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CANopen Module ME3CAN1-L - Meltrade Automatika Kft.

1. Network Management Functions Continued from the previous page OD Index Keep a NMT Slaves 1F81HBit4 in Operational 1 NMT service Reset NMT service Reset communication Note communication for each individual CANopen ote EA all devices individual whom Reset If the Flying Master function is used a Reset Communication all communication bit is not set Nodes will be sent during the Flying Master negotiation Start Boot Timer OP Ince pi for mandatory NMT slaves Wait 1s before restart NMT Slave startup l Te OD Indexes Start NMT 1F84H to 1F88H gt Slave startup process OD Index 1F81H All Bit 0 3 Note Res fi i i ponse from tional NMT NMT Slave startup of optional NMT Slave Claves once Lio ack A sd NMT Slaves continues received processed time elapsed OD Index 1F89H D For N No mandatory devices Response from are all Identification OD Indexes data set 1F85H to NMT Slave OK 1F88H Start LSS Master All OD Index mandatory NMT 1F81H Bit 0 Bit 3 Slaves booted gt Switch NMT Enter NMT No OD Ind master automatically state Operational 1F80 n AR into NMT state from PLC received HBI OPERATIONAL OD Index 1F82H v Serious Problem in the network or faulty configuration of the NMT Master Halt startup procedure Disabl
2. 4 15 Functions Communication Profile Area Index hex Default value of sub index hex 01H R W 02H 03 R W O 04H R W O 05H R W O 1AB1 m A102C910 A102CA10 A102CB10 A102CC10 0 o o o 1AB2 A102CD10 A102CE10 A102CF10 A102D010 1AB3 A102D110 A102D210 A102D310 A102D410 1AB4 A102D510 A102D610 A102D710 A102D810 1AB5 A102D910 A102DA10 A102DB10 A102DC10 1AB6 A102DD10 A102DE10 A102DF10 A102E010 1AB7 A102E110 A102E210 A102E310 A102E410 1AB8 A102E510 A102E610 A102E710 A102E810 1AB9 A102E910 A102EA10 A102EB10 A102EC10 1ABA A102ED10 A102EE10 A102EF10 A102F010 1ABB A102F110 A102F210 A102F310 A102F410 1ABC A102F510 A102F610 A102F710 A102F810 1ABD A102F910 A102FA10 A102FB10 A102FC10 1ABE A102FD10 A102FE10 A1030110 A1030210 1ABF A1030310 A1030410 A1030510 A1030610 1ACO A1030710 A1030810 A1030910 A1030A10 1AC1 A1030B10 A1030C10 A1030D10 A1030E10 1AC2 A1030F10 A1031010 A1031110 A1031210 1AC3 A1031310 A1031410 A1031510 A1031610 1AC4 A1031710 A1031810 A1031910 A1031A10 1AC5 A1031B10 A1031C10 A1031D10 A1031E1
3. aa 5 10 5 4 5 BUSOFEF SS NES A Sale SE 5 10 5 4 6 Wong State uev SEL Xe kek n e die A 5 10 MELSEC L Series CANopen Module ME3CAN1 L VII Contents 6 Setup and Procedures before Operation 6 1 Implementation and lnstallation cee ence mmn 6 1 6 1 1 5 nasa y ad ad n na an 6 1 6 2 Procedures before Operation ssssssesesesessksesesesteeksesos 6 2 6 3 et sep up api e rA RE V RR 6 3 6 3 1 Wiring Precautions s ssssssrseseteseesereteteteeseteso 6 3 6 3 2 CAN bus WILD Q ss sse use SON DENTAN VA ESN VERVA NA IAS 6 4 6 4 Start up Procedure iucseck ese esty s sest SUA BS REFERO FX EFE 6 6 6 4 1 CANopen 405 mode dtid KEKE ee eene 6 6 6 4 2 11 bit 29 bit CAN ID Layer 2 Mode e 6 6 7 Programming 7 1 CANopen PDO Communication using Function 5 7 7 1 1 System configuration cee ehh en 7 712 Local Label setting i s uk aw kul aw a bk ak k k k 7 2 7 1 3 iere m E r de ree peed mm 7 5 7 2 Layer 2 COMMUNICATION
4. 3 15 Message structure 4 18 Node ID 3 17 Object Dictionary 4 2 CC Link IE Field head module 2 1 Command 1 execution Completed input signal 3 10 Request output signal 3 10 D Data exchange Completed input signal 3 7 Request output signal 3 7 Data type definition 4 3 D sub 9 pin connector Signal layout suka salk ka 3 3 E EMCY Emergency errorcodes 8 4 Message us ae cue UE al ds 4 32 EMCY message area clear request output signal 3 10 EMCY message available input signal 3 10 i e eres ee eo Nea 3 2 F Function modes Ov ervieW uu kalma ase RE UR 4 2 Setting in buffer memory 3 15 Function version 2 2 MELSEC L Series CANopen Module ME3CAN1 L Input signal Command 1 execution completed 3 10 Data exchange completed 3 7 EMCY message available 3 10 Layer 2 online mode 3 8 ME3CAN1 Lerror KK KK eee 3 9 Message transmit trigger completed 3 8 Module ready 3 7 Module restart completed 3 8 NMT Error Control failure available 3 9 Time stamp setting completed 3 10 L Layer
5. o N mM 5 Q9 N Reserved Tab 3 3 Pin assignments of the CAN interface connector D sub 9 pin male connector on the ME3CAN1 L WARNING Leave the reserved pins unconnected NOTE An inch screw thread 4 40UNC is used to fix the connector to the ME3CAN1 L For the wiring of the CANopen module ME3CAN1 L please refer to section 6 3 2 MELSEC L Series CANopen Module ME3CAN1 L 3 3 Detailed Description of the Module Specifications 3 2 Specifications The specifications for the ME3CAN1 L are shown in the following table For general specifications refer to the operation manual for the CPU module being used Specification ME3CAN1 L Transmission type CAN Bus network RS 485 CSMA CR Applicable functions e CANopen Node e CAN Layer 2 Node CANopen communication services according to CIAS standards e CiA9 301 V4 2 CiA9 302 V4 1 CiA9 305 V2 2 CANopen device and application profiles according to CiA9 Standards Interface and Device Profile CiA9 405 V2 0 for IEC 61131 3 Programmable Devices Remote Transmit Request RTR Layer 2 mode supported CANopen mode not supported for PDO Node number Selectable from 1 to 127 Communication method Acyclic cyclic or event driven Supported transmission speed maximum bus length The maximum bus length varies depending on the transmission speed e 1 Mbps 25m e 800
6. Highest sub index Request node guarding Refer to Node ID value section 4 8 9 All Nodes N m T Highest sub index Refer to section 4 8 4 1F84 Device type o L m Highest sub index Refer to section 4 8 4 1F85 Vendor identification L m T Highest sub index Refer to section 4 8 4 1F86 Product code L T Highest sub index Refer to section 4 8 4 1F87 Revision number m Highest sub index Refer to section 4 8 4 1F89 Boot time Refer to section 4 8 6 1F8A 1F8F Reserved Highest sub index 1F88 Serial number E NMT master time out NMT master negotiation time delay NMT flying master tim NMT master Refer to 1 riorit section 4 8 10 4 Prioritytimeslot 1500 CANopen device time slot MIRST we sez j Node ID cycle time ing parameters 10 1F91 1FFF Reserved Tab 4 6 Communication profile area of the ME3CAN1 L O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset Indicates whether reading from and writing to CAN bus are enabled R Read enabled W Write enabled Data will be saved in the Flash ROM by using the Store Parameter command in index 1010H Be careful with write han dling The maximum number of writes to the built in flash ROM is 10 000 times 4 6 sse MITSUBISHI ELE
7. Node 126 status Node 127 status The bit allocation of each buffer memory address is as follows The description applies to the case that the relevant bit is set to 1 Description Guarding Node Guarding is active Heartbeat Heartbeat is active Will be set after the reception of the first heartbeat message Guarding One node guarding message is missed or toggle bit error Guarding No response and lifetime of NMT Slave elapsed NMT startup failed Guarding The node has not the expected state Guarding Guarding failed Node Guarding remote requests of the NMT Master was not received in the expected time Heartbeat Heartbeat is missing Reserved Tab 3 17 Assignment of the bits in the buffer memory addresses 401 to 527 If one ofthe bits 2 to 7 is turned ON the signal NMT error of CANopen node available X n 1 0 will turn ON Clearance of errors To clear the error of all nodes write OOOOH to Un G400 and turn ON the Clear NMT error of CANopenS node request Y n4 1 0 Toclearthe error of a node write the node number to Un G400 and turn ON the Clear NMT error of CANopen node request Y n 1 0 sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module 3 5 16 NMT State Un G601 Un G727 The buffer memory addresses Un G601 to Un G727 display the NMT status of the CANopen nodes Index 1F82H Sub
8. word Sigaed________________ VAR V ErorStatus 85 VAR w MsgiDes _____________Jword Unsigned Bit String 16 bitj 0 3 86 87 88 89 90 VAR Msg6Data Word Unsigned Bit String 16 bit 0 3 Fig 7 23 Local Label for this example 2 MELSEC L Series CANopen Module ME3CAN1 L 7 23 Programming Layer 2 Communication Program Fig 7 24 Example Program 1 7 24 se MITSUBISHI ELECTRIC Layer 2 Communication Programming Fig 7 25 Example Program 2 MELSEC L Series CANopen Module ME3CAN1 L 7 25 Programming Layer 2 Communication Fig 7 26 Example Program 3 7 26 se MITSUBISHI ELECTRIC Layer 2 Communication Programming Fig 7 27 Example Program 4 MELSEC L Series CANopen Module ME3CAN1 L 7 27 Programming Layer 2 Communication Fig 7 28 Example Program 5 7 28 se MITSUBISHI ELECTRIC Layer 2 Communication Programming Fig 7 29 Example Program 6 MELSEC L Series CANopen Module ME3CAN1 L 7 29 Programming Layer 2 Communication 7 2 2 NOTE Layer 2 communication without function blocks System Configuration This sample programs are for sending and receiving Layer 2 messages In the following system con figuration the ME3CAN1 L has the head address X Y10 MELSEC L series PLC ME3CANT L Remote I O E a Terminating CAN Terminating
9. NOTES If a flying master which is not a ME3CANT L is in the network please ensure that heartbeat pro ducing is enabled in this node otherwise the ME3CAN1 L with activated flying master will send endless NMT messages reset communication All flying masters should have the same configuration for the slaves Configure the negotiation response wait time of all flying master so that when there is a request for flying master negotiation the flying master with the higher priority responses before the lower one Otherwise the flying master negotiation will be endless Flying Master negotiation response wait time NMT master priority X priority time slot node ID X node time slot During the flying master negotiation process a NMT service reset communication message will be sent to all nodes When using the flying master function please consider the following points The network communication will be reset after the active NMT Master fails which will result in an interruption of the system application Application data will be not synchronized by the flying master mechanisms This has to be handled by a proper CANopen 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 going into productive state MELSEC L Series CANopen Module ME3
10. Layer 2 Communication Layer 2 communication using function blocks This program examples together with the function blocks can be downloaded from http eu3a mitsubishielectric com fa en in the MyMitsubishi section free registration necessary In the sample ladder programs labels are used For label setting operation on GX Works2 refer to the GX Works2 Operating Manual Simple Project The ME3CAN1 L must be set to the 29 bit CAN ID Layer 2 mode beforehand Please refer to section 3 5 2 System Configuration The sample program performs Layer 2 communication MELSEC L series PLC ME3CAN1 L Remote I O Terminating CAN Terminating resistor resistor Fig 7 21 System configuration for this example MELSEC L Series CANopen Module ME3CAN1 L 7 21 Programming Layer 2 Communication Local Label Setting 1 AR CommandCompleted Bit 2 3 VAR v CommandEror Bit 4 VAR me CommandError2 Bit 5 VAR mw CommandRequest Bit 6 VAR CommandReques Bit 7 VAR jw ConigCompeed sd BVR mmm Bt lt E 9 IVAR vj ConfigPls Bit 10 VAR DataExchangeOk j j i _ x HM VAR X wjDatsExhangeReqes Bt _________ i i E 12 VAR vwjEmmRee Bi 21 4 13 VR mmiCompee 1 14 VAR sem FHI 15 VAR iaye2OnineMoee Bit 16 VAR w MsgiRTRag Bt W VAR_ Msg2RTRFlag KFH 1 18 VR
11. Yes priority gt own priority Un G27 Send service Force NMT flying master negotiation NMT master mode NMT slave mode Continue with NMT master startup Fig 4 36 NMT flying master process 4 50 sse MITSUBISHI ELECTRIC Network Management Functions Object 1F80H NMT start up Set bit 5 to ON to participate in the NMT flying master negotiation Refer to section 4 8 5 Object 1F90H NMT flying master timing parameter This object defines the parameters for the NMT flying master negotiation process Sub index 01H NMT master timeout The value is in units of ms Sub index 02H NMT master negotiation time delay The value is in units of ms Sub index 03H NMT master priority Fig 4 37 Bit 15 Bit 8 Bit 7 Bit 0 Bit allocation for sub index 03 NMT master N l ti zii A Value hex Description Tab 4 33 00 High The NMT master priority is set with the value Priority Medium of the bits 7 0 Low Reserved Sub index H04 Priority time slot The value is in units of ms Formula for the priority time slot Priority time slot gt 127 X CANopen device time slot sub index 05H Sub index 05H CANopen device time slot The value is in units of ms Sub index 06H Multiple NMT master detect cycle time The value is in units of ms MELSEC L Series CANopen Module ME3CAN1 L 4 51 Functions Network
12. first 5 digits version Fig 2 3 Product Information List for a PLC with a ME3CAN1 L sse MITSUBISHI ELECTRIC System Equipment System Configuration 2 4 System Equipment MELSEC L series PLC Configuration by FBs with ME3CAN1 L in GX Works2 USB cable Terminating Terminating resistor CAN bus network resistor Terminating Terminating resistor CAN bus network resistor ye S EDS file MELSEC L series PLC 3rd party with ME3CAN1 L configuration tool Fig 2 4 Example for a system configuration with ME3CAN1 L Product Description ME3CAN1 L Module for CAN communication Configuration tool integrated in GX Works2 Used to configure ME3CAN1 L and CANopen network 3rd party configuration tool Connector to connect ME3CAN1 L to the CAN D sub connector network Resistor to terminate the CAN network It is inte Resistors are required to terminate Terminating resistor grated in some D sub connector the CAN network at both ends CAN bus network cable Communication cable for CAN network CANopen node CANopen node from other manufacturer Repeater Repeater for CAN network Electronic data sheet EDS to describe the mod EDS file ule Used for 3rd party configuration tool Tab 2 1 System Equipment MELSEC L Series CANopen Module ME3CAN1 L 2 3 System Configuration System Equipment 2 4 sse MITSUBISHI ELECT
13. wj Msg iNewsa Bt __r_ 19 VAR wj MsgNewram Bt P 1 20 VAR iw Msg3Oveow Bt m 21 VAR wj MsgRTRHag BH 22 VAR iw MsgdRTRPsag Bt iaicj L_L_ KO 23 VAR iw Msg Newaa o 24 VAR w MsgbNewram 6 25 VAR iw MsgsOveow Bt ____ 26 VAR Bt 61 4 aj 27 VAR w StetcCommn2 28 VAR w StanCommucaion 4 29 VAR fm StartConf g jH 1 30 VR wj StatCo p HR 1 did j Y l CS 31 VAR w Stataye2Cofg HH HK Z O o 32 VAR_____ z TriggerProcessingok i 33 VAR iw Msgerggr Bt AL 029 a 34 VAR iw MsgeRTREsg 35 VAR m TransmtOReew BI Mm 36 VAR w DatsExhange CANLayegDatsExhange 1 37 VAR w MESCANiXigye lhit CANLaye2t 4 6 M 38 IVAR mIMsg3ReceveConig CANLayeReceiveCotig 39 VAR w Msg5ReceiveConig CANLayer2ReceiveConfig 40 VAR mIMsg3Receve JCANLayer2ReceveMessage sd 41 VAR imIMsgSReceive CANLayeZReceiveMessge 42 VAR w SendLaye2Msg CANLayef2SendCommad sd 43 VAR wj Layer2MessageStore CANLaye2StoreContg sd 44 VAR w MsglTransmiConig ________ CANLayer2TransmitConfig 45 VAR w Msg2TransmitContg
14. 7 12 M MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming Fig 7 13 Example Program 9 MELSEC L Series CANopen Module ME3CAN1 L 7 13 Programming CANopen PDO Communication using Function Blocks ReceiveOrTransmit Fig 7 14 7 14 Example Program 10 se MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming Fig 7 15 Example Program 11 MELSEC L Series CANopen Module ME3CAN1 L 7 15 Programming CANopen PDO Communication using Function Blocks PDOSetupCompleted PDOSetupError amp Fig 7 16 Example Program 12 7 16 se MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming NMTRequestError e Fig 7 17 Example Program 13 MELSEC L Series CANopen Module ME3CAN1 L 7 17 Programming CANopen PDO Communication using Function Blocks DOReadErrorCounter Fig 7 18 Example Program 14 7 18 a MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming Fig 7 19 Example Program 15 MELSEC L Series CANopen Module ME3CAN1 L 7 19 Programming CANopen PDO Communication using Function Blocks Fig 7 20 Example Program 16 7 20 se MITSUBISHI ELECTRIC Layer 2 Communication Programming 7 2 7 2 1
15. A1038610 A1038710 A1038810 A1038910 A1038A10 A1038B10 A1038C10 A1038D10 A1038E10 A1038F10 A1039010 A1039110 A1039210 A1039310 A1039410 A1039510 A1039610 A1039710 A1039810 A1039910 A1039A10 Tab 4 10 Mode 405 TPDO mapping parameter 4 16 BLA A A ST S ST A A 5 5 ALA A1039B10 A1039C10 A1039D10 A1039E10 ojojojojojojojojojojojojojojo oj ojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojlojojojojojojojojojojojojojojojlo ojojojojojojojojojojojojojojojojojojojojojojlojojojojlojojojojojojojojojojojojojojojojojojojojojojojojojo ojojojojojojojojojojojojojojojojlojojojojojlojlojojojojojlojojlojojojojojojojojojojojojojlojojojojlojojojojojo a MITSUBISHI ELECTRIC Communication Profile Area Functions Default value of sub index hex Index hex 01H 02H 03H 04H 05 R w R w R w O R W O RWO A1039F10 A103A010 A103A110 A103A210 0 A103A310 A103A410 A103A510 A103A610 A103A710 A103A810 A103A910 A103AA10 A103AB10 A103AC10 A103AD10 A103AE1 A103AF10 A103B010 A103B110 A103B21 A103B310 A103B410 A103B510 A103B61 A103B710 A103B810 A103B910 A103BA1 A103BB10 A103BC10 A103BD10 A103BE1 A103BF10 A103C010 A103C110 A103C21 A103C310 A103C410 A103C510 A103C610 A103C710 A103C810 A103C910 A103CA10 A103CB10 A103CC10 A103CD10 A103CE10 A103CF10 A103D010 A103D110 A103D210 A103D310 A103D410 A103D510 A103D610
16. Bt 67 VAR w RemoteNodelD Word Unsigned BitSting 16 bi 68 VAR y NMTReguestCompleted Fi 2021 L ZL 69 IVAR w RequestData Word UnsigeedyBitSting bi 1 70 VAR NMTRequestEror_ sd 71 VAR mINMTRequestErorCounter WordSigeed 1 Z E 72 VAR iw RemFaco Word Signed 0 15 __________ M 73 VAR iw RPDOnumer WordSigeed j 74 VAR SDOREadCommand sDOReed 2 62 75 VAR iw sDOReadReqes Bt 1 76 VAR iw SDOwriteCommand SDOWrite 3 1 77 VAR v SecondPDOProcessing i 78 VAR vw ExecNMTMasterConfig Bt 79 VAR e SeuppPDos j PDOSwp Cid 80 VAR w SlaveConfguraion WordSigeed o 1 4 a 81 VAR w NMTSlaveSeup NMTSlaveSetims M 82 VAR NMTSlaveSetupError_ 83 VAR m NMTSlaveSetupErrorCounter WordSigeed 1 1 1 1 84 VAR NMTSlaveSetCompleted 85 VAR iw NMTSlaveSetpOkCouter WordSigeed 1 86 VR w StamalNoes Bt I Cd 87 VAR jw StanCANOpenNodes NMTRequesWrte 88 VAR w StanConsumerSetup Bit i un 89 StanPDOCommunication Bt Sd 90 StatPDORead Bt ________ ji xj 9t VR w siamPDOSeup HR Cd 92 VAR iw StamPDOWie Bt 93 VAR w StamProdceseuy
17. CANopen modes Bit 0 Not in Operational State Bit 1 Operational State Bit 0 The error counter is below the warning level Refer to sections 3 5 8 and 3 5 9 Bit 1 The error counter of the CAN controller has reached the warning level Reserved Bit 0 No NMT Reset received Bit 1 The CANopen Application was reset by an NMT Reset communication or NMT Reset Application com mand All unsaved changes in the Object dictionary are lost and are set to factory default or to the former stored value Write a 0 to reset the bit Refer to sections 4 8 8 and 4 6 10 The bit is set to 0 in the beginning of the reset process Module initialization state Bit 0 Module initialization finished Bit 1 Module is in initialization state The module is initializing the internal data structures and the buffer memory While this bit is on it is recommended to execute a read access to Un G25 and Un G29 only In case ofa module restart request with Yn2 or over a CANopen NMT command this bit will be set This bit shall be monitored in the PLC program all the time to prohibit Un G29 failures CANopen Network state Bit9 Bit8 Description 0 O Stopped State 0 1 Pre operational State 1 0 Operational State 1 1 Reserved Bit 2 0 LSS Master routine inactive Bit 1 LSS Master routine active This bit is only 1 when the LSS Master is searching and configuring LSS Slaves Reserved Bit 0 No Time Stamp obje
18. Emergency Error code O oldest message Byte 0 of manufacturer spe EMERGENCY data cific error code msef Byte 2 of msef Byte 1 of msef Error register Byte 4 of msef Byte 3 of msef Ring buffer The node ID number which sent the emergency message to Node lD the network is displayed Emergency Error code newest message EMERGENCY data Byte 0 of msef Error register Byte 2 of msef Byte 1 of msef Byte 4 of msef Byte 3 of msef Tab 3 19 Buffer memory addresses allocated to the Emergency Message Buffer O For emergency error codes please refer to section 8 2 1 sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module 3 5 18 NOTES Command Interface Un G1000 Un G1066 The Command Interface CIF can be used to access the Object Dictionary of the local node or a net work node The access is performed by commands for SDO read write Emergency Messages etc After writing the command parameter turn ON Y n 1 7 to execute the command If the command execution is finished X n 1 7 will be turned ON refer to section 3 3 2 The addresses will not be cleared after command execution The former written transmit data will be displayed by making new write accesses or using the Display current parameter command Refer to section 5 3 Before a write access to the CIF command interface always check if Un G1000 does not display
19. MELSEC L Series CANopen Module ME3CAN1 L 4 19 Functions Communication Profile Area 4 6 4 SDO A Service Data Object SDO provides a direct access to the object entries of a CANopen device s Object Dictionary These object entries may contain data of any 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 isto betransferred via a multiplexer indexand sub index of the Object Dictionary By using the Com mand Interface CIF it is possible to make an SDO access to other CANopen devices or to the ME3CANT L itself No configuration is needed in the Object Dictionary For details of the Command Interface please refer to chapter 5 Client Server Request Indication Response Confirmation Fig 4 3 Data transfer using SDOs 4 6 5 RPDO TPDO Real time data transfer is performed by the Process Data Objects PDO The transfer is performed with no protocol overhead PDOs correspond to objects in the Object Dictionary and provide 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 con figuration process by applying the SDO services to the corresponding objects of the Objec
