save parameter without user request FX3U CAN Bit 1 d 50 ON 1 Device saves parameter without user request a S Bit 2 to 31 Reserved 33 2a 67 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 12 Restore default parameters To restore factory default parameters write SDO H64616F6C ISO8859 code daol load to Object Index H1011 Sub Index H01 or use the restore command in the CIF The stored parameters are then overwritten to factory default settings For the restore command in the CIF refer to Section 10 7 Restore procedure Restore default parameter command Reset command Factory default parameter valid Note e Do not execute a store parameter command before executing the reset command Otherwise the factory default parameters will be overwritten with the previous settings CDCF files stored on Object H1F22 will be also cleared and will be cleared directly before the Reset command On read access the CANopen device gives back information about its restoring functionality Bit Description set range Bit O OFF 0 Device is not able to restore factory default parameters on command ON 1
20. 3406 BFM 12406 Position unit 3 BFM 3407 BFM 12407 Position unit 4 BFM 3408 BFM 12408 Position unit 1 BFM 3409 BFM 12409 Position unit 2 4 Acceleration value car HO BFM 3410 BFM 12410 Position unit 3 BFM 43411 BFM 12411 Position unit 4 ection o BFM 3412 BFM 12412 Position unit 1 BFM 3413 BFM 12413 Position unit 2 5 Acceleration value car HO BFM 43414 BFM 412414 Position unit 3 BFM 3415 BFM 12415 Position unit 4 BFM 3416 BFM 12416 Position unit 1 BFM 43417 BFM 412417 Position unit 2 Acceleration value car HO BFM 3418 BFM 12418 Position unit 3 BFM 3419 BFM 12419 Position unit 4 BFM 3420 BFM 12420 Position unit 1 BFM 43421 BFM 12421 Position unit 2 T Acceleration value car HO BFM 43422 BFM 12422 Position unit 3 BFM 3423 BFM 12423 Position unit 4 BFM 43424 BFM 12424 Position unit 1 BFM 3425 BFM 12425 Position unit 2 Acceleration value car HO BFM 3426 BFM 12426 Position unit 3 BFM 43427 BFM 12427 Position unit 4 BFM 3428 BFM 12428 BFM 3429 BFM 12429 BFM 3430 BFM 12430 BFM 3431 BFM 12431 4 NN Status word HO Section 8 10 BFM 3432 BFM 12432 BFM 43433 BFM 12433 EC NE BFM 3434 BFM 12434 BFM 3435 BFM 12435 ee BFM 3436 BFM 12436 BFM 3437 BFM 12437 BFM 3438 BFM 12438 BFM 3439 BFM 12439 Modes of operation display HO Section 8 11 BFM 3440 BFM 12440 BFM 3441 BFM 12441 97 BFM 3442 BFM 412442 BFM 3443 BFM 12443 gens 146 8 CANopen 417 Mode FX3U CAN User s Manual
21. 358 0 2 522 3300 Fax 358 0 2 522 3322 UTECO A B E E 5 Mavrogenous Str GR 18542 Piraeus Phone 30 0 211 1206 900 Fax 30 0 211 1206 999 MELTRADE Kft Fert utca 14 HU 1107 Budapest Phone 36 0 1 431 9726 Fax 36 0 1 431 9727 AUSTRIA BELARUS BELGIUM BELGIUM BULGARIA CROATIA CZECH REPUBLIC DENMARK DENMARK ESTONIA FINLAND FINLAND GREECE HUNGARY MITSUBISHI ELECTRIC Beijer Electronics SIA LATVIA Ritausmas iela 23 LV 1058 Riga Phone 371 0 6 784 2280 Fax 371 0 6 784 2281 Beijer Electronics UAB Go taut g 3 LT 48324 Kaunas Phone 370 37 262707 Fax 370 37 455605 ALFATRADE Ltd 99 Paola Hill Malta Paola PLA 1702 Phone 356 0 21 697 816 Fax 4 356 0 21 697 817 INTEHSIS SRL bld Traian 23 1 MD 2060 Kishinev Phone 373 0 22 66 4242 Fax 373 0 22 66 4280 HIFLEX AUTOM B V Wolweverstraat 22 NL 2984 CD Ridderkerk Phone 31 0 180 46 60 04 Fax 31 0 180 44 23 55 KONING amp HARTMAN B V Haarlerbergweg 21 23 NL 1101 CH Amsterdam Phone 31 0 20 587 76 00 Fax 31 0 20 587 76 05 Beijer Electronics AS Postboks 487 N0 3002 Drammen Phone 47 0 32 24 30 00 Fax 47 0 32 8485 77 Fonseca S A R Jodo Francisco do Casal 87 89 PT 3801 997 Aveiro Esgueira Phone 351 0 234 303 900 Fax 4 351 0 234 303 910 SIRIUS TRADING amp SERVICES SRL Aleea Lacul Morii Nr 3 R0 060841 Buc
22. 51 All clock data will be read from the RTC and written to BFMs 51 to 57 when BFM 51 is read 2 Read clock data of Month Day Hour Minute Second and Day of the week from BFM 52 to 57 6 20 BFM 70 NMT Start all Nodes delay During the NMT master startup the NMT master sends a NMT Reset communication all Nodes and NMT Start all Nodes depending on the configuration This BFM value sets the minimum time between these two NMT messages to ensure that a slow NMT Slave recognizes the NMT Start all Nodes message The value can be set in ms default 500ms The setting range is Oms to 65535ms For NMT Startup process refer to Subsection 5 8 4 6 21 BFM 71 SDO Time out The Time out for SDO communication set with this BFM The value can be set in ms default 500ms The setting range is 50ms to 32767ms For SDO refer to Subsection 5 6 4 118 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 22 BFM 601 to 727 NMT State 6 22 BFM 601 to 727 NMT State z This BFM displays the NMT status of the CANopen nodes index H1F82 Sub index 01 to 127 of the E CANopen Object Dictionary Use the SDO Command in the CIF to set the NMT state of the whole network or of one specific node For NMT Slaves the NMT Status is only displayed for Nodes for which Heartbeat 2 Consuming is configured If the NMT Master is using Heartbeat Consuming or Node Guarding the current NMT State of an NMT Slave a wil
23. 78 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 7 NMT slave assignment O This object configures on the NMT Master for each node ID corresponding to the sub index the node a guarding values and the NMT Slave Configuration Each sub index of this object corresponds to the node ID ofa CANopen device in the network The sub index which corresponds to the node ID of the NMT Master is ignored 2 1 Object H1F81 Sub index H01 to H7F NMT slave assignment 31 4 16 I9 n0 73 20 S Retry factor Configuration 1 Guard time field The value for the guard time indicates the cycle time for node guarding of the CANopen device The value is in units of ms The value 0 disables Node Guarding for the CANopen device Bit 0 in the Configuration field and the Retry factor needs to be set also to enable node guarding If the heartbeat consumer object is configured to a value O then the heartbeat mechanism will have priority over node guarding Setting range KO to K65535 2 Retry factor field The value for the retry factor indicates the number of retries the NMT master issues in case of a Node Guarding event The value 0 disables Node Guarding for the CANopen device Bit 0 in the Configuration field and the Guardtime needs to be set also to enable node guarding Setting range KO to K255 3 Configuration field Tico 4 3 2 1 0 Reserved ROSPI Mandatory audi Reserved iud communication boot sla
24. BFM 27 D a K127 Section 6 10 CANopen modes only BFM 41 to 49 Feed UI I EL FX3U CAN User s Manual 6 Allocation of Buffer Memories 6 1 Buffer Memories BFM Lists BFM No BFM 50 BFM 51 BFM 52 BFM 53 BFM 54 BFM 55 BFM 56 BFM 57 BFM 58 BFM 59 BFM 60 to 69 BFM 70 BFM 71 BFM 72 to 99 BFM 100 to 399 BFM 400 BFM 401 to 442 BFM 443 to 600 BFM 601 to 726 BFM 727 BFM 728 to 749 BFM 750 to 859 BFM 860 to 899 BFM 900 to 963 BFM 964 to 999 BFM 1000 to 1066 BFM 1067 to 1099 BFM 1100 to 1267 BFM 1268 to 1269 BFM 1270 to 1272 BFM 1273 to 1279 BFM 1280 to 1282 BFM 1283 to 1899 BFM 1900 to 1955 BFM 1956 to 2999 BFM 3000 to 3539 umm Default Read Stored to p value Write Flash ROM K1 R W CANopen modes only EN NN Time stamp year CANopen modes only Time stamp month CANopen modes only Time stamp day K1 R W CANopen modes only Time stamp hour KO R W CANopen modes only Time stamp minute KO R W CANopen modes only Time stamp second KO R W CANopen modes only Time stamp Day of the week K4 CANopen modes only Time stamp transmission interval KO R W CANopen modes only Daily correction CANopen modes A a Gans modes only peer mee am e CANopen modes only Reserved A A m 7 Rud ooo Maetwammmee O E Layer 2 function modes only e C MECA E ARA
25. Buum d This Object contains the car door status and other status information Bit 15 12 11 10 E gt 7 6 5 4 dus T0 Motion Finger Battery Safety 5 Door lock detector protector power contact aS ag Sg 1 Safety contact field Bit 0 1 pia o Bit 1 BitO Description OFF 0 OFF 0 Contact not closed 6 OFF 0 Contact closed w E ON 1 Error indicator co ON 1 ON 1 Notavailable or not installed FS O O h m 2 Battery power field Bit 2 3 j Bit 3 Bit2 Description OFF 0 OFF 0 No battery power used OFF 0 ON 1 Battery power used 0 ON 1 Not available or not installed Error indicator UJ S52 os om Sone Q D Qa U ToS o DO O Z Ae r O TI 3 Door lock field Bit 4 5 a QUE Bit 5 Descripti ga OFF 0 OFF 0 Door not locked 2 E D e OFF 0 ON 1 Door locked S F 0 1 Not available or not installed Error indicator O Z EE Z 7 4 Finger protector field Bit 6 7 Bit 7 Bit Description OFF 0 OFF 0 No finger detected OFF 0 ON 1 Finger detected ON 1 OFF 0 Error indicator 1 ON 1 Not available or not installed epo cie e1Nvo CO e eoeeju puewwog 159 8 CANopen 417 Mode FX3U CAN User s Manual 8 5 Door Position 5 Motion detector field Bit 8 9 Bit 9 Bit 8 Description OFF 0 OFF 0 Motion not detected OFF 0 ON 1 Motion detected 0 Error indica
26. CANopen modes only E ww pr EMCY i dca Buffer Ene 191 1 Ew o NMT n Control Status Reserved ri Interface Pre defined Layer 2 message configuration Layer 2 modes only Time stamp producer consumer Reserved Layer 2 RTR ccc RR NN Layer 2 modes only Pe Message transmit trigger flags A 2 modes only PLC Lic RN and power down messages A 2 modes only ICI AECI A pL LL SEA Lift ER s CANopen 417 Mode only Reference Section 6 19 Section 6 20 Section 6 21 1 Section 9 2 Section 6 22 Section 6 23 Section 6 24 Chapter 10 Section 9 3 Section 9 4 Section 9 5 Section 9 6 Chapter 8 107 suoneooads INO uononpou uo ejesu QJ Buum Aa al E o 3 o og S e gt o h jo uone5o v seuouleJy Jeyng j apou sop 9 jOJd 3q pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy 17 OO apo ci e1Nvo CO e eoeeju puewwog 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 1 Buffer Memories BFM Lists Receive Process Data RPDO BFM 10000 to 4110319 CANopen 405 Mode only pw fe fe Section 7 1 a Transmit Process Data TPDO l BFM 11000 to 11319 CANopen 405 Mode only ENIM Section 7 1 Lift Application Receive Data RPDO BFM 12000 to 12539 CANopen 417 Mode only Ix eps Chapter 8 Sa a LALA 3 Lift Application Transmit Data TPDO R W Chapter 8 BFM 13000
27. For each transmission without error the counter counts 1 down Value Description Error active status Do Inlet Warning level if value is K96 to K127 K128 to K255 Error passive status K256 BUS OFF status Note The Warning Level is also shown in BFM 25 bit 1 Error Passive and Bus OFF are shown in BFM 29 6 14 BFM 36 CAN Reception Error Counter FX3U CAN stores the current value of the CAN reception error counter The CAN reception error counter counts up to K128 The counter counts 1 or 8 up if a reception error is detected For each reception without error the counter counts 1 down However when FX3U CAN is in BUS OFF status K256 is stored in this BFM Value Description Error active status NOTOS MAT Warning level if value is K96 to K127 K128 Error passive status K256 BUS OFF status Note The Warning Level is also shown in BFM 25 bit 1 Error Passive and Bus OFF are shown in BFM 29 6 15 BFM 37 Baud Rate Display Displays the current baud rate of the CAN Controller in units of 0 1 kbps 6 16 BFM 38 Sampling Point Display Displays the current sampling point of the CAN Controller in units of 0 1 6 17 BFM 39 BFM Setting Error Display BFM 29 bit 6 is set to ON if an attempt to write an invalid value into a Buffer Memory is detected BFM 7239 displays the address of the target BFM of the invalid write attempt In case an irregular value was written to more than one BFM only the address of the
28. For the default RPDO and TPDO formats refer to Subsection 7 2 1 and Subsection 7 2 2 epoui SOP Reset Mapping Table to default Mode B COB ID mapping RY This command sets Mode B default settings on the local Node All RPDO TPDO communication and mapping o parameter and the BFM Object dictionary assignment will be reset to factory default The BFM content of the amp Receive Transmit Process Data BFM s will be set to zero The COB IDs will be changed to the values shown in the tables in the Subsection 7 2 1 and Subsection 7 2 2 Description BFM No FROM Read Access TO Write Access e H8301 Mapping successfully established S BFM 1000 HFFFF CIF Busy Command H8300 HOOOF Error BFM 1003 e Other Mode B COB ID mapping options or terminate with HFFFF in BFM 1003 Other Mode B COB ID mapping command response eoeeju puewwog BFM 1066 135 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 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 net
29. HFFFF HFFFF HFFFF Section 8 5 Door 1 Door 2 Door position Door 3 Door 4 Door 1 Door 2 Door position Door 3 Door 4 Door 1 Door 2 Door position Door 3 Door 4 Door 1 Door 2 Door position Door 3 Door 4 Door Door 2 HFFFF HFFFF HFFFF Light barrier status HFF BFM 3116 BFM 12116 Door 3 BFM 3117 BFM 12117 Door 4 BFM 3118 BFM 12118 Door 1 BFM 3119 BFM 12119 Door 2 Light barrier status HFF BFM 3120 BFM 12120 Door 3 BFM 3121 BFM 12121 Door 4 BFM 3122 BFM 12122 Door 1 BFM 3123 BFM 12123 Door 2 Light barrier status HFF BFM 3124 BFM 12124 Door 3 BFM 3125 BFM 12125 Door 4 Section 8 6 BFM 3126 BFM 12126 Door 1 BFM 3127 BFM 12127 Door 2 Light barrier status HFF BFM 3128 BFM 12128 Door 3 BFM 3129 BFM 12129 Door 4 BFM 3130 BFM 12130 Door 1 BFM 3131 BFM 12131 Door 2 Light barrier status HFF BFM 3132 BFM 12132 Door 3 BFM 3133 BFM 12133 Door 4 BFM 3134 BFM 12134 Door 1 BFM 3135 BFM 12135 Door 2 Light barrier status HFF BFM 3136 BFM 12136 BFM 3137 BFM 12137 Door 3 Door 4 142 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application BFM No and access type a 2 Lift No Description Initial value Reference 3 7 Light barrier status HFF BFM 3141 BFM 12141 Door 4 2 Section 8 6 7 Light barrier status HFF D BFM 3144 BFM 12144 Door 3 o 62 Der3 BFM 3146 BFM 3299 Transmission
30. MITSUBISHI i ELECTRIC PROGRAMMABLE CONTROLLERS MEUS EC IR FX3sU CAN SER S MANUAL GUI S2fety Precautions INED Read these precautions before use Before installation operation maintenance or inspection of this product thoroughly read through and understand this manual and all of the associated manuals Also take care to handle the module properly and safely This manual classifies the safety precautions into two categories and A CAUTION NWARN NG Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight CAU TI O N personal injury or physical damage Depending on the circumstances procedures indicated by may also cause severe injury It is important to follow all precautions for personal safety Store this manual in a safe place so that it can be taken out and read whenever necessary Always forward it to the end user 1 DESIGN PRECAUTIONS WARNING Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1 Most importantly have the following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal vs reverse rotation and an interlock circuit
31. OFF 0 ON 1 Disable door lock OFF 0 Reserved 1 Do not care take no action 3 Finger protector field Bit 6 7 Bit 7 Bit6 Description OFF 0 OFF 0 Enable finger protector OFF 0 ON 1 Disable finger protector OFF 0 Reserved 1 ON 1 Do not care take no action 4 Motion detector field Bit 8 9 1 Do not care take no action Bit 9 Bit 8 Description OFF 0 OFF 0 Enable motion detector OFF 0 ON 1 Disable motion detector OFF 0 Reserved ON 1 Do not care take no action 5 Door velocity field Bit 10 11 Bit 11 OFF 0 FF 0 Move door with standard speed OFF 0 ON 1 Move door with reduced speed OFF 0 Reserved ON 1 Do not care take no action Description O t 8 CANopen 417 Mode FX3U CAN User s Manual 8 4 Door Control Word Door Status Word 1 6 Command field Bit 12 to 15 zi O e Bit 12 to 15 Value hex Description S 0 Close door without limit force Not allowed for EN 81 compliant lifts 1 Close door with limit force Nudging 2 2 Forced closing of car door with reduced speed without reversal devices due to the blocked door for too long time a 3 Open door without limit force Not allowed for EN 81 compliant lifts 4 Open door with limit force S 5 Reserved i 6 Reserved 3 7 Stop door without torque 8 Stop door with torque A 9 to C Reserved gt D Tech in drive E Reset door F Do not care take no action 8 4 2 Door status word
32. The information in this manual has been carefully checked and is believed to be accurate however if you notice any doubtful point error etc please contact your local Mitsubishi Electric representative Registration CiA and CANoper are registered Community Trademarks of CAN in Automation e V The company name and the product name to be described in this manual are the registered trademarks or trademarks of each company FX3U CAN User s Manual Table of Contents Table of Contents SAFETY PRECAUTIONS Sian dea 1 Standal dS oi raha let ena cet Gand lek d isla a aaah cate tine lo 8 ermcalonm or Wh cul Standard ciiusocipbesdttixulzivis device diosa caido orita noia dem VLA 8 Compliance with EC directive CE Marking oocccccocncncononcncononccncononononnononnnnoncnnnnnnnnnnnnnrnnnnnnrnnonanennns 8 Associated MantlalSiuinis nn 10 Generic Names and Abbreviations Used in the Manual 12 Reading ne Manual conca HC EE 14 1 Introduction 15 A rn a yg E ence cat ER 15 1 1 1 Overview of the CANopen INGTWWOMK quM E c 15 1 1 2 Overview of FX3U CAN communication block cocoocccccocncccoccnnconnnncononononnnnnnonnnononononononnnonons 16 A C anne cance cesee denne E P E E E 16 1 2 External Dimensions and Each Part Name ccccecccseccceeeeseeeeeeeseeeseeeseeeeseeeseeeeseeeseueeseeesaees 18 1 2 1 External dimensions and each part na
33. WriteData StartSDOWrite WriteCommand 30 If a SDO write command execution is completed reset its execution signal RST SDOWriteCompleted EN ENO d StartSDOWrite 31 If a SDO write command execution error occurs increase the command error counter INCP SDOWriteError EN ENO d SDOWriteErrorCounter 32 If a SDO write command execution is completed increase the command complete counter and move to the next command AND INCP SDOWriteCompleted EN ENO SDOWriteError SDOWriteOkCounter PDOSetupProcessing CommandSequence 207 13 Program Example FX3U CAN User s Manual 13 3 Program 33 Check if the first PDO setup command needs to be executed PDOSetupProcessing FirstPDOProcessing StartPDOSetup CommandSequence 1 34 Set the communication parameters for the selected PDO MOV FirstPDOProcessing ENO K3 NodeAddress PDOnumber TransmissionType ReceiveOrTransmit ExecuteMapping StartPDOSetup 35 PDOSetupProcessing SecondPDOProcessing StartPDOSetup CommandSequence 2 36 Set the data for the mapped object in the selected PDO MOV SecondPDOProcessing EN ENO HA4CO S d ObjectIndex 1 ObjectSubIndex 1 ObjectLength 1 ReceiveOrTransmit ExecuteMapping 208 13 Program Example FX3U CAN User s Manual 13 3 Program U 37 DT Set the communication parameters for the selected PDO Z O e O MOV X SecondPDOProcessing EN ENO K1 S d NodeAddress 1 2 329 oO PDOnumber 8a 3 E
34. amp ue 7 9480 02 otc 8 9C80 1 6482 8 2 6C82 Highest sub index U8 HO2 cud 3 7482 3 E Te a ignalli Load signal U8 HO Rw 308 5 5462 0 Load signalling oad signa S Refer to Subsection o 8 6 8C82 5 10 13 ag sianal sS 7 9482 02 EN d U8 HO R W 8 9C82 interrupt 9 So 82 5 10 1 Lift number 2 M This Object contains the lift number to which the FX3U CAN is assigned The Bit for the assigned lift number is set to ON 1 e eoeeju pURWIWUOD 93 FX3U CAN User s Manual 5 Introduction of Functions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 5 10 2 Virtual input mapping This Object contains the last received input data from one of the digital input panel group objects 47 40 39 32 31 24 23 16 15 8 Tage 1 Basic function field c Description Value hex 00 Reserved 01 Generic input 02 Standard hall call request 03 Low priority hall call request 04 High priority hall call request 05 Standard car call request 06 Low priority car call request 07 High priority car call request 08 Standard destination call 09 Low priority destination call OA High priority destination call OB Standard call to destination floor OC Low priority call to destination floor 2 Sub function field The Sub function field is interpreted differently depending on the basic function field value Basic function field Bit 0 to 7 value hex 01 02 to 04
35. e The FX3U CAN module may write a value of HFFFF to the Slave configuration parameter of a node that has a parameter configuration error e The FX3U CAN module may write a value of HFFFF to the Guard Time parameter of a node that has a parameter configuration error e f the Retry Factor parameter exceeds 255 an error value will be displayed in the corresponding BFM e The FX3U CAN module may write a value of HFFFF to the Retry Factor parameter of a node that has a parameter configuration error e Ifthe node number slave configuration retry factor and guarding time is just copied to the corresponding result BFM the remote node does not support Index H100C guarding time H100D retry factor In this case the remote node cannot detect a missing guarding request of the network master Execution procedure Set Node guarding NMT Slave Assignment 1 Write the Slave number Slave Configuration Guard Time and Retry of the target node to BFM 1001 to 1064 Set the Node ID of the configured NMT Slave to Slave number For the setting value of the Slave Configuration Guard Time and Retry Factor refer to the following section Write HFFFF to the Slave number following the last target node to complete Node guarding NMT slave assignment settings Refer to Subsection 5 8 7 2 Write the command code H8400 to BFM 1000 When the command code H8400 is written to BFM 1000 the command is executed 3 When the executed command is suc
36. eo Enable operation Operation mode specific PRO Show in the Users Manual of the remote device Bit 7 Fault reset Bit 8 Halt Bit 9 onus Operation mode specific Show in the Users Manual of the remote device Bit 10 Bit 10 fixed to OFF 0 Manufacturer specific tee i Show in the Users Manual of the remote device OFF 0 Emergency recall operation mode inactive 1Bit 4 rcl ON 1 Emergency recall operation mode active OFF 0 Car top inspection operation mode inactive Bit 15 insp low 1 Car top inspection mode active 102 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems Status transition 5 9 Number Transition No o Power disabled Fault reaction 2 active e 9 Not ready to 2 switch on S EJ on uonejje3su OO EJ i to switch on Power enabled Switched on 3 Quick enabled id 4 z z jo UONINPOAU Bits of the control word Command Transition No ARES eS PRE BROS o Switch on enable operation MEA O 3 4 Note LE Disable voltage pO X X 0 X 1 9 10 12 o P Disable operation 5 Note ofe IO j apou sop BO 3919 pue eoejeju Atthe following Transition numbers occur a automatic status transition O 1 13 14 Automatic transition to enable operation state after executing SWITCHED ON state functionality SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo C
37. hex H02 H05 RW 1 R RW 1468 r3 FF L SPESE 5 Reserved 1469 lt FF IL Reserved N NO 146C FF 1 Reserved 146D 56D FF 1 Reserved 146F 56F Reserved 1470 570 Reserved NO 1473 573 FF 1 Reserved N 1476 Reserved 1477 577 Reserved mn N 147A FF 1 Reserved 147B in FF 1 Reserved N 147D 2 r FF 1 Reserved N 1480 Reserved 1484 Reserved 1485 485 Reserved al al 148A 48A Reserved 148B 48B Reserved al 1491 491 Reserved 1492 492 Reserved al 1498 498 Reserved 1499 499 Reserved al O O O O O O O O O O O O O O O O O O O O O O O O O O O O al 44 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex gt Index o RW RW 149D PB Reserved d us Ls 98139 emi 2 une Ls 9 8 3 poem 3 uu 8 A IO Reemi E 3 re o Rem 4 AD Ls 5 3 p em al 14B2 Reserved 14B3 4B3 Reserved im il al jo UONINPOAU e6 a a Reserve 6 al 14B9 Reserved 14BA 4BA Reserved JO uoneool v il seuouleJy Jeyng al O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O 14BC Rs 7 14BD 8 4D FF 0 Reserved EOS 1458 ETE E E 3 Co TOS 14C1 to 1500 Reserved wm s we F 0 Rem o 8 1502 Reserved ED E zoo 1504 Reserved 2 5 O w s e o Red 9 9 1508 to 15
38. the former data will not be sent as PDO Before FX3U CAN firmware version 1 10 If the data are not changed no PDO will be sent if a data exchange is triggered by BFM 20 e FX3U CAN firmware version 1 10 or later If a data exchange is triggered by BFM 20 and at the last data exchange the inhibit time was active a PDO will be sent otherwise no PDO will be sent as long as the data did not change BFM data H0001 H5374 H2102 H3528 BFM 20 bitO OD data H0000 H0001 H5374 H2102 H3528 TPDO1 Inhibit time F W lt Ver 1 10 Ree a TPDO1 Inhibit time F W gt Ver 1 10 D RR E ee ee TPDO1 Event timer CAN Bus TPDO1 H0001 H2102 F W lt Ver 1 10 CAN Bus TPDO1 H0001 H2102 H3528 F W gt Ver 1 10 Example 3 Inhibit time 0 Event time gt 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed Even if no data exchange with new data is triggered by BFM 20 a PDO with the actual object dictionary data will be sent when the event timer elapsed BFM data H0001 H2102 H3528 BFM 20 bitO OD data H0000 H0001 H2102 H3528 TPDO1 Inhibit time TPDO1 Event timer A o9 D coe sc re AA ree CAN Bus TPDO1 H0001 H0001 H2102 H2102 H3528 H3528 60 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Example 4 Inhibit time gt 0 Event time gt 0 Inhibit time lt
39. write into BFM 21 the value K11 or K29 set BFM 22 to K1 to store the BFM configuration and reset the module For module reset refer to Section 6 8 e BFMs 0 to 19 27 50 to 59 750 to 859 900 to 963 and 3000 to 3539 which are active in the CANopen 405 mode or CANopen 417 mode are not active and not accessible in CAN Layer 2 Mode Receive Transmit Process Data The data transfer locations of the 11 bit 29 bit CAN ID Layer 2 mode are as follows Note The following settings of each message have to be defined in Layer 2 configuration mode before shifting to the Layer 2 online mode e The CAN ID LW CAN ID HW and transmitting data byte number in RTR new DLC in the following BFMs Layer 2 message configuration in BFM 1100 to 1276 Sets the parameters transmitting receiving message etc for each message For Layer 2 message configuration in BFM 1100 to 1267 refer to Section 9 3 BFM 0 to 19 Reserved BEM 100 CAN ID 1 LW 11 29 bit CAN Identifier low word HFFFF n BEM 101 CAN ID 1 HW 29 bit CAN Identifier high word HFFFF R W n BEM 102 RTR new DLC High eye Remote Transmission Request HO R W P Low Byte Data length count Layer 2 BFM 103 2nd data byte 1st data byte message 1 B BFM 104 4th data byte 3rd data byte Data bytes Description Initial Read Stored to BFM No High Byte Low Byte value Write Flash ROM BFM 105 6th data byte 5th data byte BFM 106 8th data byte 7t
40. 1s DOUBLE FLASH 0 2s 0 2s 0 2s 1s BLINKING OS INN kk 0 2s 0 2s FLICKERING JN EE KEY 0 05s 0 05s 1 2 3 Terminal layout Pin No Description CAN_GND Ground 0 V V 1 CAN L 2 CAN L CAN L bus line dominant low 3 CAN SHLD _ Optional CAN shield CAN SHLD 4 5 CAN_GND CAN_H CAN_H bus line dominant high CAN_H T CAN_V Optional CAN external positive supply not connected internally CAN_V S00 00 gS 19 uononpou suoneoyoeds INO uoneejsu OO Buum a al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoo v apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 1 Introduction FX3U CAN User s Manual 1 3 System Configuration 13 System Configuration 1 3 1 General configuration PLC programming tool CANopen Configuration tool Import EDS FX3G FX3GC FX3U CAN CAN FX3aU FXaUC Communication interi Series PLC block MENACE CAN bue seo Node 1 Node 2 Terminating Terminating resistor Node 3 resistor R t ad CAN bus network Node 5 Terminating Terminating resistor Node Node 6 resistor FX3G FX3GC FX3U CAN FX3u FX3uc Communication Series PLC block Part Name Remarks Communication block PLC An FX2NC CNV IF or FX3UC 1 PS 5V is necessary to connect the FX3U CAN to FX3UC Series PLC an FX3GC FX3UC Series PLC CAN bus network CAN bus network Node MEE CANope
41. 32 bit 32 bit i 16 bit i 8 bit object object j object j object Assigned BFM sub index hex MEN BFM 200 and 11120 lower 8 bit d BFM 200 and 11120 higher 8 bit i x de 03 BFM 201 and 11121 8 bit m WE M BFM 201 and 11121 higher 8 bit ED ED BFM 318 and 1 1238 lower 8 bit m s a BFM 319 and 11239 lower 8 bit F0 F0 BFM 319 and 11239 higher 8 bit Index Index Index Index HA240 HA200 HA102 HA042 float unsigned i unsigned i unsigned 32 bit 32 bit i 16 bit i 8 bit object object j object j object Assigned BFM sub index hex NE Fae BFM 320 and 11240 lower 8 bit BFM 320 and 11240 higher 8 bit 79 79 9 O o BFM 321 and 11241 lower 8 bit CES BFM 321 and 11241 higher 8 bit ERE BFM 398 and 1 1318 lower 8 bit BFM 398 and 11318 higher 8 bit ee e EL OF OF BFM 399 and 11319 lower 8 bit o os BFM 399 and 11319 higher 8 bit 124 7 CANopen 405 Mode FX3U CAN User s Manual 7 1 Data Transfer Location for CANopen 405 Mode 7 1 2 Direct FROM BFM access to the CANopen 405 Object z Use the FROM instruction to read data from the following locations The default RPDO mapping is assigned S to unsigned 16 bit objects Index HA580 To change this setting use the SDO command in the CIF or a CANopen configuration software For SDO command in the CIF refer to Section 10 2 2 For the CANopen configuration software refer to the manual of the software to be used a Note 3
42. 4 Door 1 Door 2 Door status word HFFFF Buum d Door status word HFFFF al suonounJ jo uononpouu Door status word HFFFF o HFFFF Door status word JO uoneool v Section 8 4 seuoulejy yng Door status word HFFFF Door status word HFFFF apou sop 9 jOJd eoieq pue a98J1a u MAA uoneorddy 47 Door status word HFFFF SPON Zip HFFFF epo cie e1Nvo CO HFFFF Section 8 5 j e eoeeju puewwog 141 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application BFM No and access type FROM BFM 3086 BFM 12086 BFM 3087 BFM 12087 BFM 3088 BFM 12088 BFM 3089 BFM 12089 BFM 3090 BFM 12090 BFM 3091 BFM 12091 BFM 3092 BFM 12092 BFM 3093 BFM 12093 BFM 3094 BFM 12094 BFM 3095 BFM 12095 BFM 3096 BFM 12096 BFM 3097 BFM 12097 BFM 3098 BFM 12098 BFM 3099 BFM 12099 BFM 3100 BFM 12100 BFM 3101 BFM 12101 BFM 3102 BFM 12102 BFM 3103 BFM 12103 BFM 3104 BFM 12104 BFM 3105 BFM 12105 BFM 3106 BFM 12106 BFM 3107 BFM 12107 BFM 3108 BFM 12108 BFM 3109 BFM 12109 BFM 3110 BFM 12110 BFM 3111 BFM 12111 BFM 3112 BFM 12112 BFM 3113 BFM 12113 BFM 3114 BFM 12114 BFM 3115 BFM 12115 Lift No Initial value Reference g o o O E UD o 2 HFFFF Door 1 Door 2 Door position Door 3 Door 4 Door 1 Door 2 Door position Door 3 Door 4 Door 1 Door 2 Door position Door 3 Door 4
43. 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA 417 V2 1 for Lift Control Systems Index Te Data De Read zin Description Initial value i to Flash a hex type Write ROM 2 1 6407 2 2 6C07 This object is equivalent to object H6064 in the 3 7407 CiA9 402 2 V3 0 specifications and shall 2 7C07 tonada iuslus contain the position of the drive shaft This HEFFF FFFF R W 5 8407 information is used to calculate the slippage of o 6 8C07 the position unit The value shall be given in E 7 9407 user defined position units si 8 9C07 1 6420 7 2 6C20 3 7420 3 mr Target position gt Refer to Subsection 5 10 11 5 8420 ni did A 6 8C20 S 7 9420 8 9C20 z 1 6423 2 6C23 3 7423 This object is equivalent to object H6081 in the 4 4 7C23 l Ms Sun 5 8423 Profile velocity CiA 402 2 V3 0 specifications i 6 8023 The value is in units of mm s 2 7 9423 8 9C23 1 6430 2 6C30 3 7430 This object is equivalent to object H60FF in the 4 7C30 Ww ME 2 5 8430 Target velocity CiA 402 2 V3 0 specifications 3 6 8C30 The value is in units of mm s 5 7 9430 S 8 9C30 a 1 6433 2 6C33 6 i is This object is equivalent to object H606C in the p 5 8433 Velocity actual value CiA 402 2 V3 0 specification cs 6 8C33 The value is in units of mm s ej 7 9433 3 S 8 9C33 p 1 6480 3 7480 RFE dns 01 Load value E S 3 Refer to Subsection
44. 6 14 Bit 2 3 Reserved 113 suoneoyoeds N9 UONINPOJU ma uonejje3su OO Gum E al E cs o 3 o og dre gt o h JO uoneool v seuouleJy Jeyng j apou sop 9 jOJd 3q pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy 17 OO apo ci e1Nvo CO e eoeeju puewwog 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 8 BFM 25 Communication Status Bit Description TO Write Access CANopen mode Reserved Layer 2 mode OFF Layer 2 request configuration mode Bit 4 ON Layer 2 request online mode This bit must be set to ON to start data exchange with other network nodes The configuration of the module can only be changed while this bit is OFF Note If a configuration BFM was changed during online mode BFM 29 bit 5 is set to ON Bit 5 Reserved OFF No NMT Reset received ON The CANopen Application was reset by an NMT Reset communication or NMT Reset Application command All Bit 6 unsaved changes in the Object dictionary are lost and are set to factory default or to the former stored value Write a O to reset the bit Refer to Subsection 5 6 11 The Bit is set to 0 in the beginning of the reset process Module initialisation state In the case of a module restart request over BFM 25 bit O or over a CANopen NMT command this bit will set This bit Bit 7 shall be monitored in the PLC program at all times to prohibit Reserved BFM 29 failures OFF
45. 8 1 Buffer Memories Lists of Lift Application BFM No and access type NE P 2 Lift No Description Initial value Reference 3 BFM 3444 o BFM 3446 BFM 3447 BFM 12447 2 BFM 3448 BFM 43450 j uoneejsu OO BEM 3452 Control effort HO Section 8 12 BFM 3454 BFM 3456 BFM 3458 BFM 3460 BFM 12460 BFM 3461 BFM 12461 BFM 3462 BFM 12462 BFM 3463 BFM 12463 3 Buum d BFM 3464 BFM 12464 BFM 3465 BFM 12465 BFM 3466 BEM 3468 Position actual value HFFFFFFFF Section 8 13 BFM 3470 BFM 3472 BFM 3474 CS BFM 3475 BFM 12475 BFM 3476 BFM 12476 BFM 3491 BFM 12491 BFM 3492 BFM 3494 BFM 3496 BFM 3498 Velocity actual value HO Section 8 15 BFM 3500 BFM 3502 BFM 3504 al suonounJ jo uononpouu o Seuoule N yng jo uoneoollv j JO 537 os O Sone Q D o U oa lt 5 zho o MAA PON 21 y uoneorddy 47 epo cie e1Nvo CO BFM 3505 BFM 12505 BFM 3506 BFM 12506 BFM 3507 BFM 12507 e eoeeju puewwog 147 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application BFM No and access type FROM BFM 3508 BFM 12508 Absolute load value HFFFF Load value BFM 3510 BFM 12510 Absolute load value HFFFF Load value BFM 3511 BFM 12511 Siuit unit BFM 3512 BFM BFM 12512 ER ENS load value HFFFF Load value BFM 3514 BFM 12514 Absolute load value
46. 8 9 and 12 The following error codes are added H3111 H3121 H8F01 to H8F7F Default value of communication parameter is added Section 5 6 Default value of mapping parameter is added The explanation of Communication Profile Area is modified Section 5 6 The explanation of RPDO TPDO is modified Subsection 5 6 5 The explanation of SYNC is modified Subsection 5 6 7 The explanation of Node guarding is modified Subsection 5 6 8 The explanation of Time is modified Subsection 5 6 10 The contents of protocol NMT is added Subsection 5 8 3 The contents of NMT slave identification is added Subsection 5 8 4 The explanation of NMT master startup is modified Subsection 5 8 5 The explanation of NMT slave startup is modified Subsection 5 8 6 The explanation of NMT slave assignment is modified Subsection 5 8 7 The contents of NMT Bootup Error event handling is added Subsection 5 8 8 The explanation of Application Profile CiA9 417 V2 1 for Lift Control Systems is modified Section 5 10 The explanation of Flying master is modified Subsection 5 8 11 The explanation of LSS is modified Subsection 5 8 12 The explanation of Configuration manager is modified Subsection 5 8 13 The explanation of Allocation of Buffer Memories is modified Chapter 6 The explanation of CANopen 405 Mode is modified Chapter 7 The explanation of CANopen 417 Mode is modified Chapter 8 The explanation of Pre defined Layer 2 receive m
47. An operation error may damage the machinery or cause accidents FX3U CAN operates as follows when the STOP RUN state of the PLC changes CANopen NMT Slave e RUN STOP FX3U CAN changes into the CANopen state as set in the Error behaviour Object In addition an EMCY is sent For Error behaviour refer to Section 5 7 For EMCY refer to Subsection 5 6 13 STOP RUN FX3U CAN stays in the current CANopen state CANopen NMT Master without Flying Master function e RUN STOP FX3U CAN changes into the CANopen state as set in the Error behaviour Object The NMT Master Entity the Heartbeat producing and the Node Guarding will be stopped NMT Slaves with Heartbeat consuming or Life Guarding have the possibility to respond to the loss of the NMT Master In addition an EMCY is sent For Error behaviour refer to Section 5 7 For EMCY refer to Subsection 5 6 13 e STOP RUN The Module enables Heartbeat and NMT Master services again and starts the NMT Master startup service For NMT Master startup refer to Subsection 5 8 5 CANopen NMT Master with Flying Master function e RUN STOP FX3U CAN changes into the CANopen state as set in the Error behaviour Object The NMT Master Entity the Heartbeat producing and the Node Guarding will be stopped Other NMT Flying Masters will start a Flying Master negotiation if the Module was the active NMT Master In addition an EMCY is sent For Error behaviou
48. CAN firmware Ver 1 10 or later supports Node Guarding Use the heartbeat service for FX3U CAN not supporting Node Guarding Node guarding produces a high bus load It is recommended to use heartbeat instead NMT Master NMT Slave COB ID 1792 Node ID suonounJ jo uononpouu Request Indication Confirmation os Response S NMT slave state 4 Stopped H1F81 o E 6 z Confirmation Response E m O 99 O S g 8 ES o O 5 uw qe 2 oleo 2E E m O oS c I 2 amp O E es D E n Q O e I apou sop BO 3919 pue eoejeju 5 Operational 8 127 Pre Operational BPS b Toggle Bit das 1 Slave Setting e E 1 Object H100C Guard time 7 The 16bit guard time in units of ms is the time limit for which the response must be sent The value 0 9 disables life guarding Applicable for FX3U CAN firmware Ver 1 10 or later 2p 2 Object H100D Life time factor b The 8bit life time factor value multiplied by the guard time gives the life time for which the NMT Master x has to send the guarding request The value 0 disables life guarding Both Objects have to be set to activate Node guarding The order in which Guard time and Life time factor are set does not matter Applicable for FX3U CAN firmware Ver 1 10 or later 2 Master Setting 1 Object H1F81 NMT slave assignment e eoeeju puewwog 65 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communicatio
49. Communication Profile Area Default value of Sub Index hex Index hex H02 H05 RW 1 R RW 1590 1 CEA MA Reserved 0 1592 to 159F Reserved 15A2 to 15AF Reserved 15B2 to 15BF Reserved 15C2 to 15CF Reserved 15D2 to 15DF Reserved 15E2 to 15EF Reserved Table 5 6 Mode 417 RPDO mapping Parameter part 1 R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index 1600 A5800110 A5800210 A5800310 A5800410 EJ CIELOS add ME NN NN Table 5 7 Mode 417 RPDO mapping Parameter part 2 R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index 1601 to 167F Reserved 1680 Reserved 1681 to 16CO Reserved 16C1 to 1700 Reserved 1702 Reserved 1704 Reserved 1705 64060020 Reserved 1706 63830120 Reserved 1707 63830220 Reserved 1708 to 1709 Reserved 170A 63010110 63020110 Reserved 170B 01 63100108 Reserved 170C 63010210 63020210 Reserved 170D 000 63100208 Reserved 170E 02 63010310 63020310 Reserved 170F ae 63100308 Reserved 1710 Reserved 48 FX3U CAN User s Manual 5 Introduction of Functions 5 6 Communication Profile Area Index hex 1711 1712 1713 1714 1715 1716 1717 1718 to 1719 171A 171B 171C 171D 171E 171F 1720 1721 1722 1723 1724 1725 1726 1727 1728 to 1729 172A 172B 172C 172D 172E 172F 1730 1731 1732 1733 1734 1735 1736 1737 1738 t
50. Communication Settings Procedure FX3U CAN User s Manual 12 2 CANopen 417 Mode 12 2 CANopen 417 Mode When using CANopen 417 mode the outline of the communication setting procedure is as follows To set the Object Dictionary the use of CANopen configuration software is recommended For further information on CANopen configuration software refer to the manual of the software to be used For further information on the Object Dictionary refer to Chapter 5 For further information on BFMs refer to Chapter 6 gt For further information on data transfer location refer to Chapter 8 For further information on the CIF refer to Chapter 10 For example program refer to Chapter 13 1 Set the following Function mode BFM 21 Refer to Chapter 6 2 Store setting to Flash ROM BFM 22 Refer to Chapter 6 3 FX3U CAN restart 4 Set the following Baud rate BFM 24 e Watchdog timer BFM 26 Node address BFM 27 1 Set the following required function Refer to Section 5 8 NMT master Flying Master 2 Save the Object Dictionary Refer to Subsection 5 6 11 and Section 10 6 FX3U CAN restart For Module restart refer to Section 6 8 1 Set the following required functions Refer to Section 5 6 Section 5 8 and Section 6 18 Heartbeat the Node Guarding either settings are possible e TIME Layer Setting Services LSS NMT Master Set up NMT Slave ass
51. Device is able to restore factory default parameters on command FX3U CAN Bit 1 to 31 Reserved 5 6 13 EMCY Emergency objects are triggered by the occurrence of a CANopen device internal error An emergency object is transmitted only once per error event No further emergency objects are transmitted as long as no new errors occur on a CANopen device Zero or more emergency consumers may receive the emergency object The received EMCY Messages will be displayed in BFM 750 to 859 A transmission of EMCY Messages is possible over the CIF For BFM 750 to 859 Emergency Message Buffer refer to Section 6 23 For sending an CIF EMCY Message in the CIF refer to Section 6 23 EMCY producer EMCY consumers Request Indication Indication Request Indication Inhibit time eec X Emergency error code 2 Byte For Emergency error code refer to Section 6 23 er Error register 1 Byte For Error register object H1001 refer to Subsection 5 6 2 msef Manufacturer specific error code 5 Byte 68 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 1 Object H1014 COB ID EMCY zi 31 30 29 28 11 10 0 o For the resulting COB ID refer to Subsection 5 6 1 2 e cO Bit No iem Description 9 Bit O to 10 11 bit CAN ID of the CAN base frame 2 Bit 11 to 28 MEIN Bit 11 to 28 fixed to OFF 0 a Bit 29 a ae Bit 29 fixed to OFF 0 Bit 30 Ew Bit 30 fixed to OFF 0
52. Edition FX3G Series OS Additional Users Manual JY997D31301 Describes FX3G Series PLC specification details for I O 09R521 Manual wiring installation and maintenance Hardware Edition FX3GC Series PLCs Main Unit Describes FX3GC Series PLC specification for l O wiring and installation extracted from the FX3G User s A ey as JY997D45201 Manual Hardware Edition For details refer to FX3GC Series User s Manual Hardware Edition Additional peer ES leS Describes FX3GC Series PLC specification details for l User s Manual JY997D45401 a p 09R533 Manual O wiring installation and maintenance Hardware Edition FX3U Series PLCs Main Unit Describes FX3U Series PLC specification for I O wiring and installation extracted from the FX3U User s Manual A aa a JY997D50301 Hardware Edition For details refer to FX3U Series User s Manual Hardware Edition Hardware Edition FX3UC Series PLCs Main Unit Describes FX3UC D DS DSS Series PLC specification E for I O wiring and installation extracted from the FX3UC uu no elles JY997D50501 Series User s Manual Hardware Edition Manual Hardware Manual Sl FX3U Series l l M Additional Users Manuail JY997D16501 Describes FX3U Series PLC specification details for I O 09R516 Manual wiring installation and maintenance For details refer to FX3UC Series User s Manual Hardware Edition Describes FX3UC 32MT LT 2 specification for I O i poe wiring and in
53. Edition of the main unit to be used for your system Memory cassette Generic name for FX Series terminal block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system FX Series terminal block Peripheral unit Peripheral unit Generic name for programming software handy programming panel and indicator Programming tool Programming tool Generic name for programming software and handy programming panel Programming software Generic name for programming software Abbreviation of programming software packages SWLIDNC GXW2 J SWLIDNC GXW2 E Abbreviation of programming software packages SWLID5C GPPW J SWLID5C GPPW E Handy programming panel HPP Generic name for FX 30P and FX 20P E Indicator GOT1000 series Generic name for GT15 GT11 and GT10 GOT 900 series Generic name for GOT A900 series and GOT F900 series GOT A900 series Generic name for GOT A900 series GOT F900 series Generic name for GOT F900 series ET 940 series Generic name for ET 940 series Manual FX3G Hardware Edition Abbreviation of FX3G Series User s Manual Hardware Edition FX3GC Hardware Edition Abbreviation of FX3GC Series User s Manual Hardware Edition FX3U CAN User s Manual Generic Names and Abbreviations Used in the Manual Generic name or abbreviation FX3U Hardware Edition FX
54. Europe B V ul Krakowska 50 PL 32 083 Balice Phone 48 0 12 630 47 00 Fax 4 48 0 12 630 47 01 Mitsubishi Electric Europe B V 52 bld 3 Kosmodamianskaya nab 8 floor RU 115054 Moscow Phone 7 495 721 2070 Fax 7 495 721 2071 Mitsubishi Electric Europe B V Carretera de Rub 76 80 Apdo 420 E 08190 Sant Cugat del Vall s Barcelona Phone 34 0 93 5653131 Fax 34 0 93 5891579 Mitsubishi Electric Europe B V Scandinavia Fjeliev gen 8 SE 22736 Lund Phone 46 0 8625 10 00 Fax 46 0 46 39 70 18 Mitsubishi Electric Turkey Elektrik r nleri A TURKEY Fabrika Otomasyonu Merkezi Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye ISTANBUL Phone 90 0 216 526 39 90 Fax 90 0 216 526 39 95 Mitsubishi Electric Europe B V UK Travellers Lane UK Hatfield Herts AL10 8XB Phone 44 0 1707 28 87 80 Fax 44 0 1707 27 86 95 Mitsubishi Electric Europe B V Dubai Silicon Oasis United Arab Emirates Dubai Phone 971 4 3724716 Fax 971 4 3724721 Mitsubishi Electric Corporation Tokyo Building 2 7 3 Marunouchi Chiyoda ku Tokyo 100 8310 Phone 81 3 3218 2111 Fax 81 3 3218 2185 Mitsubishi Electric Automation Inc 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 2100 Fax 1 847 478 0328 CZECH REP FRANCE IRELAND ITALY NETHERLANDS POLAND RUSSIA SPAIN SWEDEN UAE JAPAN USA MITSUBISHI Ay amp ELECTR
55. FX3cc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition apou sop BO 399 pue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju puewwog 25 3 Installation FX3U CAN User s Manual 3 2 Mounting Mounting The FX3U CAN may be installed in a control cabinet with a 35 mm wide DIN46277 DIN rail mounting or M4 screw direct mounting DIN rail mounting The product may be mounted on a 35 mm wide DIN46277 DIN rail Fit the upper edge A in the figure to the right of the DIN rail mounting groove onto the DIN rail Push the product onto the DIN rail An interval space of 1 to 2 mm 0 04 to 0 08 between each unit is necessary Connect the extension cable Connect the extension cable B in the figure to the right to the main unit I O extension unit block or special function unit block on the left side of the product For further information of the extension cable connection procedure refer to the respective product PLC manual Refer to FX3G Hardware Edition Refer to FX3Gc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition NNNSNNSNSNSNSS SSSSSSSSNN 77 y cs M d o 9 0 too on otf h oe 9 NA PM U e Example of installation on DIN rail Inthe case of the FX3G FX3U PLC 1 to 2mm 1 to 2mm 0 04 to 0 08 0 04 to 0 08 es A Other FX3G FX3U
