FX2N-32CAN Communication Module HARDWARE
Contents
1. 4 3 4 2 4 Reading the Communication Status BFM 25 4 4 4 2 5 The Watch Dog Timer Setting BFM 26 4 5 4 2 6 The Node Address BFM 27 4 5 4 2 7 Error Staus BFM 29 4 6 4 2 8 BFM Data Memory Backup 4 7 4 3 Extended BFM Structure BFM 32 BFM 32767 4 8 5 Module Parameterization and Configuration 5 1 5 1 Factory Default Mapping Mode 0 Mapping 5 3 5 2 Mode A Mapping 5 4 5 3 Mode B Mapping 5 5 5 3 1 Prepare the PDO Mapping Table 5 6 5 4 PDO Mapping Table Overviews 5 8 5 4 1 Tx PDO Mapping Table2. 7 5 7 4 Mode A Mapping with Node Start Up Command 7 6 7 5 Mode B Mapping Example with SDO Command 7 8 Appendix A Further Information Manual Lists A 1 FX2N 32CAN Communication Module x Introduction 1 1 1 1 Introduction The FX2N 32CAN Communication Module is an interface block which connects the FX2N C FX1N PLC to an existing CANopen network The CANopen network is an internationally accepted network for industrial automation For more information on the CANopen specifications please see the Can in Automation website at www can cia de 1 1 Features of the FX2N 32CAN Module A maximum of 120 words can be sent and received as Process Data Object PDO data The num ber of words can be transmitted in each direction is set from 1 120 The buffer memory of the FX2N CANopen Communication Module is read and written by FROM TO instructions Eight I O points from the PLC expansion port are occupied in the PLC The node address can be numbered from 1 to 127 A total of 30 nodes can be connected to any segment of the bus and by the use of repeaters or bridges the total number can be extended up to 127 nodes FX2N 32CAN Communication Module FX2N 32CAN Communication Module Introduction 1 1 2 1 2
3. 5 8 5 4 2 Rx PDO Mapping Table 5 10 FX2N 32CAN Communication Module ix 6 Diagnostics 6 1 6 1 LED Status 6 1 6 1 1 The Power LED 6 1 6 1 2 The FROM TO LED 6 1 6 1 3 The RUN LED 6 2 6 1 4 The Rx Tx LED 6 2 6 1 5 The ERROR LED 6 3 7 Example Program 7 1 7 1 SDO Write Command 7 2 7 2 Mode 0 Mapping Command 7 4 7 3 Mode A Mapping Example
4. COB ID Mapped BFMs access style Tx PDO 1 0180 hex node ID BFM 3 BFM 0 TO Tx PDO 2 0280 hex node ID BFM 7 BFM 4 TO Tx PDO 3 0380 hex node ID BFM 11 BFM 8 TO Tx PDO 4 0480 hex node ID BFM 15 BFM 12 TO Tx PDO 5 Disabled COB ID set to 80000000 hex These PDOs can be activated by mode B mapping commands Disabled COB ID set to 80000000 hex Can be defined by mode B mapping command parameter BFM 19 BFM 16 TO Tx PDO 6 BFM 103 BFM 100 TO Tx PDO 7 BFM 107 BFM 104 TO Tx PDO 8 BFM 111 BFM 108 TO Tx PDO 9 BFM 115 BFM 112 TO Tx PDO 10 BFM 119 BFM 116 TO Tx PDO 11 BFM 123 BFM 120 TO Tx PDO 12 BFM 127 BFM 124 TO Tx PDO 13 BFM 131 BFM 128 TO Tx PDO 14 BFM 135 BFM 132 TO FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 9 Tx PDO 15 Disabled COB ID set to 80000000 hex These PDOs can be activated by mode B mapping commands Disabled COB ID set to 80000000 hex Can be defined by mode B mapping command parameter BFM 139 BFM 136 TO Tx PDO 16 BFM 143 BFM 140 TO Tx PDO 17 BFM 147 BF M 144 TO Tx PDO 18 BFM 151 BFM 148 TO Tx PDO 19 BFM 155 BFM 152 TO Tx PDO 20 BFM 159 BFM 156 TO Tx PDO 21 BFM 163 BFM 160 TO Tx PDO 22 BFM 167 BFM 164 TO Tx PDO 23 BF
5. H513 K1 FNC 79 TO HFFFF K1 FNC 79 TO K0 K1000 H8300 K1 K0 K1003 K0 K1007 Command to signal the end of the PDO Mapping PDO Destination Mapping Command PDO Source Mapping Command PDO Source Mapping Command PDO Destination Mapping Command PDO Initial Parameter Set Command PDO Initial Parameter Set Command Set the Baud Rate Set the Watch Dog Timer Set the Node Number FNC 79 TO K0 K27 K5 K1 FNC 79 TO K1000 K1 FNC 79 TO K0 K26 H20 K1 K0 K24 FX2N 32CAN Communication Module Example Program 7 7 9 Continued M10 FNC 79 TOP K0 K1001 K0 K1 FNC 79 TOP K0 K1002 H1F82 K1 FNC 79 TOP H80 K1 FNC 79 TOP K0 K1004 K1 K1 FNC 79 TOP K0 K1005 K5 K1 FNC 79 TOP K0 K1000 K2 K1 FNC 78 FROM K0 K1000 D100 K1 K0 K1003 Start Node s Command M10 SET M10 FNC 78 FROM K0 K152 D0 K1 M10 D D100 H8301 M10 MOV D0 K4Y000 M10 FNC 79 TO K0 K0 H1111 K1 FNC 79 TO K0 K20 K1 K1 Command for SDO Write Access Set Nodes to Start H80 starts all Nodes Set Data Length Access local Node 0 defaults to local node Initiate Node startup Command Write Transmit Data to the FX2N 32CAN Module Refresh CANopen Data Transfer data to the Outputs for monitoring purposes Read Data Received from the CAN Bus Read Parameter Set Status Check that CANopen parameters have been correctly
6. Repeater CANopen Node Terminating Resistor 120 Wiring 2 2 1 2 Wiring 2 1 Caution for Wiring 1 Do not lay signal cable near high voltage power cables or put them in the same trunking duct Otherwise the effects of noise or surge induction are likely to take place Keep a safe distance of more than 100 mm 3 94 from these wires 2 The terminal tightening torque is 0 5 to 0 8 N m 5 to 8 kgf cm Tighten securely to avoid malfunction 3 Cut off all phases of power source externally before installation or wiring work in order to avoid electric shock or damage to the product 2 2 Cable The cable should conform to ISO11898 1993 The recommended cable is a shielded 2 x 2 twisted pair cable with an impedance of about 120 Ohm Example UNITRONIC BUS LD 2 x 2 x 0 22 from company Lapp Kabel www lappkabel de The bus line should be terminated on both ends by connectors that contain 120 Ohm termination resistors Recommended is a connector which was designed to be used with CANopen networks Example ERbic series from company ERNI www erni com but a normal 9 pin D Sub female connector can be used FX2N 32CAN Communication Module FX2N 32CAN Communication Module Wiring 2 2 2 2 3 Pin Configuration The module connector below is a 9 pin D SUB 4 40 inc inch screw thread type Pin No Signal Meaning 2 Can_L Can_L bus line dominant low 3 Can_G Can_Ground 7 Can_H Can_H bus line domi