20. VAR mfFrsPDDProcesmmj a VAR w FouthPDOProesing 5 VAR m MESBCANIXInit JjCANopemit VAR m MESCANIXMasteSeup NMTMasterSetings VAR iw Guardedtime WordSigeedo 1 VAR w Hearbeatconsumer HearbeatConsumeSeup M VAR HeartbeatConsumingSeting Bit VAR iw HeartbeatProducer HearbeatProducerSeup VAR mw HearbeaProducerSetng Bt o Z VAR sr 1 0pBt 21 F VAR w MssterNodeAddess WordSimdQ 1 1 VAR m NodeAddress jWerdSiged VAR w NodeHearbeatStetus Word Unsigned Bit String 16 bit 0 126 VAR m NodeNMTStaus Word UnsignedVBitSting 16bi 02 ________ VAR w NoOfConsumedNodes WerdSiged M VAR m NoOEntries VAR m NoOProducingNodes jWerdSiged o VAR w NumberOfSlaveNodes WordlSignd e 1 1 1 1 VAR w Objecindex _____________ word Unsigned Bit String 16 bitJ 1 3 VAR mlObjectlengh Word Unsigned BitSting 16bid 1 8 M VAR iw ObiectSubindex ___________ word Unsigned Bit String 16 bitJ 1 3 VAR wjOpeaina VAR wj PDOnmbe WordlSigned VAR PdoRead PbOReed o VAR m PDOReadData Word Unsigned BitSting 16bi 0 3 VAR m PDOSetu
21. 13253 13254 13507 13508 13761 13762 14015 14016 14023 Tab 3 26 Direct transmit buffer memory access for unsigned and signed 16 bit objects sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module Signed unsigned and float 32 bit object Index Hexadecimal Sub index Buffer memory address Float 32 bit Unsigned 32 bit Signed 32 bit Hex Decimal object object object 13000 13001 13002 13003 13506 13507 13508 13509 14014 14015 14016 14017 11022 11023 Tab 3 27 Direct transmit buffer memory access for float unsigned and signed 32 bit objects MELSEC L Series CANopen Module ME3CAN1 L 3 31 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 6 Buffer Memory Details Layer 2 Message Mode In Layer 2 Message modeitis possible to transmit and receive Layer 2 CAN messages with 11 Bit or 29 Bit identifier To activate this mode write the value 11 or 29 into Un G21 and the value 1 to Un G22 Then switch Y n 1 F ON to store the buffer memory configuration and restart the module NOTES All CANopen Functions are deactivated in Layer 2 Message mode The buffer memory addresses Un G20 24 25 29 35 36 and the CIF command interface have the same function like in the CANopen Mode exce
22. A582271 A582281 A5822910 A5822A10 A5822B1 A5822C1 A5822D10 A5822E10 A5822F1 A582301 A5823110 A5823210 A582331 A582341 Tab 4 8 A KS ALA A ALA A A ALAR ATA A5823510 A5823610 Mode 405 RPDO mapping parameter o ojojojojojojo ojo jojojojo A582371 MELSEC L Series CANopen Module ME3CAN1 L o jojo jojojo jojojoj jojojoj jojo A582381 o jojo jojojo jojojoj joj jojojo 1 Functions Communication Profile Area Index hex Default value of sub index hex 01H Rw 02H R w 03H R W O 04H R W O 05H R w O 168D m A5823910 A5823A10 A5823B10 A5823C1 0 o o o 168E A5823D10 A5823E10 A5823F10 A582401 168F A5824110 A582421
23. CAN error passive state Bit 1 Error passive state This bit will be reset automatically if the internal error counters return back below 128 Refer to sections 3 5 8 and 3 5 9 Layer 2 Message Slot specific Check the Message Slot specific error code in Un G5001 Un G5584 Refer to sec error exists tion 3 6 1 Tab 3 12 Assignment of the bits in buffer memory address Un G29 O Layer 2 modes The configuration must not be changed when the module is set to ONLINE before changing the configu ration set YnO to OFF configuration mode and wait until XnO is OFF module OFFLINE INIT The affected configurations buffer memories are Un G10000 to Un G10293 Un G6000 to Un G6167 and Un G8400 to Un G8402 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 e In error active state The node will actively mark the frame as invalid e n error passive state The node will not actively mark the frame as invalid to avoid bus disturbance if the node itself has an H W problem If one or more of the bits 1 4 6 8 or 15 in UN G29 are set XnF will be turned ON The bits 5 6 8 and 15 are latched and it is necessary to set YnF to ON which will clear all latched error bits in Un G29 All other bits are reset automatically if the cause for the error is solved 3 18 sa MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Det
24. Description Decimal Transmit message Receive message e 000DH Data written to transmit buffer 1000 Command 000CH Send Layer 2 Message e FOOCH Setting error e FFFFH CIF command interface busy 1001 11 29 bit CAN Identifier low word Diagnosis Data 1002 11 29 bit CAN Identifier high word e OOOOH No error e FOOCH Setting error e All other values Displays the error cause Any of 1004 DLC Data Length Count the addresses Un G1001 to Un G1004 with a value unequal to 0 refers to a setting error 1005 1008 Data bytes Unused 1008 1066 Unused Unused 1003 RTR Remote Transmission Request Tab 3 41 Buffer memory allocation for CIF command interface SDO read access O Set Un G1003 to 0 for normal transmission If Un G1003 is set to 1 a remote transmit request frame is sent This request makes the producer of the associated CAN ID specified in Un G1001 and Un G1002 send the actual data O The data length is given in the unit bytes 0 to 8 Data structure in Un G1005 to Un G1008 Address Description Tab 3 42 esman High Byte Low Byte Data structure for transmit messages 1005 2nd data byte 1st data byte 1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte MELSEC L Series CANopen Module ME3CAN1 L 3 43 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 44 sse M
25. MITSUBISHI ELECTRIC MELSEC L Series Programmable Logic Controllers User s Manual CANopene Module ME3CAN1 L Art no 286236 11 05 2015 MITSUBISHI ELECTRIC INDUSTRIAL AUTOMATION Version A About this Manual The texts illustrations diagrams and examples in this manual are provided for information purposes only They are intended as aids to help explain the installation operation programming and use of the programmable controllers of the Mitsubishi MELSEC L series If you have any questions about the installation and operation of any of the products described in this manual please contact your local sales office or distributor see back cover You can find the latest information and answers to frequently asked questions on our website at https eu3a mitsubishielectric com MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this manual or the technical specifications of its products at any time without notice 2014 MITSUBISHI ELECTRIC EUROPE B V CANopen Module ME3CAN1 L User s Manual Art no 286236 Version Changes Additions Corrections A 05 2015 pdp dk First edition Safety Guidelines For use by qualified staff only This manual is only intended for use by properly trained and qualified electrical technicians who are fully acquainted with the relevant automation technology safety standards All work with the hard ware described including system
26. NMT Error Control failure available X n 1 0 NMT Error Control failure clear request Y n 1 0 If there is at least one CANopen NMT Error Control failure at least one of the assigned NMT slaves failed during NMT Error Control the NMT error of CANopen node available X n 1 0 will turn ON How to clear the error of all nodes To clear the error of all nodes write 0000H to Un G400 this is the default setting of Un G400 and turn ON the Clear NMT Error Control failure request Y n 1 0 The NMT error control failures of all nodes will be then cleared and the NMT Error Control failure available X n 1 0 will be turned OFF How to clear the error of a certain node To clear the error of a node write the node number to Un G400 and turn ON NMT Error Control failure clear request Y n 1 0 The NMT error control failures of this node will be cleared and if there no other NMT error control failures the NMT Error Control failure available X n 1 0 will also be turned OFF If a new error is generated while the NMT Error Control failure clear request Y n 1 0 is ON this will be cleared automatically After the NMT Error Control failure Clear request Y n 1 0 is turned OFF the ME3CAN1 L will check for new errors again For more error details on NMT Error Control failure please refer to section 3 5 15 MELSEC L Series CANopen Module ME3CANT L 3 9 Detailed Description of the Module I O Signals for the Programmable C
27. Unused Result data Buffer memory allocation for CIF SDO read access O Node number 0 is accessing the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is useful as the configuration of the local node can be programmed independently from the node address Result data structure in Un G1005 to Un G1066 Address Decimal Description Tab 5 3 High Byte Low Byte Result data structure 1005 2nd data byte 1st data byte 1006 4th data byte 3rd data byte 1007 6th data byte 5th data byte 1008 8th data byte 7th data byte 122nd data byte 121st data byte 124th data byte 123rd data byte sse MITSUBISHI ELECTRIC SDO Request Command Interface 5 1 2 CIF Multi SDO read access With the multi SDO read access command up to 8 SDO read accesses can be made within one com mand The maximum data length for each access is 8 bytes Execution procedure CIF Multi SDO read access At first write the Command code 8 the node number 0 1 127 the Object Dictionary Index and the Sub index to the buffer memory After writing all the necessary parameters turn ON Y n 1 7 in order to trigger the command execution If the command execution is finished X n 1 7 will be turned ON Iftheaccess has been successful Un G1000 will display 9 and Un G1001 to Un G1064 will contain the node number index and sub index for verifi
28. 1 Save configuration to Flash ROM Bit 1 Restore factory default configuration not saved to Flash ROM Reserved Tab 3 9 Assignment of the bits in buffer memory address Un G22 If both bit 0 and bit 1 are set simultaneously the buffer memory and Flash ROM will be reset to the factory defaults If only bit 1 is set factory default values are written to the configuration buffer memory but not stored in the Flash ROM In order to store changes made to the configuration buffer memory set Un G22 bit 0 after changing the configuration Baud Rate Un G24 In Un G24 the baud rate is set The current baud rate can be found in Un G37 Value in Un G24 Baudrate Tab 3 10 10 10 kbps Settings for the baud rate 20 20 kbps 50 50 kbps 100 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 1000 kbps The baud rate must be equal for all nodes in the network The new value needs to be stored by Un G22 Then Y n 1 F has to be turned ON and the module has to be restarted to make the new setting effective At low baud rates a too fast data exchange and or high bus load can result in a transmission data queue overflow error bit 8 in Un G29 refer to section 3 5 7 sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module 3 5 5 Communication Status Un G25 The buffer memory address Un G25 displays the ME3CAN1 L communication status Description
29. 1800 18FF TPDO communication laai PE Refer to table 4 9 parameter A Inhibit time section 4 6 5 Compatibility entry Event timer 1900 19FF Reserved Numberof valid object entries 1st Mapped object 2nd Mapped object 3rd Mapped object TPDO mapping Refer to 4th Mapped parameter section 4 6 5 object 5th Mapped object 6th Mapped object 7th Mapped object 8th Mapped object 1C00 1F21 Reserved Highest sub index U8 1F22 CDCF Refer to section 4 8 12 1F23 1F24 Reserved Highest sub index 1A00 1BFF Refer to table 4 10 Node ID value DOMAIN 1F25 Configuration request Refer to Node ID value section 4 8 12 All Nodes Highest sub index Expected configura ki Refer to tion date section 4 8 12 Node ID value Tab 4 6 Communication profile area of the ME3CAN1 L MELSEC L Series CANopen Module ME3CAN1 L 4 5 Functions Communication Profile Area Sub index Initial Stored to hex Object Description Data type value 2 Flash ROM 00 Highest sub index U8 7FH Expected configura Refer to tion time section 4 8 12 Node ID value 1F28 1F7F Reserved 1 80 NMT start up Refer to section 4 8 5 Highest sub index 1F81 NMT slave assignment Refer to section 4 8 6 1F27 Node ID value Highest sub index Request NMT Refer to Node ID value section 4 8 8 All Nodes
30. 4 tunGrodos x M 00 Ak ores between and e New data frame E G j ott mi Data byte i Un G10010 Data x 1 4 Data A i 4 DataD Un G10013 1 CAN ID ri Un G10008 Dx gt Performed by ME3CAN1 L gt Performed by the sequence program Fig 3 9 Relationships for example 2 The behavior until is similar to that described in example 1 As in the first example the high byte value 07H after shows that the buffer was overwritten at least once since 3 and the data bytes in the buffer memory are also the data received with the last message But this time it is required to check the 11 29 bit CAN ID in the corresponding Layer 2 message slot Un G10000 Un G10293 to determine which message ID was received In this case the last message is 0180H and the data of this message is stored to the data buffer memory The data of the messages 0182H and 0186H is lost NOTE In this example it is expected that the PLC program resets the RTR new DLC flags after reading the data at D and A MELSEC L Series CANopen Module ME3CAN1 L 3 37 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 6 3 Layer 2 RTR flags Un G8350 Un G8352 If the ME3CAN1 L is set to Layer 2 communication mode an incoming RTR message is indicated in the buffer memory if the following conditions are satisfied Matching the CAN ID n of one of the Layer 2 message slots The message slo
31. A103D710 A103D810 A103D910 A103DA10 A103DB10 A103DC10 A103DD10 A103DE10 A103DF10 A103E010 A103E110 A103E210 A103E310 A103E410 A103E510 A103E610 A103E710 A103E810 A103E910 A103EA10 A103EB10 A103EC10 A103ED10 A103EE10 A103EF10 A103F010 A103F110 A103F210 A103F310 A103F410 A103F510 A103F610 A103F710 A103F810 A103F910 A103FA10 A103FB10 A103FC10 A103FD10 A103FE10 A1040110 A1040210 A1040310 A1040410 A1040510 A1040610 A1040710 A1040810 1AE6 1AE7 1AE8 1AE9 1AEA 1AEB 1AEC 1AED 1AEE 1AEF 1AFO 1AF1 1AF2 1AF3 1AF4 1AF5 1AF6 1AF7 1AF8 1AF9 1AFA 1AFB 1AFC 1AFD 1AFE 1AFF E o o o 0 0 0 0 0 0 AJAI AIAI ST AIAI AIAI SJ ST ST SJ ST S ST S mk ST SJ ST SI RY A O O O O CS OC OC oj 9S 9 S 9 S amp S 9 amp O O O 9 OC OC DS 9 O 9 CS oj oj OS S 9 amp O O O O O 9 9S O 9 DS 9 oj oj o o jojo ojo O O O O OS O OS 9S S amp OS S OS S S OS S S amp Tab 4 10 Mode 405 TPDO mapping parameter O R W Read write access MELSEC L Series CANopen Module ME3CAN1 L 4 17 Functions Communication Profile
32. Bit 0 Fig 4 7 Bit allocation for sub index 01H TPDO COB ID Bit Item Description Tab 4 17 vid Bit 0 Valid Description for sub index 01H TPDO COB ID Bit 1 Invalid Bit 0 Remote transmission Request RTR allowed Bit 1 Remote transmission Request RTR not allowed This bit is constantly set to 1 in the ME3CAN1 L 11 bit CAN ID of the CAN base frame 11 bit CAN ID Refer to section 4 6 1 4 22 sse MITSUBISHI ELECTRIC Communication Profile Area Functions Sub index 02H TPDO transmission type Value hex Description Synchronous acyclic 00 The PDO will be transmitted after occurrence of the SYNC but acyclic not periodically only if an event occurred before the SYNC 01 Synchronous cyclic every SYNC Synchronous cyclic every 2nd SYNC Synchronous cyclic every 3rd SYNC Synchronous cyclic every 240th SYNC Reserved Event driven function mode 405 Tab 4 18 Description for sub index 02H TPDO transmission type Sub index 03H TPDO inhibit time This object configures the minimum time between two PDO transmissions This is used only for the event driven transmission PDO transmission request by Yn1 will be dismissed during this time Unit of this value is 100 us ME3CAN1 L counting resolution 1 ms Set this to 0 to disable the inhibit time Sub index 05H TPDO event timer If the event timer elapses and no event driven transmission is sent
33. EMCY Manufacturer specific error codes of the ME3CAN1 L 8 2 3 SDO Access abort codes Abort code hex Description 0503 0000 Toggle bit not alternated 0504 0000 SDO protocol timed out ME3CAN1 L default 500 ms 0504 0001 Client server command specifier not valid or unknown 0504 0002 Invalid block size block mode only 0504 0003 Invalid sequence number block mode only 0504 0004 CRC error block mode only 0504 0005 Out of memory 0601 0000 Unsupported access to an object 0601 0001 Attempt to read a write only object 0601 0002 Attempt to write a read only object 0602 0000 Object does not exist in the object dictionary 0604 0041 Object cannot be mapped to the PDO 0604 0042 The number and length of the objects to be mapped would exceed PDO length 0604 0043 General parameter incompatibility reason 0604 0047 General internal incompatibility in the device 0606 0000 Access failed due to a hardware error 0607 0010 Data type does not match length of service parameter does not match 0607 0012 Data type does not match length of service parameter too high 0607 0013 Data type does not match length of service parameter too low 0609 0011 Sub index does not exist 0609 0030 Invalid value for parameter download only 0609 0031 Value of parameter written too high download only 0609 0032 Value of parameter written too low download only 0609 0036 Maximum value i
34. FFFFH CIF Busy If a write access is made during the CIF command interface busy display a Command or Parameter change while CIF was busy error is generated Refer to section 5 4 2 Address Description Decimal Transmit message Receive message 1000 Command code trigger for command execution Command execution result code Command parameter read back or detailed error 1001 1066 Command parameter information Tab 3 20 Buffer memory addresses allocated to the Command Interface Reference Tab 3 21 section Commands SDO read 5 1 1 SDO multi read 5 1 2 SDO write Command Interface SDO multi write Send an Emergency Message Display current parameter Clear Reset the CIF was busy error Sending Layer 2 Message O This command uses SDO communication If the NMT Startup Master is active it can happen that the NMT Startup Master has already occupied the SDO connection to the remote Node During the first initial network startup the NMT Startup Master occupies up to 126 SDO connections at the same time If an NMT Slave fails after the initial Network Startup the NMT Startup Master occupies the SDO connection to the specific NMT Slave If the NMT Startup master is active for one or more NMT slaves bit 14 in Un G25 is ON Refer to section 3 5 5 MELSEC L Series CANopen Module ME3CAN1 L 3 25 Detailed Description of the Module Buffer Memory Details CANop
35. Fig 7 47 Detailed setting for the Global Label Message1Data MELSEC L Series CANopen Module ME3CAN1 L 7 37 Programming Layer 2 Communication Program Copy message parameter Set CAN ID here gt CopyMessage1Param 0 IN DMOv HOFEEO00 Canid MOV Canld 0 Message1Param ParameterA r MOV Canld 1 Message1Param ParameterB Set ID filter here DMOV H1C0000FF IdFilter MOV IdFilter 0 Message1Param ParameterC r MOV IdFilter 1 Message1Param ParameterD RST CopyMessage1Param Fig 7 48 Example Program 1 Copy message parameter Set message parameter to module ConfigureMessage1 X13 LOV 57 M MOV Message1Param ParameterA G6000 Uo MOV Message1Param ParameterB G6001 va MOV Message1Param ParameterC G6002 LOV MOV Message1Param ParameterD G6003 K1 TO 0 UO 98 Message1Param ParameterA G6000 M10 LOV Message1Param ParameterB G6001 M1 1 LA Message1Param ParameterC G6002 M12 Uo 7 Message Param ParameterD G6003 M13 M10 M11 M12 M13 123 RST ConfigureMessage1 SET ConfigureMessage1Completed Fig 7 49 Example Program 2 Set message parameter to module 7 38 fa MITSUBISHI ELECTRIC Layer 2 Communication Programming Set online mode 131 145 Request data exchange 147 Copy receiv
36. i repre D ka W ken ek hel a a kaye l oH ad a pepe 7 21 7 2 1 Layer 2 communication using function blocks 7 21 7 2 2 Layer 2 communication without function blocks 7 30 8 Troubleshooting 8 1 Error Processing and Recovery Method sisse 8 1 8 1 1 Preliminary check by LED status 0 cece kk cence eee eee eect ences 8 1 8 1 2 Detailed error check aaa aaa aaa 8 2 8 2 Error Code and Error Message SUMMa Y ss kk kk kk kk kk kk kk kk kk ke kk k 8 4 8 2 1 EMCY Emergency error codes sseseeesesseelekeeetesio 8 4 8 22 EMCY Manufacturer specific error codes lees 8 5 8 2 3 SDO Access abort codes i k kwa yana k k ka w eee a xua nent e en 8 5 Index VIII s e MITSUBISHI ELECTRIC Introduction Overview 1 1 1 2 Overview This User s Manual describes the specifications handling and programming methods for the CANopen Module ME3CANT L hereinafter referred to as the ME3CAN1 L which is used with the programmable controllers of the MELSEC L series Before using the ME3CAN1 L please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC L series programmable controller to handle the product correctly Introduction The ME3CAN1 L is a network module of the MELSEC L series It is used to connect a M
37. standard Object Dictionary 4 2 sse MITSUBISHI ELECTRIC Command Interface Functions 4 4 Command Interface The Command Interface CIF provides access to the Object Dictionary of the ME3CAN1 L and other CANopen nodes in the network The various CIF functions can be used for SDO read write config uring mapping RPDO and TPDO configuring Node Guarding Heartbeat Emergency Messages and others For details please refer to chapter 5 Function mode A Reference Command interface 2mode Section 11 bit SDO request Send Emergency Message Display current parameter Sending Layer 2 Message Tab 4 4 Overview of command interface 6 Applicable O Not applicable 4 5 Data Type Definition Area Static data types are placed in the Object Dictionary for definition purposes only Indexes 0002H to 0008H 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 details please refer to section 4 6 5 Index hex Sub index hex Description Data type 0001 00 Reserved 0002 00 0003 00 Signed 0004 00 0005 00 Data type definition 0006 00 Unsigned 0007 00 0008 00 Float Real32 0009 009F 00 Reserved Tab 4 5 Data type definition MELSEC L Series CANopen Module ME3CAN1 L 4 3 Functions Communication Profile Area 4 6 Communica
38. 10 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 negoti ation 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 joins the network The flying NMT master priority is defined by node ID NMT master priority and the lower value has the higher priority In Un G25 bit 15 indicates whether the module is the current NMT master refer to section 3 5 5 NMT Master NMT Master Terminating Terminating resistor resistor NMT Master Fig 4 35 CANopen network with flying masters NOTES If flying master is enabled in the module and no heartbeat producing is set the heartbeat produc ing is automatically set to 1000 ms If the module lose the negotiation and no heartbeat consuming is set for the active NMT master the heartbeat consuming is set automatically to 1500 10 X node ID ms If the heartbeat producing and consuming is set manually please set a different consuming time for each NMT master active and hot stand by This is necessary so that when the active NMT mas ter is timed out that only one hot stand by NMT master initiates the flying master negotiation 4 48 s e MITSUBISHI ELECTRIC Network Management Functions