56. Fit the FX3u CAN A in the figure to the right to the mounting holes and tighten with M4 screws B in the figure to the right For further information of the screw position and quantity refer to the dimensioned drawing specified below For dimensions refer to Section 1 2 oO Connect the extension cable Connect the extension cable to the main unit I O extension unit block or special function unit block on the left side of the product Refer to Step 3 in Subsection 3 2 1 For further information of the extension cable connection procedure refer to the respective PLC manual gt Refer to FX3G Hardware Edition gt Refer to FX3Gc Hardware Edition gt Refer to FX3u Hardware Edition gt Refer to FX3uc Hardware Edition suonouny Jo uononpoiu o seuoulejN Jeng jo uoneooilv Example of direct installation 1 to 2m 1 to 2mm 0 04 to 0 08 0 04 to 0 08 HE gt H pow sor l4oJd eoi e pue eoejieju i ther FX3G FX3u Series other main unit FX3U CAN extension equipment alljOld uojeaiddy y7 OO shows the M4 screw 8poIN ZLY apo cuefe1Nvo CO e eoeyeyu puewwog The above is different from the actual page as it is provided for explanation only 14 1 Introduction FX3U CAN User s Manual 1 1 Outline 1 Introduction 1 1 Outline The FX3U CAN communication block is an interface block that allows FX3G FX3
57. For function mode refer to Section 6 5 Function Mode Description 11 bit CAN ID Layer 2 Mode Store CAN ID in the 11 bits bit O to 10 in the parameters A and B by 32 bit instructions 29 bit CAN ID Layer 2 Mode Store CAN ID in the 29 bits bit O to 28 in the parameters A and B by 32 bit instructions Parameter C and D for each Layer 2 message Set the filter for the ID set in parameter A and B If the filter is set to H00000000 incoming messages are checked for an exact match with the ID set in parameter A and B Any bit set in the filter will be omitted when comparing received IDs with the ID set in parameter A and B Example 1 Layer 2 message 1 parameter A B H00000181 Layer 2 message 1 parameter C D H00000000 BFM 100 to 106 store received messages with the CAN ID H181 only Relation between received CAN message BFM 20 bit O and RTR new DLC high byte is shown below Message Message Message Message iii mM Ed Ed Es BFM 20 bit O b o S 2 RTR new DLC HOO no new data HO3 new frame data mA cals Hxx HOO and overflow between high byte between D and between 2 and and The flags RTR new DLC are cleared by PLC program after 1 They remain HOO after because there was no message stored between 1 and The first received CAN message that matches parameter A B and C D is stored into the internal buffers and as this is the only message between 2 and 3 the high byte value is set to H03 The
58. If data is written with an SDO into the Object Dictionary to one of the BFM corresponding Indexes Sub indexes only the last data written is visible in the BFM The data of the corresponding Indexes Sub indexes are not synchronized to each other Index Index Index Index Index Index Index HA6CO HA680 HA640 HA580 HA540 HA4C0 HA480 uoneejsu OO float unsigned signed unsigned signed unsigned signed 32 bit 32 bit 32 bit 16 bit 16 bit 8 bit 8 bit object object object object object object object Assigned BFM sub 4 index hex 00 0t BFM 0 and 10000 lower 8 bit E 02 0 BFM 0 and 10000 higher 8 bit BFM 1 and 10001 lower 8 bit BFM 1 and 10001 higher 8 bit al 05 05 BFM 2 and 10002 lower 8 bit E an iqner l O P T BFM 3 and 10003 I 8 bit SE a BFM 3 and 10003 higher 8 bit E o BFM 4 and 10004 lower 8 bi BFM 4 and 10004 higher 8 bit 7 n 7 LM ee 3 08 0B BFM 5 and 10005 lower 8 bit BFM 5 and 10005 higher 8 bit MS MS BFM 18 and 10018 lower 8 bit 26 BFM 18 and 10018 higher 8 bit an ighner l m D 7 NL NEN E o L ox qq o w BFM 19 and 10019 lower 8 bit E BFM 19 and 10019 higher 8 bit JO uoneool v seuoueJy Jeyng ROS RLS a 29 BFM 100 and 10020 lower 8 bit 388 D 2A BFM 100 and 10020 higher 8 bit S2 o el oe BFM 101 and 10021 lower 8 bit 20 2C BFM 101 and 10021 higher 8 bit 8 AU E Ma S75 BFM 198 an
59. Layer 2 Message O AAN Section 9 7 BFM 1000 to 1066 Command Interface The Command Interface CIF can be used to access the Object Dictionary of the local node or a network node Access is performed by commands for SDO read write special direct command for Node Guarding Heartbeat PDO Mapping or Emergency Messages Description FROM Read Access TO Write Access BFM 1000 Command execution result code Command code trigger for command execution BEM 1001 to 1066 Command parameter read back or detailed error Gommandparameler information Note BFM No The TO buffer will not be cleared after command execution The former written TO data will be display by making new TO accesses or using the Display current Parameter command Refer to Section 10 8 Check always before a TO access to the CIF if the BFM 1000 does not display HFFFF CIF Busy If a TO access occurs during CIF busy it will generate a Command or Parameter change while CIF was busy error Refer to Subsection 10 9 1 10 Command Interface FX3U CAN User s Manual 10 2 SDO Request 10 2 SDO Request 2 Note that the NMT Master startup process uses SDO s which can be result in an Error of the CIF command if o the NMT Startup Master accesses the remote Node at the same time 10 2 1 CIF SDO read access 2 WM Description of CIF SDO read access is shown below The local FX3U CAN can be specified by its actual node number or by using 0
60. OD Index H1F81 Bit 3 Node is NMT service Reset mandatory and all nodes communication all shall be reset devices Jo uone5o v seuouleJy Jeyng OD Index H1F80 Bit 4 NMT service Reset communication apou sop 9 lJOJd 399 pue eoejeju faulty node ps nelle Start startup SO gt Handler for faulty ee device eg S QZ End error handler M NO e eoeeju puewwog 81 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 9 Request NMT This object indicates at the NMT Master the current NMT state of a unique CANopen device in the network The sub index corresponds to the node ID of the CANopen devices in the network The sub index H80 represents all nodes Only the NMT Master is allowed to send NMT node control messages The NMT state is shown in BFM 601 to 727 At the NMT Master an NMT message can be requested can be via an SDO write access Consider using this carefully because the NMT Startup Master will not set the Target Node automatically back to Operational until the next reset if the request is a Stop or Pre Operational request gt For the BFM assignment corresponding to the NMT state of each node refer to Section 6 22 Note If a Node for Heartbeat consuming is activated and a boot up Message is received from this node the NMT state Pre operational will be displayed for this node until the next Heartbeat is received for thi
61. 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 FX3U CAN can be specified by its actual node number or by using O e TPDO number The TPDO number setting range is 1 to 255 The FX3U CAN will read the TPDO COB ID from the object dictionary of the source node This COB ID is 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 136 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 2 Destination Parameter The Destination parameter defines the destination for the corresponding source parameter data It consists of a two bytes with the node ID in the high byte and the PDO number in the low byte S Node ID The node ID range is 1 to 127 The local FX3U CAN can be specified by its actual node number or by using O 2 RPDO number The RPDO number setting range is 1 to 255 The Destination node COB ID is checked before the Source data is writt
62. Sub index H01 to H08 RPDO mapping parameter o The default mapping is to unsigned 16 bit objects p Refer to Subsection 7 1 2 j 31 16 iso fed apou sop BO 399 pue eoejeju Example To map the first unsigned 16bit data of RPDO1 to BFMO set Index H1600 Sub index HO1 to HA58001 10 8 This stands for Object Dictionary Index HA580 Sub index HO1 and a data size of 16bit metal Item Description S Index Index of the mapped Object S Sub index Sub index of the mapped Object 5 Length Bit length of the mapped Object 9 e eoeeju puewwog 57 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 3 Object H1800 to H184F 1 Sub index H01 TPDO COB ID 31 30 29 28 11 10 0 Bit No Description 11 bit CAN ID of the CAN base frame ante ANO For COB ID refer to Subsection 5 6 1 Bit 11 to 28 Pos Bit 11 to 28 fixed to OFF 0 Bit 29 Bit 29 fixed to OFF 0 OFF 0 Remote transmission request RTR allowed Bit 30 RTR ON 1 Remote transmission request RTR not allowed This bit is constantly set to ON in the FX3U CAN Bit 31 valid OFF 0 Valid ON 1 Invalid 2 Sub index H02 TPDO transmission type Value hex Description Synchronous acyclic 00 The PDO will be transmitted once acyclic after occurrence of the SYNC if an event occurred before the SYNC 01 Synchronous cyclic every SYNC 02 Synchronous cyclic every 2 SYNC 03
63. Synchronous cyclic every 3 SYNC FO Synchronous cyclic every 240 SYNC F1 to FD Reserved F Event driven Function Mode 405 F Event driven Function Mode 417 nN m 3 Sub index H03 TPDO inhibit time This object configures the minimum time between two PDO transmissions if the transmission type is set to HFE or HFF PDO transmission request over BFM 20 will be dismissed during this time Unit of this value is 100 us FX3U CAN counting resolution 1 ms The value O disables the inhibit time For BFM 20 refer to Section 6 4 4 Object H1800 to H184F Sub index H05 TPDO event timer If the event timer elapses and an event driven transmission is not sent in that time transmission type is set to HFE or HFF a message will be sent with the current value of the Object dictionary Unit of this value is ms The value 0 disables the event timer Note If the inhibit time is active no PDO will be transmitted 58 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 4 Object H1A00 to H1A4F Sub index H01 to H08 TPDO mapping parameter The default mapping is to unsigned 16 bit objects amp Refer to Subsection 7 1 1 S 91 us 16 15 229 Tu 2 Y Example To map unsigned 16bit data of BFMO to the first 16 bits of TPDO 1 set Index H1A00 Sub index H01 to HA1000110 o This stands for Object Dictionary Index HA100 Sub index H01 and a data size of 16bit Item Description set range Index I
64. Users Manual of the remote device Manufacturer specific BIOS Show in the Users Manual of the remote device Status Word Power Drive System Finite State Automaton State XXXX xxxx x0xx 0000 b Not ready to switch on XXXX xxxx x1xx 0000 b Switch on disabled XXXX xxxx x01x 0001 b Ready to switch on XXXX xxxx x01x 0011b Switched on XXXX xxxx x01x 0111 b Operation enabled XXXX xxxx x00x 0111 b Quick stop active XXXX XXXX XOxx 1111 b Fault reaction active XXXX XXXX XOxx 1000 b Fault 104 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA 417 V2 1 for Lift Control Systems 1 5 10 9 Modes of operation zi O e This object is equivalent to object H6060 in the CiA 402 2 V3 0 specifications S Value Description 128 to 1 Manufacturer specific operation modes 2 0 No mode change or no mode assigned a 1 Profile position mode 2 Velocity mode S 3 Profile velocity mode 4 Torque profile mode 3 5 Reserved 6 Homing mode A 7 Interpolated position mode 8 Cyclic sync position mode 9 Cyclic sync velocity mode 10 Cyclic sync torque mode 4 z z 11 to 127 Reserved 5 10 10 Modes of operation display This object is equivalent to object H6061 in the CiA9 402 2 V3 0 specifications This object provides the actual operation mode The value description can be shown in the Modes of operation object Refer to Subsection 5 10 9 suonounJ jo uononpou
65. acknowledgement 41 06 Low priority car call acknowledgement 42 07 High priority car call acknowledgement 43 08 Standard destination call acknowledgement 44 09 Low priority destination call acknowledgement 45 0A High priority destination call acknowledgement 46 0B Standard call to destination floor acknowledgement 47 OC Low priority call to destination floor acknowledgement 48 to 49 OD High priority call to destination floor acknowledgement 4A OE Special function acknowledgement 4B to 7F OF Access code upload acknowledgement 80 to FF 10 Speech connection acknowledgement 2 Sub function field Description Area monitoring connection acknowledgement Reserved Guest call acknowledgement Reserved Position indication Hall lantern Direction indication Special indication Arrival indication Operation data Publicity indication Speech synthesis Reserved Miscellaneous outputs Reserved Manufacturer specific The Sub function field is interpreted differently depending on the basic function field value Basic function field Sub function field Bit 0 to 7 value Bit 8 to 15 value hex Reserved Description Request all special inputs basic functions OE and 12 00 Request all active hall calls 03 to FF Reserved 01 00 to FF Reserved Reserved Hall call up acknowledgement Hall call down acknowledgement a NENNEN Hall call acknowledgement A 02 to 04 Hall call extra up acknowledgement Hall call extra down ackn
66. before the SYNC SYNC producer SYNC consumers Request Indication Indication Indication SYNC Object SYNC triggered PDO Objects Time Communication cyclic period 1 Object H1005 COB ID SYNC message In order to guarantee timely access to the network the SYNC is given a very high priority CAN ID For the COB ID refer to Subsection 5 6 1 31 30 29 2D 11 10 223 0 gen HO0000 11 bit CAN ID Bit No iem Description set range Bit O to 10 11 bit CAN ID 11 bit CAN ID of the CAN base frame Bit 11 to 28 Bit 11 to 28 fixed to OFF 0 Bit 29 Le Bit 29 fixed to OFF 0 OFF 0 Don t generate SYNC message ON 1 Generate SYNC message Bit 30 gen Note The device needs to be active NMT Master to produce SYNC messages The Index H1006 needs to be set to enable SYNC producing Bit 31 Do not care 2 Object H1006 Communication cycle period This object provides the communication cycle period This period defines the SYNC interval The 32 bit value is in units of us FX3U CAN counting resolution 1 ms The FX3U CAN counting resolution is 1ms values smaller than 1ms will be set internally to 1ms values starting from 1ms will be divided by 1000 The value O disables SYNC producing The module needs to be active NMT Master to produce SYNC messages Setting range KO to K4 294 967 295 For NMT Master refer to Subsection 5 8 5 64 5 Introduction of Functions FX3U CAN User s Manual 5
67. bit CAN ID Layer 2 Mode Store CAN ID in 29 bits bit O to Ze in the CAN ID n LW and CAN ID n HW O Handle CAN ID n LW and CAN ID n HW by 32 bit instructions SS 2 The n corresponds to the Layer 2 message number 2 RTR new DLC o w RTR new DLC is set as follows 8 High Byte Low Byte Description FS O Bit 12 ON Strict DLC check for RTR n High byte Bit 15 OFF Send data frame e Bit 15 ON Send RTR frame 2 Low byte Number of data bytes to transmit KO to K8 3 Bit 15 defines whether the message is transmitted as a data frame Bit 15 OFF or a Remote Transmit Request frame Bit 15 ON Bit 12 ON enables a strict DLC check for received RTR frames If Bit 12 is OFF only the CAN ID of an inbound RTR frame is checked for a match with a user message if the bit is ON the CAN ID and the DLC of the RTR frame must match the user apou sop 9 jOJd eoieq pue eoejeju message to cause a response or BFM 1270 to 1272 flag to be set 8 Bit 15 and Bit 12 cannot be set ON at the same time RBS Bit 15 can be set ON if the parameter B is set to H5FFF X Bit 12 can be set ON if the parameter B is set to H6FFF or H7FFF g 3 For parameter B refer to Section 9 3 Es S 3 Data bytes Store the data to transmit The data length of the transmit data is set by DLC spol c Jefe NYO e eoeeju puewwog 167 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 1 Receive Transmit Process Data
68. checked by reading the last three digits of device D8001 D8101 1 An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC PLC 2 Check the current consumption of the connected extension blocks and when necessary insert extension power supply units 3 Up to 7 units can be connected to the FX3uc 32MT LT 2 PLC suoneoyoeds INO uoneejsu OO 1 3 3 Connection with PLC The FX3U CAN connects with a PLC via an extension cable The FX3U CAN is handled as a special extension block of the PLC The unit number of the FX3U CAN is automatically assigned No O to No 7 starting from the special function unit block closest to the PLC main unit This unit number is used for the designation of a FROM TO instruction For further information of the assignment of the I O number and unit number of the PLC refer to the following manual corresponding to the connected PLC 1 Unit No 1 to No 7 is assigned when the main unit is an FX3uc 32MT LT 2 Refer to FX3G Hardware Edition Refer to FX3Gc Hardware Edition Gum E al MES gt Refer to FX3u Hardware Edition 5 3 Refer to FX3uc Hardware Edition 5 e o Other a FX3G FX3U PLC extension FX3U o units blocks CAN OX ERROR OY RROR JO uoneool v Wwe c UN O BAT CO n O wb28848BEBEBEEBER 1017 12 SERBS seuouleJy Jeyng Other FX3GC FX3UC extension apou sop BO 399 pue eoejeju
69. circuitries 08 Standard destination call This is not safety related information RS 09 Low priority destination call 17 to 1F Reserved 0A High priority destination call 20 Guest call 1 0 OB Standard call to destination floor 21 to 7F Reserved 0 0C Low priority call to destination floor 80 to FF Manufacturer specific oe 33 D 5 a 151 FX3U CAN User s Manual 8 CANopen 417 Mode 8 3 Virtual Input Output Mapping 2 Sub function field High byte in BFM 3001 and 12001 The Sub function field interprets depending on the basic function field value Basic Sub Function Function Field Field BFM 3001 BFM 3001 Description BFM 12001 BFM 12001 Low Byte High Byte Value hex Value hex Generic input 1 Generic input 254 Hall call down 02 to 04 Hall call extra up Hall call extra down 06 Hall call extra 07 to FF Reserved W Reserved 05 to OD Floor number 1 to 254 Reserved NE HM Reserved Request fan 1 Request fan 2 Request load time 1 Request load time 2 Key lock 1 06 Key lock 2 Key lock 3 08 Key lock 4 EN NN ace ENDE sil Request door open OE Request door close Fire recall key switch hall panel Fire service key switch car panel Hall call disable Attendant service VIP service Bed passenger service 3 Lift field Low byte in BFM 3002 and 12002 The bit for the requested lift number is set to ON 1 BFM 3002 BFM 12002 Low Byte BFM 3002 B
70. configuration System configuration Refer to Chapter 3 and 4 Installation and wiring dy doti e Arrangements For arrangements refer to the manual of the PLC main unit e Mounting Wiring e Applicable cable and connector e CAN bus wiring e Grounding e Bus terminator Refer to Chapter 5 to12 Communication settings For CANopen 405 mode refer to Section 12 1 For CANopen 417 mode refer to Section 12 2 For CAN Layer 2 mode refer to Section 12 3 Communication settings Refer to Chapter 5 to 12 Object Dictionary CANopen mode only e Communication profile area e Network management e Device profile CiA9 405 CANopen9 405 mode only e Application profile CiA9 417 CANopen9 417 mode only Buffer memory e List of buffer memories e Details of buffer memory For buffer memory read write method refer to programming manual Communication program For example program refer to Chapter 13 Create program Refer to Chapter14 If the error status data is abnormal refer to Chapter 14 22 2 Specifications FX3U CAN User s Manual 5 a o a E Q o 2 Specifications DESIGN PRECAUTIONS NWARN ING e Make sure to have the following safety circuits outside of the PLC to ensure safe system operation even during external power supply problems or PLC failure Otherwise malfunctions may cause serious accidents 1 Most importantly have the
71. defined by mode B 10044 to 10047 mapping command 128 to 131 oS RPDO 13 H0184 parameter or SDO 10048 to 10051 S 23 Disabled 3625 4132 to 4135 318 RPDO 14 These PDO can be H0284 10052 to 10055 235 activated by mode B Node 4 data o RPDO 15 mapping commands or H0384 dies api e 10056 to 10059 8 140 to 143 RPDO 16 H0484 10060 to 10063 ERIT SO 144 to 147 2335 OO RPDO 17 H0185 10064 to 10067 a ad 148 to 151 RPDO 18 H0285 10068 to 10071 Node 5 data 152 to 155 O RPDO 19 H0385 10072 to 10075 9 zo 156 to 159 Sr RPDO 20 H0485 10076 to 10079 F 160 to 163 RPDO 21 H0186 10080 to 10083 29 164 to 167 RPDO 22 H0286 10084 to 10087 1 0 Node 6 data 168 to 171 O SO RPDO 23 HO386 10088 to 10091 SE 172 to 175 SD RPDO 24 H0486 10092 to 10095 a 131 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode Mode A Mapping Mode B Mapping Assigned BFM Mode 0 Mapping RPDO default COB ID 176 to 179 RPDO 25 H0187 10096 to 10099 180 to 183 RPDO 26 H0287 10100 to 10103 Node 7 data 184 to 187 O RPDO 27 H0387 10104 to 10107 188 to 191 RPDO 28 H0487 10108 to 10111 192 to 195 RPDO 29 H0188 10112 to 10115 196 to 199 RPDO 30 H0288 10116 to 10119 Node 8 data 200 to 203 O RPDO 31 HO388 10120 to 10123 204 to 207 RPDO 32 H0488 10124 to 10127 208 to 211 RPDO 33 10128 to 10131 212 to 2
72. devices involved in the communication are in the appropriate NMT states In case of trying to send a communication object which is not allowed in the specific NMT state no error information will be displayed Pre operational Operational Stopped Node control and error control v 5 8 2 Protocol Boot Up This protocol is used to signal that a NMT slave has switched to the NMT state Pre operational after the NMT state Initialization The protocol uses the same CAN ID as the error control protocols One data byte is transmitted with value O Boot up producer Boot up consumers Request CAN ID 1792 Node ID Indication 5 8 3 Protocol NMT Node control This Protocol is used by the NMT Master to control the NMT state of remote Nodes Producing is allowed only by the NMT Master If the module is the active NMT master the module is ignoring NMT messages with the Node ID 0 All Nodes NMT Master NMT Slaves Request CAN ID 0 specifier Indication Indication Indication Command specifier 1 byte Node ID 1 byte 1 Start 0 All Nodes 2 Stop 1 to 127 Selected Node 128 Pre Operational 129 Reset Application 130 Reset Communication 72 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 9 8 4 NMT slave identification 5 8 5 The NMT startup master and the LSS master are using the NMT slave identification data to identify the NMT slave before configuring the NMT
73. ecdesiae oru idolo uc imo tt esas eoe bte2et 197 FX3U CAN User s Manual Table of Contents 13 Program Example 198 19 1 SystemC oni dorado suus E En P r ss AE E l cod el E ie odd 198 19 2 Local Lapel SeN eee A eee te ree cere ee ee eee eer eet rer ee ener EA 199 QM delecti m EE 202 14 Diagnostics 215 141 Preliminary CHECKS 5d ndi eod Edi dabei dida taii bebes 215 CEBIT Ml ce oO oe OMEN 217 Walters o oc sai 219 Revised HIS M 220 FX3U CAN User s Manual Standards Standards Certification of UL cUL standards FX3U CAN units comply with the UL standards UL cUL UL cUL File number E95239 Regarding the standards that comply with the main unit please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider Compliance with EC directive CE Marking This document does not guarantee that a mechanical system including this product will comply with the following standards Compliance to EMC directive and LVD directive for the entire mechanical module should be checked by the user manufacturer For more information please consult with your nearest Mitsubishi product provider Regarding the standards that comply with the main unit please refer to either the FX series product catalog or consult with your nearest Mitsubishi product provider Requirement for Compliance with EMC directive The following products have shown compliance through
74. first BFM is displayed BFM 39 is reset by writing KO to BFM 29 6 18 BFM 40 BFM Initialisation Online Mode Write Error Display BFM 29 bit 5 is set to ON if an attempt to write into a Buffer Memory while module is in initialisation mode or in Layer 2 online mode is detected BFM 40 displays the target BFM address of the invalid write attempt In case an irregular write access is made to more than one BFM only the address of the first BFM is displayed When BFM 729 bit 5 is set to OFF BFM 40 will be reset to KO 116 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 19 BFM 50 to 59 Time Stamp 6 19 BFM 50 to 59 Time Stamp z CANopen devices which operate a local clock may use the TIME object to adjust their own time base to the E time of the time stamp producer After power up or reset of the FX3U CAN the clock data is set to default values and the clock is stopped FX3U CAN sets up producer or consumer of Time stamp by BFM 50 When FX3U CAN is the current Network Master or Producer set the clock data to BFM 51 to 59 The current Time stamp of CANopen a network can read the clock data from BFM 51 to 57 e When the FX3U CAN is set up as Consumer the clock starts counting after receiving the first Time stamp object When the FX3U CAN is set up as Producer the clock starts after setup of BFM 50 to 58 e The FX3U CAN will only produce the Time stamp if it is the current Network Master an
75. from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design b Failure caused by unapproved modifications etc to the product by the user c When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided d Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced e Relay failure or output contact failure caused by usage beyond the specified Life of contact cycles f Failure caused by external irresistible forces such as fires or abnormal voltages and failure caused by force majeure such as earthquakes lightning wind and water damage g Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi h Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Prod
76. high byte value HO7 after 4 shows that the buffer was overwritten at least once in this example two times since 3 The data bytes in the BFM are the data received with the last message Note In this example it is expected that the PLC program resets the RTR new DLC flags after reading the data at D and Y 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 3 Pre defined Layer 2 Message Configuration Example 2 Layer 2 message 2 parameter A B H00000180 amp Layer 2 message 2 parameter C D H00000006 BFM 107 to 113 stores received messages with CAN IDs H180 H182 H184 and H186 because ID bits 1 and 2 are not evaluated Relation between received CAN message BFM 20 bit 0 and RTR new DLC high byte is shown below 2 Y Note 2 Please remember that in this case all four messages are stored in the same location If more than one of the 3 messages with ID H180 H182 H184 or H186 is received between two write operations BFM 20 K1 only the last received CAN ID DLC and data is available in BFM 107 to 113 Message Message Message Message MIS kr ne Ed oe BFM 20 bit O b 9 2 RTR new DLC HOO no new data HO3 new frame data a noame data Hxx HOO and overflow between high byte between 1 and Q between 2 and 9 and Behaviour until 4 is similar to that described in example 1 Same as in the first example the high byte value HO7 after 4 shows that the buffer was overwritten at le
77. in structured projects of GX Works2 Basic amp Applied Instruction leds Application functions provided in structured projects of Programming Manual JY997D34801 PP p proj m i GX Works2 Application Functions Manuals for FX3U CAN Communication Block Supplied 5 Manual Additional 9 itiona Manual Describes some of FX3U CAN communication block FX3U CAN specifications for installation and wiring extracted from Installation Manual Deol the FX3U CAN User s Manual For details refer to FX3U CAN User s Manual FX3U CAN l M Users Mentel JY997D43301 Describes details of the FX3U CAN communication block This Manual number 09R517 13JW06 09R925 09R926 09R927 11 FX3U CAN User s Manual Generic Names and Abbreviations Used in the Manual Generic Names and Abbreviations Used in the Manual Generic name or abbreviation Description PLC FX3G series Generic name for FX3G Series PLC Generic name for FX3G Series PLC main unit FX3GC series Generic name for FX3GC Series PLC Generic name for FX3GC Series PLC main unit FX3U series Generic name for FX3U Series PLC Generic name for FX3U Series PLC main unit FX3UC series Generic name for FX3UC Series PLC FX3UC PLC or main unit Generic name for FX3UC Series PLC main unit Generic name for expansion board The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User
78. lower i 04 pp Co T o wer 8 bit 08 08 BFM 3 and 11003 higher 8 bit BFM 4 and 11004 lower 8 bit 05 ge LATA wer 8 bit BFM 4 and 11004 higher 8 bit 0B BFM 5 and 11005 lower 8 bit BFM 5 and 11005 higher 8 bit 03 03 03 123 suoneogoeds INO UONINPOJU mal uoneejsu OO Buum a al suonounJ jo uononpouu o seuoueJy Jeyng jo uoneoo v SPON Zip UE E mue OO pes 5 RV gt o 3 apo ci e1Nvo CO e eoeeju puewwog 7 CANopen 405 Mode FX3U CAN User s Manual 7 1 Data Transfer Location for CANopen 405 Mode Index Index Index Index Index Index Index HA240 HA200 HA1CO HA100 HAOCO HA040 HAO000 float unsigned signed unsigned signed unsigned signed 32 bit 32 bit 32 bit 16 bit 16 bit 8 bit 8 bit object object object object object object object Assigned BFM sub index hex MENENZZZZ BFM 18 and 11018 lower 8 bit BFM 18 and 11018 higher 8 bit OA DA et g are 27 BFM 19 and 11019 lower 8 bit 28 BFM 19 and 11019 higher 8 bit EXE 2 BFM 100 and 11020 lower 8 bit us 2A 2A BFM 100 and 11020 higher 8 i p r B or 28 BFM 101 and 11021 lower 8 bit mM BFM 101 and 11021 higher 8 bit a BFM 198 and 111 18 lower 8 bit EE BFM 198 and 11118 higher 8 bit 3C 3C 3C BFM 199 and 11119 lower 8 bit Fo Fo BFM 199 and 11119 higher 8 bit Index Index Index HA240 HA200 HA101 HA041 float unsigned i unsigned i unsigned
79. lt Ver 1 10 CAN Bus TPDO1 H0001 H5374 H2102 H3528 F W gt Ver 1 10 61 suoneooads INO UONINPOJU mal uoneejsu OO 4 z suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoo v apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Example 5 Inhibit time gt 0 Event time gt 0 Inhibit time gt Event time The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and the inhibit time is not running If the inhibit time is active and the data are changed before the inhibit time elapsed the former data will not be sent as PDO If the data are not changed no PDO will be sent if a data exchanged is triggered by BFM 20 If no data exchange with new data is triggered by BFM 20 a PDO with the actual object dictionary data will be sent when the event timer elapsed and the inhibit time is not active If the inhibit time is active the event timer starts running again without a PDO being sent The inhibit time in combination with the event timer allows new PDO data to be sent without the need to retrigger the data exchange by BFM 20 for the case that during the first data exchange of new data the inhibit time was active BFM data H0001 H5374 H3528 BFM 20 bitO OD data H0000
80. may cause equipment failures or malfunctions Do not drop the product or exert strong impact to it Doing so may cause damage Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices display module expansion boards and special adapters Input output extension units blocks FX Series terminal blocks and special function units blocks Battery and memory cassette The Programs shown below are examples of how to set local parameters set up a CANopen network and exchange data over the CANopen bus with the FX3U CAN Large networks can be configured more quickly and easily by using a CANopen configuration tool instead Note These program examples together with the Function blocks can be downloaded from http eu3a mitsubishielectric com fa en in the MyMitsubishi section free registration necessary Note The sample ladder program use labels For label setting operation on GX Works2 refer to GX Works2 Version 1 Operating Manual Simple Project System Configuration The sample Program sets up the initial BFM and Object dictionary settings and starts PDO Communication FX3G FX3GC FX3U FX3UC FX3U CAN Series PLC Terminating Terminating resistor resistor 198 13 Program Example FX3U CAN User s Manual 13 2 Local Label Setting 13 2 Local Label Setting COL NI Gy A O N gt
81. of applications for this product users must acquire sufficient knowledge themselves in order to ensure that it is correctly used in their specific application Persons responsible for the application and the product must themselves ensure that each application is in compliance with all relevant requirements standards and legislation in respect to configuration and safety Mitsubishi Electric cannot assume any liability if these examples are used in real applications On the initial scan start the communication and set the NMT status settings SET EN ENO d StartCommunication CheckNMTStatus CheckHeartbeatStatus StartNode NumberOfNodes Setup the initial settings for the FX3U CAN module FX3UCANOpenlnit CANopenlnit KO HeadAddress InitComplete InitComplete K1 NodeAddress OperationalState Operational K1000 BaudRate PreOperationalState PreOperational K20 WDTValue StoppedState Stopped ErrorReset ErrorReset ActiveMaster Master ModuleErrorStatus ErrorStatus If the init procedure is completed start the NMT master setup procedure AND InitComplete StartCommunication StartupConfigurationValue ExecNMTMasterConfig StartCommunication Check the NMT status of specified nodes NMTStatusRead NMT Status CheckNMT Status Enable NodeNMT Status NodeNMT Status 0 KO HeadAddress StartNode StartNodeNumber NumberOfNodes NumberOfNodes 202 13 Program Example FX3U CAN User s Manual 13 3 Program 5 AV cr Check if the
82. or communication cables Failure to do so may result in wire damage breakage or PLC failure Make sure to affix the CAN bus connector with fixing screws Tightening torque should follow the specifications in the manual Loose connections may cause malfunctions Make sure to properly wire to the terminal block CAN bus connector in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product The disposal size of the cable end should follow the dimensions described in the manual Tightening torque should follow the specifications in the manual Twist the end of strand wire and make sure that there are no loose wires Do not solder plate the electric wire ends Do not connect more than the specified number of wires or electric wires of unspecified size Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line at least 100 mm 3 94 or more away from the main circuit or high voltage line
83. set 68 BFM 25 Communication Status Displays the FX3U CAN communication status Note e A change of the function mode the baud rate or Node ID requires a restart of the FX3U CAN to become effective e f a configuration BFM is written to while in online mode BFM 25 bit 4 is ON BFM 29 bit 5 will be set ON e When BFM 25 bit 7 is ON the Module is initializing the internal data structures and the BFM and any TO command write access prohibited If the BFM is written to BFM 29 bit 5 will be set to ON When BFM 25 bit 7 is bit ON the only access allowed is to read FROM BFM 25 and BFM 29 Module restart When restarting the module set BFM 25 Bit 0 to ON In this case set data that was not saved will be lost zn Description i FROM Read Access TO Write Access Module online offline Module restart Layer 2 modes A restart is necessary to activate a new setting of the function OFF Offline mode BFM 21 the baud rate BFM 24 the Node ld ON Online BFM 27 or to activate the NMT master setting Bit O CANopen modes Refer to Subsection 5 8 5 and OFF Not in Operational State Section 6 5 6 7 and 6 10 ON Operational State All not saved settings will be lost OFF Normal operation ON Restart module The error counter is below the warning level in error passive or in bus off Bit 1 The error counter of the CAN controller has reached Reserved the warning level Refer to and Section 6 13 and
84. set BFM 22 to K1 to store the BFM configuration and reset the Module e Only BFMs corresponding to the Lift Numbers for which the module is activated will be received and transferred For the Lift number refer to Subsection 5 10 1 and BFM 3000 13000 in the following table 8 1 Buffer Memories Lists of Lift Application This section explains data transfer locations for CANopen 417 Mode BFM 3000 to 3539 BFM 13000 to 13539 and BFM 12001 to 12539 are used as data transfer locations BFM No and access type Lift No Description Initial value FROM TO BFM 3000 BFM 13000 Lift Number Call controller The call controller receives all call requests from the input panels and transmits the corresponding acknowledgements to the output panels General Setting Reference Section 8 2 Receive Objects BFM No and access type ERON FROM ft No Description Initial value Reference BFM 23001 BFM B BFM 3002 BFM 12002 1to8 Virtual input mapping BFM 3003 BFM BFM 12003 BFM 3004 BFM or Virtual input mapping message counter HO BFM 3005 BFM MEN l Reserved BFM 3049 BFM mw HO Section 8 3 140 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application Transmission Objects 2 BFM No and access type ae S Lift No Description Initial value Reference 5 ro rong ne Domenom mae BFM 3001 BFM 13001 BFM 3002 1
85. the interface to the application objects Data type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping structure within the object dictionary The variable mapping of PDO and the mapping of application objects into a PDO may be transmitted to a CANopen device during the configuration process by applying the SDO services to the corresponding objects of the object dictionary The PDO communication parameter describes the communication capabilities of the PDO The PDO mapping parameter contains information about the contents of the PDO PDO producer PDO consumers Request b E 2 k Request O lt L lt 8 Indication Indication Indication Process data L bytes of application data With the transmission type Parameter two transmission modes are configurable e Synchronous transmission e Event driven transmission Use the following procedure to change the PDO communication or mapping parameter 1 The PDO must be set to invalid Communication Parameter Sub index HO1 bit 31 2 Setthe communication Parameters 3 Setthe mapping Parameters Set Sub Index HOO to the value HOO Modify the mapping at Sub Indexes H01 to HO8 Enable the mapping by setting the Sub index HOO to the number of mapped objects 4 Setthe PDO to valid Communication Parameter Sub index H01 bit 31 For unneeded data in an RPDO a dummy mapping entry can be made to the data type definition Indexes to make the
86. to 1066 will show which parameter caused the error s Example 2 If the source parameter 5 BFM 1009 caused an error the return value of BFM 1009 will not be HOOOO 1 Source Parameter Errors 3 If an error occurs in the Source Parameters the error code in the following table is stored in BFM 1001 to 1066 as diagnosis data The nn part of the error code indicates Node ID and the mm indicates PDO number 3 Error No Hex Description A HEFFF Node ID higher than 127 or PDO number is 0 m Check the Node ID and PDO number S Hnn00 No response from node nn time out Check the status of the Node ID nn HOOmm COB ID is H80000000 PDO disabled Node ID nn can not be accessed to PDO number mm in the communication parameter eam Check that the PDO number is supported Gum E 2 Destination Parameter Errors If an error occurs in the Destination Parameters the error code in the following table is stored in BFM 1001 to 1066 as diagnosis data The nn part of the error code indicates Node ID and the mm indicates PDO al number oa Error No Hex Description a a O The following states are possible a Check the Node ID and PDO number a HFFFF Node ID higher than 127 PDO number is O The parameter may have been skipped if a Source error occurred o No response from node ID nn time out 0 gt Hnn00 eat SHO Check the status of the Node ID nn co HOOmm Previous COB ID of destination was H
87. to 14 a A GORTUIUOU Reserved 1 1 5 2 No action 3 5 NI O Oy A Ol NM O 0 5s S S S S S 10s gt 15s Description Flashing Colour Scroll rate 0 25 Hz 7 line s 157 suoneooads INO uononpou uoneejsu OO buum a al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoollv j JO 537 os O Sone Q D o U oa lt 5 o o 9 14O1d uoneorddy 47 SPON Zip epo cie e1Nvo CO e eoeeju puewwog 8 CANopen 417 Mode FX3U CAN User s Manual 8 4 Door Control Word Door Status Word 8 4 Door Control Word Door Status Word When BFM 3050 to 3081 and 12050 to 12081 are read the Door status word is read from BFMs When BFM 13050 to 13081 are read the Door control word is read from BFMs And when BFM 3050 to 3081 and 13050 to 13081 are written to the Door control word is written to BFMs 8 4 1 Door control word The Door control word contains the door commands and other control data 19 4 12 11 4 10 9 8 T aG 5 4 92 1 0 Conad Door Motion Finger Door iok Battery H3 velocity detector protector power 1 Battery power field Bit 2 3 Bit Bit 3 Bit2 Description OFF 0 OFF 0 Battery power supply disabled OFF 0 ON 1 Battery power supply enabled ON 1 0 Reserved O TI A ON 2 Door lock field Bit 4 5 Bit 5 Bit4 Description OFF 0 OFF 0 Enable door lock
88. to Section 6 8 This failure is displayed in BFM 40 BFM setting error has occurred ON when a value that is out of range is written to a BFM This failure BFM address is displayed in BFM 39 In Layer 2 mode this bit can not be reset while the module is in online mode For BFM 3239 refer to Section 6 17 Bit6 BFM setting error FROM TO FROM TO watchdog timer expired Please see the above note Bit 7 watchdog timer This error flag can be reset by writing to BFM 26 error gt For the FROM TO watchdog refer to Section 6 9 Internal data queue overflowed Extreme bus load can cause the internal queues to overflow Decrease the bus load At a low baud rate data exchange that is too fast can overflow the CAN Transmit Buffer Depends also on the bus load of the CAN Internal data Bit 8 queue overflow gt For Data Exchange Control flag refer to Section 6 4 Bit9 Reserved CANopen CANopen NMT Error Control failure has occurred Bit 10 NMT Error Control At least one of the assigned NMT slaves failed during NMT Error Control failure For NMT Error Control failure refer to Section 6 24 Baud rate change error has occurred ON when an invalid baud rate is written to BFM 24 In this case the BFM will keep its former value gt For the baud rate setting refer to Section 6 7 Baud rate change error Bit 11 Node address change error has occurred ON when an invalid node address is written to BFM 27 In t
89. to prevent damage to the equipment at the upper and lower positioning limits 2 Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case 23 For the operating status of each node in the case of a communication error see the FX3U CAN user s manual and the product manual of each node Erroneous output or malfunctions may cause an accident When executing control data changes to an operating PLC construct an interlock circuit in the sequence program so that the entire system operates safely In addition when executing control such as program changes and operation status changes status control to an operating PLC carefully read the manual and sufficiently confirm safety in advance Especially in control from external equipment to a PLC in a remote place problems in the PLC may not be able to be handled promptly due to abnormality in data transfer Construct an interlock circuit in the sequence program At the same time determine the actions in the system between the external equipment and the PLC for protection against abnormalities in data transfer NCAUTION Make sure to observe the following precautions in order to prevent any damage to
90. to the CAN Bus 15 uononpoJu suoneogoeds IN uoneje su Q9 Buum a al suonounJ jo uononpouu o seuouleJy Jeyng Jo uone5o v apou sop BO 399 pue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju pURWIWUOD 1 Introduction FX3U CAN User s Manual 1 1 Outline 1 1 2 Overview of FX3U CAN communication block 1 1 3 CANopen ready l O stations and device stations can be connected to the CAN bus and information can be transmitted to the FX3U CAN communication block and FX3G FX3GC F X3U F X3uc Series PLC The maximum send receive message number 80 TPDO 80 RPDO 8 bytes PDO can be sent and received to from a CANopen network CANopen device application Profiles according to CiA Standards Interface and Device Profile CiA9 405 V2 0 for IEC 61131 3 Programmable Devices Application Profile CiA 417 V2 1 for lift control systems Communication with other CANopen nodes All nodes on the CANopen network can write data to all the other nodes on the network Each piece of data has a unique identifying number that is read by the receiving nodes to determine whether that data should be kept in the receiving nodes Buffer Memory The FX3U CAN communication block uses buffer memories to communicate on the CAN bus Each buffer memory is separated into memory dedicated to write TO and memory dedicated to read FROM the CAN bus These Bu
91. v apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog FX3U CAN User s Manual 5 Introduction of Functions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 3 Finger protector field Bit 6 to 7 Value hex 0 1 2 3 Description Enable finger protector Disable finger protector Reserved Do not care take no action 4 Motion detector field Bit 8 to 9 Value hex 0 1 2 3 Description Enable motion detector Disable motion detector Reserved Do not care take no action 5 Door velocity field Bit 10 to 11 Value hex WwW N O 6 Command field Bit 12 to 15 Value hex 0 1 COL NI Gy A Y co e O O n m O Description Move door with standard speed Move door with reduced speed Reserved Do not care take no action Description Close door without limit force Not allowed for EN 81 compliant lifts Close door with limit force Nudging Forced closing of car door with reduced speed without reversal devices due to the door being blocked for too long Open door without limit force Not allowed for EN 81 compliant lifts Open door with limit force Reserved Reserved Stop door without torque Stop door with torque Reserved Tech in drive Reset door Do not care take no action 5 10 5 Door status word This Object contains the car door status and other status in
92. year BFM 56 Time stamp second 00 seconds to K59 59 seconds Sunday to K6 Saturday BFM 57 Time stamp Day of the week This BFM is read only The Day of the week will be calculated during setup of the RTC automatically Set the transmission time interval for the Time stamp Object in multiples of minutes The first time stamp will be sent after setting this BFM If the FX3U CAN is configured as Consumer this setting will be ignored Setting range KO Time stamp transmission disabled K1 to K1440 1 minute to 1440 minutes 24 hours BEM 59 Daily correction A constant miscount of the Clock can be corrected in steps of 1 sec day Setting range 60 to 60 Time stamp setting procedure BFM 58 Time stamp transmission interval To keep the consistency of Time stamp data clock data should be set by the following procedure 1 Set Time stamp producer consumer in BFM 50 2 Set clock data of Year Month Day Hour and Minute in BFM 51 to 55 Producer only 3 Set clock data of Second in BFM 56 All clock data will be written to the RTC and checked for validity when BFM 56 is written to If the data is not valid the RTC will not be set 4 Set Time stamp transmission interval in BFM 58 The first time stamp will be sent after BFM 58 is written to Time stamp read procedure To keep the consistency of Time stamp data clock data should be read by the following procedure 1 Read clock data of Year from BFM