7. Wiring 2 1 2 1 Caution for Wiring 2 1 2 3 Pin Configuration 2 2 3 Specifications 3 1 3 1 Environmental Standards Specifications 3 1 3 2 Power Supply Specifications 3 1 3 3 Performance Specifications 3 2 FX2N 32CAN Communication Module FX2N 32CAN Communication Module viii 4 Buffer Memory Structure 4 1 4 1 Basic Buffer Memory Structure BFM 0 BFM 31 4 1 4 2 Buffer Memory Functions 4 2 4 2 1 Data Transfer Locations BFMs 0 19 and 100 199 4 2 4 2 2 The Data Exchange Mode BFM 20 4 2 4 2 3 Setting the Baud Rate BFM 24
8. e g PDO SDO NMT SYNC EMCY messages BFM The Buffer Memory is the data storage memory location Mapping Mode 0 Base Configuration where 4 Rx PDOs and 4 Tx PDOs are given BFM assignments for each FX2N 32CAN node according to the pre defined connection set of CANopen Mapping Mode A Mitsubishi Electric defined configuration for the FX2N 32CAN module that defines the relationship between up to eight FX2N 32CAN nodes the node BFMs and the Rx PDOs and Tx PDOs This mode is very convenient if every node is an FX2N 32CAN module Mapping Mode B Configuration mode that allows specific Rx PDOs and Tx PDOs to be matched on a node by node basis For more detailed information on all the features and capabilities of the FX2N 32CAN module please refer to the FX2N 32CAN User s Manual For more information on the CANopen specifications please see the Can in Automation website at www can cia de FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 3 5 1 Factory Default Mapping Mode 0 Mapping The Factory Default Mapping conforms to CANopen specification DS 301 and contains only the first 2 Tx PDOs and the first two Rx PDOs Please refer to the two Tables in section 5 4 that give repectively the relationships between Tx PDO number COB IDs BFM and the Rx PDO COB IDs BFM By executing the Mode 0 mapping command shown below the number of automatically assigned Tx PDOs becomes four instead of two Four Rx PDOs are als
9. BFM 180 FROM Rx PDO 27 387 hex BFM 187 BFM 184 FROM Rx PDO 28 487 hex BFM 191 BFM 188 FROM Rx PDO 29 188 hex Node 8 data BFM 195 BFM 192 FROM Rx PDO 30 288 hex BFM 199 BFM 196 FROM Table 5 5 Rx PDO Mapping Table Rx PDO Default Factory Mode 0 Mapping Mode A Mapping Mode B Mapping after PDO Mapping is prepared Assigned BFM FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 12 MEMO Diagnostics 6 6 1 6 Diagnostics 6 1 LED Status To show that all LEDs are working they will all be switched On for a short time after power On After that the status of the LEDs depends on the LED status of the module 6 1 1 The Power LED The power LED is lit green when 5V power is supplied from the programmable controller If it is not lit check to see if the extension cable is properly connected 6 1 2 The FROM TO LED This LED is lit green when FROM TO access is performed by the FX2N C FX1N PLC to the FX2N 32CAN module If there is no FROM TO access for a longer period of time than is specified in BFM 26 this LED will turn Off FROM TO WDT error Note There are some cases where the FROM TO instruction will be accessed on every scan by an outside device In these instances the WDT error will not occur Some examples of this occurance are when the Special Function Unit s Buffer Memory is being monitored by GX Developer or another s
10. K1 FNC 79 TO K0 K20 K1 K1 Check that CANopen parameters have been correctly set Write Transmit Data to the FX2N 32CAN Module Refresh CANopen Data Transfer data to the Outputs for monitoring purposes Read Data Received from the CAN Bus FNC 79 TO K0 K26 K20 K1 FX2N 32CAN Communication Module Example Program 7 7 5 7 3 Mode A Mapping Example Set Mode A Mapping Command M8002 FNC 79 TO K0 K27 K1 K1 FNC 79 TO K0 K24 K1000 K1 Initial Pulse FNC 79 TO K0 K26 K20 K1 FNC 79 TO K0 K1000 H8200 K1 FNC 78 FROM K0 K1000 D100 K1 SET M10 FNC 79 TO K0 K1 HFFFF K1 Set the Baud Rate to 1000Kbaud Set the Watch Dog Timer to 200 ms Set the Node number M10 M10 D D100 H8201 M10 MOV D0 K4Y000 M10 FNC 79 TO K0 K20 K1 K1 FNC 78 FROM K0 K19 DO K1 Read Parameter Set Status Write Transmit Data to the FX2N 32CAN Module Refresh CANopen Data Transfer data to the Outputs for monitoring purposes Read Data Received from the CAN Bus Check that CANopen parameters have been correctly set FX2N 32CAN Communication Module Example Program 7 7 6 7 4 Mode A Mapping with Node Start Up Command Set Mode A Mapping Command M8002 FNC 79 TO K0 K27 K2 K1 FNC 79 TO K0 K24 K1000 K1 Initial Pulse FNC 79 TO K0 K26 K20 K1 FNC 79 TO K0 K1000 H8200 K1 FNC 78 FROM K0 K1000 D100 K1 SET M10 S
11. Mode 0 A and B Mapping Modes were developed to use with the FX2N 32CAN modules and other CANopen nodes will not have these special settings Large networks or networks with many types of nodes can be configured more quickly and easily if using a commercially available CANopen configuration tool The SDO write command in Section 7 1 gives an example of how to access the CANopen Object Dictionary through the BFMs of the FX2N 32CAN module The object dictionary can also be accessed through a configuration tool FX2N 32CAN Communication Module FX2N 32CAN Communication Module Example Program 7 7 2 7 1 SDO Write Command The CANopen Object Dictionary specifies where data and parameters are stored by Index and Sub Index number Information can be stored or network parameters set changed by writing values to the appropriate Index and Sub Index The SDO command is one method to write the data The programming example below shows how to write the command to start all nodes on CANopen network bus The code can be copied with appropriate data changes to perform other SDO write commands 6 3 5 4 2 M10 FNC 79 TOP K0 K1001 K0 K1 FNC 79 TOP K0 K1002 H1F82 K1 FNC 79 TOP H80 K1 FNC 79 TOP K0 K1004 K1 K1 FNC 79 TOP K0 K1005 K5 K1 FNC 79 TOP K0 K1000 K2 K1 K0 K1003 1 FX2N 32CAN Communication Module Example Program 7 7 3 1 The command must be passed throug