39. 1A19 1A1A 1A1B 1A1C 1A1D 1ATE 1A1F 1A20 1A21 1A22 1A23 1A24 1A25 1A26 1A27 1A28 1A29 1A2A m o o o 1A2B 1A2C 1A2D 1A2E 1A2F 1A30 A KS S T 5 5 5 5 AJAI 5 5 5 5 5 55 55 55 55 S ST ST S ST ST H ST S SI ALA ALA 1A38 1A39 o jo joj joj oj o o oj ojo o oj o o oj ojo oj ojoj o ojo o ojo o ojo o oj oj o o oj oj o oj o ALA ojojo jojojo jojojoj jojojo o jojoj jo jojojo jojoj jojoj oj jojoj jo jojoj jo ojojo o jojo o jojoj o ojoj jo ojojo ojojoj ojojo A ALR BR A ST SJ ST S ST ST SJ S O O O OC OS OS O 9 OS S amp Tab 4 10 Mode 405 TPDO mapping parameter MELSEC L Series CANopen Module ME3CAN1 L 4 13 Functions Communication Profile Area Default value of sub index hex Index hex 01H 02H 03H 04H 05 RWO R w R w
40. 2 Message mode Programming 7 21 M Manufacturer specific error codes 8 5 ME3CAN1 L Description of parts 3 1 Dimensions 3 5 Error input signal 3 9 Error clear request output signal 3 9 l O signals gt Aa Wala its ee ed 3 6 Indication of module failures 8 2 Installation kk KK KK KK KK KK KK KK 6 1 LEDS dega sima R 3 2 Specifications 3 4 Message transmit trigger completed input signal 3 8 Message transmit trigger request output signal 3 8 Module ready signal input signal 3 7 Module restart completed inputsignal 3 8 Module restart request output signal 3 8 N NMT Error Control Failure available input signal 3 9 Failure clear request output signal 3 9 Output signal Command 1 execution request Data exchange request EMCY message area clearrequest Layer 2 online mode request ME3CAN1 L error clearrequest Message transmit trigger request NMT Error Control failure clear request Save configuration Restore factory default configuration request Time stamp read request Time stamp set request Reception error counter RUN LED Save configuration Restore factory default completed input signal Save configuration Restore factory default configuration request output
41. A restart is necessary to activate the following new settings Function mode Un G21 refer to section 3 5 2 Baud rate Un G24 refer to section 3 5 4 Node ID Un G27 refer to section 3 5 6 NMT master setting refer to section 4 8 5 All not saved settings will be lost To restart the module please set the module restart request Yn2 signal to ON The module will be set to initialization state as indicated by the Un G25 bit 7 refer to section 3 5 5 After the module is restarted the module restart completed Xn2 will be set to ON The module restart request Yn2 signal can be reset to OFF Not setting this signal back to OFF will cause that the module will be restarted again and again The restart procedure will take approx 6 seconds to complete Module restart request Yn2 Module restart completed Xn2 Module initialization state Un G25 bit 7 ON OFF Performed by the ME3CAN1 L Performed by the sequence program Fig 3 4 Timing of the signals Xn2 and Yn2 Module in Layer 2 online mode Xn3 Layer 2 online mode request Yn3 The Layer 2 online mode request signal Yn3 must be set to ON to start data exchange with other network nodes The module in Layer 2 online mode signal Xn3 will turn ON if the module can be set to online mode The configuration of the module can only be changed while this signal is OFF In case a configuration buffer memory was changed during on
42. A1002610 A100271 A1002810 A1002910 A1002A10 A1002B A1002C10 A1002D10 A1002E10 A1002F A1003010 A1003110 A1003210 A100331 A1003410 A1003510 A1003610 A100371 A1003810 A1003910 A1003A10 A1003B1 A1003C10 A1003D10 A1003E10 A1003F1 A1004010 A1004110 A1004210 A100431 A1004410 A1004510 A1004610 A100471 A1004810 1A00 1A01 1A02 1A03 1A04 1A05 1A06 1A07 1A08 1A09 1A0A 1A0B 1A0C 1A0D 1A0E 1 1A10 1A11 m o o o 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 A ST ST SJ HR ST BR ST BR A ST SJ BR ST SJ SJ O O 9 OS OS CS 9 OS 9S O 9 amp amp amp O O 9 OS OS CS O 9 DP 9S OS 9 9S amp O O 9 OS OS OS OS 9 S 9S OS 9 amp amp O O O O O O 9 9S S amp Tab 4 10 Mode 405 TPDO mapping parameter 4 12 sse MITSUBISHI ELECTRIC Communication Profile Area Functions Default value of sub index hex Index hex 01H 02H 03H 04H 05 R w R w R W O R W O R W O A1004910 A1004A10 A1004B10 A1004C10 0 A1004D10 A1004E10 A1004F10 A1005010 A1005110 A1005210 A1005310 A1005410 A1005510 A1005610 A1005810 A1005910 A1005A10 A1005C10 A1005D10 A1005E10 A1006010 A1006110 A1006210 A1006410 A1006510 A1006610 A1006810 A1006910 A1006A10 A1006C10 A1006D
43. A5830310 A5830410 A583051 A5830610 A5830710 A5830810 A583091 A5830A10 Tab 4 8 4 10 BLA A A A ST ST A A ALA ALA A5830B10 A5830C10 Mode 405 RPDO mapping parameter 0 0 0 A582FB10 0 0 0 0 A5830D1 A5830E10 ojojojojojojojojojojojojo oj ojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojojlojojojojojojojojojojojojojojojlo ojojojojojojojojojojojojojojojojojojojojojojlojojojojlojojojojojojojojojojojojojojojojojojojojojojojojojo ojojojojojojojojojojojojojojojojlojojojojojlojlojojojojojlojojlojojojojojojojojojojojojojlojojojojlojojojojojo Aa MITSUBISHI ELECTRIC Communication Profile Area Functions Default value of sub index hex Index hex 01H 02H 03H 04H 05 RWO RwWO RWO R W O R w A5830F10 A5831010 A5831110 A5831210 0 A5831310 A5831410 A5831510 A5831610 A5831710 A5831810 A5831910 A5831A10 A5831B10 A5831C10 A5831D10 A5831E10 A5831F10 A5832010 A5832110 A5832210 A5832310 A5832410 A5832510 A5832610 A5832710 A5832810 A5832910 A5832A10 A5832B10 A5832C10 A5832D10 A5832E10 A5832F10 A5833010 A5833110 A5833210 A5833310 A5833410 A5833510 A5833610 A5833710 A5833810 A5833910 A5833A10 A5833B10 A5833C10 A5833D10 A5833E10 A5833F10 A5834010 A5834110 A5834210 A5834310 A5834410 A5834510 A5834610 A5834710 A5834810 A5834910 A5834A10 A5834B10 A5834C10 A5834D10 A5834E10 A5834F10 A5835010 A5835110 A5835210 A5835310 A5835410 A5835510 A583561
44. Center Block A Autostrade DORA Viale Colleoni 7 Palazzo Sirio Stegne 11 Wolweverstraat 22 Lebanon Beirut 1 20864 Agrate Brianza MB SI 1000 Ljubljana NL 2984 CD Ridderkerk Phone 961 0 1 240 445 Phone 39 039 60 53 1 Phone 386 0 1 513 8116 Phone 31 0 180 46 60 04 Fax 961 0 1 240 193 Fax 39 039 60 53 312 Fax 386 0 1 513 8170 Fax 31 0 180 44 23 55 Mitsubishi Electric Europe B V NETHERLANDS BULGARIA KONING amp HARTMAN B V NETHERLANDS Nijverheidsweg 23a 4 Andrei Ljapchev Blvd PO Box 21 Energieweg 1 NL 3641RP Mijdrecht BG 1756 Sofia NL 2627 AP Delft MESI IGAS IU Phone 31 0 297250350 Phone 359 0 2 817 6000 Phone 31 0 15 260 99 06 ADROIT TECHNOLOGIES SOUTH AFRICA Mitsubishi Electric Europe B V POLAND S740 UA 20 Waterford Office Park 189 Witkoppen Road ul Krakowska 50 INEA CR CROATIA Beijer Electronics AS NORWAY ZA Fourways PL 32 083 Balice Losinjska 4a Postboks 487 Phone 27 0 11 658 8100 Phone 48 0 12 347 65 00 HR 10000 Zagreb NO 3002 Drammen Fax 27 0 11 658 8101 Fax 48 0 12 347 65 01 Phone 385 0 1 36 940 01 02 03 Phone 47 0 32 24 30 00 Mitsubishi Electric Russia LLC RUSSIA Fax 385 0 1 36 940 03 Fax 47 0 32 8485 77 52 bld 1 Kosmodamianskaya emb AutoCont C S S R O CZECH REPUBLIC Fonseca S A PORTUGAL RU 115054 Moscow Kafkova 1853 3 R Joao Francisco do Casal 87 89 Phone 7 495 7212070 CZ 702 00 Ostrava 2 PT 3801 997 Aveiro Esgueira
45. IEC 61131 3 Programmable Devices allows communi cation with other Device Profiles e g encoder CiA 406 motion drives CiA9 402 etc Setting back up in non volatile memory The following setting values will be backed up in the Flash ROM Setting values stored in the buffer memory Module configuration stored in the Object Dictionary Setting values of Concise Device Setting File CDCF CAN layer 2 communication Besides the CANopen mode the ME3CANT L can be switched to CAN layer 2 communication mode and be set up so that it can be used for the customer s own CAN based communication protocol 1 2 s e MITSUBISHI ELECTRIC Abbreviations and Generic Terms Overview 1 3 Abbreviations and Generic Terms Unless otherwise specified this manual uses the following generic terms and abbreviations to describe the CANopen Module ME3CAN1 L General term Abbreviation Description ME3CAN1 L Abbreviation for the CANopen Module ME3CAN1 L MELSEC L CPU LCPU Generic term for L series CPU modules e g LO2CPU LO2CPU P L26CPU BT and L26CPU PBT etc PLC CPU CPU module Generic term for programmable controller GX Works2 Generic product name for the programming and configuration software GX Works2 Controller Area Network CAN based higher layer protocol CAN in Automation Non profit organization for standardization of CAN protocols The CIA Members develop specifications which are
46. L Functions Network Management 4 8 7 NMT boot up Error event handling When the consumer heartbeat time elapses node guarding fails or the NMT Slave responds with an unexpected node state the NMT master handles the NMT Slave as shown in the following figure If the NMT master receives a boot up message from an assigned NMT Slave the NMT slave will be started up by the NMT start up master refer to section 4 8 2 If the NMT master is in NMT state stopped the NMT start up master will not be able to start the NMT slave C Start NMT error handler No Node is assigned OD Index NMT Slave 1F81H Bit 0 OD Index 1F81H Bit 3 Node is mandatory and NMT service all nodes shall be stopped Stop all devices OD Index 1F80H Bit 6 OD Index 1F81H Bit 3 NMT service as rat deo Reset communication all all nodes shall be reset devices OD Index 1F80H Bit 4 NMT service Reset communication faulty node Start startup handler for faulty device v End error handler Fig 4 34 NMT error handler 4 46 sse MITSUBISHI ELECTRIC Network Management Functions 4 8 8 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 CANopenS devices in the network
47. MITSUBISHI ELECTRIC Network Management Functions Object 1F80H NMT start up By using a SDO access this object configures the start up behavior of aCANopen device 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 NMT commands from the network After the ME3CAN1 L has been configured as the NMT master the parameter values have to be stored refer to section 4 6 10 and the module has to be restarted by Yn2 or by NMT request Reset Node refer to sections 3 3 2 and 4 8 8 Bit 31 Bit 7 Stop all Flying OH nodes master Bit 6 Bit 5 Bit 4 Reset all nodes Bit 3 Start node Bit 2 Bit 1 Bit 0 NMT master start NMT master Start all nodes Fig 4 30 Bit allocation for object 1F80H NMT start up Bit Item Description Remark NMT master Setting of module Bit 0 NMT slave Bit 1 NMT master e If this bit is set to 0 all settings of object 1F80H and 1F81H are ignored e Only one active NMT master is allowed in a CANopen network Start all nodes How to start the NMT slaves by sending NMT service Bit 0 Send NMT service Start remote node for each NMT slave Bit 1 Send NMT service Start all remote nodes If this bit is set to 1 e Consider fig 4 29 NMT Master simple startup e Don t use this setting to start r
48. Management 4 8 11 NOTE Layer Setting Services LSS There are devices available that are sealed against harsh environments and therefore do not have any hardware components like DIP switches for the node ID or bit timing parameters setting For these kinds of devices the ME3CAN1 L uses the layer setting services and protocols to configure the baud rate and node address via the CANopen network Only one LSS Masteris allowed within a CANopen network For the LSS master mode the ME3CAN1 L has to be the active NMT Master To activate the LSS master the following needs to be configured in the object dictionary Index 1F89H 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 Indexes 1F84H to 1F88H the sub index for the node ID which shall be set at the LSS client The identification information which is available atthe object dictionary indexes 1000Hand 1018H atthe LSS client Refer to section 4 8 4 Index 1F81H the sub index for the node ID 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 at the configured baud rate the ME3CAN1 L changes the baud rate auto matically in order to find the LSS slave Due to communication with a different baud rate other devices in the network may get into a bus off condition If the device does not s
49. Node guarding settings will be ignored MELSEC L Series CANopen Module ME3CAN1 L 4 27 Communication Profile Area Functions NMT Master NMT slave COB ID 1792 Node ID Request Indication E E Confirmation Response p Els m o 5 3 S gt 5 9 E LL o B E w Request Indication 5 Confirmation Response s NMT slave state 4 Stopped 5 Operational 127 Pre operational t Toggle Bit Fig 4 16 Node guarding NOTE Node guarding produces a high bus load It is recommended to use heartbeat instead Object 100CH guard time slave setting The 16 bit guard time in units of ms is the time limit for which the response must be sent The value 0 disables life guarding Object 100DH life time factor slave setting The 8 bit life time factor value multiplied by the guard time gives the life time forwhich the NMT Mas ter 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 Object 1F81H NMT slave assignment master setting For the NMT slave assignment please refer to section 4 8 6 sa MITSUBISHI ELECTRIC Communication Profile Area Functions 4 6 8 NOTE Heartbeat The heartbeat protocol defines an error control service without a request A heartbeat producertrans mits a heartbeat messa
50. Shift to the NMT state Initialization automatically at power on Shift to the NMT state Pre operational automatically after the initialization finishes and send a Boot Up message refer to section 4 8 2 NMT service start remote node indication NMT service enter Pre operational indication NMT service stop remote node indication NMT service start remote node indication NMT service reset node indication or reset communication indication Tab 4 27 Description of fig 4 25 MELSEC L Series CANopen Module ME3CAN1 L 4 35 Functions Network Management NMT state Pre operational In the NMT state Pre operational communication via SDO is possible PDO communication is not allowed Configuration of PDO parameters and also the allocation of application objects PDO map ping may be 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 NMT state Operational In the NMT state Operational all communication objects are active NMT state Stopped By switching a CANopen device into the NMT state Stopped it is forced to stop the communication except NMT node control and NMT error control Furthermore this NMT state may be used to achieve certain application behavior NMT states and communication object relation The relation between NMT states and communication object
51. The sub index 80H represents all nodes Only the NMT Master is allowed to send NMT node control mes sages A NMT message can be requested by using the SDO write access in the NMT master Please consider to use this carefully because ifthe requestis a Stop or Pre Operational request the NMT start up mas ter will not set the target node back to Operational automatically until the next restart NOTE Ifa 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 this node A read access is possible by using the buffer memory refer to section 3 5 16 Object 1F82H Sub index 01H to 80H Request NMT Value hex Description Read Write 00 NMT state unknown Reserved 01 CANopen device missing Reserved Reserved 04 NMT state Stopped NMT service Stop remote node 05 NMT state Operational NMT service Start remote node 06 Reserved NMT service Reset node 07 e Remote Node Reserved e Local Node NMT state Reset communication NMT service Reset communication Reserved NMT state Pre operational Reserved NMT service Enter pre operational Reserved NMT service Stop remote node excluding NMT master NMT Slave will be set into the NMT state Stopped but the NMT Master will stay in its current NMT state Reserv
52. _________ CANLayer2TransmitConfig 46 VAR w Msg4TransmitContg CANLayer2TransmiConig ____________J 47 VAR w Msg TransmitContg CANLayer2TransmitConig 48 VAR w MsgiTransmt CANLaye2TransmiMessage 49 VAR w Msg2Transmt ____________ CANLayer2TransmitMessage Fig 7 22 Local Label for this example 1 7 22 MITSUBISHI ELECTRIC Layer 2 Communication Programming Class I _ Label Name Data Type VAR v Msg4Transmit CANLayer2TransmitMessage VAR Msg6Transmit CANLtayerZTransmiMessage IVAR m TransmitTriggerProcessing CANLayer2TriggerProcessing VAR m CommandErorCode DoubleWord UnsignedyBitSingi32 bi VAR fm CommandErorCode2 Double Word Unsigned BitSting 32 bij mIMsg3CANd Double Word Unsigned Bit String 32 bi AR R ARF Aa E AR R AR VAR CommandErrorCounter2 AR F V CommandOKCounter2 VAR m R R lt lt ieis Al Al XJ U J w w ap w w li J Message3OverflowCounter Word Signed Message3OverflowNewDataCoutWord Signed Message5NewDataCounter Word Signed A D li ees SAI ad dazadas 8898 AE B8 B2 8 5 8 S 8 8 RSI S i Msg1Data Word Unsigned Bit String 16 bit 0 3 Msg2Data Word Unsigned Bit String 16 bit 0 3 AR VAR FilData VAR ff FilData6
53. critical events when changing the PLC state from RUN to STOP the ME3CAN1 L supports up to 4 messages that can be predefined to be sent The RUN gt STOP messages 1 to 4 are sent when the PLC state has changed from RUN to STOP WARNING If possible use only one RUN gt STOP message which will increase the possibility that the infor mation is transmitted when the event RUN gt STOP occurs If more than one message is defined the messages are transmitted in the priority message 1 to message 4 Description Address Function P Message slot Default Remark Decimal High Byte Low Byte 8450 CAN ID 1 LW 11 29 bit CAN Identifier low word 8451 CAN ID 1 HW 11 29 bit CAN Identifier high word 8452 DLC Data length count Data byte 2 Data byte 1 Data byte 4 Data byte 3 Data byte 6 Data byte 5 Data byte 8 Data byte 7 RUN gt STOP message 1 Data bytes CAN ID 4 LW 11 29bit CAN Identifier low word CAN ID 4 HW 11 29 bit CAN Identifier high word DLC Data length count Data byte 2 Data byte 1 Data byte 4 Data byte 3 Data byte 6 Data byte 5 Data byte 8 Data byte 7 RUN gt STOP message 4 Data bytes Tab 3 36 Allocation of the buffer memory addresses Un G8450 to Un G8477 O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset Reading from and writing to a sequence program are enabled The function of th
54. design installation configuration maintenance service and test ing of the equipment may only be performed by trained electrical technicians with approved qual ifications who are fully acquainted with all the applicable automation technology safety standards and regulations Any operations or modifications to the hardware and or software of our products not specifically described in this manual may only be performed by authorised Mitsubishi Electric staff Proper use of the products The programmable logic controllers of the MELSEC L series are only intended for the specific appli cations explicitly described in this manual All parameters and settings specified in this manual must be observed The products described have all been designed manufactured tested and documented in strict compliance with the relevant safety standards Unqualified modification of the hardware or software or failure to observe the warnings on the products and in this manual may result in serious personal injury and or damage to property Only peripherals and expansion equipment specifically recommended and approved by Mitsubishi Electric may be used with the programmable logic con trollers of the MELSEC L series All and any other uses or application of the products shall be deemed to be improper Relevant safety regulations All safety and accident prevention regulations relevant to your specific application must be observed in the system design installation co
55. during that time a message with the current value of the Object Dictionary will be sent Unit of this value is ms Set this to 0 to disable the event timer NOTE If the inhibit time is active no PDO will be transmitted Refer to fig 4 12 and fig 4 13 Object 1A00H to 1BFFH Sub index 01H 08H TPDO mapping parameter The default mapping is for unsigned integer 16 bit objects Refer to section 3 5 19 Fig 4 8 Bit 31 Bit 16 Bit15 Bit8 Bit7 BitO Bit allocation for sub index 01H 08H RPDO Bit Item Description Tab 4 19 Index Index of the mapped object Description for sub index 01H 08H RPDO Sub index Sub index of the mapped object mapping parameter Length Length of the mapped object unit bit Example V To map unsigned 16 bit data of Un G10000 to the first 16 bit of TPDO 1 set index 1A00H sub index 01H to A1000110H This stands for Object Dictionary index A100H sub index 01H and a data size of 16 bit MELSEC L Series CANopen Module ME3CAN1 L 4 23 Functions Communication Profile Area Relation between buffer memory data exchange control inhibittime and event timer Thefollowing cases showthe relation between buffer memory data ofthe Transmit Process Data data exchange control Yn1 PDO inhibit time PDO event timer and CAN bus data in NMT state Opera tional for event driven PDO s NOTE The event and inhibit timer are started every time when PDO transmissi
56. grounded DIN rail with a grounding resistance of 100 or less Class D WE CAN bus cable For noise prevention please attach at least 35mm of the shield from the twisted pair CAN bus cable to the grounding with a shielding connection clamp Fig 6 3 Grounding of the CAN bus cable Ground the communication cable as follows The grounding resistance should be 100 2 or less The grounding point should be close to the ME3CAN1 L Keep the grounding wires as short as possible Independent grounding should be performed for best results When independent grounding is not performed perform shared grounding of the following figure Other Other O O O O Independent grounding Shared grounding Common grounding Best condition Good condition Not allowed Other Q O Fig 4 4 Grounding of the ME3CANT L Termination The CAN network must be terminated at both ends by a 120 O termination resistor between the wires CAN L and CAN_H It is recommended to use a CAN bus connector with built in bus terminator MELSEC L Series CANopen Module ME3CAN1 L Setup and Procedures before Operation Start up Procedure 6 4 Start up Procedure 6 4 1 CANopen 405 mode Reference Section Set the function mode Un G21 3 5 2 Action Store the buffer memory configuration set Un G22 then turn Y n 1 F ON Restart the ME3CANT L turn Yn2 ON Set the baud ra