93. 05 505 Reserved 1406 506 FF 1 Reserved N 140A FF 1 Reserved 140C 50C Reserved 140D 50D FF 1 Reserved N 1410 510 Reserved 1414 984 O FF 1 Reserved 1417 517 Reserved eee 141B 51B Reserved 141D 51D Reserved 141E 51E Reserved N N 1424 524 Reserved 1425 525 Reserved N N 1428 FF 1 Reserved 1429 529 Reserved 142B 52B Reserved 142C 52C Reserved N 142F FF a Reserved 42 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex gt Index o RW 1 R RW 1433 2 FF FF Reserved E 1434 Reserved 1437 FF 1 Reserved 9 1438 538 Reserved z 143A 53A Reserved 143B 53B Reserved N uonejejsu QJ 143E 53E FF 1 Reserved N 1442 542 FF 1 Reserved 4 z E N 1445 FF 1 Reserved N 1449 549 FF 1 Reserved NO jo uononpoJju 144C FF 1 Reserved 6 144D i FF 1 Reserved N JO uoneool v 144F FF 1 Reserved 1450 550 FF 1 Reserved seuouleJy Jeyng N 1453 FF 1 Reserved TENE 1455 555 Reserved a 1456 556 FF 1 Reserved 293 Uus L3 E oe Reserved 8 145A FF 1 Reserved gt 145C 55C Reserved EN 145D 55D FF 1 Reserved wW 1 31 J ws Reserved 9 1461 FF 1 Reserved 1463 563 Reserved 1464 564 FF 1 Reserved 1 0 43 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex Index
94. 09 Reserved O 150A 9 FF 0 Reened 0 1508 Reserved 0 3 1500 85 2 2 FF 0 Reserved 0 B 150D 206 0 Reserved 0 150E 203 FF 0 Reserved 0 10 150F 8 9 Fr 0 Reserved 0 29 D 1510 Reserved a 3 45 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex Index hex H02 H05 RW 1 R RW 1512 Reserved 1514 Reserved 1518 to 1519 Reserved 1520 Reserved 1522 Reserved 1524 Reserved 1528 to 1529 Reserved 1530 Reserved 1532 Reserved 1534 Reserved 1538 to 1539 Reserved 1540 Reserved 1542 Reserved 1544 Reserved 1548 to 1549 Reserved 46 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex gt Index 9 RW 1 R RW 1548 FO Reseved 0 j SE TA m j ee 3 2 1550 Reserved 2 1552 Reserved m 8 39 Fr 9 eses 3 3 1554 Reserved z 1558 to 1559 Reserved 1351 155 ww 3 4 1560 Reserved 1562 Reserved S 1564 Reserved D o O W gt 1568 to 1569 Reserved ej 1550 ACI E A 3 p eme o 7 8 s o IO IES ee 3 Bs Dog 1570 Reserved a 1572 Reserved 8 1574 Reserved 3 ism Ls 318 135 oem 00 8 1578 to 1579 Reserved 9 EE Ls xm 1813 memi E E s p om p o0 ICI II 8 10 1 3 3 jme T 1582 to 158F Reserved Um 47 5 Introduction of Functions FX3U CAN User s Manual 5 6
95. 1 5 Enable operation A AS 4 16 Note e Atthe following Transition numbers occur a automatic status transition 0 1 13 14 Automatic transition to enable operation state after executing SWITCHED ON state functionality 162 8 CANopen 417 Mode FX3U CAN User s Manual 8 10 Control Word Status Word 8 10 2 Status word I This Car drive Status word is equivalent to object H6041 in the CiA 402 2 V3 0 specification ej Bit 15 14 Vo 12 11 10 9 8 T 6 5 4 3 2 1 0 2 8 Sg Bit No Mem Description set range 2 Bit 0 Ready to switch on Bit 1 Switched on 3 Bit 2 ES Operation enabled 3 Bit 3 f Fault amp INIM 3 Bit 4 WS Voltage enabled o ON when high voltage is applied to the Power drive system Bit 5 Quick stop 4 OFF When the Power drive system is reacting on a quick stop request 4 Bit 6 Switch on disabled Warning Bit 7 Ww ON when being a warning condition The status of the Power drive system Finite state automaton will not be a changed as warning is not an error or fault Bit 8 Manufacturer specific Bit 9 ma oe When this bit is ON the control word is processed If it is off local the control word is not processed 5 Target reached aS e ON when the Power drive system has reached the set point The set point is operation mode specific This Bit S al Bit 10 i is set to on if the operation mode has been changed o zi e ON if the quick stop option code is 5 6 7 or 8 when the quick stop operation is fi
96. 15 RPDO 34 10132 to 10135 216 to 219 RPDO 35 10136 to 10139 220 to 223 RPDO 36 10140 to 10143 224 to 227 RPDO 37 10144 to 10147 228 to 231 RPDO 38 10148 to 10151 Disabled Disabled 232 to 235 RPDO 39 These PDO can be Can be defined by mode B 10152 to 10155 activated by mode B mapping command 236 to 239 mapping commands or d RPDO 40 pp MO parameter or SDO 10156 to 10159 240 to 243 RPDO 41 10160 to 10163 244 to 247 RPDO 42 10164 to 10167 Disabled 248 to 251 RPDO 43 These PDO can be 10168 to 10171 activated by mode B 252 to 255 mapping commands or 9 RPDO 44 ppIng 10172 to 10175 SDO 256 to 259 RPDO 45 10176 to 10179 260 to 263 RPDO 46 10180 to 10183 264 to 267 RPDO 47 10184 to 10187 268 to 271 RPDO 48 10188 to 10191 272 to 275 RPDO 49 10192 to 10195 276 to 279 RPDO 50 10196 to 10199 280 to 283 RPDO 51 10200 to 10203 284 to 287 RPDO 52 10204 to 10207 288 to 291 RPDO 53 10208 to 10211 292 to 295 RPDO 54 10212 to 10215 132 FX3U CAN User s Manual 7 CANopen 405 Mode 2 PDO Mapping Binding of the Network for CANopen 405 Mode Mode 0 Mapping RPDO default Mode A Mapping Mode B Mapping RPDO 55 RPDO 56 RPDO 57 RPDO 58 RPDO 59 RPDO 60 RPDO 61 RPDO 62 RPDO 63 RPDO 64 RPDO 65 RPDO 66 RPDO 67 RPDO 68 RPDO 69 RPDO 70 RPDO 71 RPDO 72 RPDO 73 RPDO 74 RPDO 75 RPDO 76 R
97. 28 MEN BFM 3429 BFM 3430 BFM 3432 BFM13432 5 BFM 3434 148 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application BFM No and access type m Lift No Description Initial value Reference O TO FROM TO BFM 3436 BFM 13436 1 o BFM 3437 BFM 13437 BFM 3438 BFM 413438 2 BFM 3439 BFM 13439 Modes of operation Section 8 11 ES BFM 3440 BFM 13440 5 3 O BFM 3441 BFM 13441 6 dm BFM 3442 BFM 13442 si 02 BFM 3443 BFM 13443 8 BFM 43444 BFM 13444 BFM 3459 BFM 13459 BFM 3460 E BFM 3462 BFM 3464 BFM 3466 Target position HO Section 8 13 BFM 3468 BFM 3470 BFM 3472 BFM 3474 BFM 3475 uoneejsu OO Gum E al suonounJ jo uononpouu o BFM 3476 BFM 13476 BFM 3477 BFM 13477 BFM 3478 BFM 13478 a 3 seuouleJy Jeyng JO uoneoojlv BFM 3479 BFM 3480 BFM 3482 y BFM 3483 BFM 13483 BFM 3484 BFM 13484 5 BFM 3485 BFM 13485 BFM 3486 BFM 13486 BFM 3487 BFM 13487 j Section 8 14 53 as 2 k z3 0 A Profile velocity D D BFM 3488 BFM 13488 xd x BFM 3489 BFM 13489 SOS Q o BFM 3490 BFM 13490 2 BEM 3491 BEM 13491 qu r 2 D NO e eoeeju puewwog 149 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application TO BFM 3492 BFM 3493 BFM 3494 BFM 3495 BFM 3496 BFM 3497 BFM 3
98. 3 2nd data byte 1st data byte On HO message 1 spol c Jefe NYO BFM 1904 4th data byte 3rd data byte HO Data bytes BFM 1905 6th data byte 5th data byte HO HO BFM 1906 8th data byte fth data byte e eoeeju puewwog 175 FX3U CAN User s Manual 9 CAN Layer 2 Mode 9 6 PLC RUN gt STOP And Power Down Messages BFM No BFM 1921 BFM 1922 BFM 1923 BFM 1924 BFM 1925 BFM 1926 BFM 1927 BFM 1928 BFM 1929 BFM 1930 BFM 1931 BFM 1932 BFM 1933 BFM 1934 BFM 1949 BFM 1950 BFM 1951 BFM 1952 BFM 1953 BFM 1954 BFM 1955 CAN ID 4 HW Data length count 1st data byte Data bytes CAN ID 4 LW 11 29 bit CAN Identifier low word CAN ID 4 HW Data bytes Data bytes BFM Function 11 29 bit CAN ID n DLC Data bytes 1 RTR is prohibited for these messages High Byte Description Low Byte CAN ID 4 LW 11 29 bit CAN Identifier low word 29 bit CAN Identifier high word 2nd data byte 4th data byte 8th data byte 3rd data byte 6th data byte oth data byte fth data byte CAN ID 1 LW 11 29 bit CAN Identifier low word 29 bit CAN Identifier high word 29 bit CAN Identifier high word Data length count Description CAN ID is used to transmit this message into the network RUN gt STOP message 4 Power down message 1 Power down message 4 Sets HFFFF to the CAN ID n LW and CAN ID n HW when not using the message High byte HOO send d
99. 3UC Hardware Edition Programming manual Communication control Edition Analog control Edition Positioning control Edition CANopen communication term U8 U16 U32 U48 18 116 132 Visible String Domain CAN CANopen CAN ID CiA COB ID RPDO TPDO MPDO SDO SYNC EMCY NMT LSS OSC RTR VD Description Abbreviation of FX3U Series User s Manual Hardware Edition Abbreviation of FX3UC Series User s Manual Hardware Edition Abbreviation of FX3S FX3G FX3GC FX3U FX3UC Series Programming Manual Basic and Applied Instruction Edition Abbreviation of FX Series User s Manual Data Communication Edition Abbreviation of FX3S FX3G FX3GC FX3U FX3UC Series User s Manual Analog Control Edition Abbreviation of FX3S FX3G FX3GC FX3U FX3UC Series User s Manual Positioning Control Edition Unsigned Integer x Bit Signed Integer x Bit String of ISO646 bit coded characters which end after the last character Large block of binary data Controller Area Network CAN based higher layer protocol CAN Identifier Identifier for CAN data and remote frames as defined in ISO 11898 1 CAN in Automation Non profit organization for standardization of CAN protocols The CiA Members develop specifications which are published as CiA specifications http can cia org Communication object identifier Identifier that contains the CAN ID and additional control bits Receive Process Data Objects are data received from other no
100. 498 BFM 3499 BFM 3500 BFM 3501 BFM 3502 BFM 3503 BFM 3504 BFM 3505 BFM 3506 BFM 3507 BFM 3508 BFM 3539 N t BFM No and access type Lift No Description Initial value Reference FROMTO BFM 13493 BFM 13494 BFM 13495 BFM 13496 3 BFM 13497 BFM 13498 BFM BFM 13499 3499 BFM 13500 eme BFM 13501 BFM 13502 co BFM Eso 2 Target velocity HO Section 8 15 BFM 13503 BFM 13504 BFM 13505 BFM 13506 BFM BFM 13507 3507 BFM Eaa Reserved BFM 150 8 CANopen 417 Mode FX3U CAN User s Manual 8 2 Lift Number 8 2 Lift Number 2 This BFM contains the lift number to which the FX3U CAN is assigned S The Bit for the assigned lift number is set to ON 1 Note 2 n Only the application BFMs for which the Lift corresponding bit is set will be updated 3 Data save to Flash ROM Data can be saved in Flash ROM by CIF For Store Object Dictionary Settings in the CIF refer to Section 10 6 Description BFM 3000 BEM 13000 Lift 8 Lift 7 Lift 6 Lift 5 Lift 4 Lift 3 Lift 2 Lift 1 8 3 Virtual Input Output Mapping BFM No uonejejsu QO Buum d When BFM 3001 to 3003 and 12001 to 12003 are read the virtual input mapping information is read from BFMs When BFM 13001 to 13003 are read the virtual output mapping information is read from BFMs And when BFM 3001 to 3003 and 13001 to 13003 are written to the virtual output mapping in
101. 5 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 7 2 2 RPDO mapping table 5 o The assignment in this table is only for the default RPDO mapping setting unsigned 16 bit objects To a change the BFM assignment of the RPDO the mapping parameter has to be changed in the Object Dictionary For the default RPDO mapping setting refer to Subsection 7 1 2 For the RPDO communication and mapping parameter in the Object Dictionary E refer to Subsection 5 6 5 2 For the SDO command in the CIF refer to Section 10 2 ej For the CANopen configuration software refer to the manual of the software to be used Mode 0 Mapping ES default Mode A Mapping COB ID Mode B Mapping Assigned BFM uoneejsu OO 0 to 3 RPDO 1 H0200 node ID H0181 10000 to 10003 4 to 7 RPDO 2 H0300 node ID H0281 diood toH 10007 4 Node 1 data H8 to 11 O RPDO 3 H0400 node ID H0381 410008 to 10011 3 12 to 15 RPDO 4 H0500 node ID H0481 10012 to 10015 16 to 19 RPDO 5 H0182 10016 to 10019 5 100 to 103 RPDO 6 H0282 10020 to 10023 aS Node 2 data ZI ag O o t RPDO 7 H0382 10024 to 10027 a 108 to 111 o RPDO 8 H0482 10028 to 10031 112 to 115 RPDO 9 H0183 10032 to 10035 6 UJ 4116 to 4119 SS RPDO 10 H0283 10036 to 10039 2g Node 3 data 120 to 123 ae O 3o RPDO 11 H0383 10040 to 10043 gt e Disabled 124 to 1 27 RPDO 12 H0483 ECE Can be
102. 59 59 the time returns to 1st January 2000 00 00 00 Buffer memory display for year will be OO to 99 in all cases Note for TIME consuming A received Time stamp before 1st January 2000 00 00 00 is set to 1st January 2000 00 00 00 uonejejsu QJ For time stamp BFM 50 to 59 refer to Section 6 19 TIME producer TIME consumers Request 4 z E Indication Indication Indication suojoun4 jo uononpouu Object H1012 COB ID time stamp object For the resulting COB ID refer to Subsection 5 6 1 31 30 29 26 11 10 0 6 FS ER BitNo Kem Description FS O Bit 0 to 10 11 bit CAN ID of the CAN base frame zr Bit 11 to 28 LE Bit 11 to 28 fixed to OFF 0 i Bit 29 E Bit 29 fixed to OFF 0 7 OFF 0 Do not produce TIME Messages ale Bit 30 sauce ON 1 Produce TIME Messages RLS p Note The FX3U CAN needs to be active NMT 2 m Master to produce TIME messages O is aT rn OFF 0 Do not consume TIME Messages Du ON 1 Consume TIME Messages 5 6 11 Store parameters 8 EE BO To store all parameters to non volatile memory write SDO H65766173 1808859 String code save to 303 Object Index H1010 Sub Index H01 or use the store command in the CIF After each power up or reset the amp 8 saved parameters will be valid al For the store command in the CIF refer to Section 10 6 Note 9 For CDCF files stored on Object H1F22 the store parameter command is not necessary
103. 6 Communication Profile Area 1 5 6 8 Node guarding I O This protocol is used to detect remote errors in the network Each NMT slave serves one requests message for the node guarding protocol The NMT master polls each NMT guarding slave at regular time intervals This time interval is called the guard time and may be different for each NMT slave The response of the NMT slave contains the NMT state 2 of that NMT slave The node lifetime is given by guard time multiplied by lifetime factor The node lifetime may be different for each NMT slave If the NMT slave has not been polled during its lifetime a remote node error a is indicated through the NMT service life guarding event A remote node error is indicated through the NMT service node guarding event if NMT master The NMT master does not receive confirmation after the Guarding request within the node life time The response of the NMT guarding slave state does not match the expected state NMT slave e The NMT guarding slave did not receive the NMT master Guarding request polling for time set in H100C and H100D uonejejsu OO If a remote error occurred previously but the errors in the guarding protocol have disappeared it will be indicated that the remote error has been resolved through the NMT service node guarding event and the NMT service life guarding event If Heartbeat is activated the Node guarding settings will be ignored Note 4 z e As Slave the FX3U
104. 67 11184 to 11187 268 to 271 11188 to 11191 272 to 275 11192 to 11195 276 to 279 11196 to 11199 280 to 283 11200 to 11203 284 to 287 11204 to 11207 288 to 291 11208 to 11211 292 to 295 11212 to 11215 296 to 299 11216 to 11219 129 uononpou suoneoyoeds INO uoneejsu OO Gum E al suonounJ jo uononpouu o JO uoneool v UJ D im D 3 o D o apou sop BO eoieq pue eoejeju SPON Zip 9 ljOJd uogeouddy y1 OO apo ci e1Nvo CO e eoeeju puewwog 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode Mode 0 Mapping Mode A Mappin Mode B Mappin COB ID TPDO 56 11220 to 11223 TPDO 57 11224 to 11227 TPDO 58 11228 o 11231 TPDO 56 1232 to 11235 TPDO 60 11236 to 11239 TPDO 61 11240 to 11243 TPDO 62 11244 to 11247 TPDO 63 1248 to 11251 TPDO 64 Noe E im TPDO 65 11256 to 411250 TPDO 66 1260 to 11263 TPDO 67 11264 o 41 1267 TPDO 68 Disabled 348 to 351 These PDO can be activated by mode B mapping commands or SDO 11268 to 11271 TPDO 69 he E 15 TPDO 70 111276 to 11279 TPDOTI 11280 to 11283 TPDO 72 11284 to 11287 TPDO 73 11288 to 411291 TPDO 74 11202 to 11295 TPDO 75 1296 to 11299 TPDO 76 1300 to 11303 TPDO 77 11304 to 11307 TPDO 78 1308 to 11311 TPDO 79 1312 to 11315 TPDO 80 1316 to 11319 130 7 CANopen 40
105. 8 bit 18 Ko RAW 2 Highest sub index R MUN EN as PA lA 3 01 to AO Signed Integer 8 bit 18 KO R W Highest sub index U8 HFO R A AM EL LL M MEN a KN to FO Unsigned Integer 8 bit R W m 0 R S Highest sub index U8 HF aO ULIS EEEMNM NEM 01 to FO Unsigned Integer 8 bit U8 Ko R W Highest sub index R Output network variables Highest sub index U8 HAO AAC2 01 to AO Unsigned Integer 8 bit U8 Ko R W 4 Highest sub index H78 R A540 es eM A 3 01 to 78 Signed Integer 16 bit M6 KO R W Highest sub index R A541 entr A ME E 01 to 78 Signed Integer 16 bit R W Highest sub index R wa l NL A A 01 to 50 Signed Integer 16 bit M6 KO R W Highest sub index R a c S TA 8 01 to 78 Unsigned Integer 16 bit R W S Highest sub index U8 H78 R E 4G EMEN NE 3 EELE to 78 Unsigned Integer 16 bit R W Highest sub index U8 H5 meee paene E ER NN E 01 to 50 Unsigned Integer 16 bit R W Highest sub index U8 HAO R A640 Output network variables ete ee EU 01 to AO Signed Integer 32 bit R W Highest sub index R aem a loc ESE ae ee 01 to AO Unsigned Integer 32 bit U32 Ko R W Highest sub index R u N lone eee 01 to AO Float 32 bit Real32 R W py O seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 89 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Pr
106. 80000000 RPDO was disabled Binding was accomplished but there a might be an error in the RPDO mapping parameter for the destination node 3 9 T Node ID nn can not be accessed to PDO number mm in the communication parameter o Check the PDO number is supported 1 Please take care with this error message If the RPDO in the destination is disabled it is uncertain whether there exists some mapping inside the destination node for this RPDO This node might receive the data but it is maybe not transferred to any I O or data register When the Destination node is an FX3U CAN the PDO data will be mapped to a BFM if the mapping parameter was not changed previously In the case of the FX3U CAN the error can be judged as a warning that can be completely avoided if the mapping is done by the remote FX3U CAN node itself apou sop Another possibility is to set the remote FX3U CAN to Mode A mapping In this case RPDO 1 to 32 Bs COB IDs are different from H80000000 The disadvantage is that if all RPDO are mapped they will also be received This is not really a problem but the FX3U CAN cycle time will be a little bit longer 2 and it may be confusing if unused BFM are also changing their data values Note If the local FX3U CAN is the destination error HOOmm is disabled Spo e jold eoneq zlaferNwo CO uoneogddy yr OO pueeoepeyl 3 Other Errors If the parameter is not set properly the error code in the followin
107. A mapping BFM No Easy setup of a CANopen network of up to eight FX3U CAN nodes can be accomplished by simply using the Mode A Mapping configuration All FX3U CAN modules have to be set up via the local PLC One of the nodes must be configured as the network master The network master can be defined in the Network Configuration tool or by writing to the Object Dictionary using the CIF SDO write command All RPDO TPDO communication and mapping parameter and the BFM Object dictionary assignment will be reset to Mode A default The BFM content of the Receive Transmit Process Data BFM s will be set to zero The COB IDs will be changed to the values shown in the tables in the Subsection 7 2 1 and Subsection 7 2 2 After all stations have executed the Mode A Mapping command 16 data words can be exchanged with other FX3U CAN modules A closer look at the mapping shows that the TPDO is dependent upon the node ID but the mapping for the RPDO is fixed to the default TPDO COB ID of stations 1 to 8 The advantage is that the data location of all FX3U CAN modules is the same To include non FX3U CAN CANopen nodes to the network it is necessary to change the RPDO and communication parameters of these stations This can be done by the Mode B mapping command the SDO write access command or by a standard configuration tool gt For RPDO TPDO communication and mapping table refer to Subsection 5 6 5 For SDO command in the CIF refer to Section 10 2
108. ADROIT TECHNOLOGIES SOUTH AFRICA 20 Waterford Office Park 189 Witkoppen Road ZA Fourways Phone 27 0 11 658 8100 Fax 27 0 11 658 8101 ISRAEL LEBANON Mitsubishi Electric Europe B V FA European Business Group Gothaer Strafe 8 D 40880 Ratingen Germany Tel 49 0 2102 4860 Fax 49 0 2102 4861120 infogmitsubishi automation com https eu3a mitsubishielectric com
109. Address SettingsCompleted ConsumerSetupCompleted ConsumingNodelD NodeAddress SettingsError ConsumerSetupError ConsumedNodeAddress ConsumedNodeAddresses ConsumerHeartbeatTime ConsumerHeartbeatTime NoOfConsumedNodes NumberOfNodes StartConsumerSetup SetHeartbeatConsumer 20 If a Heartbeat consuming setup command execution is completed reset its execution signal RST ConsumerSetupCompleted EN ENO d StartConsumerSetup 21 If a Heartbeat consuming setup command execution error occurs increase the command error counter INCP ConsumerSetupError EN ENO d ConsumerSetupErrorCounter 22 If a Heartbeat consuming setup command execution is completed increase the command complete counter and move to the next command AND ConsumerSetupCompleted ConsumerSetupError ConsumerSetupOkCounter SlaveSettingsSetup CheckHeartbeatStatus 205 FX3U CAN User s Manual 13 Program Example 13 3 Program 23 Initialize the set NMT Slave behaviour command data SlaveSettingsSetup StartNMTSlaveSetup Master MELSEC STliteHeartbeatActive MELSEC STlitePreoperational 24 Configure the NMT behaviour of CANopen slave devices KO SlaveConfiguration TargetSlaveNumber GuardedTime RetryFactor NumberOfSlaveNodes StartNMTSlaveSetup NMTSlaveSetup NMTSlaveSettings HeadAddress SettingsCompleted SlaveConfiguration SettingsError TargetSlaveNumber GuardTime RetryFactor NumberOfNodes StartSlavesSetup SlaveConfiguration 0 TargetSlaveNumbe
110. CAN Communication block The manual has been written to be used by trained and competent personnel The definition of such a person or persons is as follows 1 Any engineer who is responsible for the planning design and construction of automatic equipment using the product associated with this manual should be of a competent nature trained and qualified to the local and national standards required to fulfill that role These engineers should be fully aware of all aspects of safety with aspects regarding to automated equipment 2 Any commissioning or maintenance engineer must be of a competent nature trained and qualified to the local and national standards required to fulfill the job These engineers should also be trained in the use and maintenance of the completed product This includes being familiar with all associated manuals and documentation for the product All maintenance should be carried out in accordance with established safety practices 3 All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance with established safety practices The operators should also be familiar with documentation that is connected with the actual operation of the completed equipment Note the term completed equipment refers to a third party constructed device that contains or uses the product associated with this manual This product has been manufactured as a general purpose part for g
111. Dogging service down 17 18 19 Lift attendant start button A Lift attendant drive through button 1B Fire alarm external fire alarm system Provide priority C Security run Second call panel Door enable Call cancel button fire operation Fire alarm reset Body detector e g person in car Earthquake detector Reserved Reserved 0 Reserved Fire detector 1 to 254 Reserved Reserved 0 Reserved 01 to 03 Safety related circuitry 1 to 3 04 0 Hall swing door Car door 06 Door lock Reserved Reserved EE NE Reserved 01 to FE Guest call 1 to 254 Reserved Reserved 00 to FF Manufacturer specific 94 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 3 Lift field The Bit for the requested lift number is set to ON 1 a al 23 22 21 20 19 18 17 16 Lift 8 Lift 6 Lift 5 Lift 4 Lift 2 Lift 1 gt 4 Floor field e D o Bit 24 to 31 Value hex Description 2 00 Car panel si 01 to FE Panel of floor 1 to 254 FF Reserved 5 Door field This value provides the door number to which the sending virtual device is assigned The structure of the field depends on the value of the basic function field uoneejsu OO e When the basic function field is HO8 to HOD the structure of the door field is shown below 39 38 37 36 35 34 33 32 Destination Destination Destination Destination Source Source Sourc
112. E qm m TransmissionType NoOfEntries Q Co StartPDOSetup e O 2 38 Z PDOSetupProcessing ThirdPDOProcessing StartPDOSetup CommandSequence 3 39 Set the communication parameters for the selected PDO MOV ThirdPDOProcessing EN ENO K3 NodeAddress PDOnumber TransmissionType ReceiveOrTransmit ExecuteMapping StartPDOSetup 209 13 Program Example FX3U CAN User s Manual 13 3 Program 40 Check if the fourth PDO setup command needs to be executed PDOSetupProcessing FourthPDOProcessing StartPDOSetup CommandSequence 4 41 First initialize the data for the first mapped object of the fourth PDO setup command MOV FourthPDOProcessing EN ENO HA580 S d ObjectIndex 1 ObjectSubIndex 1 ObjectLength 1 ReceiveOrTransmit ExecuteMapping 42 FourthPDOProcessing HA580 Objectlndex 2 ObjectSubIndex 2 ObjectLength 2 ReceiveOrTransmit 210 FX3U CAN User s Manual 13 Program Example 13 3 Program 43 Then initialize the communication parameters data for the fourth PDO setup command FourthPDOProcessing K1 MOV EN ENO S d NodeAddress PDOnumber TransmissionType NoOfEntries StartPDOSetup 44 Change the PDO communication and or mapping parameters of a specified PDO KO NodeAddress ReceiveOrTransmit PDOnumber CANID TransmissionType ExecuteMapping NoOfEntries Objectlndex ObjectSubindex ObjectLength StartPDOSetup SetupPDOs PDOSetup HeadAddres
113. Error register object H1001 refer to Subsection 5 6 2 3rd byte of Manufacturer specific error 2nd byte of Manufacturer specific error 5th byte of Manufacturer specific error 4th byte of Manufacturer specific error 1st byte of Manufacturer specific error BFM 857 EMERGENCY data code BFM 858 EMERGENCY data BFM 859 EMERGENCY data 120 FX3U CAN User s Manual 6 Allocation of Buffer Memories 6 23 BFM 750 to 859 Emergency Message Buffer i 2 Emergency error codes In different CiA Device Application Profiles more EMCY Error Codes are defined For EMCY Error Codes that are not in the following table refer to the manual of the device which sent the message Error Code hex 0000 0010 1000 2000 2100 2200 2300 3000 3100 3111 3121 3200 3211 3221 3300 4000 4100 4200 5000 6000 6100 6200 6300 Description Error reset or no error CiA 417 CAN warning level Generic error Current generic error Current CANopen device input side generic Current inside the CANopen device generic Current CANopen device output side generic Voltage generic error Mains voltage generic CiA 417 Mains Over voltage CiA 417 Mains Under voltage Voltage inside the CANopen device generic CiA 417 Over voltage device internal CiA 417 Under voltage device internal Output voltage generic Temperature generic error Ambient t
114. Event time The BFM data will be copied into the Object dictionary A PDO will be sent every time when the data are changed and the inhibit time is not running If the inhibit time is active and the data are changed before the inhibit time elapsed the former data will not be sent as PDO Before FX3U CAN firmware version 1 10 If the data are not changed no PDO will be sent if a data exchange is triggered by BFM 20 e FX3U CAN firmware version 1 10 or later If a data exchange is triggered by BFM 20 and at the last data exchange the inhibit time was active a PDO will be sent otherwise no PDO will be sent as long as the data did not change If no data exchange with new data is triggered by BFM 20 a PDO with the actual object dictionary data will be sent when the event timer elapsed and the inhibit time is not active The inhibit time in combination with the event timer allows new PDO data to be sent without the need to retrigger the data exchange by BFM 20 for the case that during the first data exchange of new data the inhibit time was active BFM data H0001 H5374 H2102 H3528 BFM 20 bitO OD data H0000 H0001 H5374 H2102 H3528 TPDO1 Inhibit time F W lt Ver 1 10 o p e cL eee 0 TPDO1 Inhibit time F W Ver 1 10 oc Mi d ue LL de TPDO1 Event timer FW lt Ver 1 10 ee ee NE TPDO1 Event timer F W gt Ver 110 o ees CAN Bus TPDO1 H0001 H5374 H3528 H3528 F W
115. FM 3307 BFM 12307 BFM 3308 BFM 12308 E Position unit 1 BFM 3309 BFM 12309 BFM 3310 BFM 12310 u Position unit 2 BFM 3311 BFM 12311 Position value HFFFFFFFF BFM 3312 BFM 12312 u Position unit 3 BFM 3313 BFM 12313 BFM 3314 BFM 12314 Position unit 4 BFM 3315 BFM 12315 BFM 3316 BFM 12316 Position unit 1 BFM 3317 BFM 12317 BFM 3318 BFM 12318 u Position unit 2 BFM 3319 BFM 12319 Position value HFFFFFFFF BFM 3320 BFM 12320 Position unit 3 BFM 3321 BFM 12321 BFM 3322 BFM 12322 Position unit 4 BFM 3323 BFM 12323 Section 8 7 BFM 3324 BFM 12324 Position unit 1 BFM 3325 BFM 12325 BFM 3326 BFM 12326 Position unit 2 BFM 3327 BFM 12327 Position value HFFFFFFFF BFM 3328 BFM 12328 Position unit 3 BFM 3329 BFM 12329 BFM 3330 BFM 12330 Position unit 4 BFM 3331 BFM 12331 BFM 3332 BFM 12332 7 Position unit 1 BFM 3333 BFM 12333 BFM 3334 BFM 12334 Position unit 2 BFM 3335 BFM 12335 u Position value HFFFFFFFF BFM 3336 BFM 12336 x Position unit 3 BFM 3337 BFM 12337 BFM 3338 BFM 12338 u Position unit 4 BFM 3339 BFM 12339 BFM 3340 BFM 12340 Position unit 1 BFM 3341 BFM 12341 BFM 3342 BFM 12342 Position unit 2 BFM 3343 BFM 12343 u Position value HFFFFFFFF BFM 3344 BFM 12344 Position unit 3 BFM 3345 BFM 12345 BFM 3346 BFM 12346 n Position unit 4 BFM 3347 BFM 12347 144 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memor
116. FX3U CAN User s Manual 10 Command Interface 10 2 SDO Request 10 2 2 CIF Multi SDO read access With the multi SDO read access command up to 8 SDO read accesses can be made within one command The maximum data length for each access is 8 bytes At first write the node number 0 1 127 the Object Dictionary Index and the Sub index to the BFMs Finally the command code for multi SDO read access 8 must be written to BFM 1000 in order to trigger the command execution If the access has been successful BFM 1000 will display 9 and BFM 1001 to 1064 will contain the node number index and sub index for verification purposes BFM No BFM 1000 BFM 1001 BFM 1002 BFM 1003 BFM 1004 BFM 1005 BFM 1006 BFM 1007 BFM 1008 BFM 1057 BFM 1058 BFM 1059 BFM 1060 BFM 1061 BFM 1062 BFM 1063 BFM 1064 Description FROM Read Access SDO read success Error refer to Section 10 9 Error Command H0008 SDO Multi read show Node number and Result data for details CIF Busy Success Node number read back Error High Byte HOF Low Byte Node number Node number read back Index read back Index Sub index read back EIS e Success Data length Error HO Unused Success Result data Error SDO access error code Success Node number read back Error High Byte HOF Low Byte Node number Node number read back Index read back Index Sub index read back q s
117. GC FX3U FX3UC Series PLCs to connect to a CANopen system FX3U CAN can be connected directly to the FX3G FX3Gc FXsu FXauc series PLC s extension port or to any other extension unit block s right side extension port 1 An FX2NC CNV IF or FX3uc 1PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC Series PLC For safe use NCAUTION This product has been manufactured as a general purpose part for general industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions in the system 1 1 4 Overview of the CANopen Network CANopen is a CAN based higher layer protocol which provides a very flexible system for transferring serial messages between different nodes via the CAN bus 1 Simple relatively high speed communication can be accomplished with modules that handle binary data such as I Os or numeric data 2 All CANopen nodes are able to transmit data and several nodes can make a request to the CAN bus simultaneously 3 Messages can be prioritized for transfer
118. GENCY data 0 2 code code stack buffer BFM No 5th byte of Manufacturer specific error 4th byte of Manufacturer specific error BFM 754 EMERGENCY data dot PR code code BFM 800 Node ID The Node ID number which sent the emergency message to the network is displayed BFM 801 EMERGENCY data Emergency error code Error register For Error register object H1001 refer to Subsection 5 6 2 3rd byte of Manufacturer specific error 2nd byte of Manufacturer specific error 5th byte of Manufacturer specific error 4th byte of Manufacturer specific error BFM 4805 Node ID The Node ID number which sent the emergency message to the network is displayed oldest message BFM 806 EMERGENCY data Emergency error code 1st byte of Manufacturer specific error Error register BFM 807 EMERGENCY data For Error register object H1001 code refer to Subsection 5 6 2 3rd byte of Manufacturer specific error 2nd byte of Manufacturer specific error BFM 808 EMERGENCY data 20 29 code code ring buffer 1st byte of Manufacturer specific error BFM 802 EMERGENCY data code BFM 803 EMERGENCY data BFM 804 EMERGENCY data 5th byte of Manufacturer specific error 4th byte of Manufacturer specific error BFM 809 EMERGENCY data de de code code BFM 855 Node ID The Node ID number which sent the emergency message to the network is displayed BFM 856 EMERGENCY data Emergency error code l Error register For
119. H0001 H5374 H3528 TPDOT Inhibtime AAA OA J ao TPDOT CAN Bus TPDO1 H0001 H5374 H3528 H3528 62 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 6 MPDO A Multiplexed PDO like an SDO provides direct write access to objects of a CANopen device s object dictionary The size of the data of these objects is limited to a maximum of 4 bytes The MPDO service can only be used in the CiA9 417 Lift Application Mode and does not have to be configured MPDO producer MPDO consumers Request Indication Indication Indication Process data Data less than 4 bytes is filled with HO to make it 32 bits 63 suoneogoeds INO UONINPOJU mal uonejje3su OO 4 z z suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 7 SYNC The SYNC producer broadcasts the synchronization object periodically The SYNC message provides the basic network synchronization mechanism The time period between SYNC messages is specified by the standard parameter communication cycle period There may be a time jitter in transmission by the SYNC producer corresponding approximately to the latency from some other message being transmitted just
120. HFFFF Load value BFM 3515 BFM 12515 Sunit unit BFM 3516 BFM 12516 NATL ANS load value HFFFF Load value BFM 3518 BFM 12518 Absolute load value HFFFF Load value BFM 3520 BFM 12520 Absolute load value HFFFF Load value BFM 3522 BFM 12522 Absolute load value HFFFF Load value BFM 3524 BFM 12524 Load signal m xm Load signalling BFM 3525 BFM 12525 Load Load signal interrupt interrupt Load signal interrupt HO 0 BFM 3526 BFM 12526 Load Loadsignal Load signalling BFM 3527 BFM 12527 Load Load signal interrupt interrupt aaa ta BFM 3528 BFM 12528 Load Loadsignal Loadsignal HO Load signalling BFM 3529 BFM BFM 12529 Load signal interrupt BFM 3530 BFM 12530 pu Load signal Load signalling Load signal interrupt Section 8 17 Lift No Description Initial value Reference IL Section 8 16 BFM 3531 BFM 12531 0 BFM 3532 BFM 12532 Load Loadsignal Load signalling BFM 3533 BFM 12533 ene Snel signal interrupt BFM 3534 BFM 12534 Load signal Load signalling BFM 3535 BFM 12535 Load signal interrupt BFM 3536 BFM BFM 12536 Load signal Load signalling BFM 3537 BFM uu Load signal interrupt 0 BFM 43538 BFM E Load signal Load signalling BFM 3539 BFM BFM 12539 Load signal interrupt Transmission BFM No and access type dk m Lift No Description Initial value Reference TO FROM TO BFM 3300 BFM 13300 i 0 Reserved BFM 3427 BFM ni BFM 34
121. Highest sub index U8 HFO GE NN Bum A LEES T 01 to FO Unsigned Integer 8 bit Highest sub index U8 HFO a LA ere IR 1 AA 01 to FO Unsigned Integer 8 bit Highest sub index IN eee Y EC E 01 to AO Unsigned Integer 8 bit U8 KO Highest sub index AOCO Input network variables i B MN UN 01 to 78 Signed Integer 16 bit Highest sub index E E m O CN p 01 to 78 Signed Integer 16 bit M6 KO Highest sub index UB SOME LL QN NE 01 to 50 Signed Integer 16 bit Highest sub index M EN E rm Hu c GS ID me 01 to 78 Unsigned Integer 16 bit U16 Ko Highest sub index 398 3 m LSU MENSEM IN NE 01 to 78 Unsigned Integer 16 bit Ut6 Ko Highest sub index A102 Input network variables 2 E NE NM 01 to 50 Unsigned Integer 16 bit Highest sub index U8 HAO ae o a ME 01 to AO Signed Integer 32 bit A A B B A B B A Nu A A D D D D D D D x U A 88 5 Introduction of Functions FX3U CAN User s Manual 5 9 Device Profile CiA 405 V2 0 for IEC 61131 3 Programmable Devices Index Sub index DESCHDUOR Data Initial Read 2 hex EN P type value Write a Highest sub index U8 HAO R S A200 LO ont network variables Hec TR E 01 to AO Unsigned Integer 32 bit R Highest sub index HAO R VENE NN ER AA cc UB O gt 01 to AO Float 32 bit Real32 Ko R Highest sub index R 02 UB EN es Ce A ME EN E 01 to FO Signed Integer 8 bit 08 KO R W 2 O Highest sub index R ee Lo eas ee SM NX S 01 to FO Signed Integer
122. IC Changes for the Better GEVA Wiener Stra e 89 A 2500 Baden Phone 4 43 0 2252 85 55 20 Fax 4 43 0 2252 488 60 000 TECHNIKON Prospect Nezavisimosti 177 9 BY 220125 Minsk Phone 4 375 0 17 393 1177 Fax 375 0 17 393 0081 ESCO DRIVES Culliganlaan 3 BE 1831 Diegem Phone 32 0 2 717 64 60 Fax 32 0 2 717 64 61 KONING amp HARTMAN B V Woluwelaan 31 BE 1800 Vilvoorde Phone 32 0 2 257 02 40 Fax 32 0 2 257 02 49 INEA RBT d o o BOSNIA AND HERZEGOVINA Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8116 Fax 386 0 1 513 8170 AKHNATON 4 Andrei Ljapchev Blvd PO Box 21 BG 1756 Sofia Phone 359 0 2 817 6000 Fax 359 0 2 97 44 06 1 INEA CR Losinjska 4 a HR 10000 Zagreb Phone 385 0 1 36 940 01 02 03 Fax 385 0 1 36 940 03 AutoCont C S S R O Kafkova 1853 3 CZ 702 00 Ostrava 2 Phone 420 595 691 150 Fax 4 420 595 691 199 Beijer Electronics A S Lykkegardsvej 17 DK 4000 Roskilde Phone 45 0 46 75 76 66 Fax 4 45 0 46 75 56 26 HANS FOLSGAARD A S Theilgaards Torv 1 DK 4600 K ge Phone 45 4320 8600 Fax 45 4396 8855 Beijer Electronics Eesti OU P rnu mnt 160i EE 11317 Tallinn Phone 4 372 0 6 5181 40 Fax 372 0 6 5181 49 Beijer Electronics OY Vanha Nurmij rventie 62 FIN 01670 Vantaa Phone 358 0 207 463 500 Fax 358 0 207 463 501 PROVENDOR OY Telj nkatu 8 A3 FIN 28130 Pori Phone
123. If the Flying Master Service is used all NMT Master in the network need to be set as Flying Master Ifthe setting is 1 additional settings need to be considered Refer to Subsection 5 8 11 OFF 0 Do not Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT Slave ON 1 Stop all nodes in case of an NMT error control event of an assigned Mandatory NMT Slave Note Ifthe setting is 1 the bit 4 setting is ignored To restart the network the NMT master has to be reset manually with BFM 25 bit O or with the SDO write command in the CIF over the Object H1F82 into NMT state Reset Communication or Application all Nodes Refer to Section 6 8 and Section 10 2 76 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 1 5 8 6 NMT slave startup O Ifthe NMT Master shall startup the NMT Slave the NMT startup Master uses the Indexes H1F84 to H1F88 to identify the NMT Slaves during Boot up The Setting of these Indexes is optional The NMT startup Master will request the Index H1000 of the NMT slave to check if the NMT Slave is available in the network If there is no response on the request the NMT Master retries every 1s after the request until 2 the NMT Slave responds to the request or the boot time for a mandatory Slave elapses without response The Index H1F89 Boot time shall be set to a value which is higher than the maximum NMT startup time of the E slowest mandat
124. LED has three kinds of flicker states single flash blinking and flickering This LED flickers as follows SINGLEFLAH SS EE 0B k yy S 0 2s 1s BLINKING I y 0 2s 0 2s FLICKERING d L KE 0 05s 0 05s 215 dO1S NNY gt Old sbumes einpoeooJd uoneoiunuuuo5 IN h welbolg Q e duiex4 14 Diagnostics FX3U CAN User s Manual 14 1 Preliminary Checks 2 FROM TO LED LED State Description PLC is not accessing BFMs in FX3U CAN using FROM TO instructions or other instructions which specify buffer OFF memory values directly PLC is accessing BFMs in FX3U CAN using FROM TO instructions or other instructions which specify buffer ON memory values directly 3 TX Rx LED LED State Description OFF FX3U CAN is not transmitting or receiving CAN messages ON FX3U CAN is transmitting or receiving CAN messages 4 ERROR LED LED State Description OFF No error At least one of the error counters of the module has reached or exceeded the error passive level Check the following points in the network e Check that the terminating resistors at both ends of the network are connected Check that all nodes have the same baud rate setting SINGLE FLASH Check that all nodes have a unique Node ld setting e Check that the CAN H CAN L and CAN GND wires are not broken e Check that the CAN SHLD is grounded e Check that the CAN SHLD is connected at all nodes e Check that the CAN cable wire
125. LJ is substituted with a number Unit No 0 to 7 elo E Buffer memory No 0 to 32766 1 Reading out BFM data to PLC MOV instruction If the following program is created 1 point of data will be read out from buffer memory BFM 30 of unit No 1 to data register D10 READ command FNC 12 U1 G30 D10 x E AE Unit No e T Buffer memory No Transfer result uoneejsu OO buum E al 2 Writing PLC data into BFM MOV instruction 28 If the following program is created 1 point of data H0001 will be written to buffer memory BFM 21 of unit o No 1 WRITE command ENC 12 H0001 U11G21 MO reet unicat Ett Buffer memory No Transfer source Unit No 6 2 2 FROM TO instructions JO uoneool v seuouleJy Jeyng j 1 FROM instruction Reading out BFM data to PLC Use the FROM instruction to read the data from the buffer memory If the following program is created 1 point of data will be read out from buffer memory BFM 30 of unit No 1 to data register D10 apou sop 9 jOJd eoieq pue eoejeju READ command 8 FNC 78 k1 K30 D10 K1 FROM aoa N gt 03 Unit No EE Number of transfer data points 2 5 Buffer memory No Destination register E 2 TO instruction Writing PLC data into BFM 9 Use the TO instruction to write data to buffer memory If the following program is created 1 point of data H0001 will be written to buffer memory BFM 21 of unit SE No 1 B W
126. MELSEC_STlite CANopen node is in pre operational mode Z O e O EQ P NodeNMT Status 2 H7F 1 2 6 UVO g 99 253 aa 3 S3 EQ S NodeNMTStatus 2 o H5 MELSEC STliteOperational T Check the heartbeat status of all nodes HeartbeatStatusRead HeartbeatStatus CheckHeartbeatStatus Enable NodeHeartbeatStatus NodeHeartbeatStatus KO HeadAddress 1 4 8 Co O O Ze EQ a NodeHeartbeatStatus 2 H2 MELSEC_STliteHeartbeatActive 9 Configure the start up behaviour of the CANopen master device FX3UMasterSetup NMTMasterSettings KO HeadAddress SettingsCompleted NMTMasterSetCompleted K1 NodeAddress SettingsError NMTMasterSetError StartupConfigurationValue StartUpConfiguration ExecNMT MasterConfig StartMasterSetup 10 If a NMT Master setup command execution is completed reset its execution signal RST NMTMasterSetCompleted EN ENO d ExecNMTMasterConfig 11 If a NMT Master setup command execution error occurs increase the command error counter INCP NMTMasterSetError EN ENO d NMTMasterSetErrorCount 12 If a NMT Master setup command execution is completed increase the command complete counter and move to the next command AND NMTMasterSetCompleted NMTMasterSetError NMTMasterSetOkCount CheckNMTStatus HeartbeatProducerSetting 203 13 Program Example FX3U CAN User s Manual 13 3 Program 13 AND MOV HeartbeatProducerSetting EN ENO StartProducerSetup S d ProducerNodelD 0 MELSEC STlitePreoperational ProducerHeart
127. Module initialisation finished ON Module is in initialisation state CANopen Network state Description OFF Stopped State Bit 9 8 Reserved Pre operational State OFF Operational State Reserved OFF LSS Master routine inactive Bit 10 ON LSS Master routine active eee This bit is only on when the LSS Master is searching and configuring LSS Slaves No failure Mandatory NMT Slave startup failure NMT Master startup stopped Reset the NMT Master to restart the Bit 14 NMT Startup process Reserved If all Mandatory Slaves are available and this failure occurs the NMT Master configuration may be faulty Check the NMT Master settings of the assigned Mandatory Slaves OFF No Time Stamp object received Bit 12 ON Time Stamp object received Only if Consumer is set Write a O to this bit to reset it gt Refer to Subsection 5 6 10 and Section 6 19 No failure Optional NMT Slave startup failure if the bit 14 is also O at the same time the NMT Master startup stopped and the NMT Master needs to be Reset to Bit 13 restart the NMT Startup process Reserved If all Optional Slaves are available and this failure occurs the NMT Master configuration may be faulty Check the NMT Master settings of the assigned Optional Slaves OFF NMT Start up Master No Slave start up in progress ON NMT Start up Master Slave start up in progress Refer to Subsection 5 8 5 Bit 14 Note Reserved This bit goes on during the NMT master slave startup and any time wh
128. N 1 Not available or not installed Bit 8 to 15 Bit 8 to 15 fixed to OFF 0 ON 1 ON 1 xor 8 7 Position Value These BFMs store the Position value 32 bit data from the car position units of each Lift number This value needs to be handled by 32 bit instructions The values shall be equivalent to object H6004 in the CiA 406 specification 8 CANopen 417 Mode FX3U CAN User s Manual 8 8 Speed Value Car 8 8 Speed Value Car These BFMs store the Speed value from the car position units of each Lift number The measuring step is defined in object H6384 of the car position unit 8 9 Acceleration Value Car These BFMs store the acceleration value from the car position units of each Lift number The measuring step is defined in Object H6384 of the car position unit 8 10 Control Word Status Word When BFM 3428 to 3435 and 12428 to 12435 are read the Status word is read from BFMs When BFM 13428 to 13435 are read the Control word is read from BFMs And when BFM 3428 to 3435 and 13428 to 13435 are written to the Control word is written to BFMs 8 10 1 Control word The Car drive Control word is based on object H6040 in the CiA 402 2 V3 0 specifications Note Bits 4 5 6 and 9 of the control word are operation mode specific The halt function bit 8 behaviour is operation mode specific If the bit is ON 1 the commanded motion shall be interrupted the Power drive system shal