12. data will only be sent to the CAN bus after a write access to BFM 20 data 1 As long as the reading of the previous data is not finished and a new exchange command to BFM 20 has not been sent FROM data from the CAN bus will not be partially overwritten by further Rx PDOs with the same ID If the CAN open module is in data exchange mode the received PDO data Rx PDO from other nodes can be read by the FX2N C FX1N PLC by using a FROM instruction and the transmit PDO data Tx PDO can be written to the module and sent to the network by using a TO instruction FX2N 32CAN Communication Module Buffer Memory Structure 4 4 3 4 2 3 Setting the Baud Rate BFM 24 BFM24 shows the current baud rate of the CANopen network see the Table below The baud rate can be set by writing TO BFM 24 The baud rate must be equal for all nodes on the CANopen network Table 4 2 Baud Rate Settings Baud Rate BFM 24 Value 10 kbps 10 20 kbps 20 50 kbps 50 125 kbps 125 250 kbps 250 500 kbps 500 800 kbps 800 1000 kbps 1000 FX2N 32CAN Communication Module Buffer Memory Structure 4 4 4 4 2 4 Reading the Communication Status BFM 25 Read the CANopen module s communication status from BFM 25 per the table below Note On write access BFM 25 contains the command flags to reset the FX2N 32CAN and to restart the CAN open stack The restart command can be used after the baud rate BFM 24 or the node addr
13. or output PLC I O extension bus Applicable Programmable Controller FX2N c FX1N Communication with Programmable Controller FROM TO instruction LED Indication RUN Lit green when module is exchanging information with the CANopen network FROM TO Lit green when module is receiving FROM TO commands Tx Rx Lit green when CAN interface system is in normal operation ERROR Lit red when communication overflow or general error occurs POWER Lit green when the 5 V DC power supplied from main unit Buffer Memory Structure 4 4 1 4 Buffer Memory Structure 4 1 Basic Buffer Memory Structure BFM 0 BFM 31 Table 4 1 Buffer Memory Structure BFM 0 BFM 31 BFM READ FROM WRITE TO BFM 0 Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 BFM 1 Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 BFM 19 Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 BFM 20 Data exchange status bit Section 4 2 2 Data exchange control bit Section 4 2 2 BFM 21 Reserved Reserved BFM 22 Reserved Reserved BFM 23 Reserved Reserved BFM 24 Read baud rate Section 4 2 3 Set baud rate Section 4 2 3 default 10kBd BFM 25 Module communication status Section 4 2 4 Reset CANopen restart command Section 4 2 4 BFM 26 Read FROM TO watchdog timer reload value default 20 equals 200ms Section 4 2 5 Set FROM TO watchdog timer
14. or uses the product associated with this manual FX2N 32CAN Communication Module iii Note s on the symbols used in this manual At various times through out this manual certain symbols will be used to highlight points of information which are intended to ensure the users personal safety and protect the integrity of equipment Whenever any of the following symbols are encountered its associated note must be read and understood Each of the symbols used will now be listed with a brief description of its meaning Hardware warnings 1 Indicates that the identified danger WILL cause physical and property damage 2 Indicates that the identified danger could POSSIBLY cause physical and property damage 3 Indicates a point of further interest or further explanation Software warning 4 Indicates special care must be taken when using this element of software 5 Indicates a special point which the user of the associate software element should be aware 6 Indicates a point of interest or further explanation FX2N 32CAN Communication Module iv Under no circumstances will Mitsubishi Electric be liable responsible for any consequential damage that may arise as a result of the installation or use of this equipment All examples and diagrams shown in this manual are intended only as an aid to understanding the text not to guarantee operation Mitsubishi Electric will accept no responsibility for actual use of the produ
15. overrun occurs the TxRxLED will start to flicker FX2N 32CAN Communication Module Diagnostics 6 6 3 6 1 5 The ERROR LED This LED lights up on a general error Check the CAN cable the connectors the end of the line terminal resistors and the status of the bus management mode Also check BFM 29 for error bits After the module enters the data exchange state if there are no errors and the module is in the BUS_OK state the LED is switched off In case of a BUS_OFF error a general hardware error BFM 29 bit 0 or if the FROM TO watchdog is expired the LED will always be ON The LED will flicker if the FX2N 32CAN is in error passive state CAN error counter gt 128 or on an internal queue overflow A flickering ERROR LED does not mean there is a permanent error After the node changes from error passive to error active state the LED will be switched off In case of an transmit or command queue overflow the error is displayed until the coresponding latched error flags b8 b9 in BFM 29 are reset and no new queue overflow occurs FX2N 32CAN Communication Module Diagnostics 6 6 4 MEMO Example Program 7 7 1 7 Example Program The programs shown below are examples of how to set parameters and exchange data on the CANopen Bus using the FX2N 32CAN module The examples for Mode A Mapping in sections 7 3 and 7 4 can also be downloaded into two CANopen nodes and used to exchange data Please remember that these