57. index 0 127 of the CANopen Object Dictionary Refer to section 4 8 8 If no Heartbeat Consuming or Node Guarding is configured and the module is active NMT Master the buffer memory displays the NMT states of all slaves which were sent by the active NMT Master to the slaves If the module is using Heartbeat Consuming or Node Guarding the current NMT State of the NMT Slave is showing the actual NMT State as long as the error control messages are received Node Guarding can be only processed by the active NMT Master Refer to sections 4 6 8 and 4 6 7 about how to setup Heartbeat and Node Guarding NOTE If no error control service is configured or if error control messages are missing it s possible that not the actual remote NMT state will be displayed Use these buffer memories in connection with the NMT Error Control Status in Un G401 to Un G527 and the error bits in Un G29 to detect error control service failures Refer to sections 3 5 15 and 3 5 7 Address 2 Tab 3 18 A Description Decimal Allocation of the buffer memory addresses GO t Noden Un G601 to Un G727 602 Node 2 603 Node 3 604 Node 4 726 Node 126 727 Node 127 MELSEC L Series CANopen Module ME3CAN1 L 3 23 Detailed Description of the Module Buffer Memory Details CANopen Mode 3 5 17 Emergency Message Buffer Un G750 Un G859 The ME3CAN1 L will store the Emergency messages which are received from the bus to an i
58. is resolved Module failures The module stays in initial status Displayed in Un G25 The CANopen configuration may be faulty Reset the Object Dictionary to factory default settings using the CIF command interface refer to sec tion 4 6 11 Bit Description Action Reserved If this error flag is not cleared after a module restart Yn2 or Hardware error another power cycle the ME3CANT L is probably damaged Please contact your local Mitsubishi Electric representative Reserved Check the following points in the network then restart the Mod ule Refer to section 3 5 5 e Check that the terminating resistors at both ends of the net work are connected Check that all nodes have the same baud rate setting The CAN controller is bus OFF The CAN controller has too many transmis sion errors Refer to section 3 5 8 Check that all nodes have a unique node ID setting e Checkthat the CAN H CAN Land CAN GND wires are not broken Check that the CAN SHLD is grounded Check that the CAN SHLD is connected at all nodes Check that the CAN cable wires do not short circuit other CAN cable wires FLASH memory error Invalid data in the Flash memory might be caused by power loss during a write opera tion to the Flash ROM If this error flag is not cleared after a module restart Yn2 or another power cycle the ME3CANT L is probably damaged Please contact your local Mitsubishi Elec
59. save parameter without user request Reserved Tab 4 22 Storage functionality information Restore default parameters To restore factory default parameters write SDO 64616F6CH ISO8859 code daol load to Object Index 1011H sub index 01 The stored parameters are then overwritten to factory default settings Fig 4 21 Restore procedure Restore default parameter command Reset command Factory default parameter valid Do not make 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 1F22H will be also cleared and will be cleared directly before the restart command On read access the ME3CANT L gives back information about its restoring functionality 0 Constant 1 Device does restore factory default parameters on command 1 31 Reserved Tab 4 23 Restoring functionality information MELSEC L Series CANopen Module ME3CAN1 L 4 31 Communication Profile Area Functions 4 6 12 EMCY Emergency objects are triggered by the occurrence of a CANopen device internal error An emer gency 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 r
60. signal SYNC message sssss s T Time stamp Buffer memory se 3 20 Information available in buffer memory input signal 3 10 Messag ue dm RR a al m nt a a ee aia 4 30 Read request output signal 3 10 Set request output signal 3 10 Setting completed input signal 3 10 Transmissionerrorcounter 3 19 Troubleshooting CANERR LED 8 1 ERR LED sutas si n ne k dk g zeta ksa 4 os 8 1 Errorstateinbuffermemory 3 18 RUN LED 8 1 TX RX LED sas sasa sa senao akr aen aa a 3 2 s e MITSUBISHI ELECTRIC fa MITSUBISHI ELECTRIC HEADQUARTERS EUROPEAN REPRESENTATIVES EUROPEAN REPRESENTATIVES EURASIAN REPRESENTATIVES Mitsubishi Electric Europe B V EUROPE GEVA AUSTRIA Beijer Electronics SIA LATVIA TOO Kazpromavtomatika KAZAKHSTAN Gothaer Stra e 8 Wiener Stra e 89 Ritausmas iela 23 UL ZHAMBYLA 28 D 40880 Ratingen A 2500 Baden LV 1058 Riga KAZ 100017 Karaganda Phone 49 0 2102 486 0 Phone 43 0 2252 85 55 20 Phone 371 0 6 784 2280 Phone 7 7212 50 10 00 Fax 49 0 2102 486 1120 Fax 43 0 2252 488 60 Fax 371 0 6 784 2281 Fax 7 7212 50 11 50 Mitsubishi Electric Europe B V
61. the Flash ROM Refer to section 3 6 6 sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module 3 5 Buffer Memory Details CANopen Mode 3 5 1 Data Exchange Control Un G20 This buffer memory address allows the control of the OD and EMCY data exchange Description Reserved Only in CANopen modes Data exchange mode setting only OD data Bit 0 No data exchange between buffer memory and CANopen object dictionary Bit 1 Activate data exchange between buffer memory and CANopen object dictionary NOTES e The data will be also exchanged if this entire buffer memory address is set to 0 default value e 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 Reserved Data exchange status only EMCY data Bit 0 No data exchange between Emergency Message buffer memories and EMCY Receive Buffer Bit 1 Exchange data between Emergency Message buffer memories and EMCY Receive Buffer For more information please refer to section 3 5 17 NOTE e The data will be also exchanged if this entire buffer memory address is set to 0 default value Reserved Tab 3 7 Assignment of the bits in buffer memory address Un G20 3 5 2 Function Mode Un G21 The ME3CAN1 L chooses the communication function corresponding to the function mode set in the buffer memory address 21 The poss
62. the event timer elapses even if the data is the same Case 4 Inhibit time gt 0 Event time gt 0 Inhibit time lt Event time Buffer memory data Data exchange request Yn1 Object Dictionary TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 MELSEC L Series CANopen Module ME3CAN1 L Fig 4 12 Relationships for inhibit time gt 0 event time gt 0 and inhibit time lt event time The behavior is the same as for case 1 but with the following conditions added A PDO will only be sent if the inhibit time is not active and the data exchange is requested APDO will also be sent whenever the event timer elapses Functions Communication Profile Area Case 5 Inhibit time gt 0 Event time gt 0 Inhibit time gt Event time Buffer memory data 0001H 3528H Data exchange request Yn1 Object Dictionary TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 Fig 4 13 Relationships for inhibit time gt 0 event time gt 0 and inhibit time gt event time The behavior is the same as for case 4 This case is to illustrate how the timing will be if the inhibit time is longer than the event time 4 6 6 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 The
63. tional The lowest counting resolution of the time stamp object at the ME3CANT L is in seconds If a time stamp object is received bit 12 in Un G25 will be set Refer to section 3 5 5 To keep the consistency of the time the time stamp data will be read from the clock data when time stamp read request Y n 1 3 is set to ON and the time stamp data will be written to the clock data when the time stamp set request Y n 1 2 is set to ON For a description of the signals Y n 1 2 and Y n 1 3 please refer to section 3 3 2 The date and time will be checked when the time stamp set request Y n 1 2 is set to ON If a value is outside of the allowed range Un G29 bit 6 will be set to 1 Refer to section 3 5 7 The clock data will start to run after the time stamp set request Y n 1 2 is set to ON In the PLC program use DATERD DATEWR commands to read write the clock data of the PLC Refer to the MELSEC Q L Series Programming Manual Since the ME3CAN1 L gets the clock data from the PLC it doesn t support summer time calculation Caused by delays during writing to the buffer memory and during the transmission over the CAN bus there is always a delay in the time A leap year correction is provided Address Decimal Description Value range The buffer memory directly accesses the Consumer Pro ducer bits of the Time COB ID in the Object Dictionary Refer to section 4 6 9 e 0 Time stamp disabled Producer cons
64. writing to CAN bus are enabled R Read enabled W Write enabled Output network variables The table below provides a brief description and reference information for the ME3CANT L CANopen object dictionary for output network variables Index hex Sub index hex Description Initial Data type value A480 A487 00 Highest sub index FEH 01 FE Signed integer 8 bit 0 A488 00 Highest sub index 10H 01 10 Signed integer 8 bit 0 A4C0 A4C7 00 Highest sub index FEH 01 FE Unsigned integer 8 bit 0 A4C8 00 Highest sub index 10H 01 10 Unsigned integer 8 bit 0 A540 A543 00 Highest sub index FEH 01 FE Signed integer 16 bit 0 A544 00 Highest sub index U8 08H 01 08 Signed integer 16 bit 0 A580 A583 00 Highest sub index U8 FEH 01 FE Unsigned integer 16 bit 0 A584 00 Highest sub index U8 08H 01 08 Unsigned integer 16 bit 0 A640 A641 00 Highest sub index U8 FEH 01 FE Signed integer 32 bit 132 0 A642 00 Highest sub index U8 04H 01 04 Signed integer 32 bit 132 0 A680 A681 00 Highest sub index U8 FEH 01 FE Unsigned integer 32 bit U32 0 A682 00 Highest sub index U8 04H 01 04 Unsigned integer 32 bit U32 A6CO A6C1 00 Highest sub index U8
65. 0 1A8D A1023910 A1023A10 A1023B1 A1023C10 1A8E A1023D10 A1023E10 A1023F1 A102401 1A8F A1024110 A1024210 A102431 A102441 1A90 A1024510 A1024610 A102471 A102481 1A91 A1024910 A1024A10 A1024B1 A1024C1 1A92 A1024D10 A1024E10 A1024F1 A102501 1A93 A1025110 A1025210 A102531 A102541 1A94 A1025510 A1025610 A102571 A102581 1A95 A1025910 A1025A10 A1025B1 A1025C1 1A96 A1025D10 A1025E10 A1025F1 A102601 1A97 A1026110 A1026210 A102631 A102641 1A98 A1026510 A1026610 A102671 o ojojo ojojo ojojojo A102681 1A99 A1026910 A1026A10 A1026B1 A1026C10 1A9A A1026D10 A1026E10 A1026F1 A1027010 1 A1027110 A1027210 A102731 A1027410 A KS S T ST SJ 5 5 5 55 5 55 55 55 5 55 55 S ST ST S ST ST S ST RL RTA m A9B 1A9C A1027510 A1027610 A102771 A1027810 1A9D A1027910 A1027A10 A1027B1 A1027C10 1A9E A1027D10 A1027E10 A1027F1 A102801 ALA 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1A9F A1028110 A A102841 1AAO A1028510 A A102881 EN 1028210 A102831 1028610 A102871 ALA A1029510 02961 A1029710 A102981 0 0 0 0 0 0 0 1AA2 A1028D10 A1028E10 A1028F10 A102901 1AA3 A1029110 A1029210 A1029310 A
66. 0 1AC6 A1031F10 A1032010 A1032110 A1032210 1AC7 A1032310 A1032410 A1032510 A1032610 1AC8 A1032710 A1032810 A1032910 A1032A10 1AC9 A1032B10 A1032C10 A1032D10 A1032E10 1ACA A1032F10 A1033010 A1033110 A1033210 1ACB A1033310 A1033410 A1033510 A1033610 1ACC A1033710 A1033810 A1033910 A1033A10 1ACD A1033B10 A1033C10 A1033D10 A1033E10 1ACE A1033F10 A1034010 A1034110 A1034210 1ACF A1034310 A1034410 A1034510 A1034610 1ADO A KR KS T 55 5 5 5 AJAJAJA S S 55 55 5 S ST S SJ ST ST S ST ST SI RL RTA A1034710 A103481 A1034910 0 A1034A10 m 0 1AD1 A1034B10 A1034C10 A1034D1 A1034E10 1AD4 A1035710 A1035810 A1035910 A1035A10 1AD6 A1035F10 A1036010 A1036110 A1036210 m 1 1 1 1 ALA m o Al A 1AD7 A1036310 A1036410 A1036510 A1036610 1AD8 A1036710 A1036810 A1036910 A1036A10 0 A1036B10 A1036C10 A1036D10 A1036E1 A1036F10 A1037010 A1037110 A1037210 A1037310 A1037710 A1037410 A1037810 A1037510 A1037910 A1037610 A1037A10 A1037B10 A1037C10 A1037D10 A1037E10 A1037F10 A1038010 A1038110 A1038210 A1038310 A1038410 A1038510
67. 0 A580E010 1638 A580E110 A580E210 A580E310 A580E410 1639 A580E510 A580E610 A580E710 A580E810 163A A580E910 A580EA10 A580EB10 A580EC10 163B A580ED10 A580EE10 A580EF10 A580F010 163C A580F110 A580F210 A580F310 A580F410 163D A580F510 A580F610 A580F710 A580F810 163E A580F910 A580FA10 A580FB10 A580FC10 163F A580FD10 A580FE10 A5810110 A5810210 1640 A5810310 A5810410 A5810510 A5810610 1641 A5810710 A5810810 A5810910 A5810A10 1642 AJAJAJ 55 5 5 5 5 55 ST 5 5 55 55 55555 ST ST S ST ST SI RL RTA A5810B10 A5810C10 A5810D10 A5810E10 m 1643 A5810F10 A5811010 A5811110 A5811210 1644 A5811310 A5811410 A5811510 A5811610 0 0 1645 A5811710 A581181 A581191 A5811A10 m o ojo o jo jojo o jojojo jojojo jojojo ojojo jojojo jo jojojo ojojo ojojo ojojo ALA 1646 A5811B10 A5811C10 A5811D10 A5811E10 1647 A5811F10 A5812010 A5812110 A5812210 0 0 1648 1649 m A5812310 A5812710 A581241 A5812810 A581251 A5812910 A5812610 A5812A10 164A Al A A5812B10 A5812C10 A5813010 A5812D10 A5813110 A5812E10 ojojo A5813410 A5813510 A5813B10 A5813810 A5813C10 A5813910 A5813D10 A5813E10 A5813F10 A5814010 A5814110 A5814210 A5814310 A5814410 A5814510 A5814610 A581471
68. 0 A5814810 A5814910 A5814A10 A5814B10 A5814C10 A5814D10 A5814E10 A5814F10 A5815010 A5815110 A5815210 A5815310 A5815410 A5815510 A5815610 A5815710 A5815810 A5815910 A5815A10 A5815B10 A5815C10 A5815D10 A5815E10 Tab 4 8 BLA ALA A AL ST A A ALA ALA A5815F10 A5816010 Mode 405 RPDO mapping parameter A5816110 A5816210 ojojo jojojo jojojoj joj jojoj jo O O O OC O OS O 9 OS 9S 9 9S C C S amp 9 9S S 9 9S 9 amp 9 amp S 9 S 9 9 9 amp O O 9 OC O OS O 9 OS 9S 9 9 amp 9 S S amp amp 9 9S OJ 9 OJ 9 9 OS S9 OS 9 S 9 9 9 amp amp O O O OC OS OS 9 OS 9S S DS DS DS DS DS amp oj PDS S amp OS amp 9S amp amp 9S amp 9S amp amp 9S sse MITSUBISHI ELECTRIC Communication Profile Area Functions Index hex Default value of sub index hex 01H Rw 02H 03 R W O 04H R W O 05H RwWO 1658 m A5816310 A581641
69. 0 A5816510 A5816610 0 o o o 1659 A5816710 A5816810 A5816910 A5816A10 165A A5816B10 A5816C10 A5816D10 A5816E10 165B A5816F10 A5817010 A5817110 A5817210 165C A5817310 A5817410 A5817510 A5817610 165D A5817710 A5817810 A5817910 A5817A10 165E A5817B10 A5817C10 A5817D10 A5817E10 165F A5817F10 A5818010 A5818110 A5818210 1660 A5818310 A5818410 A5818510 A5818610 1661 A5818710 A5818810 A5818910 A5818A10 1662 A5818B10 A5818C10 A5818D10 A5818E10 1663 A5818F10 A5819010 A5819110 A5819210 1664 A5819310 A5819410 A5819510 A5819610 1665 A5819710 A5819810 A5819910 A5819A10 1666 A5819B10 A5819C10 A5819D10 A5819E10 1667 A5819F10 A581A010 A581A110 A581A210 1668 A581A310 A581A410 A581A510 A581A610 1669 A581A710 A581A810 A581A910 A581AA10 166A A581AB10 A581AC10 A581AD10 A581AE1 166B A581AF10 A581B010 A581B110 A581B21 166C A581B310 A581B410 A581B510 A581B61 166D A581B710 A581B810 A581B910 A581BA1 166E A581BB10 A581BC10 A581BD10 A581BE1 166F A581BF10 A581C010 A581C110 0 0 0 0 0 0 A581C21 1670 A581C310 A581C410 A581C510 A581C610 167
70. 0 A5824310 A582441 1690 A5824510 A5824610 A582471 A582481 1691 A5824910 A5824A10 A5824B1 A5824C1 1692 A5824D10 A5824E10 A5824F1 A582501 1693 A5825110 A5825210 A582531 A582541 1694 A5825510 A5825610 A582571 A582581 1695 A5825910 A5825A10 A5825B A5825C1 1696 A5825D10 A5825E10 1 A5825F1 A582601 1697 A5826110 A5826210 A582631 A582641 1698 A5826510 A5826610 A582671 A582681 1699 A5826910 A5826A10 A5826B A5826C1 169A A5826D10 A5826E10 1 A5826F1 A582701 169B A5827110 A5827210 A582731 A582741 169C A5827510 A5827610 A582771 A582781 169D A5827910 A5827A10 A5827B A5827C1 169E A5827D10 A5827E10 1 A5827F1 A582801 169F A5828110 A5828210 A582831 A582841 16A0 A5828510 A5828610 A582871 A582881 16A1 A5828910 A5828A10 A5828B1 A5828C1 16A2 A5828D10 A5828E10 A5828F1 A582901 16A3 A5829110 A5829210 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 A582931 A582941 16A4 A5829510 A5829610 A5829710 O O O O 9 OS O O 9 9 CS 9 amp 9 O 9 A582981 16A5 A5829910 A5829A10 A5829B10 A5829C10 16A6 A5829D10 A5829E10
71. 0 A5835710 A5835810 A5835910 A5835A10 A5835B10 A5835C10 A5835D10 A5835E10 A5835F10 A5836010 A5836110 A5836210 0 0 0 0 16C2 16C3 16C4 16C5 16C6 16C7 16C8 16C9 16CA 16CB 16CC 16CD 16CE 16CF 16D0 16D1 16D2 16D3 16D4 16D5 16D6 16D7 16D8 16D9 16DA 16DB 16DC 16DD 16DE 16DF 16E0 A o o o 1 1 A583631 A5836410 A5836510 A5836610 A583671 A5836810 A5836910 A5836A10 A5836B1 A5836C10 A5836D10 A5836E10 A5836F1 A5837010 A5837110 A5837210 A5837310 A5837410 A5837510 A5837610 A5837710 A5837810 A5837910 A5837A10 A5837B10 A5837C10 A5837D10 A5837E10 A5837F10 A5838010 A5838110 A5838210 A5838310 A5838410 A5838510 A5838610 A5838710 A5838810 A5838910 A5838A10 E1 A5838B10 A5838C10 A5838D10 A5838E10 E2 A5838F10 A5839010 A5839110 A5839210 E3 A5839310 A5839410 A5839510 A5839610 E4 0 0 16E5 A5839B10 A5839C10 A5839D10 A5839E10 16E7 A583A310 A583A410 A583A510 A583A610 A583A710 A583A810 A583A910 A583AA10 A583AB10 A583AC10 A583AD10 A583AE1 A583AF10 A583B010 A583B110 A583B21 A583B310 A583B410 A583B510 A583B61 A583B710 A583B810 A583B910 A583BA1 A583BB10 A583BC10 A583BD10 A583BE1 A583BF10 A583C010 A583C110 A583C21 A583C310 A583C410 A583C510 A583C610 A583C710 A583C810 A583C910 A583CA10 A583CB10 A583CC10 A583CD10 A583CE10 A583CF10 A583D010 A583D110 A583D210 A583D310 A583D410 A583D510 A583D610 A583D710 A583D810 A583D910 A583DA10 A583DB10 A583DC
72. 0 disables the SYNC producing The module needs to be active NMT Master to produce SYNC messages Setting range 0 to 4 294 967 295 For details about NMT master refer to section 4 8 5 Node guarding This protocol is used to detect remote errors in the network Each NMT slave serves one response mes sage 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 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 life time a remote node error is indicated through the NMT service life guarding event A remote node error is indicated through the NMT service node guarding event if the NMT master does not receive the confirmation after the RTR within the node life time theresponse of the NMT guarding slave state does not match the expected state the NMT guarding slave did not receive the NMT master RTR polling for time set in 100CH and 100DH 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
73. 000H 6007 Layer 2 message 2 parameter D 0000H 6160 Layer 2 message 41 parameter A FFFFH 6161 Layer 2 message 41 parameter B FFFFH Layer 2 message 41 parameter 6162 Layer 2 message 41 parameter C 0000H 6163 Layer 2 message 41 parameter D 0000H 6134 Layer 2 message 42 parameter A FFFFH 6165 Layer 2 message 42 parameter B FFFFH Layer 2 message 42 parameter 6166 Layer 2 message 42 parameter C 0000H 6167 Layer 2 message 42 parameter D 0000H Tab 3 30 Allocation of the buffer memory addresses Un G6000 to Un G6167 O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset Reading from and writing to a sequence program are enabled However write access to these buffer memory addresses is possible in Layer 2 configuration mode only Refer to Xn3 and Yn3 section 3 3 1 Transmit and receive messages are described in section 3 6 2 1 and 3 6 2 2 When a Layer 2 message number is not used set the parameters A and B of the message to FFFFH to disable the message slot If an invalid value is written to one of the buffer memory addresses Un G6000 to Un G6167 bit 6 in Un G29 is set and the buffer memory address is displayed in Un G39 MELSEC L Series CANopen Module ME3CAN1 L 3 33 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 6 2 1 Pre defined Layer 2 transmit messages
74. 01 FE Float 32 bit Real32 A6C2 00 Highest sub index U8 01 04 Float 32 bit Real32 Tab 4 35 Output network variables O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset O Indicates whether reading from and writing to CAN bus are enabled R Read enabled W Write enabled 4 56 sse MITSUBISHI ELECTRIC Command Interface 5 Command Interface This chapter describes the Command Interface supported by the ME3CAN1 L For the command interface the buffer memory addresses Un G1000 Un G1066 are used section 3 5 18 The following commands are supported Reference Tab 5 1 Command Interface Section Commands SDO read SDO multi read SDO write SDO multi write Send an Emergency Message Display current parameter Clear Reset the CIF was busy error O This command uses SDO communication If the NMT Startup Master is active it can happen that the NMT Startup Master has already occupied the SDO connection to the remote Node During the first initial network startup the NMT Startup Master occupies up to 126 SDO connections at the same time If an NMT Slave fails after the initial Network Startup the NMT Startup Master occupies the SDO connection to the specific NMT Slave If the NMT Startup master is active for one or more NMT slaves bit 14 in Un G25 is ON Refer to section 3 5 5 MELSEC L Ser
75. 01CB10 A101CC10 A101CD10 A101CF10 A101D010 A101D110 A101D310 A101D410 A101D510 A101D710 A101D810 A101D910 A101DB10 A101DC10 A101DD10 A101DF10 A101E010 A101E110 A101E310 A101E410 A101E510 A101E710 A101E810 A101E910 A101EB10 A101EC10 A101ED10 A101EF10 A101F010 A101F110 1A47 1A48 1A49 1A4A 1A4B 1 4 1A4D 1A4E 1A4F 1A50 1A51 1A52 1A53 1A54 1A55 1A56 1A57 1A58 1A59 1A5A 1A5B 1A5C 1A5D 1A5E 1A5F 1A60 1A61 1A62 1A63 1A64 1A65 m o o o AJAJAJ AJAJAJ 5 55 55 ST 5 5 55 55 5 S ST S SJ ST ST S ST ST SI RL RTA m ALA m m Al A o oloj ojoj oj oj oj oj ojoj o ojojojoj o ojo oj o oj o o ojo o oj o o oj ojoj oj oj o o ojo o oj o o oj oj o oj oj oj o oj o O O O OC O OS O 9 OS 9S 9 9S C C S amp 9 9S S 9 9S 9 amp 9 amp S 9 S 9 9 9 amp O O 9 OC O OS O 9 OS 9S 9 9 amp 9 S S amp amp 9 9S OJ 9 OJ 9 9 OS S9 OS 9 S 9 9 9 amp amp O O 9 O O O S OS S 9S DS S DS OSD O O S amp a
76. 1 A581C710 A581C810 A581C910 A581CA10 1672 A581CB10 A581CC10 A581CD10 A581CE10 1673 A581CF10 A581D010 A581D110 A581D210 1674 A581D310 A581D410 A581D510 A581D610 1675 A581D710 A581D810 A581D910 A581DA10 1676 A581DB10 A581DC10 A581DD10 A581DE10 1677 1678 A581DF10 A581E310 A581E010 A581E410 A581E110 A581E510 A581E210 A581E610 1679 A KS S T 5 5 5 ST S KS TT ST 5 5 5 5 5555 55 55 S ST ST S ST ST S ST S RTA A581E710 A581E810 A581E910 A581EA10 167A A581EB10 A581EC10 A581ED10 A581EE10 ALA 1 1 167B A581EF10 A581F010 A581F110 A581F210 167C A581F310 A581F410 A581F510 A581F610 167D 167E EN A581F710 A581FB10 A581F810 A581FCIO A581F910 A581FD10 A581FA10 A581FE10 167F ALA A5820110 A5820510 A5820210 A5820610 A582031 A582071 A582041 A582081 ojojo A5820910 A5820A10 A5820B1 A5820C1 A5820D10 A5821110 A5820E10 A5821210 A5820F1 A582131 A582101 A582141 A5821510 A5821610 A582171 A582181 A5821910 A5821A10 A5821B1 A5821C1 A5821D10 A5821E10 A5821F1 A582201 A5822110 A5822210 A582231 A582241 A5822510 A5822610