129. Nopen 405 Mode 7 2 3 Mode 0 mapping 7 2 4 By executing the Mode 0 mapping command shown below the number of automatically assigned TPDOs and RPDOs becomes four All RPDO TPDO communication and mapping parameter and the BFM Object dictionary assignment will be reset to factory default The BFM content of the Receive Transmit Process Data BFM s will be set to zero BFM 0 to 15 are distributed to RPDOs and TPDOs 1 to 4 as shown in the TPDO RPDO mapping table This setting is useful for a network that features many different types of nodes or as a base for a network mapping configured with the Mode B mapping command The PDOs 5 to 80 BFM 16 to 19 and 100 to 399 are disabled in the default settings but further mapping of these PDOs can be accomplished by using the Mode B mapping technique or SDO For RPDO TPDO communication and mapping table refer to Subsection 5 6 5 For BFM assignment of the Receive Transmit Process Data BFM s refer to Subsection 7 1 1 and Subsection 7 1 2 For Mode B COB ID mapping command refer to Subsection 7 2 5 Execution procedure Mode 0 mapping 1 To execute the Mode 0 command write H8900 to BFM 1000 2 After the Mapping is successfully established H8901 is written to BFM 1000 n case of trouble refer to Section 10 9 Description FROM Read Access TO Write Access H8901 Mapping successful established BFM 1000 HFFFF CIF Busy Command H8900 HOOOF Error Mode
130. O e eoeeju puewwog 103 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 5 10 8 Status word This object is equivalent to object H6041 in the CiA9 402 2 V3 0 specification 15 14 192 12 11 10 9 8 T 6 5 4 3 2 1 0 e dd e ee Bit No Mem Description set range Bit 0 Ready to switch on Bit 1 Switched on Bit 2 oe Operation enabled Bit 3 Fault Bit 4 WS Voltage enabled ON when high voltage is applied to the Power drive system Bit 5 E Quick stop 4 OFF When the Power drive system is reacting on a quick stop request Bit 6 Switch on disabled Warning Bit 7 W ON when being a warning condition The status of the Power drive system Finite state automaton does not be changed as warning is not an error or fault Bit 8 Manufacturer specific Bit 9 ma oe When this bit is ON the control word is processed If it is off local the control word is not processed Target reached ON when the Power drive system has reached the set point The set point is operation mode specific This Bit Bit 10 i is set to on if the operation mode has been changed e ON if the quick stop option code is 5 6 7 or 8 when the quick stop operation is finished and the Power drive system is halted ON when halt occurred and the Power drive system is halted Bit 41 Internal limit active ON when an internal limit is active Operation mode specific EIOS Miu Show in the
131. ON 1 Display the arrow Bit 12 and 13 show the transfer direction display of the car OFF 0 Not moving ON 1 Moving Used for instruction all displays off 1 No load 2 Full load 3 Over load 4 Fire 5 Fire brigade service Help is coming 7 Special service Load time Occupied OA Out of order Close door C Case of fire Hall call disable E Travel to evacuation floor F Travel to fire recall floor 10 to FF Reserved This sub function shows the arrival indication of up down Bit 15 10 9 8 OFF 0 Not arrived ON 1 Arrived 00 to FF Reserved Switch off speech synthesis on all output panels 01 to FE Announce floor number 1 to 254 F Announce current floor number 00 to FF Reserved Reserved Hall call enable 2 Lift operational 03 to FF Reserved 00 to FF Reserved 00 to FF Manufacturer specific 3 Lift field Low byte in BFM 3002 and 13002 This value provides the lift number or the group of lifts to which the output is assigned BFM 3002 Description BFM 13002 wane er ove one ne ms oe ues T eo BFM 3002 BFM 13002 Lift 8 Lift 7 Lift 6 Lift 5 Lift 4 Lift 3 Lift 2 Lift 1 Bit O to 7 156 FX3U CAN User s Manual 8 CANopen 417 Mode 8 3 Virtual Input Output Mapping 4 Floor field High byte in BFM 3002 and 13002 BFM 3002 BFM 13002 Description High Byte Value hex 00 Car panel 01 to FE Floor number 1 to 254 FF All floor panels 5 Door field Low byte in BFM 3003 an
132. Objects BFM No and access type i ale Lift No Description Initial value Reference TO FROM TO Door control word HFFFF Door control word HFFFF Door control word HFFFF Door control word HFFFF Door control word HFFFF Door control word HFFFF Door control word HFFFF Door control word HFFFF BFM 3082 BFM 13082 Reserved BFM 3299 BFM 13299 uonejejsu QO Buum d al suonounJ jo uononpouu o Jo uone5o v Section 8 4 seuouleJy Jeyng 9 14O1d PON 21 y uoneorddy 47 epo cie e1Nvo CO epoui gor o joJg SINS pue eoeueju al e eoeeju puewwog 143 FX3U CAN User s Manual 8 CANopen 417 Mode 8 1 Buffer Memories Lists of Lift Application Car drive controller The car drive controller transmits commands to the car drive unit It receives status information from the car drive unit and the loadmeasuring unit If the profile position mode is used the car drive controller needs additional status information from the car position unit The car drive controller uses the Door position which is also used by the car door controller Receive Objects BFM No and access type Mp m Lift No Description Initial value Reference BFM 3300 BFM 12300 u Position unit 1 BFM 3301 BFM 12301 BFM 3302 BFM 12302 a l Position unit 2 BFM 3303 BFM 12303 u 1 Position value HFFFFFFFF BFM 3304 BFM 12304 u Position unit 3 BFM 3305 BFM 12305 BFM 3306 BFM 12306 Position unit 4 B
133. Operational the CANopen device automatically shifts to the NMT state Pre operational by default Alternatively the CANopen device can be configured to change to NMT state Stopped or remain in the current NMT state CANopen device failures include the following communication errors Bus off conditions of the CAN interface Only as NMT Slave Life guarding event with the state occurred and the reason time out Only as NMT Slave Heartbeat event with state occurred and the reason time out PLC RUN STOP If the setting value is HO1 the FX3U CAN will change into Pre operational but can be set again to Operational when the PLC is in STOP With the setting value HOO or H02 the FX3U CAN can not set into Operational as long as the PLC is in STOP FROM TO Watchdog error If the setting value is HO1 the FX3U CAN will change into Pre operational but can be set again to Operational when the BFM 29 bit 7 is set With the setting value HOO or H02 the FX3U CAN can not set into Operational as long as the BFM 29 bit 7 is set For FROM TO Watchdog refer to Section 6 9 For FROM TO Watchdog error refer to Section 14 2 Severe CANopen device errors also may be caused by CANopen device internal failures Object H1029 sub index H01 Error behaviour object Error class values Value hex Description 00 Change to NMT state Pre operational only if currently in NMT state Operational No change of the NMT state Refer to diff
134. PDO 77 RPDO 78 RPDO 79 RPDO 80 COB ID Disabled These PDO can be activated by mode B mapping commands or SDO Disabled Can be defined by mode B mapping command parameter or SDO Assigned BFM 296 to 299 10216 to 10219 300 to 303 10220 to 10223 304 to 307 10224 to 10227 308 to 311 10228 to 10231 312 to 315 10232 to 10235 316 to 319 10236 to 10239 320 to 323 10240 to 10243 324 to 327 10244 to 10247 328 to 331 10248 to 10251 332 to 335 10252 to 10255 336 to 339 10256 to 10259 340 to 343 10260 to 10263 344 to 347 10264 to 10267 348 to 351 10268 to 10271 352 to 355 10272 to 10275 356 to 359 10276 to 10279 360 to 363 10280 to 10283 364 to 367 10284 to 10287 368 to 371 10288 to 10291 372 to 375 10292 to 10295 376 to 379 10296 to 10299 380 to 383 10300 to 10303 384 to 387 10304 to 10307 388 to 391 10308 to 10311 392 to 395 10312 to 10315 396 to 399 10316 to 10319 133 suonesyoods INO uononpou uoneejsu OO buum a al suonounJ jo uononpouu o JO uoneool v UJ D D D 3 o D o apou sop BO eoieq pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO apo ci e1Nvo CO e eoeeju puewwog 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CA
135. PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC Series PLC 30 4 Wiring FX3U CAN User s Manual 4 3 Grounding 4 2 3 Grounding of twisted pair cable 2 O Strip a part of the coating of the shielded twisted pair cable as shown below and ground at least 35 mm z 1 38 of the exposed shield section Shielded twisted pair cable Shield S 4 24 Termination The CANopen network requires terminating resistors for both network ends When FX3U CAN is the network end connect the included terminating resistor 120 Q 1 2W between pin number 2 CAN L and 4 CAN H uoneejsu OO 4 3 Grounding Ground the cables as follows e The grounding resistance should be 100 Q or less Independent grounding should be established whenever possible Independent grounding should be performed for best results When independent grounding is not configured perform shared grounding as shown in the following figure o als For further information refer to the respective PLC manual ag gt Refer to FX3G Hardware Edition 8 gt Refer to FX3cc Hardware Edition z Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition o DE Tg zg D 5 3o Independent grounding Shared grounding Shared grounding P Best condition Good condition Not allowed j e The grounding point should be close to the FX3U CAN and all grounding wires should be as short as possible apou sop BO 399 p
136. Q FX3U CAN The power is being incorrectly supplied from FX3G FX3U FX3GC FX3UC Series PLC via the extension cable to 1 2 FX3U CAN e Check the connection of the extension cable to the PLC Doo l e Check the power supply of the FX3G FX3U FX3GC FX3UC series PLC 9 Otherwise gt For FX3G Series PLC refer to FX3G Hardware Edition For FX3GC Series PLC refer to FX3GC Hardware Edition 2 S For FX3U Series PLC refer to FX3U Hardware Edition o For FX3UC Series PLC refer to FX3UC Hardware Edition For power supply specifications for FX3U CAN refer to Section 2 2 1 3 1 An FX2NC CNV IF or FX3UC 1PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC Series E PLC 33 o3 14 2 Detail Error Check Please check the bit status of Error Status in BFM 729 Note he error flags b5 b6 b8 b10 b13 and b15 are latched and it is necessary to write KO to the appropriate bit of BFM 29 or the whole BFM which will clear all latched error flags in BFM 29 All other bits are reset automatically if the cause for the error is resolved Incase of a FROM TO watchdog timer error bit 7 is ON the following message will be sent to the network If the module is in a CANopen Mode the module will switch to CANopen State Stopped For the FROM TO watchdog refer to Section 6 9 When CANopen 405 417 mode is used FX3U CAN transmits the EMCY Object emergency message on the CAN network gt For the EMCY Objec
137. RITE command Fo TO Unit we po e mente of transfer data points 1 0 Buffer memory gt Transfer source 29 3 oa 109 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 3 Receive Transmit Process Data 6 3 Receive Transmit Process Data 6 4 BFM 10000 to 10319 and 11000 to 11319 locations in the FX3U CAN module are used for data communication to the CAN bus The mapping for where each data is sent received is explained in the following chapter When using CANopen 405 mode refer to Chapter 7 When using CANopen 417 mode refer to Chapter 8 When using the 11 bit CAN ID Layer 2 mode or 29 bit CAN ID Layer 2 mode refer to Chapter 9 Note In the CANopen 417 Mode BFM 21 K417 only BEM 0 to 3 BFM 10000 to 10003 and BFM 11000 to 11003 TPDO1 RPDO1 are usable BFM 4 to 399 BFM 10004 to 10319 and BFM 11004 to 11319 are not accessible BFM 20 Data Exchange Control To ensure that the FX3U CAN module can handle the CANopen data in a consistent way it is necessary to set in BFM 20 the corresponding Bit to ON before reading data FROM and after writing data TO The data exchange control signal ensures by internal buffer exchange that TO data from the PLC will be transmitted by PDO PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and after setting the corresponding bits in BFM 20 to ON As long as the reading of th
138. RPDO length fit the length of the TPDO accordingly For data type definitions indexes refer to Section 5 5 56 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 1 Object H1400 to H144F zi O 1 Sub index H01 RPDO COB ID 2 34 30 29 28 141 10 0 g Bit No item Description 2 E 11 bit CAN ID of the CAN base frame 3 BIKO tay ON GANSO For COB ID refer to Subsection 5 6 1 S3 Bit 11 to 28 Low Bit 11 to 28 fixed to OFF 0 Bit 29 MEE Bit 29 fixed to OFF 0 3 Reserved elie This bit fixed to OFF 0 a OFF 0 Valid B Bd ON 1 Invalid a 2 Sub index H02 RPDO transmission type Value hex Description 4 Synchronous 00 to FO Received PDO data will be processed after the next SYNC message 2 independent of the transmission rate specified by the transmission type F1 to FD Reserved FE Event driven Function Mode 405 FF Event driven Function Mode 417 3 Sub index H03 RPDO inhibit time For RPDOS the inhibit time has no function 4 Sub index H05 RPDO event timer The RPDO event timer is used for deadline monitoring When the time elapsed without receiving an event driven object transmission type is set to HFE or HFF an EMCY with the error code H8250 will be sent suonounJ jo uononpouu o The value is a multiple of 1ms The value 0 disables the event timer m For emergency error code refer to Section 6 23 TO zo 2 Object H1600 to H164F
139. Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 50 5 Introduction of Functions 5 6 Communication Profile Area FX3U CAN User s Manual Default value of Sub Index hex gt Index o S 1782 to 178F Reserved 1792 to 179F Reserved D E 17A2 to 17AF Reserved e 1787 E 3 17B2 to 17BF Reserved z 17C1 L 1 1 95 Reserved S 17C2 to 17CF Reserved id Renan 4 17D2 to 17DF Reserved 17E2 to 17EF Reserved 17F1 9B830420 Reserved Table 5 8 Mode 417 TPDO communication Parameter R Read access W Write access Reserved Not existing Index or Sub index jo uononpoJju Default value of Sub Index hex o Index 1800 1801 1802 to 18FF 1900 1901 1902 1903 1904 1905 to 1907 1908 1909 to 1911 1912 1913 1914 1915 to 1917 1918 1919 to 1921 1922 1923 1924 1925 to 1927 1928 1929 to 1931 1932 1933 80000000 E Node Id FF mE Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved E E s xm EE CI EI s mew Fr 9 fee s mme Fr 9 feewi s mem Reseed s mmoew Fr 9 Feew s mew FF 9 fee s emm Fr 9 feewi s wmm 9 fee s mew FF 9 EI s mum Resend s wmm Fr 9 few hex H02 HUS RW 1 R BAR 91 seuouleJy Jeyng jo u
140. Success Data length Error HO Unused Success Result data Error SDO access error code 1 Ifthe final setting is located before BFM 1057 write HFFFF in the last BFM Node number TO Write Access Sub index reserved Sub index reserved 180 10 Command Interface FX3U CAN User s Manual 10 2 SDO Request 10 2 3 CIF SDO write access Description of CIF SDO write access is shown below The local FX3U CAN can be specified by its actual node number or by using O Execution procedure CIF SDO write access 1 Write the Node number and the Index Sub index of the target Object Dictionary to BFM 1001 to 1003 2 Write the data length in bytes to be written to BFM 1004 and the data to be written to BFM 1005 to 1066 3 Write the command code H0002 for SDO write access to BFM 1000 When the command code H0002 is written to BFM 1000 the command is executed 4 When the executed command is successful H0003 is written to BFM 1000 gt If HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 Description BFM No FROM Read Access TO Write Access H0003 SDO write success BFM 1000 erro SEES Command H0002 SDO write HOOOF Error Refer to Section 10 9 BFM 1003 Sub index read back Sub index BFM 1004 Data length in byte BFM 1005 to 1066 Command parameter data Command Parameter Data Structure in BFM 1005 to 1066 Description BFM 1005 1st data byte BFM 1006 3r
141. T master startup automatically into NMT state Operational Notes if setting is ON 1 The NMT Master has to be set manually with the SDO write command in the CIF over the Object H1F82 into NMT state Operational The startup process will be suspended as long as the Device is not set into NMT State Operational Refer to Section 10 2 OFF 0 The NMT master shall start the NMT slaves ON 1 The NMT master shall not start the NMT slaves and the PLC application may start the NMT slaves Notes if setting is ON 1 Note the resulting behaviour shown in Figure 5 2 NMT Master simple startup and Figure 5 3 NMT Slave startup process OFF 0 In case of error control event of an assigned NMT slave defined as mandatory the NMT service reset communication with node ID of the CANopen device that caused the error control event shall be executed ON 1 In case of error control event of an assigned NMT Slave defined as mandatory the NMT service reset communication all Nodes shall be executed Refer to Subsection 5 8 6 Note n case of optional NMT Slaves the NMT service reset communication with node ID of the CANopen device that caused the error control event will always be executed e If bit 6 is set to 1 this bit setting will be ignored for mandatory NMT slaves OFF 0 Do not use Flying master service ON 1 Use Flying master service Note e If the device loses the Flying Master negotiation the device works as NMT slave e
142. When BFM 13492 to 13507 are read the Target velocity is read from BFMs And when BFM 3492 to 3507 and 13492 to 13507 are written to the Target velocity is written to BFMs 8 15 1 Target velocity This Car drive target velocity is equivalent to object H60FF in the CiA 402 2 V3 0 specifications The value 32 bit data is in units of mm s This value needs to be handled by 32 bit instructions 8 15 2 Velocity actual value This Car drive velocity actual value is equivalent to object H606C in the CiA 402 2 V3 0 specification The value 32 bit data is in units of mm s This value needs to be handled by 32 bit instructions 8 16 Load Value These BFMs contain the Car drive load value and its related SI unit The load value is the absolute value of the load payload It is in units of the configured SI unit The load value of HFFFF shall be an error value that is applied if the sensor is in error state or does not have an actual value SI unit structure Bit 15 8 7 0 The default SI unit is kg The SI unit and prefix field values shall use the coding as defined in the CiA9 303 2 specifications 8 17 Load Signalling These BFMs contain Car drive load signal information It is used to signal measuring values of the load measuring system Load signal contains different kinds of load signal If one of the load bits for zero load norm load full load and overload is set to ON 1 the related condition is true If the bi
143. When the Object Dictionary settings have been saved H6001 is written to BFM 1000 gt If H600F HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 uoneejsu OO Buum a Description BFM No FROM Read Access TO Write Access H6001 Object Dictionary settings have been saved H600F Parameter Error BFM 1000 HFFFF CIF Busy Command H6000 HOOOF Error 5 BFM 1001 1st target node ID Diagnosis Data S H0000 No Error ag HFFFF P t d os BFM 1066 T 66th target node ID GS 2 O o seuouleJy Jeyng jo uoneoo v apou sop 9 jOJd eoieq pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO O ae D D lt lt ED NO 187 10 Command Interface FX3U CAN User s Manual 10 7 Restore Object Dictionary Default Settings 10 7 Restore Object Dictionary Default Settings 10 8 This command is an easy to use command for the load parameter command in the Object Dictionary Index H1011 Sub index H01 The CANopen devices need to be reset after the command to make the change become effective Note that the NMT Master startup process uses SDO s which can be result in an Error of the CIF SDO command if the NMT Startup Master accesses the remote Node at the same time gt For the Object Dictionary Index H1011 refer to Subsection 5 6 12 Execution procedure Restore object dictionary default settings 1 Write the target node ID for which the object dictionary default settings are to be r
144. Word Unsigned Bit String 16 bit s WordiSigned 64 Word Unsigned Bit String 16 bit 67 Word Unsigned Bit String 16 bit 69 Word Unsigned Bit String 16 bit T VAR NWTRequestErorCounier WoriBigned n WordSinedo 15 E WordSigned g WordiSigned 15 s WordiSigned s Wordiigned J AR 91 V Bit VAR StartPDOSetup Bit 92 StartPDOWrite Bit 98 Word Unsigned Bit String 16 bit 99 VA R TargetSlaveNumber Word Signed 0 15 100 ThirdPDOProcessing Bit 101 TPDOnumber Word Signed 102 TransmissionType Word Unsigned Bit String 16 bit 103 MELSEC STliteHeartbeatActive Bit 104 MELSEC STlitePreOperational Bit 105 SDOWriteCompleted Bit 05 wer unsigneaV at Stina T BH0 67 107 WriteDataLength Word Signed 200 13 Program Example FX3U CAN User s Manual 13 2 Local Label Setting 108 Double Word Unsigned Bit String 32 bit i WordiSgned 111 Word Unsigned Bit String 16 bit 112 WriteNodeAddress Word Signed 113 WriteSubIndex Word Unsigned Bit String 16 bit s WordiSgned s Wardigned T WardiSgned 12 WardiSgned 12 WordiSgned dO1S NNY Old sBumes eInpeooJd uoneoiunuuuo5 IN 1 Q D e E O n Ss O nN 201 13 Program Example FX3U CAN User s Manual 13 3 Program 13 3 Program Copyright O Mitsubishi Electric Europe BV 2013 All examples are only intended to improve understanding of the functionality and handling of the product In view of the wide range
145. X3U CAN User s Manual 10 3 Set Heartbeat 10 3 Set Heartbeat 2 Nodes can be easily set to Heartbeat Producer or Heartbeat Consumer status by writing values to Index si 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 FX3U CAN can be specified by its actual node number or by using O 2 Note that the NMT Master startup process uses SDO s which can be result in an Error of the CIF command if Y the NMT Startup Master accesses the remote Node at the same time 9 gt For Object H1016 and H1017 Heartbeat refer to Subsection 5 6 9 S O 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 gt If H741F HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 Description uoneejsu OO Gum E BFM No FROM Read Access TO Write Access Producing has been assigned BFM 1000 ASEO Command H7410 5 CIF Busy Error aa ze BFM 1001 1st target Node number of producer 5 zi cz cm BFM 1002 node Producer he
146. a field The function data provides the input state of a virtual input 47 46 44 43 41 40 Property parameter Property Bit No OFF 0 Bit 40 Status ON 1 Bit 41 to 43 value hex HO H1 H2 H3 H4 H5 H6 H7 Refer to table below OFF 0 ON 1 Bit 41 to 43 Property Bit 44 to 46 Property parameter Bit 47 Predicate Description No data indicated Does not apply for basic function H40 Data indicated No action default Output continuously Output pulsed Output flashing Output coloured Output with volume Output with scroll rate Reserved Acknowledgement is not affirmed Acknowledgement is affirmed Value definition of the property parameter field Bit 44 to 46 Bit 44 to 46 Description 5 10 4 Door control word This Object contains the door commands and other control data 19 2 12 11 10 9 8 T 6 5 4 2 TU Door Command i velocity Motion detector Finger Battery power Door lock protector 1 Battery power field Bit 2 to 3 Value hex 0 1 2 3 2 Door lock field Bit 4 to 5 Value hex 0 1 2 3 Description Battery power supply disabled Battery power supply enabled Reserved Do not care take no action Description Enable door lock Disable door lock Reserved Do not care take no action 99 uononpou suoneoyoeds INO uonejejsu OO 4 z z jo UONINPOAU o seuouleJy Jeyng jo uoneoo
147. a type does not match length of service parameter too low 0609 Sub index does not exist 0609 Invalid value for parameter download only 0609 Value of parameter written too high download only 0609 Value of parameter written too low download only 0609 Maximum value is less than minimum value 060A Resource not available SDO connection 0800 General error 0800 Data cannot be transferred or stored to the application 0800 Data cannot be transferred or stored to the application because of local control 0800 Data cannot be transferred or stored to the application because of the present device state 0800 Object dictionary dynamic generation fails or no object dictionary is present 0800 No data available 5000 Time out or impossible to allocate identifier for SDO transmission or Protocol mismatch 6060 ES DET for received SDO data this error will occur during initialization of the 190 10 Command Interface FX3U CAN User s Manual 10 9 Error Messages 6 Bus off zi The FX3U CAN is in Bus off and cannot send CAN messages a 2 BFM No Description BFM 1000 Error HOOOF BFM 1001 Error Class HBOFF 2 BFM 1002 to 1066 Unused 35 E 7 Device in wrong state The state of the FX3U CAN cannot execute the requested command interface ej Confirm the function mode setting and the state of FX3U CAN For the function mode setting refer to Section 6 5 For command interface which can be executed in each functional mode refer to Cha
148. ameter B for the Layer 2 message The FX3U CAN will not automatically respond to Remote Transmit Requests but the RTR ID will be added to the RTR flag list e When using the disable RTR handling Set H5FFF to parameter B for the Layer 2 message The FX3U CAN will discard any incoming RTR telegrams matching the CAN ID of this Layer 2 message 170 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 3 Pre defined Layer 2 Message Configuration 2 Parameter C transmission type for each Layer 2 message The transmission type defines the transmit receive message and transmission trigger event of the message as follows Transmission a Type value Message Type Transmission Trigger Event KO When BFM 20 bit 0 is set to ON the Layer 2 message is always transmitted When BFM 20 bit 0 is set to ON the Layer 2 message is transmitted i However if data has not been changed it is not transmitted The Layer 2 message transmits with following condition e With a cycle time set by parameter D BFM 20 bit O set to ON The Layer 2 message transmits with following condition Transmit However if data has not been changed it is not transmitted K3 E message e With a cycle time set by parameter D BFM 20 bit O set to ON The Layer 2 message transmits with following condition Request via RTR frames Request via RTR frames works for maximum 28 transmit messages Message transmit trigger flags The Layer 2 message transmits when the corr
149. aoc o o EA E NMT Slave 3 OD Index device type equal Ln H1F84 or don t care 9 End NMT Slave yes boot up with NMT Y Slave response not OK and BFM 25 2 bit 11 or 14 error nd BFM 29 bit 10 and BFM Area 900 to 963 bit 4 error To the next page To the next page e eoeeju puewwog 77 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management OD Indexes H1F85 to H1F88 T OD Indexes H1F85 to Request OD Index H1018 from NMT Slave Identity check required Response received and OK H1F88 Keep alive bit for this NMT Check Node state Node state received Slave set OD Index H1F81 Bit 4 NMT Service Reset Communication for Node state Operational this Node Check Configuration Configuration check OK Start NMT error control service Start NMT error control service OK End NMT Slave boot up with NMT Slave response not OK and BFM 25 bit 11 or 14 error BFM 29 bit 10 and BFM Area 900 to 963 bit 4 error yes OD Index OD Index H1F80 Bit 3 H1F80 Bit 1 NMT Slave shall be started by NMT Master CANopen devices shall be started i ndividually CANopen devices no shall be started OD Index H1F81 Bit 2 NMT Master is in NMT state Operational NMT Service Start Remote Node for this Node NMT Slave startup finished without failures
150. artbeat time value in units of ms o BFM 1003 2nd target Node number of producer 9S BFM 1004 Diagnosis Data node Producer heartbeat time value in units of ms 6 BFM 1005 H0000 No Error 3rd target Node number of producer All other values The corresponding parameter node h ko w gt BFM dd caused an SDO error Producer heartbeat time value in units of ms eg 2 BFM 1065 33rd target Node number of producer o S BFM 1066 node Producer heartbeat time value in units of ms Y j 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 apou sop 9 jOJd 309d pue eoejeju For Heartbeat refer to Subsection 5 6 9 8 For SDO Request refer to Section 10 2 ae Execution procedure Heartbeat consuming setting SER o amp 1 Write the Node number that has to be set up to BFM 1001 The local FX3U CAN can be specified by its actual node number or by using 0 H 2 Write target Node ID to be Consumed and Consumer heartbeat time in units of ms to BFM 1002 to 9 1065 o Write HFFFF to the Node ID following the last consuming node to complete Heartbeat consuming 22 settings 2 3 Write the command code H7400 to BFM 1000 N When the command code H7400 is written to BFM 1000 the command is executed 4 When the executed command is success
151. ast once since 3 and the data bytes in the BFM are also the data received with the last message uonejejsu QJ Gum d al ala But this time it is required to check the 11 bit CAN ID in the corresponding Layer 2 message BFM 100 to ad 399 to determine which message ID was received In this case the last message is H0180 and the data of S S this message is stored to the data BFM The data of messages H0182 and H0186 are lost 2 Note 6 In this example it is expected that the PLC program resets the RTR new DLC flags after reading the data at a D Y and 2E e O apou sop 9 jOJd eoieq pue eoejeju Um E 1 o 2 Do 8 r O spol c 19887 NYO e eoeeju puewwog 173 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 4 Layer 2 RTR Flags 9 4 Layer 2 RTR Flags If the FX3U CAN is set to Layer 2 communication mode an incoming RTR message is indicated in the BFM if the following conditions are satisfied e Matching the CAN ID n of one of the Layer 2 messages The Layer 2 message hp qs configured as a transmit Layer 2 message The Layer 2 message n is set to no auto RTR response H6FFF 1 Where n is one of the Layer 2 messages 1 to 42 The bits in the RTR message reception list are updated independently from BFM 20 bit O A bit is set if a valid RTR message has been received The bit can be evaluated by PLC program and required changes t
152. ata frame Low byte number of data bytes to transmit KO to K8 Data bytes 1 to 8 Number of attached data bytes is defined by DLC Layer 2 Message Initial Value HFFFF HFFFF HO HO HO HO HO HFFFF HFFFF HO HO HO HO HO HFFFF HFFFF HO HO HO HO HO 176 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 7 CIF Sending Layer 2 Message 9 7 CIF Sending Layer 2 Message z Using this function the FX3U CAN can send any Layer 2 messages to the CAN bus This function is 9 accessible only in Layer 2 Mode Execution procedure Set Node guarding NMT Slave Assignment 2 ooo sss WM 1 Write the CAN ID RTR DLC and the data byte to BFM 1001 to 1008 2 Write the command code HOOOC to BFM 1000 S When the command code HOOOC is written to BFM 1000 the command is executed 3 When the executed command is successful HOOOD is written to BFM 1000 gt If HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 uoneejsu OO Description BFM No TO Write Access FROM Read Access High Byte Low Byte HOOOD Data written to transmit buffer HFOOC Setting Error Bum I BFM 1000 HFFFF CIF Busy Command HOO0C HOOOF Error BFM 1001 Diagnosis Data 11 29 bit CAN Identifier low word BFM 1002 H0000 No Error 29 bit CAN Identifier high word HFOOC Setting Error BFM 1003 Displays the error cause RTR Remote Transmission Request 1 5 All other values The corresponding parameter m als BFM 1004 cau
153. ating sleeve Tighten the terminals to a torque of 0 4 to 0 5 Nem oam 6 Do not tighten terminal screws with a torque outside the above mentioned range Failure to 0 35 do so may cause equipment failures or malfunctions 28 When using stranded wires 3 S It may be difficult to insert the electric wire into the insulating sleeve Insulating sleeve Contact area Y depending on the thickness of the electric wire sheath Select appropriate electric wire by referring to the dimensions of the wire ferrule lt Reference gt ell Caulking tool Al 0 5 8WH 7 Phoenix Contact E SAA OO CRIMPFOX6 j apou op 9 lJOJd 399 pue eoejeju AI TWIN 2X 0 5 8WH or CRIMPFOX 6T F 8 1 Old model name CRIMPFOX ZA 3 RIS Na gt 2 Old model name CRIMPFOX UD 6 S g 8 4 1 4 Removal and installation of CAN bus connector E 1 Removal 3 Evenly unscrew both CAN connector mounting screws and remove the CAN connector from the module S If the cable is attached to the connector hold and pull the connector on the side Do not pull the cable b 2 Installation x Place the CAN connector in the specified position and evenly tighten both CAN connector mounting SCrews Tightening torque 0 4 to 0 5 Nem Do not tighten the terminal block mounting screws with a torque outside the above mentioned range Failure to do so may cause equipment failures or malfunctions e eoeeju puewwog 29 4 Wiring FX3U CAN Use
154. atus BFM 902 Node 5 status BFM 903 Node 7 status BFM 962 Node 125 status BFM 963 Unused HO Node 127 status Status Flags Bit No Description Bit 0 Node Guarding is active Bit 1 Heartbeat is active This bit is set after reception of the first Heartbeat message Bit 2 One node guarding message is missed or Toggle Bit error Bit 3 No response and Lifetime elapsed Bit 4 NMT startup failed Bit 5 The node does not have the expected state Bit 6 Guarding failed Node Guarding remote requests of the NMT Master was not received in the expected time Bit 7 Heartbeat is missing 122 7 CANopen 405 Mode FX3U CAN User s Manual 7 1 Data Transfer Location for CANopen 405 Mode 7 CANopen 405 Mode 7 1 Data Transfer Location for CANopen 405 Mode This section explains data transfer locations for CANopen 405 mode BFM 10000 to 10319 and 11000 to 11319 are used as data transfer locations Note The data will be exchanged only when the module is in OPERATIONAL State To ensure that the FX3U CAN module can handle the CANopen data in a consistent way it is necessary to use the data exchange by BFM 20 bit 0 or 8 to ON before reading PDO data FROM and after writing PDO data TO to the module The data exchange control signal ensures by internal buffer exchange that TO data from the PLC will be transmitted with its corresponding PDO at the same time 7 1 1 Direct TO BFM Access to the CANopen 405 Object
155. ayer setting services master hereinafter called LSS according to standard CiA 305 V2 2 35 With this service an LSS slave device that is sealed against harsh environments and that does not have any 2 hardware components like DIP switches for setting the node ID or bit timing parameters can be configured via the CAN Bus o 13 MPDO for Lift Application Profile w gt An MPDO provides direct write access to objects of a CANopen device s object dictionary T s The size of the data of these objects is limited to a maximum of 4 bytes 3 apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju pURWIWUOD 17 FX3U CAN User s Manual 1 Introduction 1 2 External Dimensions and Each Part Name 1 2 External Dimensions and Each Part Name 1 2 1 External dimensions and each part name 90 3 55 1 2 3 4 5 80 3 15 mounting hole pitch 2 3 Tx Rx O ERROR O FX3u CAN CAN_SHLD CAN_H CAN_V 8 Unit mm inches Accessories Extension cable Status LEDs See Subsection 1 2 2 Power LED See Subsection 1 2 2 Top cover DIN rail mounting groove DIN rail DIN46277 35 mm 1 38 width 9 0 36 rs ga 87 3 43 J 43 1 7 0 32 2 4 5 mounting holes Mass Weight 0 2 kg 0 44 Ibs Label for indication of special function unit block number Dust proof protectio
156. beatTime 0 NoOfProducingNodes StartProducerSetup HeartbeatProducerSetting 14 Issue an Heartbeat producing setup command HeartbeatProducer HeartbeatProducerSetup KO HeadAddress SettingsCompleted ProducerSetupCompleted ProducerNodelD ProducerNodeAddresses SettingsError ProducerSetupError ProducerHeartbeatTime ProducerHeartbeatTime NoOfProducingNodes NumberOfNodes StartProducerSetup SetHeartbeatProducer 15 If a command execution is completed reset its execution signal RST ProducerSetupCompleted EN ENO d StartProducerSetup 16 If a command execution error occurs increase the command error counter INCP ProducerSetupError EN ENO d ProducerSetupErrorCounter 17 If a command execution is completed increase the command complete counter and move to the next command ProducerSetupCompleted ProducerSetupError ProducerSetupOkCounter HeartbeatConsumingSetting 204 13 Program Example FX3U CAN User s Manual 13 3 Program U 18 DD Issue an Heartbeat consuming setup command zo n O AND MOV i HeartbeatConsumingSetting EN ENO StartConsumerSetup S d ConsumingNodelD MELSEC_STlitePreOperational 1 2 2999 o 3 ConsumedNodeAddress 0 eas Sin TERES m ConsumerHeartbeatTime 0 NoOfConsumedNodes StartConsumerSetup HeartbeatConsumingSetting 19 Issue an Heartbeat consuming setup command HeartbeatConsumer Q D e gt E n p O nN HeartbeatConsumerSetup KO Head
157. ble communication object CAN ID hex Used by COB 0 NMT 1 to 7F Reserved 101 to 180 Reserved 581 to 5FF Default TSDO 601 to 67F Default RSDO GEO to 6FF Reserved 701 to 77F NMT Error Control 780 to 7FF Reserved 54 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 2 Error Register The object H1001 provides error information The CANopen device maps internal errors into this object It is a part of the emergency object 3 2 1 Device Communication G l endet profile error overrun Temperature Voltage Current c specific specific error state error 1 Used by the FX3U CAN Firmware The Generic error bit will always be set as long as the EMCY error code is bigger than HOOFF The Error Register can be cleared by clearing the Pre defined error field in object H1003 All of these bits can be set by the Emergency message transmission command in the Command Interface For EMCY refer to Subsection 5 6 13 For pre defined error field refer to Subsection 5 6 3 For emergency message transmission command refer to Section 10 5 5 6 3 Pre defined error field This object H1003 provides the errors that occurred on the module and were signalled via the emergency object 1 Sub index HOO Number of errors The Sub index HOO displays the number of errors that are recorded Writing HO to this Sub index deletes the entire history Write values other than HO are not allowed 2 S
158. ccoccncconcccoccncconcnnconcnonononononononnnconnnnnnnnnnnnnnnonanenenonos 116 6 17 BFM 239 BFM Setting Error Display cccocccccoccccoccnccccnnconcncconononocnoconnnnnnnnonnnnncnnnncnnnnnnnnnnss 116 6 18 BFM 40 BFM Initialisation Online Mode Write Error Display eesseeeeee 116 6 19 IBEM F50 tO F99 Time Stamp kesica a asi entitas ai AE E 117 6 20 BFM 70 NMT Start all Nodes delay ooccoooccccoccoccccccccoccocononococncconononnnncconnnonanncnnnnos 118 621T IBEM EZ TS DO NME OU eiii uote Gebtieso va autc trace tota iento Sa ROSE 118 6 22 BENESO0130 727 NMI Slate otro sae bou stein battre a Sif 119 6 23 BFM 750 to 859 Emergency Message Buffer ooccccccooccocococcncononcnncnononnononnnnnnanencnnanenoos 120 6 24 BFM 900 to 963 NMT Error Control Status ooccccoccccccccncccncnccncncconcnononnnnonononnnnnnnnenononos 122 T CANopen 405 Mode 123 7 1 Data Transfer Location for CANopen Z05 OUS sais cadena as deed tds 123 7 1 1 Direct TO BFM Access to the CANopen 405 ODO cio tue eth eed te x adaa 123 7 1 2 Direct FROM BFM access to the CANopen 405 OD CC NM 125 7 2 PDO Mapping Binding of the Network for CANopen ADOMOde MOM 127 52 1 TPDO Mapping table erosiones da il 128 az RPDO Uma Pind table il id lalo 131 E29 Mode O MAD DING EH MEME TRO OR lic 134 Fera NOS A MAPPING eeu 134 1 2 0 Mode B COB D mapbplrigases escono a Guevara
159. cessful H8401 is written to BFM 1000 gt If H84FF HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 184 FX3U CAN User s Manual 10 Command Interface 10 5 Send an Emergency Message BFM No BFM 1000 BFM 1001 BFM 1002 BFM 1003 BFM 1004 BFM 1005 BFM 1006 BFM 1007 BFM 1008 BFM 1061 BFM 1062 BFM 1063 BFM 1064 BFM 1065 BFM 1066 Description FROM Read Access Slaves have been assigned TO Write Access Parameter Error CIF Busy Error Command H8400 Slave Number to be Guarded 1sttarget Slave Configuration node Guard Time Retry Factor Slave Number to be Guarded 2nd target node Slave Configuration Diagnosis Data Guard Time H0000 No Error All other values The corresponding parameter caused an error Retry Factor Slave Number to be Guarded Slave Configuration Guard Time Retry Factor Unused Unused 10 5 Send an Emergency Message This command can be used to send an emergency message from the PLC to the CANopen network Execution procedure Send an emergency message 1 Write the Emergency error code Error register and Manufacturer specific error code that will be sent as the Emergency Message to BFM 1001 to 1004 Unused Manufacturer specific error code bytes have to be HOO For Error register refer to following Subsection 5 6 2 2 Write the command code HOOOA to BFM 1000 When the command code HOOOA is writ
160. cie e1Nvo CO e eoeeju puewwog FX3U CAN User s Manual 5 Introduction of Functions 5 6 Communication Profile Area Index hex 174A 174B 174C 174D 174E 174F 1750 1751 1752 1753 1754 1755 1756 1757 1758 to 1759 175A 175B 175C 175D 175E 175F 1760 1761 1762 1763 1764 1765 1766 1767 1768 to 1769 176A 176B 176C 176D 176E 176F 1770 1771 1772 1773 1774 1775 1776 1777 1778to 1779 177A 177B 177C 177D 177E 177F 1780 1781 Default value of Sub Index hex R 02 smm mo EE MEN 83100108 0 IES E 0i o Reserved 8C820108 8C800110 Reserved 8C010010 8C040008 00050008 8C330020 Reserved re or 8830020 Reserved 8B010110 8B020110 01 8B100108 8B010210 8B020210 8B100208 8B010310 8B020310 Reserved 94820108 94800110 Reserved 94010010 94040008 00050008 94330020 Reserved Reserved 93010110 93020110 01 93100108 93010210 93020210 93100208 93010310 93020310 Reserved 9C820108 9C800110 Reserved 9C010010 9C040008 00050008 9C330020 Reserved 01 9B830120 Reserved 9B010110 9B020110 9B010210 9B020210 9B100208 9 2 E E 9 NE Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
161. crew holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits 25 Failure to do so may cause fire equipment failures or malfunctions Be sure to remove the dust proof sheet from the PLC s ventilation port when installation work is completed Failure to do so may cause fire equipment failures or malfunctions Install the product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities Install the product securely using a DIN rail or mounting screws Connect extension cables securely to their designated connectors Loose connections may cause malfunctions 3 WIRING PRECAUTIONS NWARNING Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product NCAUTION e Perform class D grounding grounding resistance 1000 or less to the shield of the twisted shield cable refer to Subsection 4 2 3 Do not use common grounding with heavy electrical systems When drilling screw holes or wiring make sure cutting or wire debris does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Install module so that excessive force will not be applied to communication connectors or communication cables Failure to do so may result in wire damage breakage or PLC failure Make sure to affi
162. ction 5 6 9 U16 R W v CANopen 417 Mode i O K1000 S Highest sub index U HOS 5 o 1018 Identity Object 02 Product Code K7170 6 1019 to cs Reserved 101F So 3 R v j 1027 Highest sub index 1028 Emergency consumer object 01 to 7F gt Refer to Subsection 5 6 13 H03 H71 H02 HO HO H7F Highest sub index 1020 01 if figuration Verity Configuration Refer to Subsection 5 8 13 U U U U U U U 8 32 32 32 8 32 32 8 32 apou SOP 9 lJOJd 399 pue eoejeju zs a 2 2 H80 Node Id O Highest sub index U8 1029 Error behaviour E E i S Refer to Section 57 8 102A NMT inhibit time gt Refer to SubsectionS amp 7 U16 H0 R v 35 O In gt 1026 to Reserved E S 2 13FF ls DO Highest sub index o 1400 to 02 RPDO communication Transmission type Refer to Table 5 1 v 9 15F1 08 parameter gt Refer to ibit time gt Refer to Table 5 5 a6 Subsection 5 6 5 o gt Compatibility entry m N 15F2 to e 1 Applicable for FX3U CAN firmware Ver 1 10 or later eoeeju puewwog 35 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Index hex 1600 to 17F1 17F2 to 17FF 1800 to 1978 1979 to 19FF 1A00 to 1B78 1B79 to 1F21 1F22 1F23 to 1F24 1F25 1F26 1F27 1F28 to 1F7F 1F80 1F81 0 N M a ad Lo DUTY HE add Nu JN X O
163. d 10118 lower 8 bit E EE BFM 198 and 10118 higher 8 bit 2 m 3C 3C 9 2 BFM 199 and 10119 lower 8 bit S BFM 199 and 10119 higher 8 bit E g m 2 D N e eoeeju puewwog 125 7 CANopen 405 Mode FX3U CAN User s Manual 7 1 Data Transfer Location for CANopen 405 Mode Index Index Index Index Index Index Index HA6CO HA680 HA640 HA581 HA541 HA4C1 HA481 float unsigned signed unsigned signed unsigned signed 32 bit 32 bit 32 bit 16 bit 16 bit 8 bit 8 bit i object object object object object object object Assigned BFM sub index hex a oe BFM 201 and 10121 higher 8 bit res BFM 318 and 10238 lower 8 bit CNN BFM 318 and 10238 higher 8 bit i 5 s BFM 319 and 102389 8 bit a BFM 319 and 10239 higher 8 bit 01 BFM 200 and 10120 lower 8 bit 02 BFM 200 and 10120 higher 8 bit t 7 03 BFM 201 and 10121 8 bit an ower 8 bi EM a Index Index Index Index HA6CO HA680 HA582 HA4C2 float unsigned i unsigned i unsigned 32 bit 32 bit i 16 bit i 8 bit i object object j object j object Assigned BFM sub index hex MADE BFM 320 and 10240 lower 8 bit BFM 320 and 10240 higher 8 bit T 7 ES AD g o0 03 BFM 321 and 10241 lower 8 bit 04 04 BFM 321 and 10241 higher 8 bit 9D 9D BFM 398 and 10318 lower 8 bit i NC NN NE BFM 398 and 10318 higher 8 bit an iqner l i is ix BFM 399 and 10319 8 bit mE NN BFM 399 and 10319 high
164. d 13003 This value provides the door number to which the output is assigned The structure of the field depends on the value of the basic function field If the bits of the door field are set to 1 this shall indicate an assignment of the output to this door Door Field BFM 3003 BFM 13003 Basic Function Field BFM 3001 BFM 13001 Low Byte Value hex Low Byte Bit No Bit O Bit 1 or Bit 2 00 to 07 OE to FF Bit 3 Bit 4 to 7 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 08 to OD Description Door 1 Door 2 Door 3 Door 4 Bit 4 to 7 fixed to OFF 0 Source door 1 Source door 2 Source door 3 Source door 4 Destination door 1 Destination door 2 Destination door 3 Destination door 4 6 Function data field High byte in BFM 3003 and 13003 The function data provides the input state of a virtual input BFM 3003 BFM 13003 High Byte Bit No HO H1 H2 Bit 9 to 11 Property H3 H4 H5 H6 H7 Bit 12 to 14 Property parameter OFF 0 ON 1 Bit 9 to 11 value hex Description No data indicated Does not apply for basic function H40 Data indicated No action default Output continuously Output pulsed Output flashing Output coloured Output with volume Output with scroll rate Reserved Refer to table below OFF 0 ON 1 Acknowledgement is not affirmed Acknowledgement is affirmed Value definition of the property parameter field Bit 12 to 14 Bit 12
165. d EMCY Receive Buffer For Emergency Message Buffer refer to Section 6 23 Bit 12 Reserved Note The data will be also exchanged by setting Bit O Gum E Bit 13 to 15 Reserved 65 BFM 21 Function Mode Function mode of FX3U CAN is set up FX3U CAN chooses the communication function corresponding to the function mode set in BFM 21 Note The BFM setting needs to be stored by BFM 22 bit O and afterwards be restarted by BFM 25 bit O to make the new settings effective Refer to Section 6 8 e For the CANopen profile CiA 405 or CiA 417 mode all saved OD settings will be deleted after mode change restart Set Value Function Mode Description K11 11 bit CAN ID Layer 2 mode This mode supports the 11 bit CAN ID Layer 2 Message K29 29 bit CAN ID Layer 2 mode This mode supports the 29 bit CAN ID Layer 2 Message K405 default CANopen 405 mode This mode supports the CANopen CiA 405 IEC 61131 3 Programmable Device Profile K417 CANopen 417 mode This mode supports the CANopen CiA 417 Lift Application Profile Other value All other settings will generate a BFM 29 bit 6 failure 111 suoneooads INO uononpou uoneejsu OO al E cs o 3 o og S e gt o h JO uoneool v seuouleJy Jeyng j apou op 9 jOJd 3q pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy 17 OO apo ci e1Nvo CO e eoeeju puewwog 6 Allocation of Buffer Memories FX3U CAN U