16. queue overflow Data could not be written to internal queue No data queue overflow FX2N 32CAN Communication Module Buffer Memory Structure 4 4 7 NOTE 1 The error bits b2 b8 b9 and b14 are latched and must be reset from the PLC by writing 0 to the appropriate bit in BFM 29 By writing 0 to all of BFM 29 all latched error flags will be cleared 2 All other error flags will be reset automatically as soon as the corresponding error has been solved 4 2 8 BFM Data Memory Backup The data in BFM 24 26 and 27 are kept by EEPROM b9 Command queue or event queue overflow Data could not be written to internal command queue or event queue No command queue or event queue overflow b10 CANopen guarding error CANopen guarding error occurred No CANopen guarding error occurred b11 Baud rate change error New baud rate not valid no change Set baud rate valid b12 Address change error New address not valid no change Address is valid b13 CANopen emergency CANopen emergency occurred No emergency exists b14 CAN error passive state CAN error passive CAN error active b15 Reserved Table 4 5 Error Bit Description for BFM 29 Bit On Off FX2N 32CAN Communication Module Buffer Memory Structure 4 4 8 4 3 Extended BFM Structure BFM 32 BFM 32767 The module command interface offers the possibility to send commands directly to the CANopen module This command interface can be used t
17. set FX2N 32CAN Communication Module Example Program 7 7 10 MEMO Appendix A A 1 Appendix A Further Information Manual Lists Table A 1 Further Information Manual Lists Manual name Manual No Description FX2N 32CAN Communication Module User s Mnaual JY992D92801 This manual contents expanations for BFM of FX2N 32CAN FX2N Series Programmable Controllers Hardware Manual JY992D66301 This manual contains explanations for wiring installation and specification etc about FX2N Series PLC FX1N Series Programmable Controllers Hardware Manual JY992D89301 This manual contains explanations for wiring installation and specification etc about FX1N Series PLC FX Series of Programmable controllers Programming Manual JY992D88101 This manual contents text is written instruction expranations of FX1S FX1N FX2N and FX2NC Series PLC FX2N 32CAN Communication Module FX2N 32CAN Communication Module Appendix A A 2 MEMO HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN JY992D92901C MEE Effective May 2006 Specification are subject to change without notice HARDWARE MANUAL FX2N 32CAN Communication Module
18. External Dimensions and Each Part Name Dimensions mm inches MASS Weight 0 2 kg 0 44 lbs Accessory Special block No label FX2N 32CAN Communication Module Introduction 1 1 3 a Groove for DIN rail mounting Width of DIN rail 35 mm lt 1 38 gt b Hook for Din rail c Extension cable d Direct mounting holes 2 4 5 mm lt 0 18 gt e RUN LED Lights when the FX2N 32CAN Communication Module is in Run mode f FROM TO Lights when FROM TO access is performed by the FX2N C FX1N PLC to the CANopen module g Tx Rx Lights up when the module is exchanging data h Error Lights when a general error has occured i POWER Lights when 5 Volt power is supplied from the Programmable Controller j 9 Pin D sub Connector k Extension connector FX2N 32CAN Communication Module Introduction 1 1 4 1 3 System configuration 1 The Maximum extension distance for the FX2N 32CAN module is 5000m at 10kbps with repeaters The extension distance is reduced to 40m 130 at the maximum baud rate of 1 Mbd The maximum distance also depends on the specification of other connected CANopen nodes as well as the connectors and cables used 1 4 Applicable PLC FX2N 32CAN can be connected to the FX2N C or the FX1N Series PLC Network Configuration Manager CANopen Node FX1N FX2N FX2NC FX2N 32CAN FX1N FX2N FX2NC FX2N 32CAN Terminating Resistor 120 CANopen Network
19. FROM Rx PDO 9 183 hex Node 3 data BFM 115 BFM 112 FROM Rx PDO 10 283 hex BFM 119 BFM 116 FROM Rx PDO 11 383 hex BFM 123 BFM 120 FROM Rx PDO 12 483 hex BFM 127 BFM 124 FROM Rx PDO 13 184 hex Node 4 data BFM 131 BFM 128 FROM Rx PDO 14 284 hex BFM 135 BFM 132 FROM Rx PDO 15 384 hex BFM 139 BFM 136 FROM Rx PDO 16 484 hex BFM 143 BFM 140 FROM FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 11 The Factory Default Mapping contains only the first two Rx PDOs and the first two Tx PDOs as defined in DS 301 Mode 0 mapping sets the first four Rx PDOs and Tx PDOs as shown in the Tables Rx PDO 17 Disabled COB ID set to 80000000 hex These PDOs can be activated by Mode B mapping commands 185 hex Node 5 data Disabled COB ID set to 80000000 hex Can be defined by mode B mapping com mand parameter BFM 147 BFM 144 FROM Rx PDO 18 285 hex BFM 151 BFM 148 FROM Rx PDO 19 385 hex BFM 155 BFM 152 FROM Rx PDO 20 485 hex BFM 159 BFM 156 FROM Rx PDO 21 186 hex Node 6 data BFM 163 BFM 160 FROM Rx PDO 22 286 hex BFM 167 BFM 164 FROM Rx PDO 23 386 hex BFM 171 BFM 168 FROM Rx PDO 24 486 hex BFM 175 BFM 172 FROM Rx PDO 25 187 hex Node 7 data BFM 179 BFM 176 FROM Rx PDO 26 287 hex BFM 183