77. 1 1 1 1 A5804910 A5804A10 A5804B A5804C1 A5804D10 A5804E10 A5804F A580501 A5805110 A5805210 A580531 A580541 A5805510 A5805610 A580571 A580581 A5805910 A5805A10 A5805B A5805C1 A5805D10 A5805E10 A5805F A580601 A5806110 A5806210 A580631 A580641 A5806510 A5806610 A580671 A580681 A5806910 A5806A10 A5806B A5806C1 A5806D10 A5806E10 A5806F A580701 A5807110 A5807210 A580731 A580741 A5807510 A5807610 A580771 A580781 A5807910 A5807A10 A5807B1 A5807C1 A5807D10 A5807E10 A5807F1 A580801 A5808110 A5808210 A580831 A580841 A5808510 A5808610 A580871 A580881 A5808910 A5808A10 A5808B1 A5808C1 1 1 1 1 1 1 A 5 ST 5 SJ ST SJ ST ST SJ ST SJ ST ST RL ST S S RP RP ST SJ ST ST ST ST SJ ST AJAJ AJAJAJA O O O O OS OC O OS O 9S 9 amp OS OS S 9 9 OS 9 9S DP O S S O O O OS O OC O 9 OS 9S 9 9 OS OS DS O 9 OJ OS OJ 9 9S 9 9S Oo olojoj oj oj o ojo o oj o o oj oj lo oj oj o o oj o o oj o o oj oj o o o oj o o Oo oloj joj oj oj oj oj o o oj o o oj olo oj oj oj oj ojo oj oj o o oj oj o o o o o o Tab 4 8 Mode 40
78. 10 A583F310 A583F410 A583F510 A583F610 A583F710 A583F810 A583F910 A583FA10 A583FB10 A583FC10 A583FD10 A583FE10 A5840110 A5840210 A5840310 A5840410 A5840510 A5840610 A5840710 A5840810 16F7 16F8 16F9 16FA 16FB 16FC 16FD 16FE 16FF m o o o A ST ST BR ST BY A O O 9 CS 9 amp amp O O 9 O 9S amp O O 9 OC 9 amp O O 9 O OS amp amp Tab 4 8 Mode 405 RPDO mapping parameter R W Read write access Mode 405 TPDO communication parameter Default value of Sub index hex Index hex 01H 02H 03H 04H R W D2 R W DE R W G 1800 4000 0180 Node ID FE Reserved 1801 4000 0280 Node ID FE Reserved 1802 4000 0380 Node ID FE Reserved 1803 4000 0480 Node ID FE Reserved 1804 18FF C0000000 FE Reserved Tab 4 9 Mode 405 TPDO communication parameter O R Read access O W Write access Mode 405 TPDO mapping parameter Default value of sub index hex Index hex 01H 02H 03H 04H 05 R Ww R w R w O R W O R w O A1000110 A1000210 A100031 A1000410 0 A1000510 A1000610 A100071 A1000810 A1000910 A1000A10 A1000B1 A1000C10 A1000D10 A1000E10 A1000F1 A1001010 A1001110 A1001210 A100131 A1001410 A1001510 A1001610 A100171 A1001810 A1001910 A1001A10 A1001B1 A1001C10 A1001D10 A1001E10 A1001F1 A1002010 A1002110 A1002210 A100231 A1002410 A1002510
79. 10 A1006E10 A1007010 A1007110 A1007210 A1007410 A1007510 A1007610 A1007810 A1007910 A1007A10 A1007C10 A1007D10 A1007E10 A1008010 A1008110 A1008210 A1008410 A1008510 A1008610 A1008810 A1008910 A1008A10 A1008C10 A1008D10 A1008E10 A1009010 A1009110 A1009210 A100931 A1009410 A1009510 A1009610 A1009710 A1009810 A1009910 A1009A10 A1009B10 A1009C10 A1009D10 A1009E10 A1009F10 A100A010 A100A110 A100A210 A100A310 A100A410 A100A510 A100A610 A100A710 A100A810 A100A910 A100AA10 A100AB10 A100AC10 A100AD10 A100AE10 A100AF10 A100B010 A100B110 A100B210 A100B310 A100B410 A100B510 A100B610 A100B710 A100B810 A100B910 A100BA10 A100BB10 A100BC10 A100BD10 A100BE10 A100BF10 A100C010 A100C110 A100C210 A100C310 A100C410 A100C510 A100C610 A100C710 A100C810 A31 1A32 A100C910 A100CA10 A100CB10 A100CC10 1A35 A100D510 A100D610 A100D710 A100D810 1A37 A100DD10 A100DE10 A100DF10 A100E010 A100E110 A100E210 OOE310 A100E410 A100E510 A100E610 A100E710 A100E810 A100E910 A100EA10 A100EB10 A100EC10 A100ED10 A100EE10 A100EF10 A100F010 A100F110 A100F210 A100F310 A100F410 A100F510 A100F610 A100F710 A100F810 A100F910 A100FA10 A100FB10 A100FC10 A100FD10 A100FE10 A1010110 A1010210 A1010310 A1010410 A1010510 A1010610 A1010710 A1010810 A1010910 A1010A10 A1010B10 A1010C10 A1010D10 A1010E10 A1010F10 A1011010 A1011110 A1011210 A1011310 A1011410 A1011510 A1011610 A1011710 A1011810 A1011910 A1011A10 A1011B10 A1011C10 A1011D10 A1011E10 1A12 1A13 1A14 1A15 1A16 1A17 1A18
80. 10 A583DD10 A583DE10 A583DF10 A583E010 A583E110 A583E210 A KS S T ST 5 5 5 5 55 5 5 5 55 555 55 55 S ST ST ST ST ST S ST S RTA 6 6 6 ALA ALA 16E8 16E9 o jo joj joj oj o o oj ojo o oj o o oj ojo o ojoj o ojo o ojo o oj o o oj oj o oj oj oj o o o ALA ojo oj ojojo ojojo jojojo jojojoj jojojo o jojoj jo jojojo joj joj ojoj oj jojoj jo jojojo ojojo ojojo o jojoj o ojoj jo ojojo ojojoj ojojo A ALR DB A ST SJ ST BR ST ST SJ S O O O OS OS OS O 9 OS S amp Tab 4 8 Mode 405 RPDO mapping parameter MELSEC L Series CANopen Module ME3CAN1 L 4 11 Functions Communication Profile Area Default value of sub index hex Index hex 01H 02H 03H 04H 05 R Ww R w R w O R w O RWO A583E310 A583E410 A583E510 A583E610 0 A583E710 A583E810 A583E910 A583EA10 A583EB10 A583EC10 A583ED10 A583EE10 A583EF10 A583F010 A583F110 A583F2
81. 102941 Al 0 A1029910 A1029A10 A1029B10 A1029C10 A1029D10 A102A110 A1029E10 A102A210 A1029F10 A102A310 A102A010 A102A410 A102A510 A102A610 A102A710 A102A810 A102A910 A102AA10 A102AB10 A102AC10 A102AD10 A102AE10 A102AF10 A102B010 A102B110 A102B210 A102B310 A102B410 A102B510 A102B610 A102B710 A102B810 A102B910 A102BA10 A102BB10 A102BC10 A102BD10 A102BE10 A102BF10 A102C010 A102C110 A102C210 A102C310 A102C410 Tab 4 10 Mode 405 TPDO mapping parameter A KS ALA A A ST A A ALA ALTA A102C510 A102C610 A102C710 MELSEC L Series CANopen Module ME3CAN1 L A102C810 o oloj ojoj oj oj oj oj ojoj o ojoj ojoj joj ojo oj oj oj o o ojo o o o o o oj oj oj oj o o ojo o oj o o oj oj o o oj oj o oj o 1
82. 21 3515 NMT Error Control Status UNN G401 UNNG527 sssssssssscss 3 22 3 5 16 NMT State UNNGGO1T UNNIGZ27 s e 3 23 3 5 7 Emergency Message Buffer Un G750 Un G859 3 24 3 5 18 Command Interface UnXG1000 UnNG1066 ssssssss 3 25 3 5 19 RPDO Un G10000 Un G11023 TPDO Un G13000 Un G14023 3 26 3 6 Buffer Memory Details Layer 2 Message Mode s kk kk kk 3 32 3 6 1 Message Slot specific error code list Un G5001 Un G5042 3 32 3 6 2 Pre defined Layer 2 message configuration Un G6000 Un G6167 3 33 3 6 2 1 Pre defined Layer 2 transmit messages 34 3 6 2 2 Pre defined Layer 2 receive messages 36 3 6 3 Layer 2 RTR flags Un G8350 Un G8352 WW cece cece cece kk nee 3 38 3 64 Message transmit trigger flags UnlG8400 UnNG8402 3 39 3 6 5 PLC RUN gt STOP messages Un G8450 Un G8477 kk kk kk 3 40 3 6 6 Receive Transmit Process Data UnlG10000 UnNNIG10293 3 41 3 6 7 CIF command interface Sending Layer 2 Message 3 43 4 Functions 4 1 Function Summary sen e a ale aie eee ba CH Misu eee W 4 1 4 2 FUNCTION ei tok E 3 4 2 4 3 Object Dictionary ees ped MU 4 2 4 4 Command Interface isses hee heme eee 4 3 4 5 Data Type Definition Area sssssssssseestetestosseseet
83. 5 RPDO mapping parameter MELSEC L Series CANopen Module ME3CAN1 L 4 7 Functions Communication Profile Area Index hex Default value of sub index hex 01H Rw 02H 03 R W O 04H R W O 05H R w O 1623 m A5808D10 A5808E10 A5808F10 A5809010 0 o o o 1624 A5809110 A5809210 A5809310 A5809410 1625 A5809510 A5809610 A5809710 A5809810 1626 A5809910 A5809A10 A5809B10 A5809C10 1627 A5809D10 A5809E10 A5809F10 A580A010 1628 A580A110 A580A210 A580A310 A580A410 1629 A580A510 A580A610 A580A710 A580A810 162A A580A910 A580AA10 A580AB10 A580AC10 162B A580AD10 A580AE10 A580AF10 A580B010 162C A580B110 A580B210 A580B310 A580B410 162D A580B510 A580B610 A580B710 A580B810 162E A580B910 A580BA10 A580BB10 A580BC10 162F A580BD10 A580BE10 A580BF10 A580C010 1630 A580C110 A580C210 A580C310 A580C410 1631 A580C510 A580C610 A580C710 A580C810 1632 A580C910 A580CA10 A580CB10 A580CC10 1633 A580CD10 A580CE10 A580CF10 A580D010 1634 A580D110 A580D210 A580D310 A580D410 1635 A580D510 A580D610 A580D710 A580D810 1636 A580D910 A580DA10 A580DB10 A580DC10 1637 A580DD10 A580DE10 A580DF1
84. 8 5 NMT master start up issues eren da mnm dei alaya ee oct e area k 4 38 4 8 6 NMT slave start up kk kk kk kk kk Hehe hn 4 42 4 8 7 NMT boot up Error event handling ce eee eee KK KK KK KK 4 46 4 8 8 REQUESENMI xa sen e ke RU Ie OD UE ee ACE d ak 4 47 4 89 Request node guarding kk kk e 4 48 ARTO FNNA MASTE A al a W AA eo Ve 4 48 4 8 11 Layer Setting Services 55 cece cence cere cent mene 4 52 4 8 12 Configuration manager ssessesteeeeelekeekeeeees 4 53 4 9 Device Profile CIA 405 TTT TTT Wa a M aa d 4 55 5 Command Interface 5 1 SDO Request ss LILA NS EO NO dm KN e 5 2 5 1 1 CIFSDO read access iumo akan ee ERSTE TRO TER E RS 5 2 5 1 2 CIF Multi SDO read access kek kk kk kK KK kk kk kk kk kk kek kk kk kk kk ek 5 3 5 1 3 CIF V n k OA 5 4 514 CIFMulti SDO write access aaa 5 6 5 2 Send an Emergency Message kk kk kk kk kk kk kk kk kk kk kek kk ke kk eene 5 7 5 3 Display Current Parameter esses mme he 5 8 5 4 Error Messages occu ee pee pete Sab ele ede aep i eR els sponte KOS jo MR INE 5 9 5 4 1 Unknown command used aaa emen 5 9 5 4 2 Command or parameter change while CIF was busy 5 9 5 4 3 Clear Resetthe ClFwasbusy error ee KK KK KK KK KK KK KK k 5 9 5 4 4 SDO EOP xa
85. 8350 Un G8352 is set to ON Refer to section 3 6 3 Transmission Layer 2 message n parameter D cycle time The parameter cycle time is valid only if the parameter transmission event is set to 2 or 3 time triggered The cycle time sets the interval for message transmission in units of ms A value of 0 will be forcibly set to 1 1 ms Transmission type 2 will trigger the transmission every interval Transmission type 3 will trigger the transmission only if the data was changed since the last transmission MELSEC L Series CANopen Module ME3CAN1 L 3 35 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 6 2 2 Pre defined Layer 2 receive messages The meaning of the parameters A to D for a receive message is as follows Parameter Description Default Layer 2 message n parameter A M low word FFFFH Reception CAN ID 7 Layer 2 message n parameter B high word FFFFH Layer 2 message n parameter C m low word 0000H Reception ID filter bit mask Layer 2 message n parameter D high word 0000H Tab 3 33 Parameters A to D of receive messages O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset Reception Layer 2 message n parameter A and B Set the 11 29 bit CAN ID of the message to be received and stored in the corresponding Layer 2 message n message slot Set both parameters A and B to FFFFH to
86. A5829F10 A582A010 16A7 A582A110 A582A210 A582A310 A582A410 16A8 A582A510 A582A610 A582A710 A582A810 16A9 A582A910 A582AA10 A582AB10 A582AC10 16AA A582AD10 A582AE10 A582AF10 A582B010 16AB A582B110 A582B210 A582B310 A582B410 16AC 16AD A582B510 A582B910 A582B610 A582BA10 A582B710 A582BB10 A582B810 A582BC10 16AE 16AF A582C110 A582C210 A582C310 A582C410 A KS RS 5 55 5 55 5 SJ KS 5 55 555 55 55 S ST ST S ST ST S ST S SI S gt m A582BD10 A582BE10 A582BF10 A582C010 16B3 ALA m A582CD10 A582D110 A582CE10 A582D210 A582CF10 A582D310 A582D010 A582D410 o ojo o jo jojo o jojojo jojojo jojojo o jojo jo jojo jo jojojo jojojo ojojo ojojo 16B0 A582C510 A582C610 A582C710 A582C810 16B1 A582C910 A582CA10 A582CB10 A582CC10 16B2 16B4 Al A A582D510 A582D910 A582D610 A582DA10 A582D710 A582DB10 A582D810 A582DC10 ojojo A582DD10 A582DE10 A582DF10 A582E010 A582E110 A582E510 A582E210 A582E610 A582E310 A582E710 A582E410 A582E810 A582E910 A582EA10 A582EB10 A582EC10 A582ED10 A582EE10 A582EF1 A582F010 A582F110 A582F210 A582F31 A582F410 A582F510 A582F610 A582F71 A582F810 A582F910 A582FA10 A582FC10 A582FD10 A582FE10 A583011 A5830210
87. Area 4 6 1 CAN ID COB ID Each message type on each device has a unique 11 bit identifier for bus arbitration and identification onthe 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 l e Bit 10 Bit 7 Bit 6 Bit 0 Seu The Function Code is shown below Fig 4 1 Structure of a CAN message Broadcast objects Node ID 0 Function Code binary Resulting CAN ID 0000b OH 0001b 80H 0010b 100H Tab 4 11 Broadcast objects Node ID 0 and resulting CAN ID Peer to peer objects Node ID 1 127 Function Code binary Resulting CAN ID 0001 81H FFH 181 1FFH 201 27FH 281 2FFH 301 37FH 381 3FFH 401 47FH TPDO4 1 481 4FFH RPDO4 501 57FH TSDO 1 581 5FFH RSDO 601 67FH NMT error control 701 77FH Tab 4 12 Peer to peer objects Node ID 1 127 and resulting CAN ID 4 18 sse MITSUBISHI ELECTRIC Communication Profile Area Functions 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 configurable communication object CAN ID hex Used by COB Tab 4 13 0 Restricted CAN IDs 1 7F Reserved 101 180 Reserved 581 5FF Default T
88. CAN1 L 4 49 Functions Network Management C Power on Un G25 bit 0 Reset b Y 75 Initialization le NMT master negotiation time OD Index 1F90H This time should be set so that all flying Sub index 02H masters finish in nearly the same time as the negotiation time Service Active master detection gt The active master has to Qp ngari raon answer within the NMT master time out time From power on Un G25 bit 0 Reset NMT service Reset com munication all Nodes Active Master found Start NMT flying master negotiation l Waittime before sending service Confirmation NMT flying master negotiation and become active NMT master OD Index 1F90H Sub index 03H OD Index 1F90H Sub index 04H Time Priority level X Priority time slot J Node ID X CANopen device time slot d The first flying master where this time elapses a shall have the highest priority OD Index 1F90H Sub index 05H Un G27 Flying master priority Priority level X 128 Node ID Service Confirmati The lower the number the higher NMT flying master nego No the priority tiation received Send service Confirmation NMT flying master negotiation OD Index 1F90H Sub index 03H
89. CPU directly CC Link IE Field Master Local Module QJ71GF11 T2 CC Link IE Field CC Link IE Field Head module LJ72GF15 T2 CANopen Module ME3CAN1 L CAN bus network RE Terminating Terminating resistor resistor CANopen Node ME3CAN1 L Fig 2 2 ME3CAN1 L connected to a CC Link IE Field head module MELSEC L Series CANopen Module ME3CAN1 L 2 1 System Configuration Applicable Systems 2 2 2 3 Applicable Systems Forthenumberof connectable modules and the compatible software version refer to the following MELSEC L CPU Module User s Manual Hardware Design Maintenance and Inspection MELSEC L CC Link IE Field Network Head Module User s Manual Restrictions when the ME3CANT L is connected to a head module No special restriction is applied for the ME3CAN1 L How to Check the Function Version and Serial No of the Modules The serial No and function version can be checked on the label attached to the right side of the module Using the programming software GX Works2 the serial No and the function version can be checked while the PLC is operating From the Diagnostics menu select System Monitor and then select Product Information List Product Information List Sort 6 Order by Installation Order by Type Name 00 0 1 Intell L 026MESCANI L 32Point 0010 150230000000000 A 0 END Cover E L6EC i K A z Model name Serial number Function
90. CTRIC Communication Profile Area Functions Mode 405 RPDO communication parameter Default value of Sub index hex Index hex 01H VO 1400 2 200 Node ID FE 1401 300 Node ID FE 1402 400 Node ID FE 1403 500 Node ID FE FE 1404 14FF 80000000 Tab 4 7 Mode 405 RPDO communication parameter O R Read access O W Write access Mode 405 RPDO mapping parameter Default value of sub index hex Index hex 01H 02H 03H 04H 05H R w R w C R W O R W O RWO A5800110 A5800210 A5800310 A580041 0 A5800510 A5800610 A5800710 A580081 A5800910 A5800A10 A5800B10 A5800C1 A5800D10 A5800E10 A5800F10 A580101 A5801110 A5801210 A5801310 A580141 A5801510 A5801610 A5801710 A580181 A5801910 A5801A10 A5801B10 A5801C1 A5801D10 A5801E10 A5801F10 A580201 A5802110 A5802210 A5802310 A580241 A5802510 A5802610 A5802710 A580281 A5802910 A5802A10 A5802B10 A5802C1 A5802D10 A5802E10 A5802F10 A580301 A5803110 A5803210 A5803310 A580341 A5803510 A5803610 A5803710 A580381 A5803910 A5803A10 A5803B10 A5803C1 A5803D10 A5803E10 A5803F10 A580401 A5804110 A5804210 A5804310 A580441 A5804510 A5804610 A5804710 A580481 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 160 160B 160C 160D 160E 160F 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 161A 161B 161C 161 161 161 1620 1621 1622 E o o o
91. CZECH REP 000 TECHNIKON BELARUS Beijer Electronics UAB LITHUANIA Radlick 751 113e Avenir Business Park Prospect Nezavisimosti 177 9 Go taut g 3 7 158 00 Praha 5 BY 220125 Minsk LT 48324 Kaunas Phone 420 251 551 470 Phone 375 0 17 393 1177 Phone 370 37 262707 bol d rz UU AME Fax 420 251551471 Fax 375 0 17 393 0081 Fax 370 37 455605 GIRIT CELADON Ltd ISRAEL Mitsubishi Electric Europe B V FRANCE ESCO DRIVES BELGIUM ALFATRADE Ltd MALTA 12 Haomanut Street 25 Boulevard des Bouvets Culliganlaan 3 99 Paola Hill IL 42505 Netanya F 92741 Nanterre Cedex BE 1831 Diegem Malta Paola PLA 1702 Phone 972 0 9 863 39 80 Phone 33 0 1 55 68 55 68 Phone 32 0 2 717 64 60 Phone 356 0 21 697 816 Fax 972 0 9 885 2430 Fax 33 0 1 55 68 5757 Fax 32 0 2 717 64 61 Fax 356 0 21 697 817 ILAN amp GAVISH Ltd ISRAEL Mitsubishi Electric Europe B V IRELAND KONING HARTMAN B V BELGIUM INTEHSIS SRL MOLDOVA 245henkar St Kiryat Ariet Westgate Business Park Ballymount Woluwelaan 31 bld Traian 23 1 IL 49001 Petah Tikva IRL Dublin 24 BE 1800 Vilvoorde MD 2060 Kishinev Phone 972 0 3 922 18 24 Phone 353 0 1 4198800 Phone 32 0 2 257 02 40 Phone 373 0 22 66 4242 Fax 972 0 3 924 0761 Fax 353 0 1 4198890 Fax 32 0 2 257 02 49 Fax 373 0 22 66 4280 CEG LIBAN LEBANON Mitsubishi Electric Europe B V ITALY INEA RBT d o o BOSNIA AND HERZEGOVINA HIFLEX AUTOM B V NETHERLANDS Cebaco
92. DO COB ID Bit Item Description Tab 4 14 Sia Bit 0 Valid Description for sub index 01H RPDO COB ID Bit 1 Invalid n 11 bit CAN ID of the CAN base frame Refer to section 4 6 1 Sub index 02H RPDO transmission type Value hex Description Synchronous 00 FO Received PDO data will be processed after the next SYNC message independent from the trans mission rate specified by the transmission type F1 FD Reserved FE Event driven Function Mode 405 Tab 4 15 Description for sub index 02H RPDO transmission type MELSEC L Series CANopen Module ME3CAN1 L 4 21 Functions Communication Profile Area Object 1600H to 17FFH Sub index 01H 08H RPDO mapping parameter The default mapping is for unsigned integer 16 bit objects Refer to section 3 5 19 Fig 4 6 Bit 31 Bit 16 Bitl5 BB Bit 7 Bit 0 Bit allocation for sub index 01H 08H RPDO Bit Item Description Tab 4 16 Index Index of the mapped object Description for sub index 01H 08H RPDO Sub index Sub index of the mapped object mapping parameter Length Length of the mapped object unit bit Example V To map the first unsigned 16 bit data of RPDO1 to Un G10000 set Index 1600H Sub index 01H to A5800110H This stands for Object Dictionary Index A580H Sub index 01H and a data size of 16 bit A Object 1800H to 18FFH Sub index 01H TPDO COB ID Bit 31 Bit30 Bit29 Bit11 Bit 10
93. Ds for the EMCY objects that the module is consuming The sub index refers to the related node ID Bit 31 Bit 30 Bit 11 Bit 10 Bit 0 Bit Item Description Valid Bit 0 EMCY consuming of remote Node is valid Bit 1 EMCY consuming of remote Node is not valid 11 bit CAN ID For the resulting COB ID refer to section 4 6 1 11 bit CAN ID of the CAN base frame Refer to section 4 6 1 MELSEC L Series CANopen Module ME3CAN1 L Fig 4 24 Bit allocation for object 1028H sub index 01H 7FH Tab 4 25 Description for object 1028 sub index 01H 7FH Functions Error Behavior 4 7 Error Behavior If the ME3CANT L detects a failure during NMT state Operational it will automatically change to NMT state Pre operational by default Alternatively the ME3CAN1 L can be configured to change to the NMT state Stopped or remain in the current NMT state The following failures can be detected Bus OFF conditions of the CAN interface Only as NMT Slave Life guarding event with the state occurred and the reason time out Heartbeat event with state occurred and the reason time out 9 PLCRUN STOP If the setting value is 01H the ME3CANT L will change into Pre operational but can be set again to Operational when the PLC is in STOP With the setting value 00H or 02H the ME3CANT L cannot set into Operational as long as the PLC is in STOP Severe CANopen device errors also
94. ELSEC L series PLC system to CANopen and CAN Layer 2 networks CAN Controller Area Network is a serial bus sys tem especially for networking devices as well as sensors and actuators Features of the ME3CAN1 L D sub connector for connection to CAN The connection to the CANopen network is made via a D sub 9 pin connector according to CiA 303 1 V1 8 Various bit rates Pre defined according to CANopen standard 10 kbps 20 kbps 50 kbps 100 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps CANopen services according to CiA 301 V4 2 256 TPDO 1024 word write The Process Data Object PDO is sent by a node the producer and will be received by other nodes the consumers which subscribed to it The Transmit PDO TPDO is used to send input data of the node 256 RPDO 1024 word read The Receive PDO RPDO is used to receive output data SDO service The Service Data Object 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 time stamp object producer EMCY object service Emergency objects are triggered by the occurrence of a CANopen device interna
95. FH Revision number The sub index corresponds to the node ID The value refers to the object 1018H sub index 03 of the corresponding node ID Object 1 88 Sub index 01H to 7FH Serial number The sub index corresponds to the node ID The value refers to the object 1018H sub index 04H of the corresponding node ID NMT master start up The NMT master start up behaves according to the NMT slave state machine as defined in section 4 8 1 Before the NMT master shifts from NMT state Pre operational to NMT state Operational all assigned NMT slaves shall be booted The main flow chart for the NMT master start up is shown in fig 4 28 Figure 4 29 shows a simple start up overview to show the influence of the Un G70 setting It is rec ommended notto use the simple start up since it cannot been guaranteed that every NMT slave will be set into Operational state Instead set the NMT slave start up values for every connected NMT slave in the NMT master refer to section 4 8 6 C Come from Power on or Reset Configured as OD Index NMT master 1F80H Bit O NMT flying master lost process OD Index 1F80HBit 5 Switch to NMT slave mode To the next page Fig 4 28 NMT Master startup process 1 sa MITSUBISHI ELECTRIC