166. d condition is true If the bit is set to O the related M condition is not true Sub index H02 contains the information regarding whether the related load bit shall be processed 1 or not 0 e 7 4 3 2 1 0 FS v 3 105 FX3U CAN User s Manual 6 Allocation of Buffer Memories 6 1 Buffer Memories BFM Lists 6 Allocation of Buffer Memories 6 1 Buffer Memories BFM Lists Caution Do not access buffer memory BFM that is marked as Reserved Ex BFM 23 28 31 to 34 40 to 49 60 to 99 400 443 to 600 etc by FROM TO instructions etc There is a possibility to cause abnormal behavior to the operation of the FX3U CAN if accessing these buffer memories e When BFM 21 24 26 27 59 70 71 100 to 399 1100 to 1267 1900 to 1955 are written to FX3U CAN stores the state of the corresponding BFM in the built in flash ROM The maximum number of writes to the built in flash ROM is 10 000 times While BFM 25 bit7 is ON any TO access is prohibited and will generate a BFM 29 bit5 failure Note e When writing to a BFM that contains any bits marked as Reserved Ex BFM 20 bit 1 to bit 15 BFM 22 bit 2 to bit 15 etc set such bits to OFF There is a possibility to cause abnormal behavior to the operation of the FX3U CAN if setting these flags to ON Use BFM 22 to store the configuration BEM 0 to 19 penis aula Process Data HO RW 4 CANopen modes only
167. d data byte BFM 1007 5th data byte BFM 1008 7th data byte NENNEN NE BFM 1065 121st data byte BFM 1066 124th data byte 123rd data byte BFM No Example Setting When changing the NMT state of the whole network to state OPERATIONAL Write to BFM 1000 to 1005 as follows according to the above mentioned procedure Note This procedure can only be performed when the FX3U CAN is set up as the master Description BFM No FROM Read Access TO Write Access BFM 1000 SDO write success H0003 Command SDO write H0002 BFM 1001 A O TO Node number The FX3U CAN self HO read back BFM 1002 Index Request NMT A H1F82 read back Index Request NMT H1F82 BFM 1003 Sub index all nodes H80 read back Sub index all nodes H80 BFM 1004 Data length 1 byte K1 BFM 1005 Unused Command parameter data NMT service remote node HO5 BFM 1006 to 1066 Unused 181 apou sop 9 jOJd eoieq pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO suoneogoeds INO UONINPOJU mal uonejejsu QJ Buum a al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoo v O ae D D lt lt ED NO 10 Command Interface FX3U CAN User s Manual 10 2 SDO Request 10 2 4 CIF Multi SDO write access With the multi SDO write access command up to 8 SDO write accesses can be made within one command The maximum data length for each access is 8 bytes At first write the node number 0 1 127 t
168. d in CANopen state Operational or Pre operational uoneejsu OO Note e After power up or reset of the FX3U CAN the clock data is set to default values and the clock is stopped The data and time will be checked when BFM 56 is written If value is outside of the allowed range BFM 29 bit 6 will be set to ON Buum a For BFM 29 bit 6 refer to Section 14 2 When the FX3U CAN is set up as consumer write access to BFM 51 to 59 will be ignored e When FX3U CAN is the current Network Master and Producer the first time stamp will be sent after setting al BFM 58 als There is always a delay in time due to latency during writing to the BFM and during the transmission over 23 the CAN bus ss e A leap year correction is provided o e Clock tolerance 132 sec month at 25 C The resolution of the Time stamp object in the FX3U CAN is in units of second All values outside of the Setting range will be ignored and the old value will persist If a Time stamp object is received BFM 25 bit 12 will be set ES For communication status BFM 725 refer to Section 6 8 2 5 Note When handling built in clock data of PLC The FX3U CAN can handle built in clock data of the PLC using TRD FNC166 and TWR FNC167 instructions However be careful of different year data specifications For further information on the TRD FNC166 and TWR FNC167 instructions and built in clock data specifications of the PLC
169. des via the CAN bus Transmit Process Data Objects are data sent to other nodes via the CAN bus Multiplexed Process Data Object Service Data Object Synchronization object Emergency object Network management Layer Setting Services Open Style Connector Remote transmission request Virtual Device 13 FX3U CAN User s Manual Reading the Manual Reading the Manual Shows the manual title Shows the title of the chapter and the title Indexes the chapter number sar chase of the section The right side of each page manual title for the current This area shows the title of the chapter and the Indexes the chapter number page title of the section for the current page for the page currently opened m e y 3 Installation 3 2 Mounting 3 2 2 Direct Mounting The product can be installed directly with screws An interval space of 1 to 2 mm 0 04 to 0 08 between each unit is necessary For further information of installation refer to the following respective PLC manual For mounting hole pitches refer to Section 1 2 Refer to FX3G Hardware Edition gt Refer to FX3Gc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition UononpoJju sugfeoyoeds IN Create mounting holes in the mounting surface according to the external dimensions diagram Shows the reference The mark indicates a reference destination and reference manual
170. direct testing of the identified standards below and design analysis through the creation of a technical construction file to the European Directive for Electromagnetic Compatibility 2004 108 EC when used as directed by the appropriate documentation Attention his product is designed for use in industrial applications Note Manufactured by Mitsubishi Electric Corporation 2 7 3 Marunouchi Chiyoda ku Tokyo 100 8310 Japan e Manufactured at Mitsubishi Electric Corporation Himeji Works 840 Chiyoda machi Himeji Hyogo 670 8677 Japan Authorized Representative in the European Community Mitsubishi Electric Europe B V Gothaer Str 8 40880 Ratingen Germany Type Programmable Controller Open Type Equipment Models MELSEC FX3U series manufactured from April 1st 2012 FX3U CAN Standard Remark EN61131 2 2007 Compliance with all relevant aspects of the standard Programmable controllers EMI Equipment requirements and tests e Radiated Emission Conducted Emission EMS Radiated electromagnetic field Fast transient burst Electrostatic discharge High energy surge Voltage drops and interruptions Conducted RF Power frequency magnetic field 00 FX3U CAN User s Manual Standards Caution for Compliance with EC Directive 1 Caution for wiring For noise prevention please ground at least 35 mm 1 38 of the twisted pair cable along the grounding plate to which the ground terminal is connected For details
171. dy yr OO pue sep u SPON 4 Lv spol e eoeeju puewwog 137 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode Description BFM No TO Write Access FROM Read Access High Byte Low Byte Mapping successfully established Parameter Error Command H8300 BFM 1001 Node ID number of Source 1 Specific TPDO of Source 1 BFM 1002 Diagnosis Data Destination Node ID H80 Specific TPDO of local Node 1 All other values The corresponding BFM 1063 parameter caused an Node ID number of Source 32 Specific TPDO of Source 32 BFM 1064 error Destination Node ID H80 Specific TPDO of local Node 32 BFM 1065 gt Refer to the Subsection 7 2 6 Node ID number of Source 33 Specific TPDO of Source 33 BFM 1066 Destination Node ID H80 Specific TPDO of local Node 33 BFM 1000 CIF Busy Error 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 two BFMs n 1 and n 2 need to be terminated with HFFFF Source parameter The Source parameter defines the node which is the default owner of the COB ID 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 ra
172. e ccoonoccnccconncncoccononnncncncnnononnccnnononnnnnnnnnrnnnononnnnnnorannannnnnnnonos 31 AZ A NOTIN OM URN RTT 31 asc 5 GO CAI NCU EN cerner ERE 31 FX3U CAN User s Manual Table of Contents 5 Introduction of Functions 32 SM FUNCUONS Mer T m eH 32 5 2 UMN CUOM MOG ES EE ERE LLL DOLLS ITE 32 smog emBlerss af c EE 33 04 o lag lalo Walt go anoo uoo 013500002 529 20202580500 59 o Mr IECUR ODE CD EAD ER 33 5 5 Data Type Denton ATC cio 34 5 6 Communication Profile Area A IA setters shin topics qua ships o a 34 5 51 CANDIA COB ID CET 54 5 0 2 EMO RESISTIR A a E A 55 5 6 3 Pre defined error aa id dis 55 O A X ee ee 55 5 00 RPDO TADO ad edad 56 26 0 MEDO Mec METRE 63 A A a 64 900 Node guarding ENERO 65 A A Ad a LM Et NM el A DA 66 E TO NME cT A A X 67 5 6 T1 SO re Daratrie USIS sages sesso ace sna ee A A A De elas 67 5 6 12 Restore default parameters cccconccccoccncconnnnoconnnoconnnononononnnnnnononnnonnnnnnnnnnnnnnnnnnnnonnnnnnnnnennnnaninonos 68 Eon A T 68 o EMO De VOUT esta EE 70 5 0 INGIWONK Man ANO e e bd o 71 5 8 1 CANopen Boot Up Procedure and NMT States occcoocccoccncoccncoccnconcccnoncconononnononnnnonnnnonanonnnoss 71 2022 JT OUOCO OOD M 72 5 6 3 Protocol NMT Node control a eset de A ere ee eS 72 5 8 4 NMT slave IG cue O MM 73 Kem NWT Master Stan
173. e application profile 1000 Device Type CANopen 405 Mode K405 U32 K405 CANopen 417 Mode K417 Will be changed by setting BFM 21 1001 00 Error Register gt Refer to Subsection 5 6 2 U8 H R 1003 Pre defined error field Refer to Subsection 5 6 3 O 1005 00 COB ID of SYNC message Refer to Subsection 5 6 7 1006 00 Communication Cycle Period Refer to Subsection 5 6 7 EN id 1008 8 Byte ASCII String can FX3U CAN Hardware Version 4 Byte ASCII String e X otring 1009 NN RW v Paw v a 34 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Index Read suum 2 Description Set Range Data Type Initial Value to Flash a hex Write ROM oat 100A EN Software Version 4 Byte ASCII String Hans NES WB 9 mew OO OA 2 O 100E to a A 0c c O 1010 Store parameters Save all parameters Refer to Subsection 5 6 11 Une us 2n i 3 1011 Restore default parameters Restore all parameters D o Refer to Subsection 5 6 12 eae ii idi i 1012 COB ID Time Refer to Subsection 5 6 10 H8000 0100 R W 7 LE Rum OA 4 1014 COB ID EMCY Refer to Subsection 5 6 13 H80 Node ld Re 1015 Inhibit Time EMCY Refer to Subsection 5 6 13 R W y 1016 Consumer heartbeat time EG 01 to 7F Refer to Subsection 5 6 9 U32 R W y CANopen 405 Mode KO 1017 Producer heartbeat time Refer to Subse
174. e Identification information which is available at the Object dictionary Indexes H1000 and H1018 at the L SS Client e Index H1F81 the Sub index which corresponds to the Node ld which shall be set at the LSS Client Set bit 0 NMT Slave bit 2 NMT boot slave and bit 3 Mandatory device If the LSS Slave is not found on the configured baud rate the FX3U CAN changes automatically the baud rate to find the LSS Slave Through communication with a different baud rate it can come to a Bus off condition at the other devices in the network If the device does not support automatically recovering from Bus off or needs too much time for recovering it s not possible to configure the LSS Client It is recommended to establish a Point to Point connection for the configuration and to delete the Serial number entry Index H1F88 after configuration to prevent an unwanted start of the LSS Master For Boot time refer to Object Dictionary Index H1F89 in Section 5 6 gt For NMT slave identification refer to Object Dictionary Index H1F84 to H1F88 in Subsection 5 8 4 For configuration refer to Object Dictionary Index H1F81 in Subsection 5 8 7 Note Check if the LSS Client has activated an internal Bus termination If necessary deactivate the Bus termination first to prevent unwanted behaviour of the connected nodes on the bus 5 8 13 Configuration manager The Configuration manager provides mechanisms for configuration of CANopen devices in a CANope
175. e Source door 4 door 3 door 2 door 1 door 4 door 3 door 2 door 1 When the basic function field is HOO to HO7 or HOE to HFF the structure of the door field is shown below 35 34 33 32 6 Function data field The function data provides the input state of a virtual input 4 z suonounJ jo uononpouu o 47 46 42 41 40 Bit No Mem Description Description seuouleJy Jeyng jo uoneoollv Input state is OFF Bit 40 and 41 Input state Input state is ON Function is defective apou sop BO 399 pue eoejeju Function is not installed Bit 42 to 46 Reserved Bit 47 TT OFF 0 Button or key button has no locking function ON 1 Button or key button has locking function SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 95 FX3U CAN User s Manual 5 Introduction of Functions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 5 10 3 Virtual output mapping This Object contains the output data for one of the digital output group objects 47 40 39 32 31 24 29 a 10 15 8 Tus 0 Funcion daa 1 Basic function field Bit 0 to 7 Description Bit 0 to 7 Value hex Value hex 00 Call controller commands 11 01 Generic output 12 to 1F 02 Standard hall call acknowledgement 20 03 Low priority hall call acknowledgement 21 to 3F 04 High priority hall call acknowledgement 40 05 Standard car call
176. e TPDO COB ID to Destination RPDO COB ID page 136 5 Assign Additional TPDO COB IDs to the Local Node page 137 53 The Mode B COB ID mapping command will modify the current PDO COB ID at the Destination therefore it 28 is important to have a clearly defined mapping base before executing any Mode B commands Executing the B Mode B COB ID Mapping commands before adjusting the PDO mapping parameters adjusting the PDO data length may create errors in the data transmission or module operation The PDO mapping base can be the Mode 0 mapping or the Mode A mapping explained in previous o sections to prepare default RPDO and TPDO formats Another method to create or reset a Mapping base is a to initialize the Mode B Mapping with a special instruction at the beginning of the Mode B Mapping Command EE If it is necessary to change the remote node hardware mapping this can be done by the SDO write access 22 command or by a standard CANopen network configuration tool D The configuration with the Mode B mapping is controlled by parameters which are displayed in the table on the following page e jold eoneq zlaferNwo CO uoneogddy yr OO pueeoepeyl For the SDO write access command in the CIF refer to Subsection 10 2 3 For BFM assignment of the Receive Transmit Process Data BFM s refer to Subsection 7 1 1 and Subsection 7 1 2 For the CANopen configuration software refer to the manual of the software to be used
177. e basic function field value A retar Field E SEM EID 1 lso Low Byte Value High Byte Value hex hex n Request all active hall calls Request all special inputs basic functions OE and 12 01 Reserved Hall call up acknowledgement Hall call down acknowledgement coda Hall call acknowledgement Hall call extra up acknowledgement Hall call extra down acknowledgement 06 Hall call extra acknowledgement 05 to OD Target stop acknowledgement 1 to 254 All target stop buttons 154 8 CANopen 417 Mode FX3U CAN User s Manual 8 3 Virtual Input Output Mapping Basic d 3 BEI Mund SEM ieee a REON S Low Byte Value High Byte Value hex hex 00 Reserved 2 Request fan 1 acknowledgement Y Request fan 2 acknowledgement Request load time 1 acknowledgement S Request load time 2 acknowledgement Z Request key lock 1 acknowledgement OB Request key lock 2 acknowledgement 3 Request key lock 3 acknowledgement 3 B Request key lock 4 acknowledgement x o Request door open acknowledgement 9 Request door close acknowledgement B Fire recall key switch hall panel acknowledgement Fire service key switch hall panel acknowledgement 4 OD Hallcalldisable acknowledgement z Attendant service acknowledgement Ei VIP service acknowledgement Out of order acknowledgement Bed passenger service acknowledgement Special service acknowledgement 5 Service run acknowledgement EE Dogging service enable ackno
178. e previous data is not finished and a new exchange command to BFM 20 has not been sent FROM data will not be overwritten by further PDO If the module is in NMT state Operational PDO data received from other nodes can be read by the FX3G FX3GC FX3U FX3UC series PLC by using a FROM instruction and transmit PDO data can be written to the module and sent to the network by using a TO instruction The exchange data bit s will be reset automatically when the data exchange between BFM and Object Dictionary Data exchange buffer is finished Note BFM 20 bit 0 will be reset automatically During an active data exchange BFM 20 bit 0 is ON new write access to this BFM will be ignored Bit Description i FROM Read Access TO Write Access Data exchange status Data exchange mode Control OFF Data exchange between BFM s and Data Exchange OFF No data exchange between BFMs and CANopen Buffer completed object dictionary Layer 2 message buffer Module exchanges data between BFM s and Data ON Activate data exchange between BFMs and exchange buffer ir s CANopen object dictionary Layer 2 message buffer Bit 0 This bit has the same function as Bit 8 i d Notes This bit merges the function of Bit 8 9 and 12 If the bit is set and the Module is not in CANopen state Pre Operational or Stopped the PDO data will be exchanged after going into Operational state Bit 1to 7 Reserved Only in CANopen modes Only in CANopen mod
179. ection 5 6 and Section 5 8 2000 to 5FFF Manufacturer specific profile area 6000 to 9FFF Standardized Profile area CiA 417 Refer to Section 5 10 A000 to AFFF Standardized Profile area CiA 405 Refer to Section 5 9 B000 to FFFF Reserved Command Interface The Command Interface CIF provides access to the Object Dictionary of the FX3U CAN and the Object Dictionary of other CANopen nodes in the network Using the BFM area 1000 to 1066 the various CIF functions can be used for SDO read write RPDO and TPDO configuration mapping configuration of Node Guarding Heartbeat Emergency Messages and others For Command Interface refer to Chapter 10 Function Mode Selection Command Interface Reference Mode405 Mode 417 Mode Ti Mode 29 SDO Request Low EA TF Section 10 2 Set Heartbeat ME a ee Section 10 3 Set Node Guarding NMT slave assignment Section 10 4 Send an Emergency Message A Section 10 5 Store Object Dictionary settings NOA oaa f o Section 10 6 Restore Object Dictionary default settings OZ Cz eoo ee Section 10 7 Communication Mapping Modes Low dq bp Section 7 2 Display current Parameter Section 10 8 Sending Layer 2 Message T LX Lo j Section 9 7 33 suoneooads INO uononpou uonejejsu OO 4 z z jo UONINPOAU o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO
180. ective PLC manual Refer to FX3G Hardware Edition Refer to FX3cc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition e Example of direct installation 1 to 2mm 1 to 2mm 0 04 to 0 08 0 04 to 0 08 p FX3G FX3U Series other main unit FX3u CAN extension equipment shows the M4 screw 27 UONINPOJJU ep O D o zh O o 2 N uonejejsu Gum Ea al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 4 Wiring FX3U CAN User s Manual 4 1 Applicable Cable and Connector 4 Wiring WIRING PRECAUTIONS NWARN N G Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product WIRING PRECAUTIONS NC AUTION Perform class D grounding grounding resistance 100 or less to the shield of the twisted shield cable refer to Subsection 4 2 3 Do not use common grounding with heavy electrical systems When drilling screw holes or wiring make sure cutting or wire debris does not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Install module so that excessive force will not be applied to communication connectors
181. efore using this product Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases a Failure occurring
182. emperature generic Device temperature generic CANopen device hardware generic error CANopen device software generic error Internal software generic User software generic Data set generic EMCY Manufacturer specific error codes EMCY Manufacturer specific error codes of the FX3U CAN are shown below EMCY Manufacturer Specific error codes are expressed by five ASCII code characters However the lower 2 bytes of the Manufacturer Specific Error code corresponding to Emergency Error Code 8250 uses four hexadecimal digits instead of ASCII code Emergency Firon Code Description hex 5th Byte 4th Tu 3rd Byte 2nd Byte 1st Byte Error Code hex 7000 8000 8100 8110 8120 8130 8140 8150 8F01 to aF7F 8200 8210 8220 8230 8240 8250 9000 F000 FFOO FF01 FFO2 FFO3 FF04 Manufacturer Specific Error code hex Description Additional modules generic error Monitoring generic error Communication generic CAN overrun objects lost CAN in error passive mode Life guard error or heartbeat error Recovered from bus off CAN ID collision Life guard error or heartbeat error caused by Node ID 1 to Node ID 127 Protocol error generic PDO not processed due to length error PDO length exceeded DAM MPDO not processed destination object not available Unexpected SYNC data length RPDO timeout External error generic error Additional functions g
183. en a NMT slave error occurs and the NMT startup master tries to re start the faulty NMT slave Bit 15 OFF Module works as NMT Slave Reserved ON Module works as NMT Master 114 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 9 BFM 26 FROM TO Watchdog 6 9 BFM 26 FROM TO Watchdog 3 The FROM TO Watchdog can be used when the Module is online to monitor if the PLC program accesses 9 data BFM 0 to BFM 19 BFM 100 to 399 or BFM 3000 to BFM 3539 cyclically After the first FROM TO on the data BFM the Watchdog will check if the next access to the data BFM takes place before the time set in BFM 26 expires 2 BFM 26 sets the Watchdog timer in 10 ms steps default value K20 equals 200 ms 9 Note e f the watchdog expires bit 7 in BFM 29 is set to ON and the messages defined in the BFM 1900 to 1927 PLC RUN gt STOP messages area or an EMCY Object are transmitted on the network If the module is ina CANopen Mode the module will react according to the value set in the Error behavior object Index H1029 in the object dictionary For PLC RUN gt STOP messages refer to Section 9 6 For EMCY Object refer to Subsection 5 6 13 For Error behaviour object refer to Section 5 7 uoneejsu OO e Ifthe watchdog function is not required it can be deactivated by writing KO to BFM 26 e The FROM TO watchdog can be restarted by writing the setting value to BFM 26 again which will also reset the error
184. en to the communication S parameter e Example Destination parameter H0203 The Source data will be bound to RPDO 3 of Node 2 uoneejsu OO Note An error message will be generated if the destination parameter is not configured Assign Additional TPDO COB IDs to the Local Node By default every CANopen node uses four COB IDs to exchange its data with other CANopen stations All COB IDs for Data transmission are by default reserved for nodes 1 to 127 If it is necessary to transmit more than 4 PDOs more than 16 words from one node this node must occupy COB IDs of other unused stations It is recommended to use the identifier of higher number stations for this purpose 127 126 125 etc The lower the used COB ID is the higher the priority of the messages Thus assigning the COB ID of Buum a al TPDOA from node 127 to highly important data should be avoided because all other TPDO COB IDs have a Sa higher priority for transmission on the CANopen bus 35 This command assigns the COB ID of an unused TPDO of the Source Node to the defined TPDO of the local S o Node Ensure that the Source Node doesn t exist in the network or that the Source Node TPDO is deactivated e Mode B TPDO RPDO COB ID Setup scenarios o COB ID set Jo uone5o v UJ D D D 3 o D o FX3U CAN Destination Node TPDO Not used Source Node TPDO apou sop BIO e jold eoneq zlaferNwo CO uoneogd
185. eneral industries and has not been designed or manufactured to be incorporated in a device or system used in purposes related to human life Before using the product for special purposes such as nuclear power electric power aerospace medicine or passenger movement vehicles consult with Mitsubishi Electric This product has been manufactured under strict quality control However when installing the product where major accidents or losses could occur if the product fails install appropriate backup or failsafe functions into the system When combining this product with other products please confirm the standards and codes of regulation to which the user should follow Moreover please confirm the compatibility of this product with the system machines and apparatuses to be used If there is doubt at any stage during installation of the product always consult a professional electrical engineer who is qualified and trained in the local and national standards If there is doubt about the operation or use please consult your local Mitsubishi Electric representative Since the examples within this manual technical bulletin catalog etc are used as reference please use it after confirming the function and safety of the equipment and system Mitsubishi Electric will not accept responsibility for actual use of the product based on these illustrative examples The content specification etc of this manual may be changed for improvement without notice
186. eneric error Device specific generic error CiA 417 Light barrier defect CiA 417 Finger protector defect CiA 417 Motion detection defect CiA 417 Application error Manufacturer specific error code Byte 0 and 1 contain a Text error code Byte 2 to 4 are reserved 2 aaa FX001 Main unit CPU error occurs FX002 Main unit state changed from RUN to STOP Also occurs when the main unit is powered ON in the STOP state 33 FX003 FROM TO Watchdog expired 30 30 34 tae Module reset by BFM 25 bit O For module reset refer to Section 6 8 PDO X RPDO Nr HXXXX Event Timer expired 121 suoneooads INO uononpou uoneejsu OO buum E al E o 3 o og S e gt o h JO uoneool v seuouleJy Jeyng j apou sop 9 jOJd 3q pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy 17 OO apo ci e1Nvo CO e eoeeju puewwog 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 24 BFM 900 to 963 NMT Error Control Status 6 24 BFM 900 to 963 NMT Error Control Status This BFM displays the Node Guarding and Heartbeat status Note When resetting the local NMT error latch write HO to the corresponding bit of this BFM e f bit 2 to 7 of any node is ON BFM 29 bit 10 will be set e Ifthe bit 10 in BFM 29 is reset to OFF all failure bits in BFM 900 to 963 will be reset to OFF SEMI Description BFM 900 Node 1 status BFM 901 Node 3 st
187. eoeeju puewwog 23 2 Specifications FX3U CAN User s Manual 2 1 General Specifications 2 1 General Specifications Items other than the following table are equivalent to those of the PLC main unit For further information of general specifications refer to the manual of the PLC main unit Refer to FX3c Hardware Edition gt Refer to FX3Gc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition Item Specification Dielectric Withstand Voltage 500V AC for one minute Between all terminals and ground terminal Insulation Resistance 5MQ or more by 500V DC megger 2 2 Power Supply Specifications Item Specification Internal Power S P Do Mae uppYy 24V DC power is supplied internally from the main unit For details on the 24V DC power supply of main unit refer to the manual of the PLC main unit 2 3 Performance Specifications Item Specification Transmission Type CAN Bus network RS 485 CSMA CR Applicable Function CANopen Node CAN Layer 2 Node e CiA 301 V4 2 CANopen Communication Services zB mu CiA 302 V4 1 According to CiA Standards 2 8 CiA 305 V2 2 CANopen Device and Application Interface and Device Profile CiA 405 V2 0 for IEC 61131 3 Programmable Devices Profiles According to CiA Standards Application Profile CiA 417 V2 1 for lift control systems No support in CANopen mode Remote Transmit Request RTR Support in Layer 2 mode For suppo
188. er 8 bit 126 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 3 In order to exchange data by CANopen the data channels between the nodes must be defined or mapped gt For large networks the usage of a proper CANopen network configuration tool which is able to support easy parameter settings and PDO mapping is recommended 2 To build up a small network or for testing purposes the FX3U CAN supports three PDO mapping binding a modes which can be executed by the Command Interface By using these predefined Mapping 3 configurations the CAN object ID COB ID number for data exchange of each node is clearly defined g For function mode setting for CANopen 405 mode refer to Section 6 5 S3 1 Example Vector ProCANopen Note It is strongly recommended to execute the Mapping Commands only in the Pre operational mode of all related CANopen nodes For a complete list of the assignment between the data BFM and the CANopen data objects and their location in the Object Dictionary refer to the following section Refer to Subsection 7 2 1 and Subsection 7 2 2 uoneejsu OO Gum E Note that the NMT Master startup process uses SDO s which can be result in an Error of the CIF SDO command if the NMT Startup Master acceses the remote Node at the same time al suonounJ jo uononpouu o JO uone
189. er Down Messages occccccoccncccoccnnononcnncnnncnnonononnononcnononennnnanenenonanennos 175 9 4 Cli Sending Layer 2 Messadd8ussseeis e a eS D ES edad ee 171 10 Command Interface 178 10 1 BFM 1000 to 1066 Command Interface cccoccccoccncccccnnconcnnconncnncnnnonononnnnnnonnncnnnnnononenos 178 102 SDO REGUS Ure edi Sees et ee a ee Rae abanautedeasatsoabasausadleac a basa utadbactoce aia urea anie 179 OZ CIB SDO read ACCESS HET HEN 179 10222 C IP Mull SDO Tead 366695 ax acs cere Sete Mantes E eem edu wad per tere eraede a odo 180 10 23 CIF SDO Wte gC CESS rider rose Leite them to Hcet depen Decr dieu edente uices esp tai teens 181 10 24 CUE Multi SDO write 3666585 od 182 A A AAPP late cuards ventehipatensdeate 183 10 4 Set Node Guarding NMT Slave ASSIgNMeNt oocccccocccnccnoccnconoccnnnnononnonanonnononcnnnnnnnnnnnnennnnnnanons 184 10 5 Send an Emergency Message sesiones 185 10 6 St re Object Dictionary SeuinGS a a dado 187 10 7 Restore Object Dictionary Default SettingsS ooccccconoconococonoconconoconconoconcnnnnnanonononcnnnnnns 188 10 3 Display Current Paramete 265 sect etude eden Hin aea E od 188 TO Emor Mess ados iii a 189 IST Eto MES Sagos ERU EM 189 10 9 2 C IF pusy Message PC 191 11 PLC RUN STOP 192 12 Communication Settings Procedure 194 12 1 CANopen 405 Mode cnc remettre treten retener tre tetra 195 12 2 CANopen 417 Mode cc 196 12 3 11 bit 29 bit CAN ID Layer 2 MO ic sentite Hn
190. er to Node ID value Subsection 5 8 7 R W v 36 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Index Read ase a Description Set Range Data Type Initial Value to Flash a hex Write ROM 1F82 01 to7F Request NMT Node ID R W 01 to 7F q gt Refer to US O 1F83 01 to 7F Request node guarding Refer to Node ID value R W e U8 HO zi 80 Subsection 5 8 10 All nodes E s ra MN ER EN gt 01 to 7F Refer to Subsection 5 8 4 U32 R W Y Highest sub index H7F PEN MU 28 3 01 to 7F Refer to Subsection 5 8 4 U32 RAN Y Highest sub index H7F D ERE Nm Em gt 01 to 7F gt Refer to Subsection 5 8 4 U32 R W V S Highest sub index H7F EN WU KEN 01 to 7F gt Refer to Subsection 5 8 4 U32 R W v 4 Highest sub index H7F A m NM 01 to 7F Refer to Subsection 5 8 4 U32 RAN y ae Reserved 1F8F eet U16 K100 R W y timeout E NMT master amp negotiation time U16 K500 R W Y delay a NMT flying master timin NMT master ying 9 gt Refer to priorit U16 K1 R W Y parameters Sedne 541 p y 6 Pe get Priority time slot U16 K1500 R W 7 Ww gt T CANopen device 4g K10 RW v 8 time slot oS se een U16 oe Y 2 K10 Node ID e cycle time 1F91 to 1FFF j apou sop BO 3919 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 37
191. erent behaviour in case of PLC RUN STOP 02 Change to NMT state Stopped 03 to FF Not used 01 70 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 Network Management 3 The NMT provides services for controlling the network behaviour of CANopen devices All CANopen devices of a network referred to as NMT slaves are controlled by services provided by an NMT master The NMT master is typically also the Application master at the same time but it is not necessary The FX3U CAN supports the master functions NMT startup master Flying master Configuration manager 2 SYNC producer TIME producer and LSS master which are described in the sections before and below Y 5 8 1 CANopen Boot Up Procedure and NMT states S CANopen devices shift to the NMT state Pre operational directly after finishing device initialization In this NMT state CANopen device parameterization and CAN ID allocation via SDO e g using a configuration tool is possible Then the CANopen devices may be switched directly or by the NMT startup master into the NMT state Operational uonejejsu QJ Power on 1 Initialization Pre Operational Stopped 4 z E suojoun4 jo uononpouu o Operational pa Tg zg D 5 EE State Change Description 1 At Power on shifts to the NMT state initialization automatically a After the NMT state initialization finishes shifts to the NMT state Pre
192. error Node ID of an error and SDO access abort code are stored in BFM 1002 to 1004 BFM No Description BFM 1000 Error HOOOF BFM 1001 Error Class H0003 BFM 1002 Node ID BFM 1003 Low Word of SDO access abort code BFM 1004 High Word of SDO access abort code BFM 1005 to 1066 Unused 1 SDO access abort codes In different CiA Device Application Profiles more SDO access abort codes are defined For SDO access abort codes that are not in the following table refer to the manual of the device which sent the message SDO access abort code hex m High Word Description 0503 Toggle bit not alternated 0504 SDO protocol timed out FX3U CAN 500ms 0504 Client server command specifier not valid or unknown 0504 Invalid block size block mode only 0504 Invalid sequence number block mode only 0504 CRC error block mode only 0504 Out of memory 0601 Unsupported access to an object 0601 Attempt to read a write only object 0601 Attempt to write a read only object 0602 Object does not exist in the object dictionary 0604 Object cannot be mapped to the PDO 0604 The number and length of the objects to be mapped would exceed PDO length 0604 General parameter incompatibility reason 0604 General internal incompatibility in the device 0606 Access failed due to a hardware error 0607 Data type does not match length of service parameter does not match 0607 Data type does not match length of service parameter too high 0607 Dat
193. es Data exchange status only OD data Data exchange mode setting only OD data OFF Data exchange between BFM s and Data Exchange OFF No data exchange between BFM and CANopen Buffer completed object dictionary ON Module exchanges data between BFM s and Data exchange buffer Note This bit has the same function as Bit 0 ON Activate data exchange between BFM and CANopen object dictionary Notes The RPDO data of the Virtual Input mapping BFMs are not included in this data exchange It can be handled separately by Bit 9 The data will be also exchanged by setting Bit O If the bit is set and the Module is not in CANopen state Operational the PDO data will be exchanged after going into Operational state Bit 8 110 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 5 BFM 21 Function Mode Description FROM Read Access TO Write Access Only in 417 Function mode Refer to BFM 21 Data exchange for the Virtual Input mapping BFMs With this bit it s possible to read the Receive Buffer of the Virtual Input mapping without exchanging the data of all data exchange BFMs Bit 9 Reserved OFF No data exchange ON Exchange data gt For FROM access of BFM 3001 to 3003 refer to Section 8 3 Bit Note The data will be also exchanged by setting Bit O Bit 10 to 11 Reserved OFF No data exchange between Emergency Message BFMs and EMCY Receive Buffer ON Exchange data between Emergency Message BFMs an
194. escription BFM 1000 Error HOOOF BFM 1001 Error Class H0064 9 BFM 1002 to 1066 Unused S3 28 9S8 2 When queue was not available aS Access to the internal transmission queue was rejected Possibly the bus load was too high 9 This error may occur during Mode B mapping command execution for errors other than source or destination parameter errors Please execute again after waiting a little o BFM No Description BE BFM 1000 Error HOOOF zx BFM 1001 Error Class H8FFF 3 o BFM 1002 to 1066 Unused D j 3 Command or parameter change while CIF was busy During FX3U CAN Command interface execution HFFFF is written in the read access area of BFM 1000 During Command interface execution a new command cannot be executed If accessing BFM 1000 to BFM 1066 during the CIF execution an error may occur and HOOOF will be shown in the BFM 1000 apou sop 9 jOJd eoieq pue eoejeju gt For the executing Command interface discontinuance procedure refer to Subsection 10 9 2 8 BFM No Description E i BFM 1000 Error HOOOF 38 BFM 1001 Error Class HFFFF O 2 BFM 1002 to 1066 Unused 2i 4 Clear Reset the CIF was busy Error 9 To Reset the CIF after a Command or Parameter Change while CIF was busy Error HEFFF must be written O using the TO command to BFM 1000 The CIF is available again if the BFM 1000 displays HOOOO Se 189 10 Command Interface FX3U CAN User s Manual 10 9 Error Messages 5 SDO
195. esponding message transmit trigger flag in BFM 1280 to 1282 is set to ON K2 K4 For the message transmit trigger flag refer to Section 9 5 3 Parameter D cycle time for each Layer 2 message This parameter is used when the transmission type event is set to K2 or K3 The cycle time is in units of ms Note e The cycle time should be set in consideration of the PLC scan cycle and communications response time etc e f cycle time is set to KO cycle time operates as 1 ms 171 suoneoyoeds INO uononpoJu uonejejsu QJ Guin d al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoollv apou sop 9 jOJd eoieq pue eoejeju PS sali Um E gt o o Do 8 r O c 19887 NYO e eoeeju puewwog 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 3 Pre defined Layer 2 Message Configuration 9 3 2 Pre defined Layer 2 receive messages This subsection describes parameters A to D for the receive message Parameter Initial Value Layer 2 message number parameter A HFFFF Layer 2 message number parameter B HFFFF Layer 2 message number parameter C H0000 Layer 2 message number parameter D H0000 Parameter A and B for each Layer 2 message Set the source CAN ID of the received message to parameter A and B CAN ID is as follows corresponding to the function mode to be used When Layer 2 message number is not used set HFFFF to both parameter A and B
196. essages This subsection describes parameters A to D for the transmit message Layer 2 message number parameter A Constant HFFFF HFFFF H7FFF auto RTR response H6FFF manual RTR response Layer 2 message number parameter B HFFFF H5FFF disable RTR handling HFFFF message disabled Layer 2 message number parameter C Transmission type H0000 Layer 2 message number parameter D Cycle time in 10 ms H0000 Parameter A and B for each Layer 2 message A message buffer in BFM 100 to 393 is assigned to a Layer 2 transmit message by writing HFFFF in parameter A and writing H7FFF H6FFF or H5FFF in parameter B When Layer 2 message number is not used set HFFFF to both parameter A and B Note The Layer 2 implementation of the FX3U CAN can handle up to 28 transmit slots with RTR handling parameter B H7FFF or H6FFF If the configuration violates this rule the first 28 transmit message configurations remain as they are and RTR handling is disabled for any further transmit messages as parameter B is forced to H5FFF For the RTR message reception list refer to Section 9 4 When using the auto RTR response Set H7FFF to parameter B for the Layer 2 message The FX3U CAN automatically responds to Remote Transmit Requests RTRs if the 11 29 bit CAN ID i e set in BFM 100 matches the ID in the RTR message The RTR message is not stored to the RTR flag list When using the manual RTR response Set H6FFF to par
197. essages is modified Subsection 9 3 2 The contents of CIF Multi SDO read access is added Subsection 10 2 2 The contents of CIF Multi SDO write access is added Subsection 10 2 4 The explanation of Send an Emergency Message is modified Section 10 5 The contents of PLC RUN STOP is added Chapter 11 Partial correction Errors are corrected FX3U CAN USER S MANUAL MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN JY997D43301B Effective Dec 2013 MEE Specifications are subject to change without notice Mitsubishi Electric Europe B V EUROPE Gothaer Stra e 8 D 40880 Ratingen Phone 49 0 2102 486 0 Fax 49 0 2102 486 1120 Mitsubishi Electric Europe B V Radlick 751 113e Avenir Business Park CZ 158 00 Praha 5 Phone 420 251 551 470 Fax 4 420 251 551 471 Mitsubishi Electric Europe B V 25 Boulevard des Bouvets F 92741 Nanterre Cedex Phone 33 0 1 55 68 55 68 Fax 33 0 1 55 68 57 57 Mitsubishi Electric Europe B V Westgate Business Park Ballymount IRL Dublin 24 Phone 353 0 1 4198800 Fax 353 0 1 4198890 Mitsubishi Electric Europe B V Viale Colleoni 7 Palazzo Sirio 1 20864 Agrate Brianza MB Phone 39 039 60 53 1 Fax 39 039 60 53 312 Mitsubishi Electric Europe B V Nijverheidsweg 23a NL 3641RP Mijdrecht Phone 31 0 297250350 Mitsubishi Electric
198. estored to BFM 1001 to 1066 When HFFFF is set as node ID in BFM 1002 to 1066 the Restore object dictionary factory default settings is finished The local FX3U CAN can be specified by its actual node number or by using O 2 Write the command code H6010 to BFM 1000 When the command code H6010 is written to BFM 1000 the command is executed 3 When the Object Dictionary default settings have been restored H6011 is written to BFM 1000 gt If H601F HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 4 To activate the default settings the device has to reboot Do not use the Store Object Dictionary Settings command between the Restore Object Dictionary Default Settings command and the Reset command Description BFM No FROM Read Access TO Write Access Object Dictionary default settings have been restored BFM 1000 Parameter Error Command H6010 CIF Busy Error BFM 1001 1st target node ID Diagnosis Data 3 H0000 No Error BFM 1066 HFFFF Parameter caused an error 66th target node ID Display Current Parameter This command can be used to display the parameter in BFM 1001 to 1066 of the last executed CIF command If a command caused an error this function allows the parameter which caused the error to be displayed and to make the necessary adjustments to the parameter set and sequence program Execution procedure Display current parameter 1 Write the command code H0000 to BFM 1000
199. execution signal RST SDOReadCompleted EN ENO d StartSDORead 58 If a SDO Read command error occurs increase the command error counter INCP SDOReadError EN ENO d SDOReadErrorCounter 59 If a SDO Read command is completed increase the command complete counter SDOReadCompleted SDOReadError SDOReadOKCounter 213 13 Program Example y FX3U CAN User s Manual 13 3 Program 60 When the previous is completed start the PDO communication and start an SDO Read request MOV StartPDOCommunication ENO K1 d TPDOnumber FillData RPDOnumber StartPDOWrite StartPDORead StartPDOCommunication 61 M8013 StartPDOWrite PDOWriteData 0 62 Write the PDO data PDOWrite PDOWrite KO HeadAddress TPDOnumber TPDOnumber PDOWriteData WriteData StartPDOWrite StartCommunication 63 Read the PDO data PDORead PDORead KO HeadAddress ReadData PDOReadData RPDOnumber RPDOnumber StartPDORead StartCommunication 214 14 Diagnostics FX3U CAN User s Manual 14 1 Preliminary Checks 14 Diagnostics STARTUP AND MAINTENANCE RN NG PRECAUTIONS V VA Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manual
200. f the Boot time elapses before all mandatory Slaves are started the NMT startup will be stopped and the NMT startup Master will be disabled The value 0 disables the timer Setting range KO to K4 294 967 295 3 Object H102A NMT inhibit time This object configures the minimum time between two NMT messages The 16bit value is given in multiples of 100 us Lowest counting resolution of FX3U CAN 1ms The value O disables the inhibit time Setting range In the FX3U CAN the value is fixed to O Bit 4 80 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 8 NMT Bootup Error Event handling zi O When Consumer Heartbeat time elapses Node Guarding failed or the NMT Slave responds a unexpected z Node state the NMT Master handles the NMT Slave as shown in Figure 5 4 If the NMT Master receives at any time a Boot Up message from an assigned NMT Slave the NMT Slave will be startup by the NMT startup Master If the NMT Master is in NMT state stopped the NMT startup Master will 2 not be able to start the NMT Slave s For protocol boot up refer to Subsection 5 8 2 3 Figure 5 4 NMT error handler g O Start NMT error handler Node is assigned NMT Slave uonejejsu QJ OD Index H1F81 Bit O 4 z z OD Index H1F81 Bit 3 Node is mandatory and all nodes shall be stopped NMT service Stop all devices OD Index H1F80 Bit 6 suonounJ jo uononpouu o
201. ffer Memories are accessed by FROM TO commands of the PLC However only FX3u FX3UC Series PLC supports direct specification of the buffer memory For further information on applied instructions bit specification of word devices and direct specification of buffer memory refer to the following manual Refer to PROGRAMMING MANUAL Note Buffer memory that is assigned in 32 bits must use 32 bit instructions to read write 32 bit data cannot be correctly read written from to buffer memory if 16 bit read write instructions are used Characteristics This section describes the characteristics of the CAN bus communication with other CANopen nodes and some of the special features available in the CANopen protocol The object dictionary The Object Dictionary is a type of indexed storage system that contains data device parameters CANopen feature setup data instruction triggers and other information necessary to configure and operate the CANopen protocol SDO command The Service Data Object Command can be used to read write data to the Object Dictionary This command can be used to set network parameters and also to initiate CANopen functionality SYNC service The SYNC service provides the basic network synchronization mechanism TIME service The TIME service provides a simple network clock CANopen devices that operate a local clock may use the TIME object to adjust their own time base to that of the ti