20. HARDWARE MANUAL FX2N 32CAN Communication Module FX2N 32CAN Communication Module Foreword This manual contains text diagrams and explanations which will guide the reader in the correct installation and operation of the communication facilities of the FX2N 32CAN module Before attempting to install or use the communication facilities of the FX2N 32CAN module this manual and FX2N 32CAB User s Manual should be read and understood If in doubt at any stage of the installation of the communication facilities of the FX2N 32CAN module always consult a professional electrical engineer who is qualified and trained to the local and national standards which apply to the installation site If in doubt about the operation or use of the communication facilities of the FX2N 32CAN module please consult the nearest Mitsubishi Electric distributor This manual is subject to change without notice i FX2N 32CAN Communication Module Hardware Manual 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 FX2N 32CAN Communication Module Manual number JY992D92901 Manual revision C Date May 2006 FX2N 32CAN Communication Module ii Guidelines for the safety
21. M 171 BFM 168 TO Tx PDO 24 BFM 175 BFM 172 TO Tx PDO 25 BFM 179 BFM 176 TO Tx PDO 26 BFM 183 BFM 180 TO Tx PDO 27 BFM 187 BFM 184 TO Tx PDO 28 BFM 191 BFM 188 TO Tx PDO 29 BFM 195 BFM 192 TO Tx PDO 30 BFM 199 BFM 196 TO Table 5 4 Tx PDO Mapping Table Default Factory Mode 0 Mapping Mode A Mapping Mode B Mapping after PDO mapping is prepared Assigned BFM FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 10 5 4 2 Rx PDO Mapping Table Table 5 5 Rx PDO Mapping Table Rx PDO Default Factory Mode 0 Mapping Mode A Mapping Mode B Mapping after PDO Mapping is prepared Assigned BFM COB ID Mapped BFMs access style Rx PDO 1 0200 hex node ID 181 hex Node 1 data Disabled COB ID set to 80000000 hex Can be defined by mode B mapping command parameter BFM 3 BFM 0 FROM Rx PDO 2 0300 hex node ID 281 hex BFM 7 BFM 4 FROM Rx PDO 3 0400 hex node ID 381 hex BFM 11 BFM 8 FROM Rx PDO 4 0500 hex node ID 481 hex BFM 15 BFM 12 FROM Rx PDO 5 Disabled COB ID set to 80000000 hex These PDOs can be activated by Mode B mapping commands 182 hex Node 2 data BFM 19 BFM 16 FROM Rx PDO 6 282 hex BFM 103 BFM 100 FROM Rx PDO 7 382 hex BFM 107 BFM 104 FROM Rx PDO 8 482 hex BFM 111 BFM 108
22. ams Table 5 2 Mode A Mapping Command BFM READ FROM WRITE TO BFM 1000 Mapping successfully established 8201 hex Local node number MUST be in the range 1 8 82FF hex Command 8200 hex BFM 1001 Unused Unused Unused Unused BFM 1066 Unused Unused FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 5 When all the stations have executed the Mode A Mapping command it is possible to exchange 16 data words with every other FX2N 32CAN module Due to the data size the number of nodes in this mapping Mode is limited to 8 stations If the node number is outside the range 1 8 BFM 1000 will display the node number mismatch error message 82FF hex Note Nodes 1 7 can exchange 16 words of data with every other node but station number 8 can send just 8 words of data to the other 7 stations Node 8 can read the 16 words of data from all the other stations To include other types of CANopen nodes in the Mode A network it is necessary to change the Rx PDO and communication parameters of these stations This can be done by the Mode B mapping commands the SDO write access Command or by a standard configuration tool 5 3 Mode B Mapping With Mode B Mapping it is possible to build up a binding a connection between two node addresses between all nodes connected to the FX2N 32CAN module Also the binding of any CANopen node with any other node is supported The Mode B mappin
23. ct based on these illustrative examples Please contact a Mitsubishi Electric distributor for more information concerning applications in life criticatical situations or high reliability FX2N 32CAN Communication Module v Note Concerning the CE Marking This document does not guarantee that a mechanical system including this product will comply with the following standards Compliance to EMC standards of the entire mechanical system should be checked by the user manufacturer Compliance to LVD standards of the entire mechanical system should be checked by the user manufacturer EMC The following products have shown compliance through 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 89 336 EEC when used as directed by the appropriate documentation Refer to a manual or related material of each product other than the following FX2N 32CAN Communication Module vi Type Programmable Controller Open Type Equipment Models FX2N 32CAN manufactured from November 1st 2001 to April 30th 2006 are compliant with EN50081 2 and EN61131 2 1994 A11 1996 after May 1st 2006 are compliant with EN61131 2 2003 For more details please contact the local Mitsubishi Electric sales site Note for using the FX2N 32CAN For complicance to EC EMC directive install the FX2N main unit extension
24. ess BFM 27 was changed By setting B0 to 1 use the pulse instruction the module can be forced to go offline and to restart with the new settings without switching off the power of the host PLC Table 4 3 Communication Status Bit On Off b0 module online offline module online module offline b1 b7 reserved b9 b8 CANopen network state 00b Prepared State 01b Pre operational State 10b Operational State 11b Not Possible b10 b15 reserved Table 4 4 CANopen Stack Reset Bit On Off b0 restart command CANopen stack will be restarted Normal operation b1 b15 reserved FX2N 32CAN Communication Module Buffer Memory Structure 4 4 5 4 2 5 The Watch Dog Timer Setting BFM 26 The Watch Dog Timer setting is stored in BFM 26 in units of 10 ms A WDT error will occur if there is no FROM or TO instruction to any BFM for the time specified After the WDT has expired it must be reset by writing the current or a new value to BFM 26 When the value 0 is written to BFM 26 the FROM TO watchdog timer is disabled During normal operation as soon as the module receives a FROM or TO instruction the WDT will reset to time zero Note No Emergency Message will be transmitted if the WDT is disabled and the FROM TO communication stops and the FX2N 32CAN module is in operational mode 4 2 6 The Node Address BFM 27 The CANopen node supports setting of the node address by the FX2N C FX1N PLC v