96. Fax 7 495 7212071 Phone 420 595 691 150 Phone 351 0 234 303 900 Mitsubishi Electric Europe B V SPAIN Fax 420 595 691 199 Fax 351 0 234 303 910 Carretera de Rubi 76 80 Apdo 420 Beijer Electronics A S DENMARK SIRIUS TRADING amp SERVICES SRL ROMANIA E 08190 Sant Cugat del Vall s Barcelona Lykkegardsvej 17 Aleea Lacul Morii Nr 3 Phone 34 0 93 5653131 DK 4000 Roskilde RO 060841 Bucuresti Sector 6 Fax 34 0 93 5891579 Phone 45 0 46 75 76 66 Phone 40 0 21 430 40 06 Mitsubishi Electric Europe B V Scandinavia SWEDEN Fax 45 0 46 75 56 26 Fax 40 0121 430 4002 Fjelievagen 8 HANS FOLSGAARD A S DENMARK INEA SR d o o SERBIA SE 22736 Lund Theilgaards Torv 1 Ul Karadjordjeva 12 217 Phone 46 0 8625 1000 DK 4600 K ge SER 11300 Smederevo Fax 46 0 46 39 70 18 Phone 45 4320 8600 Phone 386 026 461 5401 TEE EE TT Fax 45 4396 8855 I Mitsubishi Electric Turkey Elektrik r nleri A TURKEY SIMAP SK Z padn Slovensko SLOVAKIA Fabrika Otomasyonu Merkezi Beijer Electronics Eesti OU ESTONIA J na Derku 1671 erifali Mahallesi Nutuk Sokak No 5 P rnu mnt 160i SK 911 01 Tren n TR 34775 mraniye STANBUL EE 11317 Tallinn Phone 421 0 32 743 0472 Phone 90 0 216 526 39 90 Phone 372 0 6 51 81 40 Fax 421 0 32 743 75 20 Fax 90 0 216 526 39 95 Fax 372 0 6 5181 49 NEA RBT doo SLOVENIA Mitsubishi Electric Europe B V UK Beijer Electronics OY FINLAND Stegne 11 Travellers L
97. ITSUBISHI ELECTRIC Function Summary Functions 4 Functions 4 1 Function Summary Function Description Reference Section Function modes Different function modes of the module 42 Object Dictionary Link between CANopen network and PLC 43 CIF SDO Command interface used to access the Object Dictionary of the local node or a network node Service Data Object 44 RPDO TPDO Receive Transmit Process Data Object SYNC Synchronization object Node guarding Node guarding service Heartbeat Heartbeat service TIME Time stamp object EMCY Emergency object General NMT General Network Management service NMT master Network Management Master service Boot up Device boot Up message service Flying master Flexible network management LSS Layer Setting Service for devices Configuration manager Mechanism for the configuration of the Object Dictionary of other CANopen devices Profile CiA 405 V2 0 Device profile for IEC 61131 3 programmable device Layer 2 Message mode Tab 4 1 Function list Layer 2 message transmission and receive mode MELSEC L Series CANopen Module ME3CAN1 L Functions Function Modes 4 2 Function Modes The ME3CAN1 L has three different function modes The function mode is set up by Un G21 For fur ther information on ho
98. Nopen data in a consistent way it is necessary to set the data exchange request Yn1 to ON after writing the data The Data exchange completed Xn1 and Data exchange request Yn1 signals control the internal buffer exchange and thereby which data is transmitted from the PLC by PDO PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and after setting Yn1 to ON As long as the reading of the previous data is not finished and a new data exchange command has not been sent data will not be overwritten by further PDO If the module is in NMT state Operational the received PDO data from other nodes can be read by the MELSEC L series CPU by using a FROM instruction and the transmit PDO data can be written to the module and sent to the network by using a TO instruction The data exchange completed signal Xn1 will be turned ON when the data exchange between buffer memory and Object Dictionary Data exchange buffer is finished Depending on the bits turned ON in the Data Exchange Control Un G20 OD data and or EMCY data will be exchanged NOTE If Xn1 is turned ON and the module is not in CANopen state Pre operational or Stopped the PDO data will be exchanged after going into Operational state MELSEC L Series CANopen Module ME3CAN1 L 3 7 Detailed Description of the Module I O Signals for the Programmable Controller CPU NOTE Module restart completed Xn2 Module restart request Yn2 6
99. Nopen Module ME3CAN1 L Command Interface SDO Request 5 1 3 CIF SDO write access Execution procedure CIF SDO write access Write the command code 0002H for SDO write access to Un G1000 Write the Node number and the Index Sub index of the target Object Dictionary to Un G1001 to Un G1003 Write the data length in bytes to be written to Un G1004 and the data to be written to Un G1005 and Un G1066 After writing all the necessary parameters turn ON Y n 1 7 in order to trigger the command execution If the command execution is finished the X n 1 7 will be turned ON If the access has been successful Un G1000 will display 3 and Un G1001 to Un G1003 will contain the node number index and sub index for verification purposes Buffer memory allocation Address Decimal 1000 Description Transmit message Receive message e 0003H SDO write success Command 0002H SDO write e 000FH Error Refer to section 5 4 e FFFFH CIF Busy 1001 Node number Node number read back 1002 Index Index read back 1003 e Low byte Sub index e High byte Reserved Sub index read back 1004 Data length in byte Unused 1005 1066 Tab 5 5 Command parameter data Unused Buffer memory allocation for CIF SDO write access O Node number 0 is accessing the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is us
100. Nopen state Pre operational SINGLE FLASH OFF The device is in CANopen state Stopped Layer 2 mode The device is in Layer 2 offline mode ON e The CAN controller is Bus OFF state e The CAN controller has too many transmission errors FLICKERING LSS Services in progress BLINKING General error DOUBLE FLASH Error control event A NMT guarding failure NMT Slave or NMT Master or a heartbeat fail ure heartbeat consumer has occurred SINGLE FLASH Warning limit reached OFF No error ON Module is transmitting receiving CAN message OFF Tab 3 2 Indicator LEDs Module is not transmitting receiving CAN message The LEDs CAN RUN and CAN ERR have four kinds of flicker states according to CiA 303 3 V1 4 single flash double flash blinking and flickering These LEDs flicker as follows SINGLEFLASH k 3 0 25 1s DOUBLE FLASH m k Luj 3 0 25 0 25 0 25 15 BLINKING k 3 0 25 0 25 FLICKERING Kk 0 15 sse MITSUBISHI ELECTRIC Part Names Detailed Description of the Module 3 1 2 Signal Layout of the Connector CANopen interface connector Signal Description Reserved CAN L CAN Lbus line dominant low CAN GND CAN ground Reserved CAN SHLD CAN shield Reserved CAN H CAN Bus line dominant high Reserved
101. OH Consumer heartbeat time Highest sub index 7FH Refer to section 4 6 8 OH Producer heartbeat time Refer to section 4 6 8 0 Identity Object Highest sub index 03H Vendor ID Product Code 71 ED63H Revision Number 10000H 1019 101F Reserved 1020 Verify Configuration Highest sub index 02 Refer to section 4 8 12 OH OH 1021 1027 Reserved 1028 Emergency consumer object Highest sub index Refer to section 4 6 12 Error behavior Highest sub index Refer to section 4 7 Tab 4 6 NMT inhibit time Refer to section 4 8 6 Communication profile area of the ME3CAN1 L Aa MITSUBISHI ELECTRIC Communication Profile Area Functions Index Sub index oH Initial Stored to hex hex Object Description Data type Value d Flash ROM 102B 13FF 00 Reserved Highest sub index 1400 14FF BEDO communication qerer o GORE Refer to table 4 7 parameter section 4 6 5 Transmission type 1500 15FF Reserved Numberof valid object entries 1st mapped object 2nd mapped object 3rd mapped object RPDO mapping Refer to 4th mapped 1600 17FF parameter section 4 6 5 object Refer to table 4 8 5th mapped object 6th mapped object 7th mapped object 8th mapped object Highest sub index COB ID Transmission MED ean
102. R w O RWO A1011F10 A1012010 A1012110 A1012210 0 A1012310 A1012410 A1012510 A1012610 A1012710 A1012810 A1012910 A1012A10 A1012B10 A1012C10 A1012D10 A1012E10 A1012F10 A1013010 A1013110 A1013210 A1013310 A1013410 A1013510 A1013610 A1013710 A1013810 A1013910 A1013A10 A1013B10 A1013C10 A1013D10 A1013E10 A1013F10 A1014010 A1014110 A1014210 A1014310 A1014410 A1014510 A1014610 A1014710 A1014810 A1014910 A1014A10 A1014B10 A1014C10 A1014D10 A1014E10 A1014F10 A1015010 A1015110 A1015210 A1015310 A1015410 A1015510 A1015610 A1015710 A1015810 A1015910 A1015A10 A1015B10 A1015C10 A1015D10 A1015E10 A1015F10 A1016010 A1016110 A1016210 A1016310 A1016410 A1016510 A1016610 A1016710 A1016810 A1016910 A1016A10 A1016B10 A1016C10 A1016D10 A1016E10 A1016F10 A1017010 A1017110 A1017210 A1017310 A1017410 A1017510 A1017610 A1017710 A1017810 A1017910 A1017A10 A1017B10 A1017C10 A1017D10 A1017E10 A1017F10 A1018010 A1018110 A1018210 A1018310 A1018410 A1018510 A1018610 A1018710 A1018810 A1018910 A1018A10 A1018B10 A1018C10 A1018D10 A1018E10 A1018F10 A1019010 A1019110 A1019210 A1019310 A1019410 A1019510 A1019610 A1019710 A1019810 A1019910 A1019A10 A1019B10 A1019C10 A1019D10 A1019E10 A1019F10 A101A010 A101A110 A101A210 A101A710 A101A810 A101A910 A101AA10 A101AB10 A101AC10 A101AD10 A101AE10 A101B310 01B410 A101B510 A101B610 1A6D A101B710 A101B810 A101B910 A101BA10 A101BF10 A101C010 A101C110 A101C210 A101C310 A101C410 A101C510 A101C610 A101C710 A101C810 A101C910 A101CA10 A1
103. RIC Part Names Detailed Description of the Module 3 Detailed Description of the Module 3 1 Part Names This section explains the names of the components for the ME3CAN1 L ME3CAN1 L RUN CANRUN TX RX ERR CANERR 9 Fig 3 1 Names of parts Name Description Used to indicate the status of the ME3CAN1 L For a detailed description please refer to section 3 1 1 Indicator LEDs CAN interface connector This connector connects the communication cable to the ME3CAN1 L D sub 9 pin male connector For details refer to section 3 1 2 Tab 3 1 Description of the LEDs and the connector of the ME3CAN1 L MELSEC L Series CANopen Module ME3CAN1 L 3 1 Detailed Description of the Module Part Names 3 1 1 Indicator LEDs The LEDs are arranged in two groups General LEDs are arranged on the left side LEDs for CANopen communication are arranged on the right side ME3CAN1 L RUN CANRUN TX RX ERR CAN ERR Status Fig 3 2 Indicator LEDs of the ME3CAN1 L Description ON Normally operating OFF ON Hardware error watchdog timer error or power failure An module error has occurred OFF Normally operating ON e CANopen mode The device is in CANopen state Operational e Layer 2 mode The device is in Layer 2 online mode FLICKERING LSS services in progress BLINKING CANopen mode The device is in CA
104. SDO 601 67F Default RSDO 6E0 6FF Reserved 701 77F NMT Error Control 780 7FF Reserved 4 6 2 Error Register The object 1001H provides error information The CANopen device maps internal errors into this object It is a part of an emergency object 3 2 1 Manufacturer Device Communication specific profile error overrun Temperature Voltage Current Generic error specific error state Used by the ME3CAN1 L firmware Fig 4 2 Structure of the error register The Generic error bit will be set as long the EMCY error code is bigger than OOFFH refer to section 4 6 12 The Error Register can be cleared by clearing the pre defined error field in object 1003H Refer to next section 4 6 3 Allof these bits can be set by the emergency message transmission command in the Command Inter face Refer to section 5 2 4 6 3 Pre defined error field This object provides the errors that occurred on the module and were signaled via the emergency object Sub index 00H Number of errors The sub index 00H displays the number of errors that are recorded The entire history will be deleted by writing OH to this sub index Values other than OH are not allowed Sub index 01H 0FH Standard error fields List of the last 15 EMCY errors sent by ME3CAN1 L Sub index 01H contains the newest message and sub index OFH contains the oldest message Refer to section 8 2 1 for error code description
105. SUBISHI ELECTRIC CIF Multi SDO write access With the multi SDO write access command up to 8 SDO write accesses can be made within one com mand The maximum data length for each access is 8 bytes Execution procedure CIF Multi SDO write access Write the command code for multi SDO write access to Uni G1000 Write the node number 0 1 127 the Object Dictionary Index the Sub index the data length in byte and the data to be sent to the buffer memory After writing all the necessary parameters turn ON Y n 1 7 in order to trigger the command execution If the command execution is finished X n 1 7 will be turned ON If the access has been successful Un G1000 will display 7 and the following buffer memory addresses will contain the node number index and sub index for verification purposes Buffer memory allocation Address Description Decimal Transmit message Receive message Command 0006 SDO Multi write e 0007H SDO write success e 000FH Error Refer to section 5 4 e 00F7H Error refer to Node number and Result data for details FFFFH CIF Busy Node number Success Node number read back Error High Byte OFH Low Byte Node number read back Index Index read back Low byte Sub index High byte Reserved Sub index read back Data length in byte Unused Command parameter data 1 to 8 byte Success Unused Erro
106. The meaning of the parameters A to D for a transmit message is as follows Parameter Description Default Layer 2 message n parameter A Constant FFFFH 2 FFFFH 7FFFH auto RTR response 6FFFH manual RTR response Layer 2 message n parameter B 5FFFH disable RTR handling FFFFH message disabled Layer 2 message n parameter C Transmission type Layer 2 message n parameter D Cycle time in 10 ms Tab 3 31 Parameters A to D of transmit messages O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset Set Parameter A and B to FFFFH in order to disable the message Reading from and writing to a sequence program are enabled Transmission Layer 2 message n parameter A and B A message buffer in Un G10000 Un G10293 is assigned to a Layer 2 transmit message by writing FFFFH in parameter A and 7FFFH 6FFFH or 5FFFH in parameter B Auto RTR response If parameter B is set to 7FFFH the ME3CANT L will automatically respond to Remote Transmit Requests RTRs if the 11 29 bit CAN ID i e set in Un G10000 or Un G10001 matches the ID in the RTR message The RTR will not be stored to the RTR flag list Refer to section 3 6 3 ManualRTR response If parameter B is set to 6FFFH the ME3CANT L will NOT automatically respond to Remote Transmit Requests but the RTR will be added to the RTR flag list Refer to section 3 6 3 Disable RTR handling If parameter B i
107. _______ 94 StatNMTReguest sit M 95 VAR StatSDORead Bit 96 VAR w stsbOWie i il ZL 97 StatNMTSlaveSetup pt M 98 VAR mw StartupConfigurationValue _ Word Unsigned BitStringt6bit M 99 VAR m TargelSlaveNumber ________ word Signed 0 15 Fig 7 3 Local Label for this example 2 MELSEC L Series CANopen Module ME3CAN1 L Programming CANopen PDO Communication using Function Blocks _ Label Name Data Type 100 V w ThirdPDOProcessing Bit 101 Vi TPDOnumber 102 Y Transmission ype__ Word Unsigned Bit Stringf16 bi M 103 V Y STliteHearbeatActive 104 VAR m STitPrOppaia Bit 305 V m sDOWrteCompeted Bt amp J 106 V Y WriteData Word UnsignedVBitSting 16b 0 61 107 V WriteDataLength ___________ word Sig ed _______________ J 1 108 V v SDOWrteEmorCode Double Word Unsigned BitSting 32bi 109 V iwm Bt mio V w SDOWrteEmorCouter WordSiged M m v Writelndex_______________ word Unsigned Bit String 16 bit __________ 112 V Y WriteNodeAddress WordSigeed E 13 VAR WriteSubindex Word UnsignedVBiSting l6 bij 114 jv SDOWrteOkCounter Word ignd 1 1 MS VAR lt PDOSetupCompleted ss 1 116 VAR w NMTRequesOKCouter WordSiged T 117 VAR jw SDOReadOKC
108. a byte 8 Data byte 7 Data bytes CAN ID 42 LW 11 29 bit CAN Identifier low word 10288 CAN ID 42 HW 11 29 bit CAN Identifier high word 101289 RTR new DLC EDO Transmission Data length count equest Layer2 10290 Data byte 2 Data byte 1 message 42 Data byte 4 Data byte 3 Data byte 6 Data byte 5 Data byte 8 Data byte 7 Data bytes Tab 3 38 Allocation of the buffer memory addresses Un G10000 to Un G10293 O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset O Write access to these buffer memory addresses is possible in Layer 2 configuration mode only Refer to bit 4 in Un G25 section 3 5 5 The contents of these buffer memory addresses will be stored into the Flash ROM when the save command is executed Refer to section 3 5 3 This information is read only for receive messages and read write for transmit messages MELSEC L Series CANopen Module ME3CAN1 L 3 41 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode The function of the buffer memory addresses listed above is described in the following table Buffer memory function Description Transmit messages Receive messages CAN IDn CAN ID used to transmit this message into the network 11 or 29 bit according to mode set in Un G21 Received CAN ID RTR new DLC High byte e Bit 12 1 Strict DLC c
109. ailed Description of the Module 3 5 8 NOTE 3 5 9 NOTE 3 5 10 CAN transmission error counter Un G35 The ME3CANT L stores the current value of the CAN transmit error counter The displayed value range is Oto 256 The counter counts 8 up if a transmission error is detected For each transmission without error the counter counts 1 down Value in Un G35 Description Tab 3 13 0 to 127 Error active state Meaning of the values for the transmission error 96 to 127 Warning level counter 128 to 255 Error passive state 256 Bus OFF state The warning level is also shown by bit 1 in Un G25 error passive and Bus OFF are shown in Un G29 CAN reception error counter Un G36 The ME3CAN1 L stores the current value of the CAN reception error counter The displayed value range is 0 to 128 and 256 The counter counts 8 up if a reception error is detected For each reception without error the counter counts 1 down Value in Un G36 Description Tab 3 14 Oto 127 Error active state Meaning of the values for the reception error 96 to 127 Warning level counter 128 Error passive state 256 Bus OFF state The warning level is also shown by bit 1 in Un G25 error passive and Bus OFF are shown in Un G29 Buffer memory setting error display Un G39 Un G40 Buffer memory setting error display Un G39 Bit 6 of Un G29 is set to ON if an attempt to write an invalid value into a buffer memory addre
110. ane Vanha Nurmijarventie 62 SI 1000 Ljubljana UK Hatfield Herts AL10 8XB FIN 01670 Vantaa Phone 386 0 1 513 8116 Phone 44 0 1707 28 87 80 Phone 358 0 207 463 500 Fax 386 0 1 513 8170 Fax 44 0 1707 27 86 95 Fax 358 0 207 463 501 Beijer Electronics Automation AB SWEDEN Mitsubishi Electric Europe B V UAE PROVENDOR OY FINLAND Box 426 Dubai Silicon Oasis Telj nkatu 8 A3 SE 20124 Malm United Arab Emirates Dubai FIN 28130 Pori Phone 46 0 40 35 86 00 Phone 971 4 3724716 Phone 358 0 2 522 3300 Fax 46 0 40 93 2301 Fax 971 4 3724721 Fax 358 0 2 522 3322 OMNI RAY AG SWITZERLAND Mitsubishi Electric Corporation JAPAN UTECOA B E E GREECE Im Sch rli 5 Tokyo Building 2 7 3 5 Mavrogenous Str CH 8600 D bendorf Marunouchi Chiyoda ku GR 18542 Piraeus Phone 41 0 44 802 28 80 Tokyo 100 8310 Phone 30 0 211 1206 900 Fax 41 0 44 802 28 28 a taj MUO 000 CSC AUTOMATION UKRAINE MELTRADE Kft HUNGARY 4 B M Raskovoyi St Mitsubishi Electric Automation Inc USA Fert utca 14 UA 02660 Kiev 500 Corporate Woods Parkway Vernon Hills IL 60061 Phone 1 847 478 2100 Fax 1 847 478 0328 4 MITSUBISHI ELECTRIC Changes for the Better HU 1107 Budapest Phone 36 0 1 431 9726 Fax 4 36 0 1 431 9727 Phone 380 0 44 494 33 44 Fax 4 380 0 44 494 33 66 Mitsubishi Electric Europe B V FA European Business Group Gothaer Stra e 8 D 40880 Rating
111. been received and stored If bit 9 is 1 but bit 8 is 0 the same message same ID DLC and data has been received If bit 10 is 1 at least one more message has been stored in this message buffer while bit 8 was 1 which caused an overflow condition The RTR flag will not be displayed in case of receive messages For details of the handling for received RTR messages refer to section 3 6 3 The various cases for the bits 8 to 10 are shown in the following table RTR new DLC Receive messages only New frame New data New frame No new data New data bit 8 New frame bit 9 New frame New data Overflow New frame No new data Overflow No data received Overflow bit 10 Tab 3 40 Cases for bits 8 to 10 of RTR new DLC O Bit 0 Bit 1 X Bit status is don t care O In case the received DLC is lower than 8 unused data bytes are set to OOH sse MITSUBISHI ELECTRIC Buffer Memory Details Layer 2 Message Mode Detailed Description of the Module 3 6 7 CIF command interface Sending Layer 2 Message Using this function the PLC can send any Layer 2 message to the CAN bus This function is accessible in Layer 2 Mode only Execution procedure Write the command code CAN ID RTR DLC and the data byte to Un G1000 to Un G1008 Turn ON Y n 1 7 to execute the command If the command execution is finished X n 1 7 will be turned ON Buffer memory allocation Address
112. ble connected to the ME3CANT L by pulling the cable section Be sure to hold the connector connected to the ME3CANT L Pulling the cable while itis connected to the ME3CANT L may lead to malfunctioning or damage of the ME3CAN1 L or cable 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 Donotbundle or adjacently lay the communication cable connected to the ME3CAN1 L with the main circuit line power line or the load line other than that for the PLC Separate these by 100 mmasa guide Failure to observe this could lead to malfunctioning caused by noise surge or induction 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 MELSEC L Series CANopen Module ME3CAN1 L 6 3 Setup and Procedures before Operation Wiring 6 3 2 CAN bus wiring Applicable connector Use a female D sub 9 pin connector For the signal layout of the connector please refer to section 3 1 2 Applicable cable Use a CAN bus cable that meets the following specifications Item Transmission line Cable Type Shielded twisted pair cable No of Pairs 2 Conformance Standard ISO 11898 1993 Cross sectional area 0 3 mm to 0 82