202. figuration time of the az CANopen devices in the network The value contains the number of ms after midnight E e eoeeju puewwog 87 5 Introduction of Functions FX3U CAN User s Manual 5 9 Device Profile CiA 405 V2 0 for IEC 61131 3 Programmable Devices 5 9 Device Profile CiA 405 V2 0 for IEC 61131 3 Programmable Devices This section describes the Device Profile for IEC 61131 3 programmable devices The objects for data read write support signed 8bit unsigned 8bit signed 16bit unsigned 16bit signed 32bit unsigned 32bit and float 32bit The corresponding Objects in the Object dictionary can be directly accessed via the BFM from the PLC Refer to Section 7 1 Inverter Encoder FX3U CAN FX3G FX3GC CiA 402 CiA 406 FX3U FX3UC CiA 405 device device Series PLC device Terminating Terminating resistor resistor FX3U CAN EX3G FX3cci 3U I O Module I O Module FX3U EX3UC CiA 405 CiA 401 CiA 401 CiA 450 Series PLC device device device device The table below provides a brief description and reference information for the FX3U CAN CANopen Object Dictionary Index Sub index Desertian Data Initial Read hex hex P type value Write A000 o9 Input network variables ee p r 01 to FO Signed Integer 8 bit 08 KO A001 ECON Input network variables dl a 01 to FO Signed Integer 8 bit 18 KO A002 E NN Input network variables eds e 01 to AO Signed Integer 8 bit 0 KO
203. first flying master where this time OD Index H1F90 elapse shall have the highest priority Sub index H05 Flying master priority P d EAN Priority level x 128 Node Id The lower the number is the BFM 427 higher the priority Service Confirmation NMT flying master negotiation received From the next page To the next page To the next page 84 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 2 9 To the previous page Flying master priority o Priority level x 128 Node ld The lower the number is the higher the priority 2 Send Service AAA Ye cola dead g i t OD Index H1F90 i A di e Sub index H03 yes priority gt own priority E BFM 27 no uoneejsu OO Send Service Force NMT flying master negotiation NMT master mode NMT slave mode Continue with NMT master startup 1 Object H1F80 NMT startup Set H1F80 bit 5 to ON to participate in NMT flying master negotiation For NMT startup refer to Subsection 5 8 5 4 z 2 Object H1F90 NMT flying master timing parameter This object defines the parameters for the NMT flying master negotiation process 3 Object H1F90 Sub index H01 NMT master timeout The value is in units of ms suonounJ jo uononpouu 4 Object H1F90 Sub index H02 NMT master negotiation time delay The value is in units of ms o w gt 5 Object H1F90 Sub index H03 NMT master priority 28 zS 15
204. flag in BFM 29 Gum E 6 10 BFM 27 Node Address This BFM sets CANopen Node ID The setting value range is 1 to 127 al Note cz _ o 2 ag The BFM setting needs to be stored by BFM 22 bit O and afterwards be restarted by BFM 25 bit O to S make the new setting effective E e A setting out of the above range or a write access in Layer 2 function mode will generate a Failure Message in BFM 29 bit 6 w gt SB 6 11 BFM 29 Error Status 38 do For further information on error status refer to the following section D Refer to Section 14 2 j 6 12 BFM 30 Module ID Code apou sop 9 jOJd 3q pue eoejeju The identification code for FX3U CAN is available using a FROM instruction The identification code for the FX3U CAN is K7170 By reading this identification code the user may create built in checking routines in the PLC program to check whether the physical position of the FX3U CAN on the special function unit bus matches the program SPON 4 Lv 91140 d uoneoddy y7 OO apo ci e1Nvo CO e eoeeju puewwog 115 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 13 BFM 35 CAN Transmission Error Counter 6 13 BFM 35 CAN Transmission Error Counter FX3U CAN stores the current value of the CAN transmit error counter The CAN transmit message error counter counts up to K256 The counter counts 1 or 8 up if a transmission error is detected
205. following an emergency stop circuit a protection circuit an interlock circuit for opposite movements such as normal vs reverse rotation and an interlock circuit to prevent damage to the equipment at the upper and lower positioning limits 2 Note that when the PLC CPU detects an error such as a watchdog timer error during self diagnosis all outputs are turned off Also when an error that cannot be detected by the PLC CPU occurs in an input output control block output control may be disabled External circuits and mechanisms should be designed to ensure safe machinery operation in such a case For the operating status of each node in the case of a communication error see the FX3U CAN user s manual and the product manual of each node Erroneous output or malfunctions may cause an accident When executing control data changes to an operating PLC construct an interlock circuit in the sequence program so that the entire system operates safely In addition when executing control such as program changes and operation status changes status control to an operating PLC carefully read the manual and sufficiently confirm safety in advance Especially in control from external equipment to a PLC in a remote place problems in the PLC may not be able to be handled promptly due to abnormality in data transfer Construct an interlock circuit in the sequence program At the same time determine the actions in the system between the external equipme
206. for each individual CANopen device whose Reset communication bit is not set OD Index Start Boot Timer H1F89 for mandatory NMT slaves Wait 1s before restart NMT Slave startup Start NMT Slave startup process Note NMT Slave startup of optional NMT Slaves continues no OD Index H1F81 no no Bit 0 3 Response from All optional NMT Mandatory NMT NMT Slave oO Slave and Boot AAA received processed time elapsed OD Index yes yes H1F89 Signal to continue NMT Master startup process yos go AAA AAA For TP Y u no mandatory devices iy ke OD Indexes no 7 are all Identification Response from NMT Slave OK H1F85 to n data set H1F88 Start LSS Master OD Index H1F81 Bit 0 3 All mandatory NMT Slaves booted no yes Enter NMT State Operational from PLC received OD Index 1F82 Switch NMT master automatically into NMT state OPERATIONAL OD Index H1F80 Bit 2 no Serious Problem in the network or faulty configuration of the NMT Master Halt startup procedure Disable NMT Startup Master NMT Master needs to be Reset to restart the Boot process To the next page 74 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management Switch to NMT state OPERATIONAL OD Index Start NMT slaves with H1F80 Bit 1 3 NMT start all nodes All optional NMT slaves s
207. formation 19 2 12 11 10 9 8 f 28 5 4 tee 2 Was d Motion Finger Battery Safety Door lock detector protector power contact 1 Safety contact field Bit 0 to 1 Value hex 0 1 2 3 Description Contact not closed Contact closed Error indicator Not available or not installed 100 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 2 Battery power field 3 o e Bit 2 to 3 Value hex Description 2 0 No battery power used B 1 Battery power used 2 Error indicator 2 3 Not available or not installed Co E 3 Door lock field 2 ej Bit 4 to 5 Value hex Description ss 0 Door not locked 1 Door locked 3 2 Error indicator a 3 Not available or not installed S c 4 Finger protector field Bit 6 to 7 Value hex Description 4 0 No finger detected lt 1 Finger detected 2 Error indicator 3 Not available or not installed 5 Motion detector field Bit 8 to 9 Value hex Description S 0 Motion not detected amp 1 Motion detected S 2 Error indicator 9 3 Not available or not installed o 6 Force limit field DE Tg Bit 10 to 11 Value hex Description 0 Force limit not reached o 1 Force limit reached D 2 Error indicator 7 3 Not available or not installed 7 Status field apou sop BO 3919 pue eoejeju Bit 12 to 15 Value hex Description 0 Door closed with torque 1 Door closed without tor
208. formation is written to BFMs al suonounJ jo uononpouu 8 3 1 Virtual input mapping These BFMs contain the last received input data from one of the digital input panel group objects Receive Ring Buffer for 252 messages The oldest data will be shown as first The current numbers of messages in the receive Buffer can be read from BFM 3004 or 12004 o When the receive buffer is empty BFM 3001 to 3003 or 12001 to 12003 shows the value HO a Description S BFM 12003 BFM 12002 BFM 12001 D High Byte Low Byte High Byte Low Byte High Byte Low Byte BFM 3001 to 3003 m BEM 12001 to 12003 Function data field Door field Floor field Lift field Sub function field Basic function field 1 Basic function field Low byte in BFM 3001 and 12001 j Pu JO 527 ois Oz Sone Q D o U oa lt 5 o o BFM 3001 BFM 3001 BEM K100i Description d diat Description Low Byte P Low Byte P Value hex Value hex EE EET RIE 00 Reserved OD High priority call to destination floor 39 01 Generic input OE Special function 3 ic a O 02 Standard hall call request OF Access code upload request 2 03 Low priority hall call request 10 Speech connection request a 04 High priority hall call request 11 Area monitoring connection request 9 05 Standard car call request 12 Fire detector 06 Low priority car call request 13 to 15 Reserved 3 ae i 07 High priority car call request E Status of safety related
209. ful H7401 is written to BFM 1000 183 10 Command Interface FX3U CAN User s Manual 10 4 Set Node Guarding NMT Slave Assignment gt If H740F HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 Description BFM No FROM Read Access TO Write Access Consuming has been assigned BFM 1000 Eno Command H7400 CIF Busy Error BFM 1001 Node number which has to be set up BFM 1002 1st Node ID to be consumed consumed BFM 1003 node Consumer heartbeat time in units of ms BFM 1004 2nd Node ID to be consumed consumed BFM 1005 Diagnosis Data node Consumer heartbeat time in units of ms BFM 1006 H0000 No Error 3rd Node ID to be consumed All other values The corresponding parameter consumed BFM 1007 caused an SDO error node Consumer heartbeat time in units of ms BFM 1064 32nd Node ID to be consumed consumed BFM 1065 node Consumer heartbeat time in units of ms BFM 1066 Reserved 10 4 Set Node Guarding NMT Slave Assignment Nodes can be easily set to Guarding Master or Guarding Slave status by writing values to Index H1F81 using the Command Interface CIF The parameters for guarding are included in the information that can be written to the CAN bus The module needs to be NMT Master to use these functions For Object H1F81 refer to Subsection 5 8 5 Note e Ifthe node number to be guarded exceeds the range K1 to K127 the corresponding BFM will display the value which caused the problem
210. g table is stored in BFM 1001 to 1066 as diagnosis data The nn part of the error code indicates Node ID and the mm indicates PDO number e Error No Hex Description Source node ID nn must be in the range 1 to 127 PDO number mm must be 1 to 4 for the source parameter ARNO and 5 to 127 for the destination parameter eoeeju puewwog 139 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application 8 CANopen 417 Mode This chapter describes the data transfer locations of the CANopen 417 Mode For further information on application Profile CiA 417 V2 1 for lift control systems refer to the following section Refer to Section 5 10 Note The BFM data exchange will only be handled if the corresponding lift number bit in BFM 3000 13000 is set to ON Refer to Subsection 5 10 1 and BFM 3000 13000 in the following table To ensure that the FX3U CAN module can handle the CANopen data in a consistent way it is necessary to set BFM 20 bit 0 8 or 9 only Virtual input mapping to ON before reading PDO data FROM and after writing PDO data TO to the module The data exchange control signal ensures by internal buffer exchange that TO data from the PLC will be transmitted with its corresponding PDO at the same time For BFM 20 bit 0 refer to Section 6 4 To activate the CiA 417 Lift Application Profile mode write into BFM 21 the value K417
211. g timer BFM 26 Spe Oo W o 3 2 Store setting to Flash ROM BFM 22 Refer to Chapter 6 FX3U CAN restart For Module restart refer to Section 6 8 sonsouBeig I Set the configuration of transmitted and received data Refer to Chapter 9 Store setting to Flash ROM BFM 22 Refer to Chapter 6 Shift FX3U CAN to Layer 2 online mode Refer to Section 6 8 The CAN messages can be exchanged to CAN bus For example program refer to Chapter 13 197 13 Program Example FX3U CAN User s Manual 13 1 System Configuration 13 Program Example 13 1 STARTUP AND MAINTENANCE RN N G PRECAUTIONS y VA e Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS CAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so
212. gned and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in which a special quality assurance system is required such as for Railway companies or Public service purposes shall be excluded from the programmable logic controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable logic controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the project and providing that all parties concerned agree to the special circumstances solely at the users discretion 219 FX3U CAN User s Manual Revised History Revised History 4 2012 12 2013 Description First Edition Software version 1 10 is supported The following objects are added Index H100C Index H100D Index H1020 Index H102A The following Buffer memories are added BFM 70 BFM 71 BFM 10000 to 10319 BFM 11000 to 11319 BFM 12000 to 12539 BFM 13000 to 13539 Supports BFM 20 bit
213. h data byte 166 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 1 Receive Transmit Process Data Description Initial Read Stored to 2 BFM No i 3 High Byte Low Byte value Write Flash ROM a O BFM 387 CAN ID 42 LW 11 29 bit CAN Identifier low word HFFFF JU o BFM 388 CAN ID 42 HW 29 bit CAN Identifier high word HFFFF P BFM 4389 RTR new DLC High By Remote Transmission Request HO R W jfi 2 Low Byte Data length count Layer 2 0 BFM 390 2nd data byte 1st data byte message 42 R W 2 ES o BFM 391 4th data byte 3rd data byte o Data bytes S BFM 392 6th data byte 5th data byte R W 2 BFM 393 8th data byte 7th data byte R W 2 p BFM 394 to 399 Reserved 1 These BFM will be stored into the Flash ROM when the save command is executed For the save command refer to Section 6 6 uoneejsu OO 2 Receive messages are read only transmit messages can be read and written 1 When transmitting messages The CAN ID RTR new DLC and data bytes of each message are as follows 1 CAN ID The destination of the message is specified by CAN ID CAN ID is as follows corresponding to the function mode to be used Gum E For function mode refer to Section 6 5 Function Mode Description 5 1 A 9 E 11 bit CAN ID Layer 2 Mode Store CAN ID in the 11 bits bit ds 10 in the CAN ID n LW ae In this function mode CAN ID n HW are ignored Q a o l e T 29
214. h temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product directly Doing so may cause device failures or malfunctions When drilling screw holes or wiring make sure that cutting and wiring debris do not enter the ventilation slits Failure to do so may cause fire equipment failures or malfunctions Be sure to remove the dust proof sheet from the PLC s ventilation port when installation work is completed Failure to do so may cause fire equipment failures or malfunctions Install the product on a flat surface If the mounting surface is rough undue force will be applied to the PC board thereby causing nonconformities uonejejsu Buum a al Install the product securely using a DIN rail or mounting screws E pm Connect extension cables securely to their designated connectors og Loose connections may cause malfunctions em Mo S o o 3 1 Connection with PLC o The FX3U CAN connects on the right side of a PLC main unit or extension units blocks including special function units blocks For connection to an FX3GC FX3UC Series PLC or FX2NC Series PLC extension block an FX2NC CNV IF or FX3UC 1PS 5V is required For further information refer to the respective PLC manual seuouleJy Jeyng jo uoneoo v Refer to FX3c Hardware Edition Refer to
215. he Flash ROM A Store parameters command over ES Object Dictionary Index H1010 is not necessary Refer to Section 4 6 11 ZE gt For Store parameters refer to Subsection 5 6 11 o For Restore default parameters refer to Subsection 5 6 12 o 3 Object H1F25 Sub index H01 to H80 Configuration request To initiate a configuration request for a CANopen node use the SDO write command in the CIF and write H666EGF63 1808859 String code conf to the corresponding sub index of the FX3U CAN The sub index H80 initiates a configuration request for all CANopen devices in the network for which CDCF data are stored A configuration request to the self node ID will be ignored and no error response will be generated For Sub index HO1 to H7F a SDO failure H08000024 will occur if no data are stored for this Node ld apou sop BO 399 pue eoejeju A configuration request to the Sub index of the entry corresponding to own Node ld will be ignored 8 For SDO write command in the CIF refer to Subsection 10 2 3 games NSS 4 Object H1F26 Sub index H01 to H7F Expected configuration date S 2 This object is used by CANopen configuration software for verification of the configuration date of the 5 CANopen devices in the network The value contains the number of days since 1984 01 01 5 Object H1F27 Sub index H01 to H7F Expected configuration time 3 This object is used by CANopen configuration software for verification of the con
216. he Object Dictionary Index the Sub index the data length in byte and the data to be sent to the BFMs Finally the command code for multi SDO write access 6 must be written to BFM 1000 in order to trigger the command execution If the access has been successful BFM 1000 will display 7 and the following BFMs will contain the node number index and sub index for verification purposes number BFM No BFM 1000 BFM 1001 BFM 1002 BFM 1003 BFM 1004 BFM 1005 BFM 1006 BFM 1007 BFM 1008 BFM 1057 BFM 1058 BFM 1059 BFM 1060 BFM 1061 BFM 1062 BFM 1063 BFM 1064 Description FROM Read Access TO Write Access SDO write success Error refer to Section 10 9 Error Command H0006 SDO Multi write show Node number and Result data for details CIF Busy Success Node number read back Error High Byte HOF Low Byte Node number Node number read back Index read back Index Sub index read back E gs rr Success Unused Error SDO access error code Command parameter data 1 to 8 byte Success Node number read back Error High Byte HOF Low Byte Node number Node number read back Index read back Index Sub index read back Eon n d Success Unused Command parameter data 1 to 8 byte Error SDO access error code 1 Ifthe final setting is located before BFM 1057 write HFFFF in the last BFM Node number 182 10 Command Interface F
217. his case the BFM will keep its former value gt For the node address setting refer to Section 6 10 Bit 13 CANopen CANopen emergency message was received from the assigned slave emergency For the emergency message refer to Section 6 23 This flag shows the CAN error active state passive state OFF Error active state CAN reception error counter value is in the range of KO to K127 CAN error passive ON Error passive state Node address change error Bit 12 is CAN reception error counter value is K128 This bit will be reset automatically if the internal error counters return back to below K128 For the CAN transmission error counter refer to Section 6 13 For the CAN reception error counter refer to Section 6 14 Layer 2 Message Layer 2 Message specific error exists Bit 15 Check the Layer 2 Message specific error code in BFM 401 to 442 specific error gt For the Layer 2 Message specific error code refer to Section 9 2 1 Any CANopen node will check all CAN messages on the bus for errors Depending on the error state the action that the node will take is different n error active The node will actively mark the frame as invalid n error passive The node will not actively mark the frame as invalid to avoid bus disturbance if the node itself has an H W problem 218 FX3U CAN User s Manual Warranty Warranty 1 Please confirm the following product warranty details b
218. ield Door field Floor field Lift field Sub function field Basic function field 1 Basic function field Low byte in BFM 3001 and 13001 BFM 3001 sind Description Low Byte Value hex 00 Call controller commands 01 Generic output 02 Standard hall call acknowledgement 03 Low priority hall call acknowledgement 04 High priority hall call acknowledgement 05 Standard car call acknowledgement 06 Low priority car call acknowledgement 07 High priority car call acknowledgement 08 Standard destination call acknowledgement 09 Low priority destination call acknowledgement OA High priority destination call acknowledgement OB Standard call to destination floor acknowledgement OC Low priority call to destination floor acknowledgement OD High priority call to destination floor acknowledgement OE Special function acknowledgement OF Access code upload acknowledgement 10 Speech connection acknowledgement BFM 3001 See Description Low Byte Value hex 11 Area monitoring connection acknowledgement 12to1F Reserved 20 Guest call acknowledgement 21to3F Reserved 40 Position indication 41 Hall lantern 42 Direction indication 43 Special indication 44 Arrival indication 45 Operation data 46 Publicity indication 47 Speech synthesis 48 to 49 Reserved 4A Miscellaneous outputs 4B to 7F Reserved 80 to FF Manufacturer specific 2 Sub function field High byte in 3001 and 13001 The Sub function field is interpreted differently depending on th
219. ies Lists of Lift Application BFM No and access type 2 Lift No Description Initial value Reference 3 FROM FROM O BFM 43348 BFM 12348 o Position unit 1 BFM 3349 BFM 12349 BFM 3350 BFM 12350 Position unit 2 2 BFM 3351 BFM 12351 T Position value HFFFFFFFF D BFM 3352 BFM 12352 o Position unit 3 e BFM 3353 BFM 12353 zi D BFM 3354 BFM 12354 o Position unit 4 o BFM 3355 BFM 12355 Section 8 7 BFM 3356 BFM 12356 Position unit 1 3 BFM 3357 BFM 12357 BFM 43358 BEM 12358 zi Position unit 2 v BFM 3359 BFM 12359 2 Position value HFFFFFFFF Oo BFM 3360 BFM 12360 E Position unit 3 BFM 3361 BFM 12361 BFM 3362 BFM 12362 Position unit 4 4 BFM 3363 BFM 12363 BFM 3364 BFM 12364 Position unit 1 BFM 3365 BFM 12365 Position unit 2 bs 1 Speed value car HO BFM 3366 BFM 12366 Position unit 3 BFM 3367 BFM 12367 Position unit 4 BFM 3368 BFM 12368 Position unit 1 5 BFM 3369 BFM 12369 Position unit 2 ES 2 Speed value car HO ea BFM 3370 BFM 12370 Position unit 3 ag BFM 3371 BFM 12371 Position unit 4 S S o BFM 3372 BFM 12372 Position unit 1 E BFM 3373 BFM 12373 Position unit 2 3 Speed value car HO BFM 3374 BFM 12374 Position unit 3 6 BFM 3375 BFM 12375 Position unit 4 m c BFM 3376 BFM 12376 Position unit 1 TO BFM 3377 BFM 12377 Position unit 2 E 4 Speed value car HO 30 BFM 3378 BFM 12378 Position unit 3 o D BFM 3379 BFM 12379 Position uni
220. ignment H1F81 Set up NMT Slave identification data H1F84 to H1F88 Set up Boot time Note When using FX3U CAN as the Producer of the TIME message parameters have to be set in BFM 50 to 59 in the program for normal operation 2 Set the Lift number Refer to Section 5 10 and Section 8 2 Note When setting Lift number in BFM 3000 set BFM 20 bit 0 to ON after setting it Save the Object Dictionary Refer to Subsection 5 6 11 and Section 10 6 Shift the NMT state to OPERATIONAL When FX3U CAN is NMT Master shift the NMT state of NMT slave into OPERATIONAL Refer to Section 5 8 Ste 7 The Lift application data and Emergency Message etc can be exchanged to CAN bus p For data transfer location refer to Chapter 8 For example program refer to Chapter 13 196 12 Communication Settings Procedure FX3U CAN User s Manual 12 3 11 bit 29 bit CAN ID Layer 2 Mode 12 3 11 bit 29 bit CAN ID Layer 2 Mode 22 Z o When using the 11 bit 29 bit CAN ID Layer 2 Mode the outline of the communication setting procedure is as follows For further information on BFMs refer to Chapter 6 gt For further information on data transfer location refer to Chapter 9 gt For the CIF available in these modes refer to Chapter 9 VLO For example program refer to Chapter 13 eG c qx 2 1 Set the following Refer to Chapter 6 1 3 Function mode BFM 21 Baud rate BFM 24 mu Watchdo
221. ined in Subsection 5 8 1 Before the NMT master transitions from NMT state Pre operational to NMT state Operational all assigned NMT slaves shall be booted The Main flow chart for the NMT master startup is shown in Figure 5 1 Figure 5 2 is a simple startup overview to show the influence of the BFM 70 setting It is recommended not to use the simple startup because it can not be guaranteed that every NMT Slave will be set into Operational state Setup the NMT slave startup values for every connected NMT slave on the NMT master instead gt For NMT slave startup refer to Subsection 4 7 6 Figure 5 1 NMT Master startup process Come from Power on or Reset 2 OD Index Configured as H1F80 Bit 0 NMT master HU OOO OD Index NMT flying master H1F80 Bit 5 process n Switch to NMT slave mode To the next page 73 suoneogoeds INO UONINPOJU mal uonejejsu QJ 4 z E suojoun4 jo uononpouu o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management OD Index Keep NMT Slaves in Operational H1F81 Bit 4 NMT service Reset communication all devices Note If the Flying Master function is used a Reset Communication all Nodes will be sent during the Flying Master negotiation NMT service Reset communication
222. ion actual value This Car drive position actual value is equivalent to object H6064 in the CiA9 402 2 V3 0 specification and shall contain the position of the drive shaft This information is used to calculate the slippage of the position unit The value 32 bit data shall be given in user defined position units This value needs to be handled by 32 bit instructions 164 8 CANopen 417 Mode FX3U CAN User s Manual 8 14 Profile Velocity 8 13 2 Target position This Car drive target position is equivalent to object H607A in the CiA 402 2 V3 0 specifications This Target position contains the commanded position that the drive should move to in position profile mode using the current settings of the motion control parameters such as velocity acceleration deceleration motion profile type etc The value 32 bit data shall be interpreted as absolute or relative depending on the abs rel flag in the control word This value needs to be handled by 32 bit instructions It shall be given in user defined position units and shall be converted to position increments 8 14 Profile Velocity This Car drive profile Velocity is equivalent to object H6081 in the CiA 402 2 V3 0 specifications The value 32 bit data is in units of mm s This value needs to be handled by 32 bit instructions 8 15 Velocity Actual Value Target Velocity When BFM 3492 to 3507 and 12492 to 12507 are read the Velocity actual value is read from BFMs
223. it 0 to 7 Function Field Field QUAM E MNA nd Low Byte High Byte Value hex Value hex Special service Service run Dogging service enable Dogging service up Dogging service down Fire alarm external fire alarm system Provide priority Lift attendant start button OE Lift attendant drive through button Security run Second call panel Door enable Call cancel button fire operation Fire alarm reset Body detector e g person in car Earthquake detector Reserved OF to 11 Reserved o oe Reserved 12 Fire detector 1 to 254 Reserved 13 to 15 Reserved 0 Reserved Safety related circuitry 1 to 3 Hall swing door bi Car door TE NEN Door lock Reserved 17 to 1F Reserved 0 Reserved 20 Guest call 1 to 254 Reserved 21 to 7F Reserved 80 to FF Manufacturer specific Description Ro aod AE LEE 152 8 CANopen 417 Mode FX3U CAN User s Manual 8 3 Virtual Input Output Mapping 4 Floor field High byte in BFM 3002 and 12002 BFM 3002 eee Description High Byte P Value hex 00 Car panel 01 to FE Panel of floor 1 to 254 FF Reserved 5 Door field Low byte in BFM 3003 and 12003 This value provides the door number to which the sending virtual device is assigned The structure of the field depends on the value of the basic function field Basic Function Field Door Field BFM 3001 BFM 3003 BFM 412001 BFM 412003 Description Low Byte Low Byte Value hex Bit No Bit O Door 1 00 to 07 Bit 1 Door 2 Or B
224. it 2 Door 3 OE to FF Bit 3 Door 4 Bit 4 to 7 Bit 4 to 7 fixed to OFF 0 Bit O Source door 1 Bit 1 Source door 2 Bit 2 Source door 3 Bit 3 Source door 4 Bit 4 Destination door 1 Bit 5 Destination door 2 Bit 6 Destination door 3 Bit 7 Destination door 4 08 to OD 6 Function data field High byte in BFM 3003 and 12003 The function data provides the input state of a virtual input BFM 3003 plui cit Description High Byte p Bit No Description Input state is OFF Bit 8 and 9 Input state Input state is ON Function is defective Function is not installed Bit 10 to 14 Reserved Bit 15 leis OFF 0 Button or key button has no locking function ON 1 Button or key button has locking function 153 suoneooads INO uononpou uoneejsu OO buum a al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoollv j JO 537 os O Sone Q D o U oa lt 5 o o 9 14O1d uoneorddy 47 SPON Zip epo cie e1Nvo CO e eoeeju puewwog FX3U CAN User s Manual 8 CANopen 417 Mode 8 3 Virtual Input Output Mapping 8 3 2 Virtual output mapping These BFMs contain the output data for one of the digital output group objects BEM No BFM 3003 BFM 3002 BFM 13003 BFM 13002 High Byte Low Byte High Byte Low Byte High Byte Description BFM 3001 BFM 13001 Low Byte BFM 3001 to 3003 l Ans i BFM 13001 to 13003 Function data f
225. it the message according to its state if the PLC is in one of the following two states Up to four transmit messages can each be registered al e f PLC state had changed to STOP from RUN or FROM TO Watchdog in FX3U CAN has been timed out Sa In this case the message registered into RUN STOP messages 1 to 4 are transmitted SE f the power supplied to the FX3U CAN fails In this case the message registered into power down messages 1 to 4 are transmitted o Warning PS Depending on PLC Type and baud rate and bus load FX3U CAN may be unable to send the message In T such a case additional H W and or S W should be considered for safe system behavior 3 If possible use only one RUN gt STOP message and one Power down message which will increase the il possibility that the information is transmitted in the event RUN gt STOP Power down occurs If more than one message is defined messages are transmitted in order of priority message 1 to message 4 Note apou sop 9 jOJd eoieq pue eoejeju e The time differs depending on the number of I Os and on the number and types of extension blocks e The FX3G FX3GC Series PLC does not support the power down message 8 pe ale 85 O BFM No Layer 2 Message Initial Value o o High Byte Low Byte o BFM 1900 CAN ID 1 LW 11 29 bit CAN Identifier low word HFFFF BFM 1901 CAN ID 1 HW 29 bit CAN Identifier high word HFFFF BFM 1902 Data length count HO BFM 190
226. knowledgement Security run acknowledgement Second call panel acknowledgement Door enable acknowledgement Call cancel button fire operation Fire alarm reset acknowledgement Body detector e g person in car 4 z z jo UONINPOAU Earthquake detector OF to 1F Reserved 20 Guest call acknowledgement 1 to 254 21 to 3F Reserved 0 00 Clear the floor data 40 Floor number 1 to 254 This sub function shows the arrow display direction up down o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju 41 15 10 9 8 ON 1 Display the arrow 8 This sub function shows the arrow display direction up down and the transfer direction display of car c 13 11 10 9 8 233 208 down up O 42 Bit8 and 9 show the arrow display direction up down OFF 0 Do not display the arrow 9 ON 1 Display the arrow O e Bit 12 and 13 show the transfer direction display of car 2E OFF 0 Not moving Is ON 1 Moving S 0 00 Used for instruction all displays off P s load 10 Qo a 97 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems Basic function field Sub function field Bit 0 to 7 value Bit 8 to 15 value Description hex hex Fire brigade service OB Help is coming Special service ie Out of order OB Close door Case of fire 0D Halll calll disable Travel to evacuation floor Travel to fire recall f
227. l 5 8 Network Management Point When using the Flying Master function please consider the following points e 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 configuration and CANopen system planning 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 Power on BFM 25 bit O 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 OD Index H1F90 Sub index H02 Service active master detection OD Index H1F90 The active master has to Sub index H01 answer within the NMT master time out time NMT service Reset communication all Nodes From power on BFM 25 bit 0 Reset Active Master found Start NMT flying master negotiation OD Index H1F90 Sub index H03 Wait time before sending Service OD Index H1F90 Confirmation NMT flying master negotiation Sub index HO4 and become active NMT master Time Priority level x Priority time slot Node ld x CANopen device time slot The
228. l behave as defined in the halt option code After releasing the halt function the commanded motion shall be continued if possible Bit 14 153 d 10 9 8 T 6 4 3 2 1 0 Bit Bcc Description Bit 0 Switch on Bit 1 Enable voltage Bit 2 Am Quick stop Bit 3 d Enable operation Bit 4 to 6 Operation mode specific Bit 7 Fault reset Bit 8 Halt Bit 9 Operation mode specific Bit 10 a Bit 10 fixed to OFF 0 Bit 11 to 13 Manufacturer specific 1Bit4 rcl OFF 0 Emergency recall operation mode inactive ON 1 Emergency recall operation mode active Bit 15 OFF 0 Car top inspection operation mode inactive 5 o o ON 1 Cartop inspection mode active 161 suoneogoeds INO UONINPOJU mal uonejejsu QJ Buum I al suonoun4 jo uononpouu o seuoueJy Jeyng jo uoneoo v j U 587 os om Sone Q D o U TaS o DO 9 14O1d uoneorddy 47 SPON Zip epo cie e1Nvo CO e eoeeju puewwog 8 CANopen 417 Mode FX3U CAN User s Manual 8 10 Control Word Status Word Status transition Number Transition No Power disabled Fault reaction active Not ready to switch on EJ on EJ i to switch on Power enabled Switched on Quick t enabled id Bits of the control word Command Transition No skr ses Bia Bit Bio Switch on enable operation MEA O 3 4 Note Disable voltage pO X X 0 X 7 9 10 12 Disable operation PO 0 1 1
229. l blocks and special function units blocks Battery and memory cassette DISPOSAL PRECAUTIONS Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device 6 TRANSPORTATION AND STORAGE PRECAUTIONS The PLC is a precision instrument During transportation avoid impacts larger than those specified in the general specifications of the PLC main unit manual Failure to do so may cause failures in the PLC After transportation verify the operations of the PLC GUI city Precaution NND Read these precautions before use MEMO FX3U CAN User s Manual FX3U CAN User s Manual Manual revision Bo 12 2013 Foreword This manual describes the FX3U CAN Communication Block and should be read and understood before attempting to install or operate the hardware Store this manual in a safe place so that you can take it out and read it whenever necessary Always forward it to the end user This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual O 2012 MITSUBISHI ELECTRIC CORPORATION FX3U CAN User s Manual Outline Precautions This manual provides information for the use of the FX3U
230. l display its actual NMT State as long as error control messages are received For Nodes for which no error control service is configured the NMT Master will display the NMT state from the last request S gt For Object H1F82 refer to Subsection 5 8 9 For Heartbeat refer to Subsection 5 6 9 For SDO Command refer to Section 10 2 Note uoneejsu OO e Ifa NMT state request is made to all nodes all BFM displays will change To activate the display of a missing mandatory device configure the Boot time out refer to Object Dictionary Index H1F89 and set this Node ld as a mandatory CANopen device refer to Object Dictionary Index H1F81 For Object Dictionary Index H1F89 refer to Section 5 6 For Object Dictionary Index H1F81 refer to Subsection 5 8 7 Gum E e f no error control service is configured or if error control messages are missing it is possible that an NMT state other than the actual remote NMT state will displayed Use these BFMs and BFM 900 to 963 NMT Error Control Status and BFM 29 to detect error control service failures For BFM 900 to 963 refer to Section 6 24 For BFM 29 refer to Section 14 2 al cz BS oS BFM No Description 2 BFM 601 Node 1 o BFM 602 Node 2 BEM 603 Node 3 E i x do i i zo BFM 726 Node 126 253 BFM 727 Node 127 s o j apou sop 9 jOJd 3q pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy 17 OO apo ci e1Nvo CO e
231. lash ROM Data will be saved to the Flash ROM by using the Store Parameter command in Index H1010 Be careful with 2 write handling The maximum number of writes to the built in flash ROM is 10 000 times E g Stored S Index Data E Read e Description Initial value i to Flash hex type Write ROM 3 1 to 8 Supported virtual Call controller H100 OR A 6000 02 device types Car door controller U16 H400 z D KR Eg NN Car drive controller H800 OR e EN Lift number gt Refer to Subsection 5 10 1 Y 1 to 8 ses oft 4 Specification version U16 H2021 6008 Refer to Subsection 5 10 2 El Note 1 to 8 e SDO read access does not return the actual 6010 Virtual input mapping data of the input buffer U48 HO R W e SDO write access does not write to the input buffer Boe EN Virtual output mapping gt Refer to Subsection 5 10 3 CINES O UC 2 6B00 4 7B00 7 9300 a o D D ren P 2 6B01 D E os Door status word HFFFF R W T m 6 8B01 R W Sos 7 9301 383 8 9B01 R W RES D a 1 6302 00 2 6B02 3 7302 R W 8 4 7B02 2 lb The value is in units of mm R W pem 5 8302 DOPPOSIOR HO Closed 7 A g 6 8B02 HFFFF Not available or not RAN 208 7 9302 requested 3 si 1 6310 00 2 6B10 9 3 7310 odii O 4 1810 02 Light barrier status HFF R W 22 lt 6 8B10 HFF RW 7 9310 N 8 9B10 HFF R W e eoeeju puewwog 91 FX3U CAN User s Manual 5 Introduction of Func
232. loor This sub function shows the arrival indication up down 44 15 10 9 8 OFF 0 Not arrived 45 to 46 Reserved 000 Switch off speech synthesis on all output panels 47 Announce floor number 1 to 254 Announce current floor number 48 to 49 Reserved P Hall call enable Lift operational 4B to 7F Reserved 80 to FF Manufacturer specific 3 Lift field This value provides the lift number or the group of lifts to which the output is assigned 23 22 21 20 19 18 17 16 Lift 8 Lift 7 Lift 6 Lift 5 Lift 3 Lift 2 Lift 1 Floor field Bit 24 to 31 Value hex Description 00 Car panel 01 to FE Floor number 1 to 254 FF All floor panels Door field This value provides the door number to which the output is assigned The structure of the field depends on the value of the basic function field If the bits of the door field are set to 1 this shall indicate an assignment of the output to this door e When the basic function field is HO8 to HOD the structure of the door field is shown below 39 38 37 36 35 34 d 32 Destination Destination Destination Destination Source Source Source Source door 4 door 3 door 2 door 1 door 4 door 3 door 2 door 1 When the basic function field is HOO to HO7 or HOE to HFF the structure of the door field is shown below 39 36 35 34 99 32 98 FX3U CAN User s Manual 5 Introduction of Functions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 6 Function dat
233. ly sese 109 6 22 cO VITREGNI iSo RE T E 109 6 3 Recelve Transmit Process Dalai end rotta viua veda io um eae dd 110 FX3U CAN User s Manual Table of Contents 6 4 BFM 20 Data Exchange Control ooccccccccccccnccccncccccnccnnnnonncnnnonnnonnnnnnonnnonnnnnonnnnonannnenanncnanens 110 6 5 IBFM 21 F nctlonMOGOO 5 55 inae un rd merece aro a aeos tesque ui ened obo tese RE 111 6 6 BFM 22 Save Restore Configuration ooocccoccnccccccconcncconnnncnnnnnnnnnnnonnnnnonnnonnnnnonnnonnnnnonanenenonos 112 6 7 BEIM F24 Baud Rate anna ed dedita Decus ete ete bie de ete eati ertet ete Pra tede iab sei 113 6 9 BEM 425 COMMUNICATION StatUS ace ee aie o iet ane Und IR pet uns E ere ket iU QU versn ue etie ida 113 6 9 BEM 26 FROM TOW ale DOO Ce uobis ico 115 6 10 IBENESZT Node Af GSS cin tL ais Gece sue Do n Gent seein Se Geom Qa ands Ceu uo t veut e QUSE edens 115 OTT IBENESZ29I ErorSStalus sa dilata Re 115 6 12 IBFM A30 Mod le ID COJE atit toties toe i Qin Sepe US Ee cout Hoe tad etai Vete ted uie Quen dolina 115 6 13 BFM 35 CAN Transmission Error CoUNteTF occccocnccccoccnccccncconcncconnncnnonononnnonnnnnnonnnonnnnnnnncncnnnos 116 6 14 BFM 36 CAN Reception Error Counter cccoccnccccccccccncccccnnccncnononnnonnnnnonnnnnnnnnnonnnonnnnnnnanenenonos 116 6 15 BENI 57 Baud Rate DISDIAY iion aos 995023 32260020990500293900022 roles 116 6 16 BFM 38 Sampling Point Display oocc
234. me cooocccnccnccccnncccnnnncncnnononononnnnnononcnnnnnnnnnnonnnnnnancnnnnonnnncnnnss 18 1 2 2 IPOWGL atasiatusbb DS o ds coi ausit es aie ped 19 1 259 O EIE CLE UE 19 UE System COMMOUPANON eec cl E 20 1531 General COMMGUFAUON ecco otra n ehe erased aceti eS Ep a Rd e tdeo oun ie E TU 20 T32 APPICaDE FEG ee cT 21 TES 53 COMECION WIN BG once e e a rA Ea tede spa AN 21 T 4 System lal UDP ROCCO e euet bi oe scr Pa ses a endo inet EEE 22 2 Specifications 23 2 4 General SDecilCallOfis nio 24 22 Power Supply SDS GCIICALONS a RE 24 23 Pertormarice SUCCMIGALONS s ug Sonde ers ie ek oe VeL he og el ig eee 24 3 Installation 25 omm oli AAA e HH 25 SAART oila e ME EE N EE A EE dl 26 3 21 DIN TaN MOUNINO s rereana aa ea Tr T std 26 A A A POT cR Tm 2f 4 Wiring 28 4 1 Applicable Cable and Connector ooccccccnccccnnccccncccccnccnnnnonocnnonnnnnonncnonnnnonnnnnnonnnnnnnnnnnnnnonannnnnonnnonos 28 AI PAO PIC AIS COMPO CUO id eer 28 A TA 2 eelezisze i e a ae ae A nen eee eee ee eee P 29 4 1 3 Termination Or Cable Cnd ui erint Dabo ii 29 4 1 4 Removal and installation of CAN bus connector ccccoccccccccnnccocnnccoccncnocononononononnnononnnnnnnnnnnnnnnnnnnnos 29 2 CANES cecer a E 30 4 2 1 Connecting communication Cables oooccocccconnnncocoonnnonononcnnnnconcnnnononnnnnnnnnnrnnonnnnnnnnnnnananinnnnnos 30 A A OG LU ELA 0 ENTE E SEU CER 30 4 2 3 Grounding of twisted pair cabl
235. me stamp object producer EMCY object service Emergency objects are triggered by the occurrence of a CANopen device internal error situation and are transmitted from an emergency producer on the CANopen device 16 1 Introduction FX3U CAN User s Manual 1 1 Outline 6 Network management hereinafter called NMT e General NMT services uononpoJu Node guarding Master Slave Heartbeat Consumer Producer 7 The command interface The Command Interface CIF can be used to access the Object Dictionary of the local node or a network node and is located in the BFM Access is performed by commands for SDO read write special direct command for Node Guarding Heartbeat PDO Mapping or Emergency Messages 8 NMT master The network management provides services for controlling the network behaviour of CANopen devices as defined in CiA 301 and CiA 302 All CANopen devices of a network referred to as NMT slaves are controlled by services provided by an NMT master suoneoyoeds INO uoneejsu OO 9 Flying master The flying master mechanism provides services for a hot stand by NMT master within a CANopen network 10 Configuration manager Buum a The Configuration manager provides mechanisms for configuration of CANopen devices in a CANopen network 11 SYNC producer The SYNC producer broadcasts the SYNC object The SYNC service provides the basic network synchronization mechanism al als ag 12 L
236. n network For saving and requesting the CANopen device Configuration the following Objects are used The sub indexes are according to node ID The Configuration manager can be only used on the active NMT Master Note If during the Configuration upload to the NMT slave a failure other than SDO access failure at read only Indexes and Sub indexes occurs the configuration will be stopped 86 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 1 1 Object H1020 Verify configuration zi This object indicates the downloaded configuration date and time on the NMT Slave A configuration manager amp uses this object to verify the configuration after a reset to check if a reconfiguration is necessary If on a NMT si Slave the Object dictionary configuration is changed the Sub indexes H01 and H02 values will be set to HO d At the time of NMT Slave boot up the Configuration manager compares the corresponding entries of H1020 on the Slave with its own setting in the Indexes H1F26 and H1F27 see below and decides if a 2 reconfiguration is necessary or not This mechanism reduces the time of NMT Slave bootup a Sub index H01 Configuration date contains the number of days since 1984 01 01 E Sub index H02 Configuration time contains the number of ms after midnight g O 2 Object H1F22 Sub index H01 to H7F Concise DCF These objects save a configuration file with the Concise DCF format into the node ID correspo
237. n Node or CAN Layer 2 Node Repeater CANopen Configuration tool PLC programming tool GX Works2 EDS file FX3U CAN 405 eds Electronic Data Sheet file FX3U CAN 417 eds FX3U CAN 405 When using FX3U CAN by Interface and Device Profile CiA 405 for IEC 61131 3 Programmable Devices the EDS file uses FX3U CAN 405 eds FX3U CAN 417 When using FX3U CAN by Application Profile CiA 417 for lift control systems the EDS file uses FX3U CAN 417 eds CAN Interface Hardware Interface between CANopen Configuration tool and CAN bus Terminating resistor The CAN bus network requires terminating resistors for network both ends 5000 m 16 404 2 at 10 kbps with repeaters s The transmission distance is reduced to 25 m 82 at the maximum baud rate of 1 Maximum transmission Mbps astangg The maximum distance also depends on the specification of other connected nodes How to obtain EDS file For EDS file consult with your local Mitsubishi Electric representative 20 1 Introduction FX3U CAN User s Manual 1 3 System Configuration 1 3 2 Applicable PLC 5 2 S Model name Applicability S FX3G Series PLC Ver 1 00 and later Up to 8 blocks can be extended FX3GC Series PLC Ver 1 40 and later Up to 8 blocks can be extended FX3U Series PLC Ver 2 20 and later Up to 8 blocks can be extended FX3UC Series PLC Ver 2 20 and later Up to 8 blocks can be extended 3 The version number can be
238. n Profile Area Refer to Subsection 5 8 7 5 6 9 Heartbeat The heartbeat protocol defines an error control service that does not use requests A heartbeat producer transmits a heartbeat message cyclically One or more heartbeat consumers receive the indication The relationship between producer and consumer is configurable via the object dictionary The heartbeat consumer guards the reception of the heartbeat within the heartbeat consumer time If the heartbeat is not received within the heartbeat consumer time a heartbeat event will be generated If the FX3U CAN module is configured as Flying Master Heartbeat producing and consuming is automatically activated between it and other FX3U CAN modules also set up as Flying Masters For Flying Master refer to Subsection 5 8 11 Note Heartbeat produces a high bus load but only half that of node guarding Heartbeat producer Heartbeat consumers COB ID 1792 Node ID Indication Indication Indication H1017 Producer heartbeat time Indication m Indication Indication 0 E o Q pa 0 X i 0 E 2 o Lr O O co vr O x I NMT slave state 4 Stopped 5 Operational 127 Pre Operational 0 Boot Up Event 1 Object H1016 sub index H01 to H7F Consumer heartbeat time The consumer heartbeat time object indicates the expected heartbeat cycle times Monitoring of the heartbeat producer starts after reception of the first heartbeat The co