25. et the Baud Rate to 1000 Kbaud Set the Watch Dog Timer to 200 ms Set the Node number M10 M10 D D100 H8201 M10 FNC 79 TOP K0 K1001 K0 K1 FNC 79 TOP K0 K1002 H1F82 K1 FNC 79 TOP H80 K1 FNC 79 TOP K0 K1004 K1 K1 FNC 79 TOP K0 K1005 K5 K1 FNC 79 TOP K0 K1000 K2 K1 K0 K1003 Command Code for SDO Write Access Set Nodes to Start H80 starts all Nodes Start Node s Command Set Data Length Access local Node 0 defaults to local node Initiate Node startup Command Read Parameter Set Status Check that CANopen parameters have been correctly set FX2N 32CAN Communication Module Example Program 7 7 7 Continued FNC 79 TO K0 K3 D10 K1 M10 MOV D0 K4Y000 M10 FNC 79 TO K0 K20 K1 K1 FNC 78 FROM K0 K1 DO K1 M10 INCP D10 RST T20 T20 T20 K10 Reset T20 Increment Value in D10 Set Timer T20 to 1 second Write Transmit Data to the FX2N 32CAN Module Refresh CANopen Data Transfer data to the Outputs for monitoring purposes Read Data Received from the CAN Bus FX2N 32CAN Communication Module Example Program 7 7 8 7 5 Mode B Mapping Example with SDO Command Set Mode B Mapping Command M8002 FNC 79 TO K0 K1001 H0 K1 FNC 79 TO K0 K1002 H0 K1 Initial Pulse FNC 79 TO H501 K1 FNC 79 TO K0 K1004 H601 K1 FNC 79 TO K0 K1005 H603 K1 FNC 79 TO K0 K1006
26. g is limited to the binding of the PDOs which are already configured in the remote stations no change of the mapping between CANopen data and the remote node s hardware which will be suitable for most cases FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 6 5 3 1 Prepare the PDO Mapping Table The Mode B mapping command will modify or add to the current PDO mapping therefore it is important to have a clearly defined mapping base before executing any Mode B commands Executing the Mode B Mapping commands before creating a PDO mapping base 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 sections to prepare the default Rx PDO and Tx PDO formats as shown in section 5 4 Another method to create or reset a Mapping base is to initialize the Mode B Mapping with a special instruction at the beginning of the Mode B Mapping Command The purpose of the Mode B Mapping Commands is to bind a Tx PDO from one CANopen node to a Rx PDO of another node This allows certain Buffer Memory information to be transfered read in designated nodes around the CANopen network The Source parameter specifies the Node number and the specific Tx PDO The Destination parameter specifies the Node number and the specific Rx PDO that can read the data The command consists of four hexadecimal numbers the two higher byte
27. h the BFM to the CANopen Object Dictionary Node 0 is used to default to the local node In general this BFM is used to specify which node number 1 127 is the target for the SDO access 2 Write the Index number In this example H18F2 is the node start up command index In order to perform other network functions please study the CANopen Object Dictionary and write to the appropriate Index 3 Write to the Sub index In this example the nodes to be started is decided and the value 80H defaults to all nodes 4 Write the amount of data to be transferred The value K1 means that one byte of data will be transferred 5 Write the actual data to be transferred the low byte of BFM 1005 1st data Byte high byte of BFM 1005 2nd data Byte The value 5H is the signal to turn on the specified nodes 6 Write the data to the CANopen network Up to this point the data has only been stored in the FX2N 32CAN BFMs FX2N 32CAN Communication Module Example Program 7 7 4 7 2 Mode 0 Mapping Command Set Mode 0 Mapping Command M8002 FNC 79 TO K0 K27 K6 K1 FNC 79 TO K0 K24 K1000 K1 Initial Pulse FNC 79 TO K0 K1000 H8900 K1 FNC 78 FROM K0 K1000 D100 K1 SET M10 FNC 78 FROM K0 K0 D0 K1 Set the Baud Rate to 1000Kbaud Set the Watch Dog Timer Set the Node number Read Parameter Set Status M10 M10 D D100 H8901 M10 MOV D0 K4Y000 M10 FNC 79 TO K0 K8 H2222
28. ia the TO instruction The actual address is displayed in BFM 27 The Node address must be set for communication to take place via the CANopen bus In case of an address change by TO instruction the new address value 1 127d must be written to BFM 27 The new address will only become effective after a power down of the host PLC or after a restart command written to BFM 25 FX2N 32CAN Communication Module Buffer Memory Structure 4 4 6 4 2 7 Error Staus BFM 29 BFM 29 reflects the error status of the module Bit 7 shows the status of the FROM TO watchdog timer see section 4 1 7 BFM 26 In case of a watchdog timer error b7 is ON an external emergency message will be sent to the CANopen network if the module is in operational mode When the value 0 is written to BFM 26 the FROM TO watchdog timer is disabled and b7 of BFM 29 will never become 1 Table 4 5 Error Bit Description for BFM 29 Bit On Off b0 general error This bit is ON if b2 b3 or b4 are On No general error b1 reserved b2 power error Power supply error Power supply normal b3 CAN bus off error CAN bus off error b4 EEPROM flash memory error Data in EEPROM or flash memory is corrupted EEPROM and flash memory data normal b5 b6 reserved b7 FROM TO watchdog timer reset by writing a value to BFM 26 No FROM TO instruction received for the time specified in BFM 26 FROM TO instructions received regularly b8 Data