113. cation purposes Buffer memory allocation Address Description Decimal Transmit message Receive message e 0009H SDO read success e 000FH Error Refer to section 5 4 Command 0008H SDO Multi read e QOF9H Error refer to Node number and Result data for details FFFFH CIF Busy Success Node number read back Error High Byte OFH Low Byte Node number read back Node number Index Index read back e Low byte Sub index e High byte Reserved Sub index read back Unused e Success Data length e Error OH Success Result data Error SDO access error code Node number VA Success Node number read back Error High Byte OFH Low Byte Node number read back Index Index read back e Low byte Sub index e High byte reserved Sub index read back Unused e Success Data length e Error OH 1064 e Success Result data e Error SDO access error code 1065 1066 Tab 5 4 Unused Unused Buffer memory allocation for CIF Multi SDO read access O Node number 0 is accessing the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is useful as the configuration of the local node can be programmed independently from the node address O if the final setting is located before Un G1057 write FFFFH in the last buffer memory address Node number MELSEC L Series CA
114. ct received or bit is reset Bit 1 Time Stamp object received Only if Consumer is set Write a 0 to reset the bit Refer to sections 4 6 9 and 3 5 11 Reserved Bit 0 NMT Start up Master No Slave start up in progress Bit 1 NMT Start up Master Slave start up in progress Refer to section 4 8 5 Note This bit goes on during the NMT master slave startup and any time when a NMT slave error occurs and the NMT startup master tries to re start the faulty NMT slave Bit 0 Module works as NMT Slave Bit 1 Module works as NMT Master Tab 3 11 Assignment of the bits in buffer memory address Un G25 3 5 6 Node Address Un G27 The buffer memory address 27 sets the CANopen Node ID The setting value range is 1 to 127 The buffer memory setting needs to be stored by Un G22 bit 0 and afterwards to be restarted by Yn2 to make the new setting effective Refer to section 3 5 3 Asetting out of the above range ora write access in Layer 2 function mode will generate a failure mes sage in Un G29 bit 6 MELSEC L Series CANopen Module ME3CAN1 L 3 17 Detailed Description of the Module Buffer Memory Details CANopen Mode 3 5 7 Error state Un G29 The following table shows the description of the error if a bit in the buffer memory address Un G29 is set Error Description Corrective action Reserved This bit can only be reset by switching the power OFF ON Hardware error Contact your Mitsubishi Electr
115. d X n 1 F will be turned ON NOTE If both bits Un G22 0 and Un G22 1 are set simultaneously the buffer memory and Flash ROM will be reset to factory defaults If only bit Un G22 1 is set factory default values are written to the configuration buffer memory but not stored in Flash ROM In order to store changes made to the configuration execute the Save configuration request Un G22 0 then Y n 1 F after changing the configuration MELSEC L Series CANopen Module ME3CAN1 L 3 11 Detailed Description of the Module Buffer Memory Overview 3 4 NOTE NOTE 3 12 Buffer Memory Overview The CANopen module has a memory range assigned as a buffer for temporary storage of data such as Received Process Data or CAN transmission error counter The PLC CPU can access this buffer and both read the stored values from it and write new values to it which the module can then process Transmit Process Data etc Each buffer memory address consists of 16 bits Bit 1514131211109 8 7 654 32 1 0 Buffer memory address Fig 3 7 Assignments of bits to a buffer memory address Do not write data in the system areas of the buffer memory If data is written to any of the system areas the PLC system may not be operated properly Some of the user areas contain partially sys tem areas Care must be taken when reading writing to the buffer memory Also do not write data e g in a sequence program to the buffer memory area where writing
116. das ka RE E a RT P E Ee 3 7 3 4 Buffer Memory Overview g s sa a sal d k WE W N Ime Hem Hehe 3 12 3 4 1 Buffer Memory Assignment ssssssssesessesesksesesos 3 13 3 5 Buffer Memory Details CANopen Mode ess sra a Ses MUSS 3 15 3 51 Data Exchange Control UNNG20 s ses eseeseseseseses 3 15 3 5 2 Function Mode UNIG21 ssssssesssscssecsseccos 3 15 3 5 3 Save Restore Configuration UNNG22 ccc cece kk kk 3 16 3 5 4 Baud Rate UriNG24 eefe bade UREDURERRO ERES TRES 3 16 3 5 5 Communication Status UNNG25 ss s ssssssssecsssscc 3 17 3 5 6 Node Address UNNG27 s sssssssssscssecssscssecssecvos 3 17 3 5 7 Error state UN G29 ssssssssssstststetesceseceseecescos 3 18 3 5 8 CAN transmission error counter UnNG35 ssssssssseco 3 19 MELSEC L Series CANopen Module ME3CAN1 L V Contents 3 5 9 CAN reception error counter UNNG36 sssssseseeseeseos 3 19 3 5 10 Buffer memory setting error display Un G39 UNNG40 3 19 3 5 11 Time stamp UnXG50 UnNG59 s sesseseeseeeeessesessess 3 20 3512 NMT Start all Nodes delay UnNG70 WW KK KK KK kk kk 3 21 3513 SDO Time out 1 ence e emen 3 21 3 5 14 NMT Error Clear Node UNNG400 sssssssessesssecss 3
117. disable the message slot Reception Layer 2 message n parameter C and D Set the filter for the ID set in parameter A and B If the filter is set to 0000 0000H 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 1V Filter setting 0000 0000H Layer 2 message 1 parameter A B 0000 0181H Layer 2 message 1 parameter C D 0000 0000H Un G10000 to Un G10006 store received messages with the CAN ID 181H only Relation between received CAN message Yn1 and RTR new DLC high byte is shown below RTR new DCL high byte is described in table 3 39 Message Message Message Message CAN bus 0181H 0181H 0181H 0181H Data A Data B Data C Data D Xn1 bke pe aa RTR new DLC 07H 5 A high byte 00H 03H XXH 00H New data frame and nea ji Apo new data between 1 and Q New data frame between 2 and 3 uS between and Data byte r Un G10010 Data x DataA Data D Un G10013 p Performed by ME3CAN1 L gt Performed by the sequence program Fig 3 8 Relationships for example 1 The flags RTR new DLC are cleared by the PLC program after They remain 00H after because there was no message stored between Q and 2 The first received CAN message that match
118. e NMT Startup Master NMT Master needs to be Reset to restart the Boot process To the next page Fig 4 28 NMT Master startup process 2 MELSEC L Series CANopen Module ME3CAN1 L 4 39 Functions Network Management Continued from the previous page Switch to NMT state OPERATIONAL OD Index 1F80H Bit 1 Bit 3 Start NMT slaves with NMT start all nodes All optional NMT slaves started successfully NMT service Start NMT service Start remote node with remote for each NMT node ID 0 slave individually all nodes all assigned slaves p Y Network startup finished without failures Fig 4 28 NMT Master startup process 3 NMT Master simple startup The following figure shows a more simple overview of the total NMT master startup without any NMT Slave setting in Object Dictionary Index 1F81H Refer to fig 4 28 to see the whole process Power on Reset Keep NMT Slaves in Operational Bit 0 Bit4 NMT service Reset communication all Nodes Time delay between Reset permanan Communication and Start default 500 ms remote all Nodes No OD Index 1F80H Start remoteall Nodes Bit 1 Yes v NMT service Start remote all Nodes End of startup Fig 4 29 NMT Master simple startup sse
119. e assigned OD Indexes Sub indexes Signed and unsigned 8 bit object Index Hexadecimal Sub index Buffer memory address Unsigned 8 bit object Signed 8 bit object Hex Decimal lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit Tab 3 25 Direct transmit buffer memory access for unsigned and signed 8 bit objects MELSEC L Series CANopen Module ME3CAN1 L 3 29 Detailed Description of the Module Buffer Memory Details CANopen Mode Index Hexadecimal Unsigned 8 bit object Signed 8 bit object Sub index Buffer memory address Hex Decimal 01 lower 8 bit 13762 higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit Tab 3 25 Directtransmit buffer memory access for unsigned and signed 8 bit objects Signed and unsigned 16 bit object Index Hexadecimal Unsigned 16 bit object Signed 16 bit object Sub index Buffer memory address Hex Decimal 1 13000 2 13001
120. e buffer memories addresses listed above is described in the following table Buffer memory function Description CAN ID used to transmit this message into the network alon Set low and high word to FFFFHto disable the message High byte 00H Send data frame Low byte Number of data bytes to transmit 0 to 8 DLC Data bytes 1 to 8 Data byt s The number of attached data bytes is defined by DLC Tab 3 37 Function of Un G8450 to Un G8477 O RTR is prohibited for these messages 3 40 sse MITSUBISHI ELECTRIC Buffer Memory Details Layer 2 Message Mode Detailed Description of the Module 3 6 6 Receive Transmit Process Data Un G10000 Un G10293 In Layer 2 message mode the ME3CANT L can send receive up to 42 messages pre defined by the user Transmission of Layer 2 messages is also possible via the CIF command interface Sending Layer 2 Message Refer to section 3 6 7 NOTE The buffer memory addresses are refreshed every time the signal Yn1 is turned ON refer to sec tion 3 3 2 Address Description A Function Message slot Decimal High Byte Low Byte g Default Remark 10000 CAN ID 1 LW 11 29 bit CAN Identifier low word FFFFH 10001 CAN ID 1 HW 11 29 bit CAN Identifier high word FFFFH R w 2 Remote Transmission 10002 RTR new DLC Request Data length count OH Layer 2 Data byte 2 Data byte 1 message 1 Data byte 4 Data byte 3 Data byte 6 Data byte 5 Dat
121. e command execution If the command execution is finished X n 1 7 will be turned ON When the parameter value of the last executed CIF command has been restored to Un G1001 to Un G1066 0000H is displayed to Un G1000 Buffer memory allocation Address Decimal Description Transmit message Receive message 1000 Command 0H OH 1001 1066 Unused Parameter of last issued CIF command Tab 5 10 Buffer memory allocation when displaying current parameter sse MITSUBISHI ELECTRIC Error Messages Command Interface 5 4 Error Messages If an error occurs during the execution of a command OOOFH is written to Un G1000 and the error class and additional data are stored to Un G1000 to Un G1066 V Description Tab 5 11 Decimal Storing of error messages in the buffer memory 1000 OOOFH Error addresses Un G1000 to Un G1066 1001 Error Class 1002 1066 Additional data error class dependent 5 4 1 Unknown command used The command written to Un G1000 is unknown NOTE This error will also occur when a command is not supported in this function mode aroj Description Tab 5 12 Decimal Error message when an unknown command is 1000 OOOFH Error used 1001 Error Class 0064H 1002 1066 Unused 5 4 2 Command or parameter change while CIF was busy After the command interface CIF has received anew command in Un G1000 it will start to execute this co
122. e only Time stamp set request CANopen mode only Time stamp information is available in buffer memory CANopen mode only Time stamp read request CANopen mode only Use prohibited Use prohibited Command execution completed Command execution request Use prohibited MU N Use prohibited Tab 3 5 Save configuration restore factory default completed I O signals of the ME3CANT L Save configuration restore factory default configuration reguest The Use prohibited signals cannot be used by the user since they are for system use only If these are turned ON OFF by the sequence program the performance of the CANopen module cannot be guaranteed sse MITSUBISHI ELECTRIC I O Signals for the Programmable Controller CPU Detailed Description of the Module 3 3 2 Details of I O signals Module ready signal XnO This signal turns ON when the ME3CAN1 L is enabled for access from the CPU module This signal turns OFF when the ME3CANT L is disabled for access from the CPU module due to a module watchdog timer error or hardware fault Data exchange completed Xn1 Data exchange request Yn1 These signals are used to exchange data between the buffer memory of the ME3CAN1 L and the CANopen object dictionary Layer 2 message buffer To ensure that the ME3CAN1 L can handle the CA
123. e stored in Un G1002 to Un G1004 Address Decimal Tab 5 14 SDO error message Description 1000 OOOFH Error 1001 Error Class 0003H 1002 Node ID 1003 Low word of error code 1004 High word of error code 1005 1066 Unused For SDO error codes please refer to section 8 2 3 Bus OFF The ME3CAN1 L is in Bus OFF state and cannot send CAN messages address Description Tab 5 15 Besima Error message when the ME3CAN1 L is in Bus 1000 OOOFH Error OFE state 1001 Error Class BOFFH 1002 1066 Unused Device in wrong state The ME3CAN1 L is in wrong device state for the command E Description Tab 5 16 Error message when the ME3CANT L is in wrong 1000 Error state 1001 Error Class OFOFH 1002 1066 Unused sse MITSUBISHI ELECTRIC Implementation and Installation Setup and Procedures before Operation 6 6 1 6 1 1 Setup and Procedures before Operation This chapter explains the procedures for connecting the ME3CANT L to a CAN network wiring and other information Implementation and Installation This section provides the handling precautions from unpacking to installation of the ME3CAN1 L The ME3CAN1 L can be connected to a CPU module an extension module or a CC Link IE Field net work head module of the MELSEC L series refer to section 2 1 For details on the implementation and i
124. eceived EMCY Messages will be displayed in Un G750 to Un G859 refer to section 3 5 17 A transmission of EMCY Messages is possible over the CIF command interface refer to section 3 5 18 EMCY producer EMCY consumers Request v E 5 Indication Indication Request Indication Fig 4 22 EMCY Message eec Emergency error code 2 Byte Refer to section 3 5 17 er Error register 1 Byte refer to object 1001Hin section 4 6 2 msef Manufacturer specific error code 5 Byte Object 1014H COB ID EMCY Fig 4 23 Bit31 Bit 30 Bit 11 Bit10 Bit 0 Bit allocation for object 1014H COB ID EMCY Bit Item Description Tab 4 24 Valid Bit 0 EMCY producing is valid Description for object 1014H COB ID EMCY Bit 1 EMCY producing is invalid j 11 bit CAN ID of the CAN base frame 11 bit CANAD Refer to section 4 6 1 For the resulting COB ID refer to section 4 6 1 NOTE The setting of the CAN ID is fixed in the ME3CAN1 L and cannot be changed Object 1015H 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 0 disables the inhibit time The ME3CAN1 L counting resolution is 1ms values smaller than 1 ms will set internally to 1ms values starting from 1ms will be divided by 1000 sa MITSUBISHI ELECTRIC Communication Profile Area Functions Object 1028H Sub index 01H 7FH Emergency consumer object This object configures the COB I
125. eck required 5 OD Indexes 1F85H to Request OD Index 1018H from NMT 1F88H Response No received and OK lave Keep alive bit for this NMT Slave set OD Index 1F81H Bit 4 No Check Configuration NMT Sei No Configuration check OK Start NMT error control service Start NMT error control service OK No Yes Check Node state Communication for this Node Node state received Yes rvice Reset No Node state Operational Yes Yes 1F80H Bit Yes OD Ind NMT Slave CANopen die shall be started by devices shall 1F81H Bit 2 NMT Master started No OD Index OD Index 3 1 Bit 1 CANopen devices shall be started individu ally No be Is NMT Master in NMT state Operational NMT Service Start Remote Node for this node End NMT Slave boot up with NMT Slave response not OK and X n 1 0 Un G25 bit 14 error and buffer memory area Un G401 Un G527 bit 4 error Fig 4 31 NMT Slave startup process 2 MELSEC L Series CANopen Module ME3CAN1 L Functions Network Management Object 1F81H Sub index 01H to 7FH NMT slave assignment This object configures on the NMT Master for each node ID corresponding to the sub index the node guarding values and the NMT Slave configuration Each sub index of this object corresponds to the
126. ed NMT service Start remote node excluding NMT master NMT Slave will be set into the NMT state Opera tional but the NMT Master will stay in its current NMT state Reserved NMT service Reset node excluding NMT master NMT Slave will be set into the NMT state Reset node but the NMT Master will stay in its current NMT state Reserved NMT service Reset communication excluding NMT master NMT Slave will be set into the NMT state Reset com munication but the NMT Master will stay in its cur rent NMT state Reserved Reserved NMT service enter Pre operational excluding NMT master NMT Slave will be set into the NMT state Pre opera tional but the NMT Master will stay in its current NMT state Reserved Tab 4 31 Description for object 1F82H MELSEC L Series CANopen Module ME3CAN1 L Functions Network Management 4 8 9 Request node guarding This object indicates the node guarding state fora unique CANopen device in the network The sub index corresponds to the node ID of the CANopen devices in the network The sub index 80H rep resents all nodes NOTE If node guarding is not set the node guarding will not start Object 1 83 Sub index 01H 80H Request node guarding Description Value hex Read Write 00 Node guarding stopped Stop node guarding 01 Node guarding started Start node guarding Reserved Tab 4 32 Description for object 1F83H 4 8
127. ed message 166 186 SetOnlineMode ConfigureMessage1 Completed SET Y3 SetOnlineMode RST Y3 ExchangeData X3 XI ME SET Y1 RST ExchangeData x1 1 BMOV 10006 MessagelData DataByte K4 RST YA END Fig 7 50 Example Program 3 Set online mode request data exchange copy received message MELSEC L Series CANopen Module ME3CAN1 L Layer 2 Communication Programming MELSEC L Series CANopen Module ME3CAN1 L 7 40 Error Processing and Recovery Method Troubleshooting 8 8 1 8 1 1 Status Troubleshooting Preliminary check by LED status Cause Error Processing and Recovery Method Action OFF The watchdog monitoring time has been exceeded Please consult your local Mitsubishi representative explaining a detailed description of the problem e The CAN controller is bus OFF e The CAN controller has too many transmission errors e Check the error status in Un G29 e Check the ERROR LED of the PLC e Check the sequence program for FROM TO watchdog FLICKERING LSS services in progress BLINKING General error Check the error status in Un G29 DOUBLE FLASH Error control event A NMT guarding failure NMT Slave or NMT Master or a heart beat failure heartbeat con sumer has occurred Check the error status in Un G29 SINGLE FLASH Warning limit reached Check that the terminating resi
128. ed to Flash ROMO Reference Section 0 19 System area 20 Data Exchange Control 3 5 1 21 Function mode v 3 5 2 22 Save Restore Configuration 3 5 3 23 System area 24 Baud Rate 3 54 25 Communication Status 3 5 5 26 System area 27 Node Address CANopen modes only System area Error Status System area CAN transmission error counter CAN reception error counter Baud Rate display Diagnose display for the current baud rate of the CAN Controller in multiples of 0 1kbps Sampling Point display Diagnose Display for the current sampling point of the CAN Controller in multiples of 0 1 Buffer memory setting error display Buffer memory initialization online mode write error display System area Producer consumer Year ru Month Time stamp Day CANopen modes Hour only Minute Second Day of the week Transmission interval Daily correction CANopen modes only o o m ojo jo jo System area NMT Start all Nodes delay CANopen modes only SDO Time out CANopen modes only System area 401 527 NMT error clear node NMT Error Control Status CANopen modes only 528 600 System area 601 726 727 NMT State CANopen modes only 728 749 System area 750 859 EMCY Message Buffer CANopen m
129. eful as the configuration of the local node can be programmed independently from the node address Command parameter data structure in Un G1005 to Un G1066 Address Decimal Description Tab 5 6 High Byte 2nd data byte Low Byte Command parameter data structure 1st data byte Ath data byte 3rd data byte 6th data byte 5th data byte 8th data byte 7th data byte 122nd data byte 121st data byte 124th data byte 123rd data byte sse MITSUBISHI ELECTRIC SDO Request Command Interface Example Setting Changing the NMT state of the whole network to state Operational The module needs to be active NMT Master Address Decimal Description Transmit message Receive message 1000 Command 0002H SDO write 0003H SDO write success 1001 Node number The ME3CANT L itself OH Node number read back OH the ME3CAN1 L 1002 Index Request NMT 1F82H Index read back 1F82H Request NMT 1003 Sub index all nodes 80H Sub index read back 80H all nodes 1004 Data length 1 byte 1 Unused 1005 1006 1066 Tab 5 7 Command parameter data NMT service Start remote node 05H Unused Unused Unused Example setting for changing the NMT state of the whole network to state Operational MELSEC L Series CANopen Module ME3CAN1 L Command Interface SDO Request 5 1 4 s MIT
130. emote nodes which are not assigned to the master via index 1F81H refer to section 4 8 6 NMT master start How to shift to NMT state Operational Bit 0 Shift automatically Bit 1 Do not shift automatically If this bit is set to 1 e The NMT Master has to be shifted manually into NMT state Operational This can be done by using the SDO write command for object 1F82H The start up process will be suspended as long the device is not in NMT State Operational Refer to section 4 8 8 and section 3 5 18 Start node How to start the NMT slaves Bit 0 The NMT master shall start the NMT slaves Bit 1 Not the NMT master but the PLC application shall start the NMT slaves If this bit is set to 1 e Consider the result behavior shown in fig 4 29 and fig 4 31 Reset all nodes Describes which NMT service shall be executed if an error control event occurs in an assigned manda tory NMT slave refer to section 4 8 6 Bit 0 NMT service Reset communication for the erroneous CANopen device Bit 1 NMT service Reset communication all nodes For optional NMT Slaves NMT service reset com munication for this device must be executed If bit 6 stop all nodes is set to 1 this bit setting will be ignored by the mandatory NMT slaves Flying master Bit 0 Do not use flying master service Bit 1 Use flying master service If the device is lost at the flying master negotia tion the device w
131. en Germany Tel 49 0 2102 4860 Fax 49 0 2102 4861120 info mitsubishi automation com https eu3a mitsubishielectric com