239. n sheet Terminating resistor 1204 1 2W Manual supplied with product 6 7 8 9 Nameplate DIN rail mounting hook CAN bus connector Direct mounting hole 2 holes of 4 5 0 18 mounting screw M4 screw 18 1 Introduction FX3U CAN User s Manual 1 2 External Dimensions and Each Part Name 1 2 2 Power and status LEDs LED Name LED Color c Description OFF Layer 2 offline mode urn FLASH CANopen STOPPED state RUN Green BUNKNG BLINKING CANopen PRE OPERATIONAL state BN LSS Services in progress e CANopen mode CANopen OPERATIONAL state Layer 2 mode Layer 2 online mode ELENT is not accessing BFMs in module PLC is accessing BFMs in module EM NM Module is not transmitting or receiving CAN messages Tx Rx Green Module is transmitting or receiving CAN messages OFF No error SINGLE FLASH At least one of the error counters of the module has reached or exceeded the error passive level 4 A NMT guarding failure NMT Slave or NMT Master or a heartbeat failure has ERROR DOUBLE FLASH ECU FROM TO Green BUNKNG General error NE LSS Services in progress ON Module is BUS OFF state or CPU error occurs in PLC main unit POWER 24V DC power is properly supplied from PLC main unit 1 RUN and ERROR LEDs have four kinds of flicker states single flash double flash blinking and flickering This LED flickers as follows SINGLE FLASH LS E 0 2s
240. ndex of the mapped Object Sub index Sub index of the mapped Object uonejejsu QJ Length Bit length of the mapped Object Timing chart The following figures show the relation between Transmit Process Data BFM s BFM data BFM 20 bit 0 PDO Inhibit time PDO Event timer and CAN bus data in NMT state Operational for event driven PDO s Note that the event and inhibit timer are started every time when PDO transmission is started 4 z z Example 1 Inhibit time 0 Event time 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and a data exchange is triggered If the data are not changed no PDO will be sent if a data exchange is triggered by BFM 20 BFM data H0001 H5374 H2102 H3528 suonounJ jo uononpouu o 2 0 OD data H0000 H0001 H5374 H2102 H3528 zi 2 oO D TPDO 1 3 2 Inhibit time D TPDO 1 7 Event timer apou sop BO 399 pue eoejeju CAN Bus TPDO 1 H0001 H5374 H2102 H3528 PON Zip 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 59 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Example 2 Inhibit time gt 0 Event time 0 The BFM data will be copied into the Object dictionary and a PDO will be sent every time when the data are changed and the inhibit time is not running If the inhibit time is active and the data are changed before the inhibit time elapsed
241. nding sub index A CANopen configuration software and a CAN Bus PC Interface is necessary for the generation of a CANopen configuration and saving over the CAN Bus Up to 60 Concise DCFs can be stored on the FX3U CAN The maximum size for each entry is 65531 byte uonejejsu QJ Note To delete a Sub index entry write 0 to this Sub index Erasing an entry requires 2 to 10 seconds During this time it is not possible to write a new file If the Flash ROM is busy an SDO write access error H06060000 will occur e When the FX3U CAN responds to an SDO write access to a Sub index with SDO Error H06010002 this Sub index already had been used Delete the Sub index entry by using the aforesaid method When the FX3U CAN responds to an SDO write access to a Sub index with SDO access Error H06070010 the CDCF File is bigger than 65531 bytes or this Sub index has already been used Check the File size and delete the Sub index entry by using the aforesaid method 4 z E suojoun4 jo uononpouu e Ifthe used CANopen configuration Software has a problem with the automatic transfer of the Concise DCF be cause of Flash ROM busy errors please use the selective download of the files if supported e All H1F22 Sub indexes can also be deleted by the Restore default parameter command o e Self configuration over the Sub Index of the entry corresponding to own Node ld is not supported The Concise DCF data will be directly stored on t
242. ne more message has been stored in this message buffer while bit 8 was ON which caused an overflow condition Receive messages only Flags EU AS New frame New frame RTR new DLC no new data new data No data received no new data new data overflow occur overflow occur 3 Data bytes The data received of length specified by DLC is stored In case the received DLC is less than 8 unused data bytes are set to HOO 168 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 2 Layer 2 Message Specific Error Code List 9 2 Layer 2 Message Specific Error Code List z This List contains an error message for each Layer 2 message al BFM No Detailed Error Code for Each Layer 2 Message BFM 401 Message 1 error code 2 BFM 402 Message 2 error code D D o D BFM 442 Message 42 error code ej 62 Error code in Layer 2 message 3 Error Code Error Code Description 5 n H0000 No error gt H2000 Receive buffer overflowed e 9 3 Pre defined Layer 2 Message Configuration Gum E This section describes the Pre defined Layer 2 message configuration The parameters of Layer 2 message number are used to define if the corresponding Layer 2 message number in BFM 100 to 393 is a transmit or receive message Note 5 The Pre defined Layer 2 message configuration can be set in Layer 2 configuration mode BFM 25 bit 4 is Sa OFF o e gt For the communication status BFM 25 refer to Section 6 8 o ej o e If an invalid value is
243. nge is 1 to 127 The local FX3U CAN can t be the Source e TPDO number The TPDO number setting range is 1 to 4 This COB ID is written to the local node s PDO communication parameter The TPDO COB ID is equal to H0180 Source node ID for TPDO1 H0280 Source node ID for TPDO2 H0380 Source node ID for TPDO3 H0480 Source node ID for TPDOA Destination Parameter The Destination parameter defines the destination for the corresponding source parameter data It consists of two bytes with the node ID in the high byte and the PDO number in the low byte e Node ID The node ID must be set to H80 e RPDO number The TPDO number setting range is 5 to 80 Example Source H7F01 Destination H8005 The local FX3U CAN module will use the COB ID of TPDO1 from node 127 as its own TPDO5 COB ID H1FF H180 H7F Note For default COB IDs used for TPDO 1 to 4 refer to Subsection 5 6 1 An attempt to assign a COB ID to the first four PDO will cause an error e A setting of the Source Node ID to the local node number will cause an error 138 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 7 2 6 Mode B COB ID Mapping Errors z O This subsection describes the parameter error H83FF occurring in mode B COB ID Mapping a If the CIF was not able to execute the mode B COB ID Mapping command with the given parameter set it T will return H83FF in BFM 1000 BFM 1001
244. nished and the Power drive o ej system is halted o ON when halt occurred and the Power drive system is halted Internal limit active PIS LE ON when an internal limit is active 6 c gt gt D gt Bit 12 to 13 mode ca 3 Bit 14 to 15 m Manufacturer specific e Lm p 3 3o o h 3 Status Word Power Drive System Finite State Automaton State j xxxx xxxx XOxx 0000 b Not ready to switch on XXXX xxxx X1xx 0000 b Switch on disabled XXXX xxxx x01x 0001 b Ready to switch on XXXX xxxx x01x 0011b Switched on pq JO 527 Cc X Oz z3 0 A Q D o U oa lt 5 o o XXXX xxxx x01x 0111 b Operation enabled XXXX xxxx x00x 0111 b Quick stop active XXXX XXXX XOxx 1111 b Fault reaction active XXXX xxxx XOxx 1000 b Fault 9 14O1d uoneorddy 47 SPON Zip epo cie e1Nvo CO e eoeeju puewwog 163 8 CANopen 417 Mode FX3U CAN User s Manual 8 11 Modes of operation Modes of operation display 8 11 Modes of operation Modes of operation display When BFM 3436 to 3443 and 12436 to 12443 are read the Modes of operation display is read from BFMs When BFM 13436 to 13443 are read the Modes of operation is read from BFMs And when BFM 3436 to 3443 and 13436 to 13443 are written to the Modes of operation is written to BFMs 8 11 1 Modes of operation This Car drive mode of operation is equivalent to object H6060 in the CiA9 402 2 V3 0 specifications Bits 8 t
245. node guarding zi O This object indicates the node guarding state for a unique CANopen device in the network The sub index S corresponds to the node ID of the CANopen devices in the network The sub index H80 represents all nodes 2 Note Y If Node Guarding is not set then Node Guarding will not start 8 Object H1F83 Sub index H01 to H80 Request node guarding Description Wit 00 Node guarding stopped Stop node guarding 01 Node guarding started Start node guarding 02 to FF Reserved Value hex uonejejsu QJ 5 8 11 Flying Master The Flying Master mechanism provides services for a hot stand by NMT Master within a CANopen network All Flying Masters shall monitor the Heartbeat of all masters in the network A new negotiation is automatically started if the active master fails The master with the highest priority and the lowest node ID wins the negotiation A new negotiation is started when a new NMT master with a higher priority than the active NMT Master join the network The Flying NMT master priority is defined by NMT master priority level x 128 Node ld the lower value has the higher priority BFM 25 bit 15 indicates if the module is the current NMT Master Note 4 z E suojoun4 jo uononpouu e If the module has enabled the Flying Master function and no Heartbeat producing is set the Heartbeat producing is automatically set to 1000 ms o e f the module loses the negotiation and no Heartbeat con
246. nsmission errors Check the following points in the network And then turn on the power for PLC again or restart the FX3U CAN For module restart refer to Section 6 8 Check that the terminating resistors at both ends of the network are connected Bit3 CAN bus off error Check that all nodes have the same baud rate setting e Check that all nodes have a unique Node ld setting e Check that the CAN H CAN L and CAN GND wires are not broken e Check that the CAN SHLD is grounded e Check that the CAN SHLD is connected at all nodes e Check that the CAN cable wires do not short circuit other CAN cable wires FLASH memory error has occurred Invalid data in the Flash memory might be caused by power loss during a write operation to the Flash ROM If this error flag is not cleared after a module reset BFM 25 bit 0 or another power cycle please contact your local Mitsubishi Electric representative FLASH memory error Bit 4 For module restart refer to Section 6 8 CANopen modes Write access while module is in initialisation mode Write to BFMs after BFM 25 bit 7 is OFF For the communication status BFM 25 refer to Section 6 8 Bits Layer 2 mode Invalid write access to configuration BFM while in online initialisation mode Do not write to configuration BFM when module is online Write to configuration BFMs after switching to configuration mode and off line mode For the communication status BFM 25 refer
247. nsumer heartbeat time should be higher than the corresponding producer heartbeat time Before reception of the first heartbeat the status of the heartbeat producer is unknown 31 24 23 o 16 19 50 HOO Node ID Heartbeat time If the heartbeat time is O or the node ID is O or greater than 127 the corresponding object entry is not used The unit of heartbeat time is ms 2 Object H1017 Producer heartbeat time The unit of 16bit producer heartbeat time is ms The value O disables the producer heartbeat 66 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 10 TIME O The TIME producer broadcasts the time stamp object This TIME provides the simple network clock The time a stamp contains the Time of day which is represented by a 48 bit sequence These sequences represent the E time in milliseconds after midnight 28 bits and the number of days since 1984 01 01 16 bits Only one Timestamp producer is allowed in the Network 2 The time and the date have to be configured by setting BFM 51 to 57 clock data E In order to guarantee timely access to the network the TIME is given a very high priority CAN ID CANopen E devices that operate a local clock may use the TIME object to adjust their own time base to that of the time 2 stamp object producer ej The consuming and producing setting can be directly changed by BFM 50 In case of time overflow time later than 31st December 2099 23
248. nt and the PLC for protection against abnormalities in data transfer suoneouyioeds uonejejsu QJ Buum a al EU C aS DESIGN PRECAUTIONS CAUTION S2 SE e Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data S written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line at least 100mm o 3 94 or more away from the main circuit or high voltage lines e 2 Ground the shield wire or shield of a shielded cable T E Do not use common grounding with heavy electrical systems refer to the manual of the PLC main unit lt o a 2 3 DISPOSAL PRECAUTIONS NC AUTION Please contact a certified electronic waste disposal company for the environmentally safe recycling and disposal of your device apou sop 9 lJOJd 399 pue eoejeju TRANSPORTATION AND STORAGE PRECAUTIONS NCAUTIO N The PLC is a precision instrument During transportation avoid impacts larger than those specified in the general specifications of the PLC main unit manual Failure to do so may cause failures in the PLC After transportation verify the operations of the PLC SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e
249. o 15 are fixed to OFF 0 Even if set to ON 1 these bits will remain OFF 0 ded pr Description 128 to 1 Manufacturer specific operation modes 0 No mode change or no mode assigned 1 Profile position mode 2 Velocity mode 3 Profile velocity mode 4 Torque profile mode 5 Reserved 6 Homing mode 7 Interpolated position mode 8 Cyclic sync position mode 9 Cyclic sync velocity mode 10 Cyclic sync torque mode 11 to 127 Reserved 8 11 2 Modes of operation display This Car drive mode of operation display is equivalent to object H6061 in the CiA 402 2 V3 0 specifications This object provides the actual operation mode Bits 8 to 15 are fixed to OFF 0 in these BFMs The value description can be shown in the Modes of operation Refer to Subsection 8 11 1 8 12 Control Effort This Car drive control effort shall contain the breaking point or breaking distance depending on the target position given respectively as absolute value or relative value The value 32 bit data shall be given in user defined position units It is necessary to read position value by 32 bit instructions 00 13 Position Actual Value Target Position When BFM 3460 to 3475 and 12460 to 12475 are read the Position actual value is read from BFMs When BFM 13460 to 13475 are read the Target position is read from BFMs And when BFM 3460 to 3475 and 13460 to 13475 are written to the Target position is written to BFMs 8 13 1 Posit
250. o 1739 173A 173B 173C 173D 173E 173F 1740 1741 1742 1743 1744 1745 1746 1747 1748 to 1749 Default value of Sub Index hex 60820108 60800110 Reserved 6C010010 6C040008 00050008 6C330020 Reserved 01 6B830120 Reserved 6B010110 6B020110 01 6B100108 6B010210 6B020210 6B100208 6B010310 6B020310 Reserved 74820108 74800110 Reserved 74010010 74040008 00050008 74330020 Reserved Reserved 73010110 73020110 01 73100108 73010210 73020210 73100208 73010310 73020310 Reserved 7C820108 7C800110 Reserved 7C010010 7C040008 00050008 7C330020 Reserved 01 7B830120 Reserved 7B010110 7B020110 01 7B100108 7B010210 7B020210 01 7B100208 7B010310 7B020310 Reserved 84820108 84800110 Reserved 84010010 84040008 00050008 84330020 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 49 suoneooads INO uononpou uo ejesu QJ 4 z z jo UONINPOAU o seuouleJy Jeyng jo uoneoo v apou SOP BO 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo
251. o 411078 TPDO 21 11080 to 11083 TPDO 22 11084 to 11087 TPDo 23 11088 10411091 TPDO 24 11092 to 11095 TPDO 28 411096 to 11099 128 FX3U CAN User s Manual 7 CANopen 405 Mode 2 PDO Mapping Binding of the Network for CANopen 405 Mode Mode 0 Mapping i M B M TPDO default Mode A Mapping ode B Mapping COB ID TPDO 26 TPDO 27 TPDO 28 TPDO 29 TPDO 30 TPDO 31 TPDO 32 TPDO 33 TPDO 34 TPDO 35 TPDO 36 TPDO 37 TPDO 38 TPDO 39 TPDO 40 TPDO 41 TPDO 42 TPDO 43 TPDO 44 TPDO 45 TPDO 46 TPDO 47 TPDO 48 TPDO 49 TPDO 50 TPDO 51 TPDO 52 TPDO 53 TPDO 54 TPDO 55 Disabled These PDO can be activated by mode B mapping commands or SDO Assigned BFM 180 to 183 11100 to 11103 184 to 187 11104 to 11107 188 to 191 11108 to 11111 192 to 195 11112 to 11115 196 to 199 11116 to 11119 200 to 203 11120 to 11123 204 to 207 11124 to 11127 208 to 211 11128 to 11131 212 to 215 11132 to 11135 216 to 219 11136 to 11139 220 to 223 11140 to 11143 224 to 227 11144 to 11147 228 to 231 11148 to 11151 232 to 235 11152 to 11155 236 to 239 11156 to 11159 240 to 243 11160 to 11163 244 to 247 11164 to 11167 248 to 251 11168 to 11171 252 to 255 11172 to 11175 256 to 259 11176 to 11179 260 to 263 11180 to 11183 264 to 2
252. o the response message data can be made BFM 20 bit 0 must be set in order to refresh the internal data buffer and trigger the transmission The flag is automatically reset when a message is transmitted from the Layer 2 message RTR message reception list Bit O RTR message for Layer 2 message 1 received Bit 15 RTR message for Layer 2 message 16 received Bit O RTR message for Layer 2 message 17 received Bit 15 RTR message for Layer 2 message 32 received Bit O RTR message for Layer 2 message 33 received Bit 9 RTR message for Layer 2 message 42 received BFM 1272 Bit 10 Unused R Bit 15 BFM 1270 BFM 1271 A B D juu YU 174 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 5 Message Transmit Trigger Flags 9 5 Message Transmit Trigger Flags The transmission of a message in Layer 2 mode can be triggered via the following flags 9 Transmit requests on receive Layer 2 messages are discarded When a bit is set to ON the corresponding transmit message will be sent as soon as a transmit buffer is available The flags are reset automatically as soon as the message is written into the transmit buffer 2 E WM BFM No BitNo Transmit request Layer 2 message Remarks Layer 2 message 1 R W je 62 Layer 2 message 16 R W Layer 2 message 17 R W 3 wn Layer 2 message 32 R W Layer 2 message 33 R W S BFM 1282 Layer 2 message 42 R W Buum a 96 PLC RUN gt STOP And Power Down Messages FX3U CAN can transm
253. ofile CiA 417 V2 1 for Lift Control Systems 5 10 Application Profile CiA 417 V2 1 for Lift Control Systems CiA9 417 Application This application profile describes the virtual devices hereinafter called VD of lift control systems The virtual controllers e g call car door and car drive controller perform dedicated control functions of the lift application The virtual units e g input and output panels car door light barrier car position car drive load measuring are implemented each in single CANopen devices or combined in one or more CANopen devices The FX3U CAN implements the VD call controller car drive controller and the car door controller The VD Call controller receives all call requests from these VD input panels and transmits the corresponding acknowledgements to the VD output panels The VD car door controller transmits commands to the VD car door unit and the VD light barrier unit The VD car driver controller transmits commands to the VD car drive unit It receives status information from the VD car drive unit and the VD load measuring unit If the profile position mode is used additional status information from the VD car position unit is needed lt is recommended to give the Call controller the lowest node ID The lift control system application profile shares the Object Dictionary area from H6000 to H9FFF The area from H6000 to H60FF is related to the CANopen device and not to one of the lift control ap
254. on Error reset or no error CiA9 417 CAN warning level Generic error Current generic error Current CANopen device input side generic Current inside the CANopen device generic Current CANopen device output side generic Voltage generic error Mains voltage generic CiA 417 Mains Over voltage CiA 417 Mains Under voltage Voltage inside the CANopen device generic CiA9 417 Over voltage device internal CiA9 417 Under voltage device internal Output voltage generic Temperature generic error Ambient temperature generic Device temperature generic CANopen device hardware generic error CANopen device software generic error Internal software generic User software generic Data set generic Error Code hex 7000 8000 8100 8110 8120 8130 8140 8150 8200 8210 8220 8230 8240 8250 8F01 to 8F7F 9000 F000 FFOO FF01 FFO2 FFO3 FF04 Description Additional modules generic error Monitoring generic error Communication generic CAN overrun objects lost CAN in error passive mode Life guard error or heartbeat error Recovered from bus off CAN ID collision Protocol error generic PDO not processed due to length error PDO length exceeded DAM MPDO not processed destination object not available Unexpected SYNC data length RPDO timeout Life guard error or heartbeat error caused by Node ID 1
255. on Parameter R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex H03 H05 RW RW ol Ol O O O O O al 1850 to 1978 Reserved Table 5 4 Mode 405 TPDO mapping Parameter R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex H07 H08 RW RW O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O 40 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex gt Pee a ee g m a ama aano ao aaco 9 9 9 2 uonejejsu QJ 4 z z jo UONINPOAU o seuouleJy Jeyng jo uoneoo v apou sop BO 399 pue eoejeju O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O m a mon moen oo ao 0 0 0 8 Wc a mono moo moo moo o 0 o 533 War a non mEn Noni xumon o 0 9 E 1A50 to 1B78 Reserved 9 3 NO e eoeeju puewwog 41 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Table 5 5 Mode 417 RPDO communication Parameter R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex H02 Hus H05 RW NI CI 1403 503 Reserved 14
256. oneoollv apou sop BO 399 pue eoejeju SPON Z Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area Default value of Sub Index hex Index hex H02 HUS RW 1 R 1935 to 1937 et 1939 to 1941 Reserved 1943 Reserved 1945 to 1947 Reserved 1949 to 1951 Reserved 1953 Reserved 1955 to 1957 Reserved 1959 to 1961 Reserved 1963 Reserved 1965 to 1967 Reserved 1969 to 1971 Reserved 1973 Reserved 1975 to 1977 Reserved Table 5 9 Mode 417 TPDO mapping Parameter part 1 R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index hex HD HO8 RW Table 5 10 Mode 417 TPDO mapping Parameter part 2 R Read access W Write access Reserved Not existing Index or Sub index Default value of Sub Index hex Index 1A01 Reserved 1A02 to a E Reserved 1B00 60110030 Reserved 1B01 Reserved 1B02 64000010 64030008 67FE0008 64300020 Reserved 1B03 Reserved 1B04 64200020 64230020 Reserved 1B05 to 1B07 Reserved 1B08 63000110 63000210 63000310 63000410 Reserved 1B09 to 1B11 Reserved 1B12 6C000010 6C300008 67FE0008 6C000020 Reserved 1B13 Reserved 52 5 Introduction of Functions 5 6 Communication Profile Area FX3U CAN User s Manual ind Default value of Sub Index hex 2 naex O H07 HO8 a hex S e 00 CUP UR 9 RR Oe R
257. ool v UJ D D D 3 o D o apou sop BIO e jold eoneq zlaferNwo CO uoneogddy yr OO pue sep u SPON 4 Lv spol e eoeeju puewwog 127 7 CANopen 405 Mode FX3U CAN User s Manual 7 2 PDO Mapping Binding of the Network for CANopen 405 Mode 7 2 1 TPDO mapping table The assignment in this table is only for the default TPDO mapping setting unsigned 16 bit objects To change the BFM assignment of the TPDO the mapping parameter has to be changed in the Object Dictionary gt For the default TPDO mapping setting refer to Subsection 7 1 1 For the TPDO communication and mapping parameter in the Object Dictionary refer to Subsection 5 6 5 For the SDO command in the CIF refer to Section 10 2 gt For the CANopen configuration software refer to the manual of the software to be used Mode 0 Mapping qs default Mode A Mapping COB ID Mode B Mapping Assigned BFM al ome 0m i be 07 ii more wate TPDO 5 11016 to 11019 TPDO 6 11020 to 11023 TPD07 11024 to 11027 TPDO 8 11028 to 11031 TPDO 11032 to 11035 TPDO 10 11036 to 11039 TPDO 11 11040 to 11043 TPDO 12 11044 to 11047 TPDO 13 11048 10411051 TPDO 14 11052 to 11055 Doi Disabled 136 to 139 These PDO can be activated by mode B mapping commands or SDO 11056 to 11059 TPDO 16 11060 to 11063 Tepo 17 11064 to 11067 TPDO 18 11068 to 11071 TPDO 19 Bos A i s TPDO 20 11076 t
258. operation display oocccoconncccoconccononccconnnonononononononnnnnnnnnnnnnnnnnnononnnnnnnnnnnnnnnnnnenanenesns 164 FX3U CAN User s Manual Table of Contents Ao e e OO CI ID MP N ROI DU 164 8 13 Position Actual Value Target Position cooonccccconcnnoconcnnonnoncnnconcnnononennononennnnonnnnononcnnonanennnnos 164 oT ES NB Position ACI WANS A A AT 164 o 19 2 A O On ioo udo ome eter eS seated 165 o edet abesse OO 165 8 15 Velocity Actual Value Target Velocity coooooncccoconcnnonocnnnnonononnononcnnnnonnnonnnrnnononennonanennnonanenoss 165 Sui Target Velo D T 165 A POS 165 9 16 Coad Vd ic 165 E o PU a a 165 9 CAN Layer 2 Mode 166 9 1 Receive Transmit Process Data erenn enirat re rE RE Era 166 9 2 Layer 2 Message Specific Error Code LiSt ccoonccccococonccocononcncononnononononanonnnnanoncnnananononaneness 169 9 3 Pre defined Layer 2 Message Configurati0ON ooccccoocncncocooncnnnnoncncnnononnonnonnnnanonnnnannnnnnnnnenonanennos 169 9 3 1 Pre defined Layer 2 transmit messages cccccccssseeececeeeecceceenceeceueeseecceseceessegeeeessuseeessaseeess 170 9 3 2 Pre defined Layer 2 receive MESSages cccooccccccnoconoconoconnncnnnnnnonnnnnnnnnnnrnnnnnnnnnnnnonannnnnnnnnranennnnnans 172 94 LSYer Rd n gzecR EE D D OLOR 174 9 5 Message Transmit Trigger Flags oocccoconcoccnncconncocanonnnnnonononononnnonanonnonnnononononnnnonananenannnnanons 175 9 6 PLC RUN gt STOP And Pow
259. operational automatically and 7 2 sends a Boot Up message LL Refer to Subsection 5 8 2 S 23 3 NMT service start remote node indication 2 E Q 5 4 7 NMT service enter pre operational indication D a zi 5 0 NMT service stop remote node indication b NMT service start remote node indication 9 NMT service reset node indication or reset communication indication Em E S gt 1 NMT state Pre operational 208 i Q In the NMT state Pre operational communication via SDO is possible PDO communication is not allowed amp 8 Configuration of PDO parameters and also the allocation of application objects PDO mapping may be S performed by a configuration application The CANopen device may be switched into the NMT state Operational directly by sending the NMT service start remote node 9 So 2 NMT state Operational SLE In the NMT state Operational all communication objects are active lt M e eoeeju puewwog 71 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 3 NMT state Stopped By switching a CANopen device into the NMT state Stopped it is forced to stop all communication Furthermore this NMT state may be used to achieve certain application behaviour 4 NMT States and communication object relation The relation between NMT states and communication objects is shown in the following table Services in the listed communication objects may only be executed if the CANopen
260. ory slave This time has to be measured from Power on Reset of the NMT master to the point 2 where the last mandatory slave becomes NMT state Operational ej If identification data of NMT Slaves do not match with the setting on the NMT Master it will result in a termination of the whole NMT Startup process and the NMT startup Master will be disabled After a successful Identification the Configuration Manager configures the NMT Slave at the time when configuration data are stored on the NMT Master At last depending on the setting the NMT Master sets the NMT Slave into NMT state Operational For NMT Slave identification refer to Subsection 5 8 4 For NMT Master startup process refer to Figure 5 1 For Configuration Manager refer to Subsection 5 8 13 uonejejsu QJ Note 4 z z For correct functioning of the CANopen network it is recommended to assign all CANopen devices which are NMT Slave to the NMT Master Figure 5 3 NMT Slave startup process NMT Slave startup process a2 Sa EA y Ss O OD Index Node is assigned nO o H1F81 Bit 0 NMT Slave NMT Slave startup dd finished without failures 6 Pz D TE no NMT Slave zS shall be start by OD Index oe NMT Master H1F81 Bit 2 a n yes SUS 2275 SU Qo Go amp Uo Dog gt J me j Request OD Index H1000 from NMT Slave Response received ne 8 End boot up with no RIC yes NMT Slave response EL gt received
261. owledgement Hall call extra acknowledgement 07 to FF Reserved 01 to FE Target stop acknowledgement 1 to 254 All target stop buttons 05 to OD Request fan 1 acknowledgement Request fan 2 acknowledgement GE Request load time 1 acknowledgement Request load time 2 acknowledgement Request key lock 1 acknowledgement PF OB Request key lock 2 acknowledgement Request key lock 3 acknowledgement 96 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems Basic function field Sub function field a Bit 0 to 7 value Bit 8 to 15 value Description ci hex S PB Request key lock 4 acknowledgement 3 o Request door open acknowledgement POA Request door close acknowledgement 2 Bo Fire recall key switch hall panel acknowledgement e 00 Fire service key switch hall panel acknowledgement E POD Hall call disable acknowledgement 2 0E o Attendant service acknowledgement POF VIP service acknowledgement ma Out of order acknowledgement 3 Bed passenger service acknowledgement jd Lm Special service acknowledgement D Service run acknowledgement d M Dogging service enable acknowledgement E OE DEBER Dogging service up acknowledgement 106 Dogging service down acknowledgement 16 Fire alarm external fire alarm system acknowledgement Provide priority acknowledgement Lift attendant start button acknowledgement Lift attendant drive through button ac
262. plications The area from H6100 to H62FF is related to the VD input panel units they do not belong to a specific lift control The Indexes H6010 and H601 1 are related to the VD Call controller and do not belong to a specific lift control It is possible to realize up to 8 lift control applications For the specific lift control application 1 the area H6200 to H67FE is used For other lift control applications the area H6200 to H67FE is shifted as follows H6200 to H67FE lift control application 1 H6AO00 to H6FFE lift control application 2 e H7200 to H77FE lift control application 3 e H7AO00 to H7FFE lift control application 4 e H8200 to H87FE lift control application 5 e H8AO00 to H8FFE lift control application 6 e H9200 to H97FE lift control application 7 e H9AO00 to H9FFE lift control application 8 e M O a Car drive unit Car position 1 measuring E We Ho NENNEN OMNIS Terminating Terminating resistor resistor FX3U CAN FX3G FX3GC FX3uU FX3UC Series PLC Car drive Controller Car door Controller PP XD 15st floor 2nd floor 3rd floor 90 5 Introduction of Functions FX3U CAN User s Manual 5 10 Application Profile CiA 417 V2 1 for Lift Control Systems The table below provides a brief description and reference information for the FX3U CAN CANopen Object 2 O Dictionary e O S Note Stored to F
263. presentative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Do not drop the product or exert strong impact to it Doing so may cause damage Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices display module expansion boards and special adapters Input output extension units blocks FX Series terminal blocks and special function units blocks Battery and memory cassette 194 12 Communication Settings Procedure FX3U CAN User s Manual 12 1 CANopen 405 Mode 12 1 CANopen 405 Mode en o When using CANopen 405 mode the outline of the communication setting procedure is as follows S To set the Object Dictionary and the TPDO RPDO mapping the use of CANopen configuration software is recommended For further information on CANopen configuration software UvO refer to the manual of the software to be used FE For further information on the Object Dictionary refer to Chapter 5 co gt gt For further information on BFMs refer to Chapter 6 For further information on data transfer location and PDO mapping refer to Chapter 7 For further information on the CIF refer to Chapter 10 1 3 For example program refer to Chapter 13 Sept 1 Set the following 3 z Refer to Chap
264. pter 10 For the FX3U CAN status refer to Section 6 8 uonejejsu QJ BFM No Description BFM 1000 Error HOOOF BFM 1001 Error Class HOFOF BFM 1002 to 1066 Unused Buum d 10 9 2 CIF busy message During FX3U CAN Command interface execution HFFFF is written in the read access area of BFM 1000 During Command interface execution a new command cannot be executed If a new command will be executed or a parameter of the running command will be changed discontinue the al executing command by using the following method 53 If BFM 1000 to BFM 1066 are written to during command interface execution an error may occur and HOOOF will be written to BEM 1000 g O gt For error message refer to Subsection 10 9 1 o Executing Command interface discontinuance procedure pue w gt 1 Write HFFFF to BFM 1000 to discontinue the processing command Tg p 2 Ifthe executed command is reset H0000 is displayed in BFM 1000 2 3 The CIF is available again when BFM 1000 is HOOOO 2 apou sop 9 jOJd eoieq pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO O ae D D lt lt ED NO 191 11 PLC RUN STOP FX3U CAN User s Manual 11 PLC RUN STOP STARTUP AND MAINTENANCE PRECAUTIONS NWARN ING Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation
265. que 8 2 Door is closing SUE e 3 Door opened with torque E gt O 4 Door opened without torque 3 si 5 Door is opening o 6 Door is re opening 7 Door stopped with torque 9 not in an end position O O gt 8 Door stopped without torque az not in an end position 2 9toC Reserved x D Tech in drive E Error indicator 1 0 F Not available or not installed 2g 13 Note T3 OD 2a If the door is in an open or closed end position this shall have higher priority than stopped status 101 FX3U CAN User s Manual 5 Introduction of Functions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems 5 10 6 Light barrier status This Object contains the status information of the VD light barrier unit for up to four doors T 6 50 Bit 6 to 7 Value hex Description 0 No subject detected 1 Subject detected 2 Error indicator 3 Not available or not installed 5 10 7 Control word This object is based on object H6040 of the CiA 402 2 V3 0 specifications Note Bits 9 6 5 and 4 of the control word are operation mode specific The halt function bit 8 behaviour is operation mode specific If the bit is ON 1 the commanded motion shall be interrupted the Power drive system shall behave as defined in the halt option code After releasing the halt function the commanded motion shall be continued if possible Bit EM Description Bit O Switch on Bit 1 Enable voltage Bit 2 EE Quick stop Bit 3
266. r refer to Section 5 7 For EMCY refer to Subsection 5 6 13 e STOP gt RUN The Module enables Heartbeat and NMT Master services again and starts a Flying Master negotiation For Flying Master refer to Subsection 5 8 11 Layer 2 e RUN gt STOP FX3U CAN sends the PLC RUN gt STOP message if configured and changes into Offline state after this e STOP gt RUN FX3U CAN stays in the current state 192 11 PLC RUN STOP FX3U CAN User s Manual PLC RUN STOP MEMO CNI Communication Settings um Procedure A Program Example f Diagnostics q 193 12 Communication Settings Procedure FX3U CAN User s Manual 12 Communication Settings Procedure STARTUP AND MAINTENANCE RN N G PRECAUTIONS y VA e Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS CAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric re
267. r 0 NumberOfSlaveNodes StartNMTSlaveSetup SlaveSettingsSetup NMTSlaveSetCompleted NMTSlaveSetupError 25 If a NMT slave setup command execution is completed reset status signal and move to the next one RST NMTSlaveSetCompleted EN ENO d StartNMTSlaveSetup 26 If a NMT slave setup command execution error occurs increase the command error counter INCP NMTSlaveSetupError EN ENO d NMTSlaveSetupErrorCounter 27 If a NMT slave setup command execution is completed increase the command complete counter NMTSlaveSetCompleted NMTSlaveSetupError ReleaseAnaloginputdata NMTSlaveSetupOkCounter 206 13 Program Example FX3U CAN User s Manual 13 3 Program 28 2 v Issue an SDO write command to activate the transmission of analog input data from the MELSEC STlite node Z O n O U ReleaseAnaloglnputdata StartSDOWrite WriteNodeAddress MELSEC SrTliteHeartbeatActive 1 2 MELSEC STlitePreoperational UNO QUO oO Writelndex san ETE Oo c m WriteSubIndex WriteDataLength WriteData 0 StartSDOWrite Q D e gt E n O 6 ReleaseAnaloginputdata 29 Execute an SDO write command to the index 6423 sub index 0 of node address 3 SDOWriteCommand SDOWrite 0 HeadAddress WriteCompleted SDOWriteCompleted WriteNodeAddress NodeAddress WriteError SDOWriteError Writelndex Index WriteErrorCode SDOWriteErrorCode WriteSubIndex SubIndex WriteDataLength WriteDataLength WriteData 0
268. r s Manual 4 2 CAN Bus Wiring 4 2 CAN Bus Wiring 4 2 1 Connecting communication cables T3 matt ttt tee 1 CAN_GND 1 CAN_GND 1 CAN_GND Terminatin uu resistor D CANLL h ALA ILA 12 CAN 2 CANL H Terminating resistor l G CAN_SHLD 6 CAN SHLD G CAN SHLD 4 CAN H MN n ME DE 4 CAN_H 4 CAN_H 5 CAN_V 5 CAN_V 5 CAN_V Grounding resistance of 100 Q or less Class D Grounding resistance of 100 Q or less Class D For electromagnetic compatibility EMC it is recommended to ground the cable shield at both ends Caution For safety always check the potential differences between the grounding points If potential differences are found proper measures must be taken to avoid damage 4 2 2 Module wiring For further information on PLC wiring refer to the following manual Refer to FX3G Hardware Edition Refer to FX3Gc Hardware Edition Refer to FX3u Hardware Edition Refer to FX3uc Hardware Edition CAN Bus connector FX3G FX3Gc FX3U FX3UC 1 Series PLC Grounding resistance of 100 Q or less Class D CAN GND CAN L CAN SHLD CAN H CAN_V Grounding mounting plate or grounded DIN rail with a grounding resistance of 100 Q or less Class D Strip a part of the coating of the shielded twisted pair cable as shown in subsection 4 2 3 Ground the PLC s grounding terminal there 1 An FX2NC CNV IF or FX3uc 1
269. refer to the following manual j apou op 9 jOJd 3q pue eoejeju Refer to Programming manual CAN network 8 KO to K99 in Time stamp year corresponds to year 2000 to 2099 m The higher two digits is ignored If writing K1984 the module will send a Time stamp with the year 2084 5i FX Series PLC built in RTC s E K80 to K99 correspond to 1980 to 1999 and 00 to 79 correspond to 2000 to 2079 E Examples 80 indicates 1980 99 indicates 1999 00 indicates 2000 79 indicates 2079 9 Sets the Time stamp producer consumer 3 gt The BFM directly accesses the Consumer Producer bits of the Time COB ID 2 in the Object Dictionary x gt For Time object refer to Subsection 5 6 10 BFM 50 Time stamp producer consumer Setting range KO Time stamp disabled K1 Consumer K2 Producer K3 Producer Consumer e eoeeju puewwog 1 Time stamp will be only produced if the module is active NMT Master 117 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 20 BFM 70 NMT Start all Nodes delay KO to K99 lower two digits KO to K99 in Time stamp year corresponds to 2000 to 2099 year The higher two digits is ignored If writing K1984 the module will send a Time stamp with the year 2084 BFM 52 K1 January to K12 December BFM 53 K1 1st to K31 31st BFM 54 KO 0 o clock to K23 23 o clock BFM 55 KO 00 minutes to K59 59 minutes KO KO BFM 51 Time stamp
270. regarding wiring refer to Section 4 2 2 Installation in Enclosure gt For details regarding installation in an enclosure of FX3G Series PLC refer to FX3G User s Manual Hardware Edition For details regarding installation in an enclosure of FX3Gc Series PLC refer to FX3cc User s Manual Hardware Edition For details regarding installation in an enclosure of FX3u Series PLC refer to FX3U User s Manual Hardware Edition For details regarding installation in an enclosure of FX3uc Series PLC refer to FX3uc User s Manual Hardware Edition 1 An FX2NC CNV IF or FX3uc 1PS 5V is necessary to connect the FX3U CAN to an FX3GC FX3UC Series PLC FX3U CAN User s Manual Associated Manuals Associated Manuals Only the installation manual is packed together with the FX3U CAN Communication Block For a detailed explanation of the FX3U CAN refer to this manual For further information of the hardware information and instructions on the PLC main unit refer to the respective manuals o Referto these manuals v Refer to the appropriate equipment manual Foradetailed explanation refer to an additional manual number Manual for the Main Unit FX3G Series PLCs Main Unit Describes FX3G Series PLC specification for I O wiring Supplied FX3G Series and installation extracted from the FX3G User s Manual AJ uas Barber Wania JY997D46001 Hardware Edition f For details refer to FX3G Series User s Manual Hardware
271. rror RemoteNodelD RemoteNodelD RequestData RequestCode StartNMTRequest StartRequest 52 If a NMT write request execution is completed reset its execution signal RST NMTRequestCompleted EN ENO d StartNMTRequest 53 If a NMT write request execution error occurs increase the command error counter INCP NMTRequestError EN ENO d NMTRequestErrorCounter 54 If a NMT write request execution is completed increase the command complete counter and move to the next command AND INCP NMTRequestCompleted EN ENO NMTRequestError d NMTRequestOkCounter SET EN ENO d StartPDOCommunication SET EN ENO d SDOReadRequest 212 13 Program Example FX3U CAN User s Manual 13 3 Program 55 DT When the previous command is completed issue a SDO Read command zo n O AND MOV i SDOReadRequest EN ENO StartSDORead S d ReadNodeAddress 1 2 388 oO ReadIndex san Sin TERES m ReadSubIndex StartSDORead SDOReadRequest 56 Use the SDO read command to read index 1400 sub index 1 from node address 3 it reads the CAN ID of the first RPDO of the MELSEC STlite node J amp E O e o SDOReadCommand SDORead 0 HeadAddress ReadCompleted SDOReadCompleted ReadNodeAddress NodeAddress ReadDataLength ReadDataLength ReadIndex Index ReadData ReadData 0 ReadSubIndex Subindex ReadError SDOReadError StartSDORead ReadCommand ReadErrorCode SDOReadErrorCode 57 If a SDO Read command is completed reset its
272. rs have to be stored and the FX3U CAN has to be restarted by BFM 25 bit 0 or NMT request Reset Node 31 7 Bit No Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 to 31 NMT master Start all nodes NMT master start Start node Reset all nodes Flying master Stop all nodes For storing parameters refer to Subsection 5 6 11 For module restart BFM 725 bit 0 refer to Section 6 8 2 1 Description 6 5 3 0 Stop all Flying Reset all sian nodes Start all NMT nodes master nodes nodes master OFF 0 Module is NMT Slave ON 1 Module is NMT Master Note e If it s set to 0 all other settings of Object H1F80 and H1F81 are ignored e Ina CANopen network only one active NMT Master allowed OFF 0 NMT master sends during the NMT startup the NMT service Start remote node for each assigned NMT slave The NMT slaves will be started during the NMT startup individually ON 1 NMT master sends during the NMT startup the NMT service Start all remote nodes The NMT slaves will be started during the NMT master startup all at the same time Notes if setting is ON 1 e Note Figure 5 2 NMT Master simple startup e Don t use this setting to start remote nodes which are not assigned to the master via Index H1F81 Refer to Subsection 5 8 6 OFF 0 NMT Master switch during NMT master startup automatically into NMT state Operational ON 1 NMT Master does not switch during NM
273. rt in Layer 2 mode refer to Chapter 9 Maximum 127 nodes Node Number on CANopen A total of 30 nodes can be connected to any segment of the bus Using repeaters or bridges the Network total number can be extended up to 127 nodes Node ID Selectable from 1 to 127 Communication Method Acyclic cyclic or event driven 1 Mbps 25 m 82 800 kbps 50 m 164 500 kbps 100 m 328 1 250 kbps 250 m 820 2 125 kbps 500 m 1640 5 Supported Transmission Speed 100 kbps 600 m 1968 6 Maximum Bus Length 50 kbps 1000 m 3280 10 20 kbps 2500 m 8202 1 10 kbps 5000 m 16404 2 Connection Cable Refer to Subsection 4 1 2 Terminating Resistor 120 Accessory 120 1 2W 8 points EI taken from either the input or output points of the PLC 24 3 Installation FX3U CAN User s Manual 3 1 Connection with PLC 3 Installation S 2 INSTALLATION PRECAUTIONS NWARN N G Make sure to cut off all phases of the power supply externally before attempting installation or wiring work Failure to do so may cause electric shock or damage to the product INSTALLATION PRECAUTIONS NCAUTION Use the product within the generic environment specifications described in PLC main unit manual Hardware Edition Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air CI2 H2S SO2 or NO2 flammable gas vibration or impacts or expose it to hig
274. s 2 Ground the shield wire or shield of a shielded cable Do not use common grounding with heavy electrical systems Place the communication cable in grounded metallic ducts or conduits both inside and outside of the control panel whenever possible 4 1 Applicable Cable and Connector 4 1 1 Applicable connector FX3U CAN uses a CAN bus connector This connector is removable For further information of removal and installation of the CAN bus connector refer to the following section Refer to Subsection 4 1 4 4 Wiring FX3U CAN User s Manual 4 1 Applicable Cable and Connector 1 4 1 2 Applicable cable z Item Applicable Cable S Cable Type Twisted pair cable Unshielded Shielded Shielded 2 No of Pairs 2 pair 5 Conformance Standard ISO 11898 1993 3 Wire Size 0 3 mm to 0 82 mm AWG22 to 18 g Impedance 120 Q 2 Note The bus length length related resistance and the cross section of the cable to be used should be related as follows Guidelines for the cable are available in CiA 303 Bus Length m Cross Section mm 0 to 40 0 3 to 0 34 AWG 22 40 to 300 0 34 to 0 60 AWG 22 to 19 300 to 600 0 50 to 0 60 AWG 20 to 19 600 to 1000 0 75 to 0 80 AWG 18 uonejejsu QJ For details refer to CiA 303 o EI 4 1 3 Termination of cable end Bg dE Strip 9 mm 0 35 of insulation from the end of the wire For stranded wires terminate the Mza o end of the wire using a wire ferrule with insul