29. nant high 1 4 5 6 8 9 NC Pin not Assigned Assigned Not assigned 5 4 9 3 8 6 1 2 7 Specifications 3 3 1 3 Specifications 3 1 Environmental Standards Specifications 3 2 Power Supply Specifications Table 3 1 Environmental Standards Specifications Item Description Environmental specifications excluding dielectric withstand voltage Same as those of the main unit Dielectric Withstand Voltage 500 V AC gt 1 min tested between signal line and ground CAN Standard ISO 11898 1993 CANopen Standard by CiA DS 301 Version 3 0 Additional CANopen Features NMT Guarding and Guarding request based on DS 302 V2 0 Network Variables based on DS 405 V1 0 Table 3 2 Power Supply Specifications Item Description External Power Supply None Internal Current Consumption 130 mA at 5 V DC FX2N 32CAN Communication Module FX2N 32CAN Communication Module Specifications 3 3 2 3 3 Performance Specifications Table 3 3 Performance Specifications Item Description Maximum FX2N 32CAN Modules that can be connected to the CANopen network The node address can be set from 1 127 A total of 30 nodes can be connected on each bus By the use of repeaters or bridges the total number can be extended up to 127 nodes Supported Baud Rate 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps Number of Occupied I O Points 8 points taken from either the input
30. numbers specify the node number and the two lower numbers specify the appropriate PDO number FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 7 Note The parameter set must be terminated by the end of binding Table parameter This is accomplished by setting the Source parameter that follows the final binding parameter to FFFF hex With one execution of the Mode B 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 Table 5 3 Mode B Mapping Command BFM READ FROM WRITE TO BFM 1000 Binding done without errors 8301 H Binding error occurs Hex 83FF H CIF BUSY FFFFh Command 8300 hex BFM 1001 Diagnosis Data 0000 hex no error All other Values The Corresponding parameter cause an error BFM 1000 will be 83FF hex Source 1 1 BFM 1002 Destination 1 2 BFM 1003 Source 2 1 BFM 1004 Destination 2 2 BFM 1005 Source 3 1 BFM 1006 Destination 3 2 BFM 1065 Source 33 1 BFM 1066 Destination 33 2 FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 8 5 4 PDO Mapping Table Overviews 5 4 1 Tx PDO Mapping Table Table 5 4 Tx PDO Mapping Table Default Factory Mode 0 Mapping Mode A Mapping Mode B Mapping after PDO mapping is prepared Assigned BFM
31. o manipulate and control all items in the object dictionary to send and receive SDO messages to send network management messages or to send emergency messages Please see the FX2N 32CAN User s Manual for more information Table 4 6 Extended BFM Structure BFM READ FROM WRITE TO BFM 32 99 Reserved Reserved BFM 100 199 Received Output Data Transmit Data BFM 200 999 Reserved Reserved BFM 1000 1066 Module Command Interface Module Command Interface BFM 1067 32767 Reserved Reserved Module Parameterization and Configuration 5 5 1 5 Module Parameterization and Configuration Each CANOpen node must have certain parameters defined in order to communicate information to other CANOpen nodes These parameters include the Node Number the baud rate the Watch Dog Timer setting specific for FX2N 32CAN module and the communication mapping set The CANopen network has a defined Object Dictionary for parameters and data communication The FX2N C FX1N PLC can write this information to the CANbus through the buffer memory addresses of the FX2N 32CAN module A network configuration tool is a powerful device for setting the parameter data for any manufacturers node including the FX2N 32CAN and defining the data mapping connection set It is recommended to use a network configuration tool for large networks due to the convenience flexibility and ease of use that the tools provide To build u
32. o mapped automatically The BFM 0 15 are distributed to Rx PDOs 1 4 and Tx PDOs 1 4 as shown in section 5 4 This setting is useful for a network that features many different types of node or as a base for a network mapping configured with the Mode B mapping command The PDOs from 5 30 BFM 16 19 and BFM 100 199 are disabled in the default settings but further mapping of BFM 16 19 and BFM 100 199 can be accomplished using the Mode B mapping technique Table 5 1 Mode 0 Mapping Command BFM READ FROM WRITE TO BFM 1000 Mapping successfully established 8901 Command 8900 hex BFM 1001 Unused Unused Unused Unused BFM 1066 Unused Unused FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 4 5 2 Mode A Mapping Setting up a CANopen network of only FX2N 32CAN nodes can be accomplished by simply using the Mode A Mapping configuration Other types of CANopen modules can be added to the Network but additional user inputs are necessary To establish communication between a FX2N 32CAN node and up to 7 other FX2N 32CAN nodes it is only necessary to write the set Mode A Mapping command 8200 hex via the local PLC of every FX2N 32CAN One of the nodes must be configured as the network manager The network manager can be defined in the Network Configuration tool or by writing to the Object Dictionary using the CIF SDO write command See Chapter 7 for example progr
33. of the user and protection of the FX2N 32CAN Communication Module This manual provides information for the use of the FX2N 32CAN Communication Module The manual has been written to be used by trained and competent personnel The definition of such a person or persons is as follows a 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 regards to automated equipment b Any commissioning or service engineer must be of a competent nature trained and qualified to the local and national standards required to fulfill that job These engineers should also be trained in the use and maintenance of the completed product This includes being completely familiar with all associated documentation for said product All maintenance should be carried out in accordance with established safety practices c All operators of the completed equipment See Note should be trained to use that product in a safe manner in compliance to established safety practices The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment Note The term completed equipment refers to a third party constructed device which contains
34. oftware program or if an FX1N 5DM is connected to an FX1N PLC As long as the FROM TO WDT is refreshed the FROM TO LED will be On After power On or after a WDT error the FROM TO LED will be off until the next FROM TO command is registered After the FROM TO watchdog timer error has occurred the value in the WDT register BFM 26 must be refreshed Otherwise it is not possible to go online and exchange valid data with the network FX2N 32CAN Communication Module FX2N 32CAN Communication Module Diagnostics 6 6 2 If an WDT error has occurred and FROM TO traffic is recognized before BFM 26 is reset the FROM TO LED will flicker If the WDT is disabled BFM 26 0 and no FROM TO command from the PLC are received the FROM TO LED will be switched off 200ms after the last FROM TO command was processed 6 1 3 The RUN LED The RUN LED is controlled by the BUS_OFF and the BUS_OK state of the CAN controller When the module experiences too many transmission errors for example a baud rate mismatch it will go to the BUS_OFF state CAN error number gt 255 In the BUS_OFF state the RUN LED is OFF After an internal software reset and a minimum of 128 bus free signals the module changes into BUS_OK state RUN LED is ON 6 1 4 The Rx Tx LED This LED lights up when the module is exchanging data If the module is in the Pre operational state the Tx Rx LED is OFF In the operational state the Tx Rx LED in ON If an internal queue
35. p a small network or for testing purposes the module Command InterFace hereafter called the CIF supports three PDO mapping binding commands designed for and supported by the FX2N 32CAN module Example PLC programs are given in Chapter 7 By using these predefined Mapping configurations the CAN object ID COB ID number for data exchange for each node is clearly defined For example an Rx PDO receive process data object can be connected to a Tx PDO transmit process data object of another node These data will always be transmitted with the same COB ID and every node can distinguish relevant data by checking the COB ID Note It is strongly recommended to execute the Mapping Commands only in the pre operational or stopped mode of the local and all related CANopen nodes FX2N 32CAN Communication Module FX2N 32CAN Communication Module Module Parameterization and Configuration 5 5 2 Vocabulary Terms Rx PDO Receive Process Data Objects are data read from other nodes via the CAN bus Tx PDO Transmit Process Data Objects are the data sent to other nodes via the CAN bus CIF The Command Interface is the FX2N 32CAN tool used to perform actions such as to set parameters execute commands establish communication connections access the CANopen Object Dictionary and read error messages It is located in BFM 1000 1066 COB ID The CAN Object ID number is a unique identifying number to distinguish between different messages on the CANBus
36. reload value default 20 equals 200ms Section 4 2 5 BFM 27 Read node address Section 4 2 6 Set node address default 127 Section 4 2 6 BFM 28 Reserved Reserved BFM 29 Error status Section 4 2 7 Reset latched error status Section 4 2 7 BFM 30 Module code K7100 Read only BFM 31 Reserved Reserved FX2N 32CAN Communication Module FX2N 32CAN Communication Module Buffer Memory Structure 4 4 2 4 2 Buffer Memory Functions 4 2 1 Data Transfer Locations BFMs 0 19 and 100 199 These Buffer memory locations in the FX2N 32CAN module are used to receive from and transfer data to the CANbus The mapping for where each data is sent received is explained in Chapter 5 4 2 2 The Data Exchange Mode BFM 20 On read access BFM 20 contains a status bit for data exchange If bit0 is 1 the module is in data exchange mode and the received data are valid no CAN error occurred If bit0 is 0 the module is not in data exchange mode On write access BFM 20 acts as the data exchange control signal To ensure that the FX2N 32CAN module can handle the PDO data in a consistent way it is absolutely necessary to write a 1 to this BFM before reading Rx PDO data FROM and after writing Tx 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 within the same corresponding Tx PDO at the same time TO
37. unit block and the FX2N 32CAN in a shielded metal cabinet Standard Remark EN50081 2 1993 Electromagnetic compatibility Generic emission standard Industrial environment Compliance with all relevant aspects of the standard Radiated Emissions EN61131 2 1994 Programmable controllers A11 1996 Equipment requirements and tests Compliance with all relevant aspects of the standard RF Immunity Fast Transients ESD and Damped oscillatory wave EN61131 2 2003 Programmable controllers Equipment requirements and tests Compliance with all relevant aspects of the standard Radiated Emissions Mains Terminal Voltage Emissions RF immunity Fast Transients ESD Surge Voltage drops and interruptions Conducted and Power magnetic fields vii Table of contents Guideline iii 1 Introduction 1 1 1 1 Features of the FX2N 32CAN Module 1 1 1 2 External Dimensions and Each Part Name 1 2 1 3 System configuration 1 4 1 4 Applicable PLC 1 4 2
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