275. s Manual Hardware Edition of the main unit to be used for your system Expansion board Generic name for high speed input output special adapter communication special adapter analog special adapter and CF card special adapter Special adapter The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system Generic name for input output powered extension unit and input output extension block The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system I O extension unit block Generic name for special function unit and special function block Special function unit block or The number of connectable units however depends on the type of main unit Special extension unit To check the number of connectable units refer to the User s Manual Hardware Edition of the main unit to be used for your system Special function unit Generic name for special function unit Special function block Generic name for special function block FX3U CAN Abbreviated name for FX3U CAN Generic name for memory cassette The number of connectable units however depends on the type of main unit To check the number of connectable units refer to the User s Manual Hardware
276. s SetupCompleted NodeAddress SetupError ReceiveOrTransmit PDOnumber CANID TransmissionType ExecuteMapping NoOfMappedObjects Objectlndex ObjectSubIndex ObjectLength StartSetup PDOSetupCompleted PDOSetupError 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 INCP EN ENO d PDOSetupErrCounter PDOSetupOkCounter 47 If a PDO setup command execution is completed reset status signal RST PDOSetupCompleted EN ENO d StartPDOSetup 48 If a PDO setup command was executed move to the next one PDOSetupProcessing StartPDOSetup AND INC EN CommandSequence 211 eJnpeooJd dO1S NNY sbumes uoneoiunuuuo5 IN Old A Q D e gt E n O Nn 13 Program Example FX3U CAN User s Manual 13 3 Program 49 PDOSetupProcessing StartAllNodes CommandSequence 4 PDOSetupProcessing 50 When the previous command is completed issue a Start all nodes command from the CANOpen master AND MOV StartAllNodes EN ENO StartNMTRequest H80 S d RemoteNodelD RequestData MasterNodeAddress StartNMTRequest StartAllNodes 51 Use the NMT request write command to start all remote nodes StartCANOpenNodes NMTRequestWrite 0 HeadAddress RequestCompleted NMTRequestCompleted MasterNodeAddress NodeAddress RequestError NMTRequestE
277. s and ensure the safety of the operation An operation error may damage the machinery or cause accidents STARTUP AND MAINTENANCE PRECAUTIONS NCAUTION Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Do not drop the product or exert strong impact to it Doing so may cause damage Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices display module expansion boards and special adapters Input output extension units blocks FX Series terminal blocks and special function units blocks Battery and memory cassette 14 1 Preliminary Checks Check the RUN FROM TO Tx Rx ERROR and POWER LED status 1 RUN LED LED State Description OFF FX3U CAN is in Layer 2 offline mode FX3U CAN is in CANopen STOPPED state Periodically turns ON for 100 ms and OFF for 1 s FX3U CAN is in CANopen PRE OPERATIONAL state Turns ON OFF in 200 ms intervals LSS Services in progress Turns ON OFF in 50 ms intervals CANopen mode CANopen OPERATIONAL state Layer 2 mode Layer 2 online mode SINGLE FLASH BLINKING FLICKERING ON 1 RUN
278. s do not short circuit other CAN cable wires A NMT guarding failure NMT Slave or NMT Master or a heartbeat failure has occurred DOUBLE FLASH Check the error status in BFM 29 Refer to Section 14 2 General error has occurred BLINKING Check the error status in BFM 29 Refer to Section 14 2 FLICKERING LSS Services in progress FX3U CAN is in BUS OFF state or CPU error occurs in PLC main unit The LED will always be ON if there is a BUS OFF error a general error BFM 29 bit 0 or the FROM TO watchdog is expired Check the error status in BFM 29 Refer to Section 14 2 ON Check the ERROR LED of the PLC For FX3G Series PLC refer to FX3G Hardware Edition For FX3GC Series PLC refer to FX3GC Hardware Edition For FX3U Series PLC refer to FX3U Hardware Edition For FX3UC Series PLC refer to FX3UC Hardware Edition e Check the sequence program for FROM TO watchdog For the FROM TO watchdog refer to Section 6 9 1 ERROR LED has four kinds of flicker states single flash double flash blinking and flickering This LED flickers as follows 0 2s 0 2s 0 2s 1s BLINKING OS NN e ok 3 0 2s 0 2s FLICKERING E E KEY 0 05s 0 05s 216 14 Diagnostics FX3U CAN User s Manual 14 2 Detail Error Check 5 POWER LED DD O LED State Description lt al Lit The power is being correctly supplied from FX3G FX3U FX3GC 1 FX3UC Series PLC via the extension cable to
279. s node Object H1F82 Sub index H01 to H80 Request NMT Description Value hex 02 to 03 Reserved 04 NMT service Stop remote node 05 NMT service Start remote node 07 NMT service Reset communication 08 to 7E Reserved TF NMT service Enter pre operational 80 to 83 Reserved NMT service Stop remote node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Stopped but the NMT Master will stay in its current NMT State NMT service Start remote node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Operational but the NMT Master will stay in its current NMT State NMT service Reset node excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Reset Node but the NMT Master will stay in its current NMT State NMT service Reset communication excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Reset communication but the NMT Master will stay in its current NMT State 84 Reserved 85 Reserved 86 Reserved 87 Reserved 88 to 8E Reserved NMT service Enter Pre operational excluding NMT master With this Value the NMT Slave will be set into the requested NMT State Pre operational but the NMT Master will stay in its current NMT State 8F Reserved 90 to FF Reserved 82 5 Introduction of Functions FX3U CAN User s Manual 5 8 Network Management 5 8 10 Request
280. sed an error DLC Data Length Count z S BFM 1005 2nd data byte 1st data byte S3 S O BFM 1006 4th data byte 3rd data byte a BFM 1007 Unused 6th data byte 5th data byte BFM 1008 8th data byte 7th data byte o BFM 1009 to 1066 Unused SB 1 Set this BFM to KO for normal transmission If this BFM is set to K1 a remote transmit request frame ag is sent This request makes the producer of the associated CAN ID specified in BFM 1001 and 23 1002 send the actual data S 2 The data length in bytes 0 to 8 apou sop 9 jOJd eoieq pue eoejeju Um EI oO o 2 o 8 a O spol c Jefe NYO e eoeeju puewwog 177 10 Command Interface FX3U CAN User s Manual 10 1 BFM 1000 to 1066 Command Interface 10 Command Interface This chapter describes the Command Interface supported by FX3U CAN Command Interface that can be used with each Function Mode is shown in the following table Function Mode Selection Command Interface SDO Request L y L j Section 10 2 Set Heartbeat Loa Tow EEG Section 10 3 Set Node Guarding NMT slave assignment p x4 ff T Section 10 4 Send an Emergency Message ae E E a Section 10 5 Store Object Dictionary settings OZ Tow 2 Section 10 6 Restore Object Dictionary default settings boo v do Y d oc 7 Section 10 7 Communication Mapping Modes Lo A a a Section 7 2 Display current Parameter NOAA Section 10 8 Sending
281. ser s Manual 6 6 BFM 22 Save Restore Configuration 6 6 BFM 22 Save Restore Configuration This BFM supports two bits that allow the default configuration of the BFMs to be restored and the configuration from BFMs to be stored into Flash ROM Both bits will be reset automatically if the restore or save procedure is completed Note e f both flags are set simultaneously the corresponding BFMs and Flash ROM will be reset to factory default settings e f only bit 1 is set corresponding BFM areas are restored to factory default values but not stored in Flash ROM After changing the configuration BFM 22 bit O has to be set ON to store these changed configuration BFMs to Flash ROM Object dictionary settings can be stored in Flash ROM and Object dictionary default settings can be restored using CIF commands For CIF command refer to Section 10 6 and Section 10 7 Bit Description i FROM Read Access TO Write Access p cd Bit 0 ON when in store process Save configuration to Flash ROM E When operation is completed FX3U CAN will automatically reset this bit Bit 1 A ores Restore factory default configuration not saved to Flash ROM P When operation is completed FX3U CAN will automatically reset this bit Bit 2 to 15 Reserved 1 The stored restored BFM configurations correspond to the function mode as shown in the table below Mode Description Reference CANopen 405 mode CANopen 417 mode
282. slave If the configured identification data on the NMT master are different than responded from the NMT slave the NMT startup master service will stop the startup of this NMT slave The Sub index corresponds to the NMT slave Node ID The default value O has the meaning not configured and the NMT master will skip this entry For the LSS Master all NMT slave Identification data need to be configured For the NMT Startup Master the NMT slave identification entries are optional Object H1F84 Sub index H01 to H7F Device Type The sub index corresponds to the Node ID The value refers to the object H1000 sub index 00 of the corresponding Node ld Object H1F85 Sub index H01 to H7F Vendor identification The sub index corresponds to the Node ID The value refers to the object H1018 sub index 01 of the corresponding Node ld Object H1F86 Sub index H01 to H7F Product code The sub index corresponds to the Node ID The value refers to the object H1018 sub index 02 of the corresponding Node ld Object H1F87 Sub index H01 to H7F Revision number The sub index corresponds to the Node ID The value refers to the object H1018 sub index 03 of the corresponding Node ld Object H1F88 Sub index H01 to H7F Serial number The sub index corresponds to the Node ID The value refers to the object H1018 sub index 04 of the corresponding Node ld NMT master startup The NMT startup master behaves according to the NMT state machine as def
283. stallation extracted from the FX3UC User s pras Passed a JY997D31601 Manual Hardware Edition For details refer to FX3UC Series User s Manual Hardware Edition Describes FX3UC 32MT LT specification for I O wiring Supplied FX3UC 32MT LT and installation extracted from the FX3UC User s Manual Hardware Manual JY997D12701 Manual Hardware Edition Only Japanese document For details refer to FX3UC Series User s Manual Hardware Edition FX3UC Series Additional seve Manual JY997D28701 Describes FX3UC Series PLC specification details 09R519 Manual for I O wiring installation and maintenance Hardware Edition Model code 10 FX3U CAN User s Manual Associated Manuals Programming Additional Manual P Additional Manual y Additional Manual z Additional Manual Additional Y Manual FX3S FX3G FX3GC FX3U FX3UC Series Describes FX3S FX3G FX3GC FX3U FX3UC Series Programming Manual JY997D16601 PLC programming for basic applied instructions and Basic amp Applied devices Instruction Edition is Programming methods specifications functions etc Structured Programming SH 080782 9 9 2 P i required to create structured programs Manual Fundamentals TUE UC Devices arameters etc rovided in structured Programming Manual JY997D26001 m p l projects of GX Works2 Device amp Common FX CPU Structured Programming Manual JY997D34701 Sequence instructions provided
284. suming is set for the active NMT master Heartbeat consuming is automatically set to 1500 10 x Node ID ms pz T9 e Ifthe Heartbeat producing and consuming is set manually set a different value for the consuming time of ag one Node ID on the other Flying masters so that multiple masters will not initiate at the same time a new 3 o Flying master negotiation when the active NMT master times out e Ifa Flying Master is in the Network which is not a FX3U CAN ensure that this node has Heartbeat producing enabled otherwise the FX3U CAN with activated Flying Master function will send endless Reset Communication NMT Messages j For the Communication Status BFM 25 refer to Section 6 8 apou Gop 9 lJOJd 399 pue eoejeju All Flying Masters should have the same configuration for the Slaves Configure in the Flying master negotiation response wait time of all Flying Master Formula for the Flying Master negotiation response wait time 8 Flying Master negotiation response wait time 3323 NMT master priority x Priority time slot Node ID x Node time slot S S D O e During the Flying master negotiation process an NMT service Reset communication message will be sent 5 to all nodes Active Hot Stand by 9 NMT Master NMT Master SQ e zZ Terminating Terminating 2 resistor resistor x e 2g Hot Stand by SE NMT Master 8 2 e 83 5 Introduction of Functions FX3U CAN User s Manua
285. t emergency message refer to Subsection 5 6 13 and Section 6 23 When the 11 bit 29 bit CAN ID Layer 2 mode is used FX3U CAN transmits the PLC RUN gt STOP message on the CAN network gt For the PLC RUN gt STOP message refer to Section 9 6 Module failures The module stays in initial status Displayed in BFM 25 The CANopen configuration may be faulty Reset the Object Dictionary to default settings using the CIF For Restore Object Dictionary default settings refer to Section 10 7 For module restart refer to Section 6 8 Bit No Description Beo Generalerror General error has occurred This bit is ON if bit 1 2 3 4 5 6 7 8 10 11 12 or 15 are ON Check the ON bit Hardware error has occurred If this error flag is not cleared after a module reset BFM 25 bit 0 or another power cycle FX3U CAN is probably damaged Please contact your local Mitsubishi Electric representative For module restart refer to Section 6 8 Bit 1 Hardware error Internal power supply error has occurred Internal power If this error flag is not cleared after a module reset BFM 25 bit 0 or another power cycle FX3U CAN is supply error probably damaged Please contact your local Mitsubishi Electric representative For module restart refer to Section 6 8 Bit 2 217 14 Diagnostics FX3U CAN User s Manual 14 2 Detail Error Check Bit No Description The FX3U CAN is bus OFF The FX3U CAN has too many tra
286. t 4 Section 8 8 BFM 3380 BFM 12380 Position unit 1 7 BFM 3381 BFM 12381 Position unit 2 ala 5 Speed value car HO 99 BFM 43382 BFM 12382 Position unit 3 3g gt O BFM 43383 BFM 12383 Position unit 4 EN wa a 5 BFM 3384 BFM 12384 Position unit 1 E BFM 3385 BFM 12385 Position unit 2 Speed value car HO BFM 3386 BFM 12386 Position unit 3 BFM 3387 BFM 12387 Position unit 4 R 3 E BFM 43388 BFM 12388 Position unit 1 oS o 2 BFM 3389 BFM 12389 Position unit 2 EE 7 Speed value car HO BEN BFM 3390 BFM 12390 Position unit 3 5 BFM 3391 BFM 12391 Position unit 4 BFM 3392 BFM 12392 Position unit 1 9 BFM 3393 BFM 12393 Position unit 2 2 Speed value car HO Oz BFM 3394 BFM 12394 Position unit 3 n m BFM 3395 BFM 12395 Position unit 4 NO e eoeeju puewwog 145 8 CANopen 417 Mode FX3U CAN User s Manual 8 1 Buffer Memories Lists of Lift Application BFM No and access type dis Lift No Description Initial value Reference BFM 3396 BFM 12396 Position unit 1 BFM 3397 BFM 12397 Position unit 2 1 Acceleration value car HO BFM 3398 BFM 12398 Position unit 3 BFM 3399 BFM 12399 Position unit 4 BFM 3400 BFM 12400 Position unit 1 BFM 3401 BFM 12401 Position unit 2 2 Acceleration value car HO BFM 3402 BFM 12402 Position unit 3 BFM 3403 BFM 12403 Position unit 4 BFM 3404 BFM 12404 Position unit 1 BFM 3405 BFM 12405 Position unit 2 3 Acceleration value car HO BFM
287. t is set to 0 the related condition is not true Load signal interrupt contains the information about whether the related load bit shall be processed 1 or not 0 Bits 8 to 15 are fixed to OFF 0 in these BFMs Load signal structure Bit 15 4 3 2 1 0 165 suoneogoeds INO UONINPOJU mal uoneejsu OO Buum a al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoo v j U 587 Cc X om Sone Q D o U TaS O DO 9 14O1d uoneorddy 47 SPON Zip epo cie e1Nvo CO e eoeeju puewwog 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 1 Receive Transmit Process Data A 1 0 CAN Layer 2 Mode 9 9 1 This chapter describes the data transfer locations and setting etc of the 11 bit 29 bit CAN ID Layer 2 mode In the 11 bit 29 bit CAN ID Layer 2 mode the FX3U CAN can send receive up to 42 pre defined messages Moreover Layer 2 messages can be sent via CIF Difference between 11 bit 29 bit CAN ID Layer 2 Modes The bit numbers of the CAN ID used in 11 bit 29 bit CAN ID Layer 2 modes differ between 11 bit and 29 bit Note To ensure that the FX3U CAN module can handle the CAN Layer 2 message in a consistent way it is necessary to set BFM 20 bit O to ON before reading the received message FROM and after writing the transmitted message TO to the module For BFM 20 bit 0 refer to Section 6 4 To activate the 11 bit 29 bit CAN ID Layer 2 mode
288. tarted successfully NMT service Start NMT service Start remote node with remote for each node ID 0 NMT slave individually Network startup finished without failures Figure 5 2 NMT Master simple startup This overview is a more simple overview of the total NMT master startup without any NMT Slave setting in Object Dictionary Index H1F81 Refer to the other figure to see the whole process Power on Reset Keep NMT Slaves in Operational OD Index yes H1F81 Bit 0 4 no NMT service Reset communication all Nodes Time delay between Reset Communication and Start remote all Nodes BFM 70 default 500ms Start remote all no Nodes OD Index H1F80 Bit 1 yes NMT service Start remote all Nodes End startup 75 uononpou suoneoyoeds INO uonejejsu QJ 4 z E jo UONINPOAU o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju puewwog FX3U CAN User s Manual 5 Introduction of Functions 5 8 Network Management Object H1F80 NMT startup This object configures the start up behaviour of a CANopen device via SDO access If the node is set as Master without the flying master capability the node starts as NMT master and ignores all Nodes NMT commands from the network After the FX3U CAN has been configured as the NMT master paramete
289. ted undue pa deinen dla betae cc 135 52 5 Mode B COB D Mapping EITORS oleo reinen alado Ed etiain 139 8 CANopen 417 Mode 140 8 1 Buffer Memories Lists of Lift Application oooccococcnccccncconnnncoonncononocononononnnonnnnnnnnnononononnnnos 140 p Hele NIM sees tse ioo Eh tato ted ai teca A mM iet teases 151 8 3 Virtual Input Output Mapping cccoccccccccnconcnococnncnncncnonnnonncnonnnnnnonononnnnnonnnnnnnnnnnnnnnnnonnnonnnnnnnnnanenonos 151 9 0 1 Virtual INPUT ADIOS u enone 151 9 9 2 Virtalabl outpuEmapblklg cua idus ioa capuc opbieue aid 154 8 4 Door Control Word Door Status Word coooccccoccncccccoconcncocnncconcnnconnnononnononnnonnnnnnonnnonnnnnnnnnnononens 158 941 DOOR CONTO olio PUE 158 8 4 2 Door status word cece 159 0 9 DOO TPOSIUOFS a muet on edi decc m anemia locas tace n stes orem adnate crates uta d dcc de 160 As SAA Eme A ee ee ee ee 160 A ioci sim diio i iim needs 160 8 20 Spec Valle Canta dali dida 161 8 9 Acceleration Value Car oocccccnnnccccnnccccncconnnoconononnnnnonnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnennncncnanos 161 9419 Control WoTd Status VW ONG aotearoa letal a dtd mcd o Rec Hd Paca ee sbns 161 8 10 1 Control Word Eee ed ute M AL O enews 161 IIS WOA ese sc ate cs Pee tetas A ETT 163 8 11 Modes of operation Modes of operation display oooccccoccncccnnnccnnncconnncnncnnnonnnonnnnnnonenononos 164 O14 Modes o ODE AUOM si eod abaci is 164 8 11 2 Modes of
290. ten to BFM 1000 the command is executed 3 When the executed command is successful HOOOB is written to BFM 1000 If HOOOF or HFFFF is read from BFM 1000 refer to Section 10 9 Description BFM No TO Write Access FROM Read Access High Byte Low Byte Command finished CIF Busy BFM 1000 Command H000A Communication Error Error No Error EMCY Inhibit time not BFM 1001 didi E de Device is not in CANopen x c ake cs state Operational or Pre operational Oth byte of Manufacturer specific BFM 1002 2 Error register error code 2nd byte of Manufacturer specific 1st byte of Manufacturer specific BFM 1003 2 2 Unused error code error code BFM 1004 4th byte of Manufacturer specific 3rd byte of Manufacturer specific error code 2 error code BFM 1005 to 1066 Unused 185 apou sop 9 jOJd eoieq pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy y1 OO uononpou suoneoyoeds INO uonejejsu QJ Buum d al suonounJ jo uononpouu o seuouleJy Jeyng jo uoneoo v O ae D D lt lt ED NO FX3U CAN User s Manual 10 Command Interface 10 5 Send an Emergency Message 1 Emergency error codes In different CiA Device Application Profiles more EMCY Error Codes are defined Error Code hex 0000 0010 1000 2000 2100 2200 2300 3000 3100 3111 3121 3200 3211 3221 3300 4000 4100 4200 5000 6000 6100 6200 6300 Descripti
291. ter 6 Function mode BFM 21 2 Store setting to Flash ROM BFM 22 gt Refer to Chapter 6 sonsouBeig I 3 FX3U CAN restart 4 Set the following Baud rate BFM 24 e Watchdog timer BFM 26 Node address BFM 27 5 Store setting to Flash ROM BFM 22 Refer to Chapter 6 6 FX3U CAN restart 1 Set the following required function Refer to Section 5 8 NMT master Flying Master 2 Save the Object Dictionary Refer to Subsection 5 6 11 and Section 10 6 FX3U CAN restart For Module restart refer to Section 6 8 1 Set the following required functions Refer to Section 5 6 Section 5 8 and Section 6 18 Heartbeat the Node Guarding either settings are possible e TIME Layer Setting Services LSS NMT Master Set up NMT Slave assignment H1F81 Set up NMT Slave identification data H1F84 to H1F88 Set up Boot time Note When using FX3U CAN as the Producer of the TIME message parameters have to be set in BFM 50 to 59 in the program used for normal operation 2 Set the TPDO RPDO mapping Refer to Chapter 7 Save the Object Dictionary Refer to Subsection 5 6 11 and Section 10 6 Shift the NMT state to OPERATIONAL When FX3U CAN is NMT Master shift the NMT state of NMT slave into OPERATIONAL Refer to Section 5 8 Step 7 The TPDO RPDO data and Emergency Message etc can be exchanged to CAN bus gt For example program refer to Chapter 13 195 12
292. th heavy electrical systems Place the communication cable in grounded metallic ducts or conduits both inside and outside of the control panel whenever possible GUI S2fety Precautions EDS Read these precautions before use 4 STARTUP AND MAINTENANCE PRECAUTIONS Do not touch any terminal while the PLC s power is on Doing so may cause electric shock or malfunctions Before cleaning or retightening terminals cut off all phases of the power supply externally Failure to do so may cause electric shock Before modifying or disrupting the program in operation or running the PLC carefully read through this manual and the associated manuals and ensure the safety of the operation An operation error may damage the machinery or cause accidents Reference Do not disassemble or modify the PLC Doing so may cause fire equipment failures or malfunctions For repair contact your local Mitsubishi Electric representative Turn off the power to the PLC before connecting or disconnecting any extension cable Failure to do so may cause equipment failures or malfunctions Do not drop the product or exert strong impact to it Doing so may cause damage Turn off the power to the PLC before attaching or detaching the following devices Failure to do so may cause equipment failures or malfunctions Peripheral devices display module expansion boards and special adapters Input output extension units blocks FX Series termina
293. the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line 23 at least 100mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of a shielded cable Do not use common grounding with heavy electrical systems refer to the manual of the PLC main unit GUI S2fety Precautions EDS Read these precautions before use 2 INSTALLATION PRECAUTIONS e Make sure to cut off all phases of the power supply externally before attempting installation or wiring work 25 Failure to do so may cause electric shock or damage to the product NCAUTION Use the product within the generic environment specifications described in PLC main unit manual Hardware Edition Never use the product in areas with excessive dust oily smoke conductive dusts corrosive gas salt air Cl2 H2S SO2 or NO2 flammable gas vibration or impacts or expose it to high temperature condensation or rain and wind If the product is used in such conditions electric shock fire malfunctions deterioration or damage may occur Do not touch the conductive parts of the product directly Doing so may cause device failures or malfunctions When drilling s
294. tion of Functions FX3U CAN User s Manual 5 8 Network Management Bit No Hem Description OFF 0 NMT service Reset communication may be executed for the CANopen device at any time ON 1 NMT service Reset communication is not executed for the CANopen device in case the CANopen device is in NMT state Operational Note when using this function e If the Flying Master Service is used in the Network there will be an all Node Reset communication command executed during the Flying Master negotiation Process Reset e If no Heartbeat consuming is configured for this node the NMT startup Master starts with Node communication Guarding which has to be answered within 100ms n the case that no Heartbeat is used or supported confirm that the NMT Slave supports Node guarding Take care that the NMT Master is also configured for Node Guarding if the NMT Slave is configured for life guarding of the NMT Master Otherwise the NMT Slave will go in an NMT error state If within the Heartbeat consuming time no Heartbeat is received or no Node Guard confirmation is received after the Node Guarding RTR message the NMT Slave startup ends with an error Bit 1 Besse Default value 0 Bit5 to 7 If set to ON 1 FX3U CAN will respond with SDO access error 2 Object H1F89 Boot time The object defines the time out in ms between start of the process Start process boot NMT slave and signalling of successful boot of all mandatory NMT slaves I
295. tions 5 10 Application Profile CiA9 417 V2 1 for Lift Control Systems onc SP Gra o Io vg Or 4x com QU cM OD Un e oo lc ONOATARPWNALANDARPWNALDMPANMARWN 2 A AAA AIN 2 AONDaARWN gt Speed value car Acceleration value car Control word Status word Modes of operation Modes of operation Read Write Data type Initial value Description Highest sub index O Position unit 1 The position value from the car position units The values shall be equivalent Position unit 2 to Object H6004 of the CiA Position unit 3 406 specifications Position unit 4 Highest sub index The speed value from the car Position unit 1 position units The measuring step is defined in multiples of 0 1 mm s in the object H6384 of the car position unit Position unit 2 Position unit 3 Position unit 4 Highest sub index The acceleration value from the car position units The measuring step is defined in multiples of 1 mm s in the object H6384 of the car position Refer to Subsection 5 10 7 U16 Refer to Subsection 5 10 8 U16 g R W Refer to Subsection 5 10 9 Refer to Subsection 5 10 10 2 This object shall contain the breaking point or breaking distance depending on the target position given respectively as absolute value or 132 R W relative value The value shall be given in user defined position units Stored to Flash ROM 92
296. to 13539 CANopen 417 Mode only From 13540 A EA 1 Refer to the following items for each function mode When using CANopen 405 mode refer to Chapter 7 When using CANopen 417 mode refer to Chapter 8 When using the 11 bit CAN ID Layer 2 mode or 29 bit CAN ID Layer 2 mode refer to Chapter 9 2 Only in Layer 2 mode The configuration area of the BFM is stored into the Flash ROM For further information refer to the following section Refer to Section 9 1 3 Applicable for FX3U CAN firmware Ver 1 10 or later 108 6 Allocation of Buffer Memories FX3U CAN User s Manual 6 2 How to Read Write from to Buffer Memory 62 Howto Read Write from to Buffer Memory 3 To read write from to buffer memory in the FX3U CAN use the FROM TO instructions or the applied o instructions that directly specify the buffer memory FX3U FX3UC Series PLC applicable software is required to perform direct specification of the buffer memory and bit specification of word devices 2 For further information on applied instructions bit specification of word devices direct specification of buffer 9 memory or special extension unit block unit number refer to following manual 9 Refer to Programming manual S O 6 2 1 Direct specification of buffer memory FX3u FX3uc only When directly specifying the buffer memory specify the following device in the source or destination area of the applied instruction as follows UL AG
297. to Node ID 127 External error generic error Additional functions generic error Device specific generic error CiA 417 Light barrier defect CiA 417 Finger protector defect 2 CiA 417 Motion detection defect CiA9 417 Application error Manufacturer specific error code Byte 0 and 1 contain a Text error code Byte 2 to 4 are reserved 2 For EMCY Manufacturer specific error code refer to the following section Refer to Section 6 23 186 10 Command Interface FX3U CAN User s Manual 10 6 Store Object Dictionary Settings 10 6 Store Object Dictionary Settings 3 This command is an easy to use command for the store parameter command in the Object Dictionary Index 9 H1010 Sub index H01 Note that the NMT Master startup process uses SDO s which can be result in an Error of the CIF SDO command if the NMT Startup Master accesses the remote Node at the same time 2 gt For the Object Dictionary Index H1010 refer to Subsection 5 6 11 9 Execution procedure Store object dictionary settings 2 1 Write the target node ID for which Object Dictionary settings are to be stored to BFM 1001 to 1066 When HFFFF is set as node ID in BFM 1002 to 1066 the Store Object Dictionary settings is finished The local FX3U CAN can be specified by its actual node number or by using 0 2 Write the command code H6000 to BFM 1000 When the command code H6000 is written to BFM 1000 the command is executed 3
298. to8 Virtual output mapping HO Section 8 3 2 BFM 3003 a BFM 3004 3 WIEN Reserved g BFM 3049 e Car door controller The car door controller transmits commands e g open and close to the car door unit and receives status information from the car door unit and the light barrier unit uoneejsu OO Receive Objects BFM No and access type FROM BFM 3050 BFM 12050 BFM 3051 BFM 12051 BFM 3052 BFM 12052 BFM 3053 BFM 12053 BFM 3054 BFM 12054 BFM 3055 BFM 12055 BFM 3056 BFM 12056 BFM 3057 BFM 12057 BFM 3058 BFM 12058 BFM 3059 BFM 12059 BFM 3060 BFM 12060 BFM 3061 BFM 12061 BFM 3062 BFM 12062 BFM 3063 BFM 12063 BFM 3064 BFM 12064 BFM 3065 BFM 12065 BFM 3066 BFM 12066 BFM 3067 BFM 12067 BFM 3068 BFM 12068 BFM 3069 BFM 12069 BFM 3070 BFM 12070 BFM 3071 BFM 12071 BFM 3072 BFM 12072 BFM 3073 BFM 12073 BFM 3074 BFM 3075 BFM 12075 BFM 3076 BFM 12076 BFM 3077 BFM 12077 BFM 3078 BFM 3079 BFM 12079 Door status word BFM 3080 BFM 12080 Door 3 BFM 3081 BFM 12081 Door 4 BFM 3082 BFM 12082 Door 1 BFM 3083 BFM 12083 Door 2 1 Door position BFM 3084 BFM 12084 Door 3 BFM 3085 BFM 12085 Door 4 Lift No Description Initial value Reference Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door 4 Door 1 Door 2 Door 3 Door
299. tor O Tm UER O Z ne Not available or not installed 6 Force limit field Bit 10 11 Bit 11 Bit10 Description OFF 0 OFF 0 Force limit not reached OFF 0 ON 1 Force limit reached 0 1 Not available or not installed Error indicator O Z O Zz os S O TI a 7 Status field Bit 12 to 15 Bit 12 to 15 Value hex Description Bit 12 to 15 Value hex Description Door stopped with torque not in an end position Oo Door closed with torque 7 Door stopped without torque 1 Door closed without torque 8 not in an end position 2 Door is closing 9 to C Reserved 3 Door opened with torque D Tech in drive 4 Door opened without torque E Error indicator 5 Door is opening F Not available or not installed 6 Door is re opening Note If the door is in an open or closed end position this shall have higher priority than stopped status 8 5 Door Position These BFMs store the Door position information of each Lift number The value is in units of mm HO value shows Closed and HFFFF shows not available or not requested 8 6 Light Barrier Status These BFMs contain the status information of the VD light barrier unit for up to four doors Bit No Description BitO to 5 Bit O to 5 fixed to ON 1 Bit 7 Bit Description OFF 0 O No subject detected FF 0 Bit 6 and 7 Status OFF 0 ON 1 Subject detected 0 ON 1 Error indicator O
300. u 5 10 11 Target position This object is equivalent to object H607A in the CiA9 402 2 V3 0 specifications This object contains the commanded position that the drive should move to in position profile mode using the current settings of o W gt motion control parameters such as velocity acceleration deceleration motion profile type etc The value of Sri this object shall be interpreted as absolute or relative depending on the abs rel flag in the control word It shall be given in user defined position units and shall be converted to position increments zs 5 10 12 Load value This object contains the load value sub index H01 and the related SI unit sub index H02 The load value is the absolute value of the load payload It is in units of the configured SI unit The load value of HFFFF shall be an error value that is applied if the sensor is in error state or does not have an actual value apou sop BO 399 pue eoejeju SI unit structure 155 8 7 0 8 zop The default SI unit is kg The SI unit and prefix field values shall use the coding defined in the CiA 303 2 amp si specifications ES 5 10 13 Load signalling 9 O This object contains load signal information It is used to signal measuring values of the load measuring az system Sub index HO1 contains different kinds of load signals If one of the load bits for zero load norm 2 load full load and overload is set to ON 1 the relate
301. ub index HO1 to HOF Standard error fields List of the last 15 EMCY Errors sent by FX3U CAN Sub index H01 contains the newest Message and Sub index HOF contains the oldest Message For Emergency error codes refers to Section 6 23 9 6 4 SDO An SDO provides direct access to object entries of a CANopen device s object dictionary These object entries may contain data of arbitrary size and data type SDO is used to transfer multiple data sets from a client to a server and vice versa The client controls which data set to transfer via a multiplexer index and sub index of the object dictionary By using the CIF it is possible to make an SDO access to other CANopen devices or to the FX3U CAN itself In the Object Dictionary no configuration needed For CIF refer to Chapter 10 Client Server Request Indication Response Confirmation 55 suoneoyoeds N9 UONINPOJU mal uonejejsu QJ 4 z E suojoun4 jo uononpouu o seuouleJy Jeyng jo uoneoollv apou sop BO 399 pue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 5 RPDO TPDO Real time data transfer is performed by means of Process Data Objects PDO PDO transfer is performed with no protocol overhead PDOs correspond to objects in the object dictionary and provide
302. uct supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user or third person by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice Product application 1 In using the Mitsubishi MELSEC programmable logic controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device and that backup and fail safe functions are systematically provided outside of the device for any problem or fault 2 The Mitsubishi programmable logic controller has been desi
303. ue eoejeju SPON 4 Lv 9 140Jd uoneoddy 47 OO apo cie e1Nvo CO e eoeeju puewwog 31 5 Introduction of Functions FX3U CAN User s Manual 5 1 Functions List 5 Introduction of Functions 5 1 Functions List The function list is shown below LSS Layer Setting Service for Devices Subsection 5 8 12 Mechanism for configuration of the Object Dictionary of Configuration manager Subsection 5 8 13 other CANopen Devices Profile CiA9 405 V2 0 Device Profile for IEC 61131 3 Programmable Devices Section 5 9 and Chapter 7 Profile CiA9 417 V2 1 Application Profile for lift control systems Section 5 10 and Chapter 8 Layer 2 Message mode Layer 2 Message transmission and receive Mode Chapter 9 Function Modes Section 5 2 and Section 6 5 Object Dictionary Section 5 3 Command Interface Section 5 4 and Chapter 10 RPDO TPDO Subsection 5 6 5 Node guarding Subsection 5 6 8 Heartbeat Subsection 5 6 9 Flying Master Subsection 5 8 11 PA NN A ae iS epee v E O Module behaviour in case of PLC RUN STOP PLC RUN STOP Module behaviour in case of PLC RUN STOP Chapter 11 5 2 Function Modes The FX3U CAN has four different function modes The function mode is set up by BFM 21 For further information on how to set the function mode refer to the following section Refer to Section 6 5 Function Mode Description This mode supports full access to Layer 2 of the CAN communication protocol Customi
304. ur E Oo p Na gt CET OO o e o o DS O E D E D N 53 e eoeeju puewwog 5 Introduction of Functions FX3U CAN User s Manual 5 6 Communication Profile Area 5 6 1 CAN ID COB ID Each message type on each device has a unique 11 bit identifier for bus arbitration and identification on the CAN bus The lowest CAN ID wins the bus arbitration CAN IDs with lower priority higher CAN ID will wait until the bus is free For easier configuration one CAN ID scheme exists for all CANopen devices By default four TPDO and four RPDO are reserved for every Node ID To use more PDO for one node it is necessary to use CAN IDs of other nodes 11 bit Identifier 0 to 8 Data Bytes CAN Message l Bit 10 7 Bit6 0 ee Function Code Node ID 11 bit CAN ID 1 Function code is shown below 1 Broadcast objects Node ID 0 COB Resulting CAN ID 2 Peer to peer objects Node ID 1 to 127 COB Function Code Binary Resulting CAN ID EMCY 0001b H81 to HFF TPDO1 0011b H181 to H1FF RPDO1 0100b H201 to H27F TPDO2 0101b H281 to H2FF RPDO2 0110b H301 to H37F TPDO3 0111b H381 to H3FF RPDO3 1000b H401 to H47F TPDO4 1001b H481 to H4FF RPDO4 1010b H501 to H57F TSDO 1011b H581 to H5FF RSDO 1100b H601 to H67F NMT error control 1110b H701 to H77F 3 Restricted CAN IDs In a self defined CAN ID scheme use of the following CAN IDs are restricted and shall not be used as a CAN ID by any configura
305. uresti Sector 6 Phone 40 0 21 430 40 06 Fax 40 0 21 430 40 02 INEA SR d o o Ul Karadjordjeva 12 217 SER 11300 Smederevo Phone 4 386 026 461 54 01 SIMAP SK Z padn Slovensko J na Derku 1671 SK 911 01 Trenc n Phone 421 0 32 743 04 72 Fax 421 0 32 743 75 20 INEA RBT d o o Stegne 11 SI 1000 Ljubljana Phone 386 0 1 513 8116 Fax 4 386 0 1 513 8170 Beijer Electronics Automation AB Box 426 SE 20124 Malm Phone 4 46 0 40 35 86 00 Fax 46 0 40 93 23 01 OMNI RAY AG Im Sch rli 5 CH 8600 Diibendorf Phone 41 0 44 802 28 80 Fax 41 0 44 802 28 28 000 CSC AUTOMATION 4 B M Raskovoyi St UA 02660 Kiev Phone 380 0 44 494 33 44 Fax 380 0 44 494 33 66 LITHUANIA MALTA MOLDOVA NETHERLANDS NETHERLANDS NORWAY PORTUGAL ROMANIA SERBIA SLOVAKIA SLOVENIA SWEDEN SWITZERLAND UKRAINE TOO Kazpromavtomatika KAZAKHSTAN UL ZHAMBYLA 28 KAZ 100017 Karaganda Phone 7 7212 50 10 00 Fax 7 7212 50 1150 MIDDLE EAST REPRESENTATIVE I C SYSTEMS Ltd EGYPT 23 Al Saad Al Alee St EG Sarayat Maadi Cairo Phone 20 0 2 235 98 548 Fax 20 0 2 235 96 625 GIRIT CELADON Ltd 12 H aomanut Street IL 42505 Netanya Phone 972 0 9 863 39 80 Fax 972 0 9 885 24 30 CEG LIBAN Cebaco Center Block A Autostrade DORA Lebanon Beirut Phone 961 0 1 240 445 Fax 4 961 0 1 240 193 AFRICAN REPRESENTATIVE
306. ve slave uonejejsu QJ 4 z E jo UONINPOAU o Bit No item Description w gt OFF 0 Remote Node is NMT Master or not assigned TO ON 1 Remote Node is NMT Slave and assigned to this NMT Master lt o Note a9 Bit 0 NMT slave It s mandatory to set this bit if the NMT Master shall startup and or Node guard the NMT Slave D e If the Flying Master Service is used it shall be considered as Flying Master switching into NMT Slave mode if they are not the active NMT Master and may need to be startup by the active NMT Master Refer to Subsection 5 8 11 OFF 0 Configuration and NMT service Start remote node are not allowed in case of error control event or NMT service Boot up Bit 2 NMT bootslave ON 1 Configuration and NMT service Start remote node execute in the case of error control event or NMT service Boot up Refer to Subsection 5 8 1 5 8 2 and 5 8 13 OFF 0 CANopen device may be present prior to network start up CANopen device is optional ON 1 CANopen device is present prior to network start up CANopen device is mandatory Bit 3 Mandatory Note e For mandatory slaves consider at Object H1F80 also the bits 4 and 6 Refer to Subsection 5 8 5 e For LSS Slave this bit has to be set to 1 to enable LSS service for this NMT Slave apou sop 9 lJOJd 399 pue eoejeju SPON 4 Lv 9 ljOJd uogeouddy yq OO apo cie e1Nvo CO e eoeeju puewwog 79 5 Introduc
307. wledgement ag OE Dogging service up acknowledgement 2 S Dogging service down acknowledgement o Fire alarm external fire alarm system acknowledgement Provide priority acknowledgement 6 Lift attendant start button acknowledgement m Lift attendant drive through button acknowledgement TO Security run acknowledgement El Second call panel acknowledgement OE Door enable acknowledgement e Call cancel button fire operation 7 Fire alarm reset acknowledgement E Fi Body detector e g person in car 2 S a Earthquake detector Sy 9 or posan s OF to 1F Reserved 20 Guest call acknowledgement 1 to 254 REL 21 to 3F Reserved 2 E 00 Clear the floor data nas 40 Floor number 1 to 254 This sub function shows the arrow display direction up down Bit 15 10 9 8 OFF 0 Do not display the arrow ON 1 Display the arrow 9po N cie e1Nvo CO e eoeeju puewwog 155 FX3U CAN User s Manual 8 CANopen 417 Mode 8 3 Virtual Input Output Mapping Basic Function Field BFM 3001 BFM 13001 Low Byte Value hex 42 43 43 44 45 to 46 47 48 to 49 4A 4B to 7F 80 to FF Sub Function Field BFM 3001 Description BFM 13001 High Byte Value hex This sub function shows the arrow display direction up down and the transfer direction display of the car Bit 15 14 13 12 11 10 9 8 down up Bit8 and 9 show the arrow display direction up down OFF 0 Do not display the arrow
308. work configuration software For the SDO write access command in the CIF refer to Subsection 10 2 3 For the CANopen configuration software refer to the manual of the software to be used e Mode B TPDO RPDO COB ID Setup scenarios COB ID read COB ID set FX3U CAN Destination Node RPDO FX3U CAN Destination Node RPDO Destination Source Node Node RPDO Description BFM No TO Write Access FROM Read Access High Byte Low Byte Mapping successfully established BFM 1000 MC eU Command H8300 CIF Busy Error BFM 1001 Node ID number of Source 1 Specific TPDO of Source 1 BFM 1002 Diagnosis Data Node ID number of Destination 1 Specific RPDO of Destination 1 i All other values The corresponding BFM 1063 parameter caused an Node ID number of Source 32 Specific TPDO of Source 32 BFM 1064 error Node ID number of Destination 32 Specific RPDO of Destination 32 BFM 1065 gt Refer to the Subsection 7 2 6 Node ID number of Source 33 Specific TPDO of Source 33 BFM 1066 Node ID number of Destination 33 Specific RPDO of Destination 33 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
309. written to one of BFM 1100 to 1267 then BFM 29 bit 6 is set and the BFM address is displayed in BFM 39 e Ifthe Layer 2 message number is not used parameter A and B should be set to HFFFF o DE 5 D 2 BFM 1100 Layer 2 message 1 parameter A HFFFF R W o BFM 1101 Layer 2 message 1 parameter B HFFFF R W Layer 2 message 1 parameter BFM 1102 Layer 2 message 1 parameter C H0000 R W BFM 1103 Layer 2 message 1 parameter D H0000 R W BFM 1104 Layer 2 message 2 parameter A HFFFF R W BFM 1105 Layer 2 message 2 parameter B HFFFF R W Layer 2 message 2 parameter BFM 1106 Layer 2 message 2 parameter C H0000 R W j apou sop 9 jOJd 309d pue eoejeju BFM 21107 Layer 2 message 2 parameter D H0000 R W 8 E pl A A O A EN e BFM 21260 Layer 2 message 41 parameter A HFFFF R W O o z BFM 1261 Layer 2 message 41 parameter B HFFFF R W o 8 Layer 2 message 41 parameter SEIS 2 BFM 1262 Layer 2 message 41 parameter C H0000 R W BFM 1263 Layer 2 message 41 parameter D H0000 R W BFM 21264 Layer 2 message 42 parameter A HFFFF R W BFM 21265 Layer 2 message 42 parameter B HFFFF R W Layer 2 message 42 parameter BFM 1266 Layer 2 message 42 parameter C H0000 R W BFM 1267 Layer 2 message 42 parameter D H0000 R W c Jefe NYO e eoeeju puewwog 169 9 CAN Layer 2 Mode FX3U CAN User s Manual 9 3 Pre defined Layer 2 Message Configuration 9 3 1 Pre defined Layer 2 transmit m
310. x the CAN bus connector with fixing screws Tightening torque should follow the specifications in the manual Loose connections may cause malfunctions Make sure to properly wire to the terminal block CAN bus connector in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunctions or damage to the product The disposal size of the cable end should follow the dimensions described in the manual E e UNS 28 Tightening torque should follow the specifications in the manual Twist the end of strand wire and make sure that there are no loose wires Do not solder plate the electric wire ends Do not connect more than the specified number of wires or electric wires of unspecified size Affix the electric wires so that neither the terminal block nor the connected parts are directly stressed Make sure to observe the following precautions in order to prevent any damage to the machinery or accidents due to abnormal data written to the PLC under the influence of noise 1 Do not bundle the main circuit line together with or lay it close to the main circuit high voltage line or load line Otherwise noise disturbance and or surge induction are likely to take place As a guideline lay the control line at least 100 mm 3 94 or more away from the main circuit or high voltage lines 2 Ground the shield wire or shield of a shielded cable Do not use common grounding wi
311. zed 11 bit Identifier A OO Layer 2 messages can be sent and raw 11 bit Identifier Layer 2 messages can be received This mode supports full access to Layer 2 of the CAN communication protocol Customized 29 bit Identifier o etmoge Layer 2 messages can be sent and raw 29 bit Identifier Layer 2 messages can be received CANopen 405 mode This mode supports the CANopen CiA9 405 IEC 61131 3 Programmable Device Profile CANopen 417 mode This mode supports the CANopen CiA 417 Lift Application Profile 5 Introduction of Functions FX3U CAN User s Manual 5 3 Object Dictionary 9 3 Object Dictionary 9 4 The Object Dictionary is a structure for data organization within the CANopen network The data within the Object Dictionary is used to set CAN bus parameters initialize special functions control data flow store data in many formats and send emergency messages The Object Dictionary is structured in Indexes and Sub Indexes Each Index addresses a single parameter a set of parameters network input output data or other data A Sub Index addresses a subset of the parameter or data of the Index General layout of CANopen standard object dictionary The general layout of the CANopen standard object dictionary is shown below Index hex Object 0000 Not used Data type definitions eee Refer to Section 5 5 OOAO to OFFF Reserved Communication profile area CiA 301 CiA 302 1000 to 1FFF Refer to S

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