132. en Mode 3 5 19 NOTE NOTE RPDO Un G10000 Un G1 1023 TPDO Un G13000 Un G14023 For data transfer the buffer memory addresses Un G10000 to Un G11023 are used for Receive Pro cess Data Objects RPDO and Un G13000 to Un G14023 are used for Transmit Process Data Objects TPDO To ensure that the CANopen data are handled in a consistent way it is necessary to use the data exchange by Yn1 before reading PDO data and after writing PDO data The data exchange control sig nal ensures by internal buffer exchange which transmit data from the PLC will be transmitted within the same corresponding PDO at the same time Refer to section 3 3 2 The data will only be exchanged when the ME3CANT L is in Operational state Direct receive buffer memory access to the CiA 405 Object Use a FROM or MOV instruction to read data from the following locations The default RPDO mapping is assigned to unsigned 16 bit objects To change this setting please use the SDO commandin the CIF command interface referto sections 4 6 5 and 5 1 ora CANopenS net work configuration software If data are written with an SDO into the Object Dictionary to one of the buffer memory corresponding Index Sub index only the last written data are visible in the buffer memory The data of the corresponding Indexes Sub indexes are not synchronized to each other Signed and unsigned 8 bit object Index Hexadecimal Sub index Buffer memory address Unsigned 8 b
133. en 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 MELSEC L Series CANopen Module ME3CAN1 L Hl s e MITSUBISHI ELECTRIC Contents Contents 1 Overview 11 Introduction zac ei sss sg ESSA DINAN ANE ANOS 1 1 1 2 Features of the MEBCANI L ssssssssscssscsseesseccteseceses 1 1 1 3 Abbreviations and Generic TerMs s sssssssssssssssssessecssccsas 1 3 2 System Configuration 2 1 OVEIVIOW 2d BA Raa a ehe eo 2 1 2 2 Applicable Systemss ccsvas ismus e o UN PIO PLO be e y deb 2 2 2 3 Howto Check the Function Version and SerialNo ofthe Modules 2 2 24 SySteMm EqUIpMeNt sss sus ee emerit a SA Te brain LE ALA aw ai ec iR Ta Gn 2 3 3 Detailed Description of the Module 3 1 Part Names toc TA ts neha eas QE Ua entia KA ES kes 3 1 3 1 1 indicator LEDS 3722 sse I 3 2 3 1 2 Signal Layout of the Connector s kk mene 3 3 3 2 SPECIFICATIONS eis sss vna CN s gars ds EOS Gea eli 3 4 3 2 1 External DIMeCASIONS vos Rer A Sira 3 5 3 3 I O Signals for the Programmable ControllerCPU 3 6 3 3 1 Lis tO DI O SIQA S 16x155 kovek eros AE 3 6 332 Details 0 yu lk keda kasti kka
134. er memory configuration set Un G22 then turn Y n 1 F ON Tab 6 5 Start up procedure for 11 bit 29 bit CAN ID Layer 2 Mode 6 6 sse MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming 7 7 1 NOTES 7 1 1 Programming This chapter describes the programming of the CANopen module ME3CAN1 L The program shown in section 7 1 is an example of how to set local parameters set up a CANopen network and exchange data over the CANopen bus with the ME3CANT L Large networks can be configured more quickly and easily by using a CANopen configuration tool instead The example programs in section 7 2 show how to make Layer 2 communication In section 7 2 1 pre defined function blocks are used while section 7 2 2 shows programs without function blocks WARNING When applying the program example or parts of the program examples introduced in this chap ter to the actual system verify the applicability and confirm that no problems will occur in the system control CANopen PDO Communication using Function Blocks This program examples together with the function blocks can be downloaded from http eu3a mitsubishielectric com fa en in the MyMitsubishi section free registration necessary In the sample ladder programs labels are used For label setting operation on GX Works2 refer to the GX Works2 Operating Manual Simple Project System configuration The sample program sets up t
135. es The configuration must not be changed when the module is set to ONLINE before changing the configu ration set YnO to OFF configuration mode and wait until XnO is OFF module OFFLINE INIT The affected configurations buffer memories are Un G10000 to Un G10293 Un G6000 to Un G6167 and Un G8400 to Un G8402 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 e In error active state The node will actively mark the frame as invalid e n error passive state The node will not actively mark the frame as invalid to avoid bus disturbance if the node itself has an H W problem MELSEC L Series CANopen Module ME3CAN1 L Troubleshooting Error Code and Error Message Summary 8 2 Error Code and Error Message Summary 8 2 1 EMCY Emergency error codes Error code hex Description Send py MERCANTI Error reset or no error 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 Voltage inside the CANopen device generic Output voltage generic Temperature generic error Ambient temperature generic Device temperature generic CANopen device hardware generic error CANopen device software
136. es parameter A B and C D is stored into the internal buf fers and as this is the only message between 2 and 3 the high byte value is set to 03H The high byte value 07H after 4 shows that the buffer was overwritten at least once in this example two times since 3 The data bytes in the buffer memory are the data received with the last message 3 36 sse MITSUBISHI ELECTRIC Buffer Memory Details Layer 2 Message Mode Detailed Description of the Module Un G10007 ID 0184H ID 0180H NOTE In this example it is expected that the PLC program resets the RTR new DLC flags after reading the data at and A Example2V Filter setting 0000 0006H Layer 2 message 1 parameter A B 0000 0180H Layer 2 message 1 parameter C D 0000 0006H Un G10007 to Un G10013 store received messages with the CAN IDs 180H 182H 184H and 186H because the ID bits 1 and 2 are not evaluated NOTE In this case all four messages are stored in the same location If more than one of the messages with the ID 180H 182H 184H or 186H is received between two write operations Yn1 ON only the last received CAN ID DLC and data is available in Un G10007 to Un G10013 Relation between received CAN message Yn1 and RTR new DLC high byte is shown below CAN bus o ee mar ar Data A Data B Data C Data D O O Yn1 kai iM Si J Xni j B j
137. estos 4 3 4 6 Communication Profile 4 4 4 6 1 CAN ID7COB ID ay ss yan E ER ahead ERE X RR ER ER ESQ xa TE UA 4 18 4 6 2 Error Register ss ss eren saks d AERE ERU 4 19 4 6 3 Pre defined error field KK KK KK cnet kk enone 4 19 4 6 4 SDO mk Au s ARI UR ERE js 4 20 AUR RAS 4 20 4 6 6 SYNC zs us oma EPI eL 4 26 4 6 7 Node quardind sa aa cece cece IH Hh e hme 4 27 MELSEC L Series CANopen Module ME3CAN1 L VI Contents 46 8 Heartbeat 5 sin san EN EA VANIS 4 29 46 9 TIME i ia a 4 30 4 6 10 Storeparameters ss ssssssssssssssessseeseseseeeseecss 4 31 4 6 11 Restore default parameters ssseseseesesesessseeseso 4 31 4 612 UR Ce OR an bes o E ANS 4 32 47 Error Behavior ise el NAN eee IE AN ANAN POM PRA RON 4 34 4 8 Network Management cece cece cece heme heme 4 35 4 8 1 CANopen boot up procedure and NMT states sses esee cease 4 35 4 8 2 Boot Up protocol vs a E E Sie AN 4 36 4 8 3 NMT protocol node control sssssssscseeesesecectos 4 37 484 NMT slave identification ses KK meten 4 37 4
138. etOnlineMode ConfigureMessage1Completed 217 SET 18 SetOnlineMode 231 RST Y13 Copy message data CopyMessage1Data 233 MOV H2211 Message Data DataByte 0 MOV H4433 MessageiDataDateByte 1 H6655 Message1Data DataByte 2 MOV H8877 Message1Data DataByte 3 RST CopyMessage1Data Reguest data exchange ExchangeData X13 X11 Un 259 ME BMOV MessageiData DataByte G10003 K4 SET Y11 RST ExchangeData X11 283 f RST vn 285 END Fig 7 40 Example Program 3 Request online mode copy message data request data exchange MELSEC L Series CANopen Module ME3CAN1 L 7 35 Programming Layer 2 Communication Layer 2 Message Reception Local Label Setting Data Type Word Signed 0 1 Word Signed 0 1 Fig 7 41 Global Label Setting Local Label setting for this program example 1 Class Label Name Data Type 1 VAR GLOBAL ConfigureMessage1 Bit 2 VAR GLOBAL ConfigureMessage1Completed Bit 3 VAR GLOBAL SetOnlineMode Bit 4 VAR GLOBAL ExchangeData Bit 5 GLOBAL Message1Param Layer2MessageParameter 6 VAR GLOBAL Message1Data Layer2MessageData 7 VAR GLOBAL CopyMessage1Param Bit 8 VAR GLOBAL CopyMessage1Data Bit 9 Constant Device Detail Setti
139. etails Layer 2 Message Mode Detailed Description of the Module 3 6 4 Message transmit trigger flags Un G8400 Un G8402 The transmission of a message in Layer 2 mode can be triggered via the following flags Transmit requests on receive message slots are discarded refer to section 3 6 2 for details on configuring mes sage slots After setting these flags turn on Message transmit trigger request Yn4 to start triggering the mes sage transmission Ifa bitis setto 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 Message transmit trigger completed Xn4 will turn ON if all the messages are written into the transmit buffer Please refer also to section 3 3 1 Message trigger list Address Decimal Transmit request message slot Message slot 1 Message slot 2 Message slot 15 Message slot 16 Message slot 17 Message slot 18 Message slot 31 Message slot 32 Message slot 33 Message slot 34 Message slot 42 Reserved Reserved Tab 3 35 Allocation of the buffer memory addresses Un G8400 to Un G8402 MELSEC L Series CANopen Module ME3CAN1 L 3 39 Detailed Description of the Module Buffer Memory Details Layer 2 Message Mode 3 6 5 PLC RUN gt STOP messages Un G8450 Un G8477 In order to send messages in case of
140. ge cyclically One or more heartbeat consumer receives the indication The relationship between producer and consumer is configurable via the Object Dictionary The heart beat 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 ME3CANT L is configured as Flying Master the heartbeat producing and consuming is auto matically activated refer to section 4 8 10 Heartbeat producer Heartbeat consumers COB ID 1792 Node ID Indication Request Indication Indication 1017H Producer heartbeat time Request Indication 1016H Consumer heartbeat time Indication Indication s NMT slave state 0 Boot Up Event 4 Stopped 5 Operational 127 Pre operational Fig 4 17 Heartbeat Heartbeat produces a high bus load but only half that of node guarding Object 1016H Sub index 01H 7FH 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 consumer 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 Fig 4 18 Bit 31 Bit 24 Bit23 Bit 16 Biti15 BitO Bit allocation for
141. generic error Internal software generic User software generic Data set generic 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 8220 PDO length exceeded 8240 Unexpected SYNC data length 8250 RPDO time out 8F01 to 8F7F Life guard error or heartbeat error caused by Node ID 1 to Node ID 127 9000 External error generic error F000 Additional functions generic error FFOO Device specific generic error Tab 8 3 EMCY Emergency error codes according to CiA 301 NOTE More EMCY Emergency error codes are defined in the various CiA Device Application Profiles For the case of not listed EMCY Error codes please refer to the manual of the device which sends the message 8 4 sse MITSUBISHI ELECTRIC Error Code and Error Message Summary Troubleshooting 8 2 2 EMCY Manufacturer specific error codes Emergency Error code Manufacturer specific hex error code hex Description FFOO 4D45303031 MEOO1 Main unit program CPU error occurs 4045303032 Main unit state changed from RUN to STOP 6200 4D45303034 ME004 Module restart by Yn2 Refer to section 3 3 2 Tab 8 4
142. gned ParameterB Word Signed ParameterC Word Signed m ParameterD Word Signed i CanldLow Word Signed CanldHigh Word Signed RtrNewDLC Word Signed E 51 155 pede p J ons Nn Fig 7 34 Structured Data Type Layer2MessageParameter x Label Name Data Type Constant Comme DataByte Word Signed 0 3 Fig 7 35 Structured Data Type Layer2MessageData MELSEC L Series CANopen Module ME3CAN1 L 7 31 Programming Layer 2 Communication Forthe Global Labels Message1Param and Message1Data some detailed setting is required Click on Detail Setting in the Global Label Setting dialog refer to fig 7 32 and enter the appropriate data please refer to the program shown below Structure Device Setting Fig 7 36 Detailed setting for the Global Label Message1Param Structure Device Setting ___LabelName DataType Device Fig 7 37 Detailed setting for the Global Label Message1Data 7 32 se MITSUBISHI ELECTRIC Layer 2 Communication Programming Program Copy message parameter CopyMessage1Param 0 hl MOV HOFFFF MOV H7FFF MOV HO MOV K1000 DMOV Canld 0 MOV Canld 1 MOV H8 9 RST Message1Param ParameterA SetRTR setting here Message1Param ParameterB Settransmission type here Message1Para
143. he initial buffer memory and Object dictionary settings and starts PDO communication MELSEC L series PLC Terminating CAN Terminating resistor resistor ME3CAN1 L Remote I O Fig 7 1 System configuration for this example MELSEC L Series CANopen Module ME3CAN1 L 7 1 Programming CANopen PDO Communication using Function Blocks 7 1 2 Local Label setting B IS AHFS SBASBSBESSHROSSSSBB NS RSS Class Label Name Data Type CANID Word Unsigned Bit String 16 bit m VAR w CommandSequene jWoerdSiged Z j M VAR wjNMTMsserSeEfr 5 VAR m NMTMasterSetErorCount ____ word Sig ed ____________ 1 iw NMTMasterSetCompeted liii o VAR m NMTMasteSeOKComt WordSigeed 2 4 VAR m ConsumedNodeAddress _____ Word Signed 0 32 __________ 1 VAR Y ConsumerHeartbeatTime WordlSigned 03 M VAR f ConsumerSetupError VAR_ w ConsumerSetupEmorCouner Word Sigeed Z VAR f ConsumerSetupCompleted VAR m ConsumerSetupOkCountr WordjSigeed 1 VAR_ m ConsumingNodeD _________ wordSig ed_______ j V _ MAR Ems Bt 61 M VAR____v JErrorStatus Word UnsignedVBitSting 16bij M VAR wlExecuteMapping FR 3 j VAR 4 Word Unsigned BitSting 16b
144. heck for RTR e Bit 15 0 Send data frame Bit 15 1 Send RTR frame 2 Low byte Number of data bytes to transmit 0 to 8 High byte 00H No new data received e Bit 9 1 New frame received e Bit 8 1 New data received e Bit 10 1 Overflow 9 Low byte Data length count DLC of the received CAN frame Data bytes Data bytes 1 to 8 The number of attached data bytes is defined by DLC Tab 3 39 Function of Un G10000 to Un G10293 O n case more than one ID can pass the filter set in Un G6000 to Un G61 Received data bytes o 67 Refer to section 3 6 2 the received CAN ID might change and will always display the CAN ID DLC and data of the latest received message O Bit 15 defines if the message is transmitted as a data frame Bit 15 0 or a Remote Transmit Request frame Bit 15 1 Bit 12 1 enables a strict DLC check for received RTR frames If Bit 12 is 0 only the CAN ID of an inbound frame is checked for a match with a user message if the bit is 1 the CAN ID and the DLC of the RTR frame must match the user message to cause a response or UnXG8350 to Un G8352 flag to be set Bit 15 and Bit 12 cannot be set to 1 at the same time Bit 15 can be set to 1 if the parameter B refer to section 3 6 2 is set to 5FFFH Bit 12 can be set to 1 if the parameter B refer to section 3 6 2 is set to 6FFFH or 7FFFH If bit 8 of RTR new DLC is 1 a new message including new data has
145. ible settings are shown in the following table Set value Function Mode Description 11 11 bit CAN ID Layer 2 mode This mode supports the 11 bit CAN ID Layer 2 Message 29 29 bit CAN ID Layer 2 mode This mode supports the 29 bit CAN ID Layer 2 Message This mode supports the CANopen CiA 405 IEC 61131 3 Program mable Device Profile 405 CANopen 405 mode All other settings will generate an error in this case bit 6 in Un G29 is Other value set Refer to section 3 5 7 Tab 3 8 Function mode setting in buffer memory address Un G21 The buffer memory setting needs to be stored by Un G22 bit 0 and afterwards to be restarted by Yn2 to make the new settings effective Refer to section 3 5 3 and section 3 3 2 NOTE During a restart all Object Dictionary OD settings will be deleted when the CANopen mode is changed MELSEC L Series CANopen Module ME3CAN1 L 3 15 Detailed Description of the Module Buffer Memory Details CANopen Mode 3 5 3 NOTES 3 5 4 NOTES 3 16 Save Restore Configuration Un G22 This buffer memory specifies two bits that allow to restore the factory default configuration in the buf fer memory and to store the buffer memory configuration into the Flash ROM To execute the request please set Y n 1 F to ON refer to section 3 3 2 Both bits will be reset automatically if the restore or save procedure is completed and X n 1 F will turn ON Description Bit
146. ic representative Reserved The CAN controller has too many transmission errors Refer to section 3 5 8 Restart the Module Refer to section 3 3 2 Invalid data in the Flash memory might be caused by power loss during a write operation to the Flash ROM If this bit is not cleared after a module restart Yn2 or another power cycle please contact your Mitsubishi Electric representative The CAN controller is bus OFF FLASH memory error Invalid write access to configuration buffer memory while in ONLINE INIT mode Check user program do not write into configuration buffer memory when mod ule is ONLINE In Un G40 the buffer memory address where this failure occurred will be displayed Invalid write access in Layer 2 mode This bit is set if an attempt to write an invalid value into a buffer memory is detected Buffer memory setting error The target buffer memory address of the invalid write access is displayed in Un G39 Refer to section 3 5 10 Check Un G39 for buffer memory address and correct set value to valid range Reserved Extreme bus load can cause the internal queues to overflow Decrease the bus load At a low baud rate a too fast data exchange refer to sec tion 3 5 1 can overflow the CAN Transmit Buffer Depends also on the bus load of the CAN Internal data queue overflow Reserved This bit shows the CAN error active state passive state Bit 0 Error active state
147. ies CANopen Module ME3CAN1 L 5 1 Command Interface SDO Request 5 1 SDO Request The NMT Master Startup process uses SDOs An error may be returned by the CIF command interface if during command execution the NMT Master accesses the remote node at the same time 5 1 1 CIF SDO read access Execution procedure CIF SDO read access Write the command code 0004H for SDO read access to Un G1000 Write the Node number and the Index Sub index of the target Object Dictionary to Un G1001 to Un G1003 After writing all the necessary parameters turn ON Y n 1 7 in order to trigger the command execution If the command execution is finished X n 1 7 will be turned ON If the access has been successful Un G1000 will contain 5 and Un G1001 to Un G1003 will contain the node number index and sub index for verification purposes The length of the read data in byte will be stored in Un G1004 Un G1005 to Un G1066 Will contain up to 124 data bytes Buffer memory allocation Address Decimal Description Transmit message Receive message 1000 e 0005H SDO read success Command 0004H SDO read 000FH Error Refer to section 5 4 e FFFFH CIF Busy 1001 Node number Node number 0 read back 1002 Index Index read back 1003 Low byte Sub index High byte Reserved Sub index read back 1004 Unused Data length read back 1005 1066 Tab 5 2
148. ion Datatype Initial Index hex hex value 00 Highest sub index FEH 01 FE Signed integer 8 bit 0 00 Highest sub index 10H 01 10 Signed integer 8 bit 0 00 Highest sub index FEH 01 FE Unsigned integer 8 bit 0 00 Highest sub index 10H 01 10 Unsigned integer 8 bit 0 00 Highest sub index FEH 01 FE Signed integer 16 bit 0 00 Highest sub index 08 01 08 Signed integer 16 bit 0 00 Highest sub index FEH 01 FE Unsigned integer 16 bit 0 00 Highest sub index 08 01 08 Unsigned integer 16 bit 00 Highest sub index 01 FE Signed integer 32 bit 00 Highest sub index 01 04 Signed integer 32 bit A000 A007 A008 A040 A047 A048 AOCO AOC3 AOC4 A100 A103 A104 A1C0 A1C1 A1C2 o 2 ol o ol ol o 8l ol l Tab 4 34 Input network variables MELSEC L Series CANopen Module ME3CAN1 L 4 55 Functions Device Profile CiA 405 Index hex Sub index hex Description Initial Data type ue 00 Highest sub index U8 FEH A200 A201 Unsigned integer 32 bit R R 01 04 Unsigned integer 32 bit U32 0 R Highest sub index Float 32 bit Highest sub index Float 32 bit Real32 A240 A241 A242 Tab 4 34 Input network variables O The Default value is the initial value set after the power is turned ON or the PLC CPU is reset O Indicates whether reading from and
149. is disabled Doing so may cause malfunction The Default value indicated in the following tables is the initial value set after the power is turned on or the PLC CPU is reset Instructions for data exchange with the buffer memory Communication between the PLC CPU and the buffer memory of special function modules is per formed with FROM and TO instructions The buffer memory of a special function module can also be accessed directly e g with a MOV instruction The special function module addressed in this way can be mounted on a base unit or an extension base unit but not in remote I O stations Format of the device address Un Gn Un Head address of the special function module Gn Buffer memory address decimal For example the device address UZAG11designates the buffer memory address 11 in the special func tion module with the head address 3 X Y30 to X Y3F In this User s Manual the latter form of addressing is used throughout Forfull documentation of all the instructions with examples please refer to the Programming Manual for the MELSEC System Q and the L series As long as Un G25 bit 7 is ON Module is in initialization state any write access to the buffer memory is prohibited and will generate a Un G29 bit 5 error Refer to section 3 5 7 MITSUBISHI ELECTRIC Buffer Memory Overview Detailed Description of the Module 3 4 1 Buffer Memory Assignment Address Decimal Description Default Stor
150. it object Signed 8 bit object Hex Decimal lower 8 bit higher 8 bit lower 8 bit higher 8 bit EM lower 8 bit higher 8 bit 10000 10001 lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit Tab 3 22 Direct receive buffer memory access for unsigned and signed 8 bit objects sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module Index Hexadecimal Unsigned 8 bit object Signed 8 bit object Sub index Buffer memory address Hex Decimal 01 lower 8 bit 10508 higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit lower 8 bit higher 8 bit Tab 3 22 Directreceive buffer memory access for unsigned and signed 8 bit objects 9 Signed and unsigned 16 bit object Index Hexadecimal Unsigned 16 bit object Signed 16 bit object Sub index Buffer memory address Hex Decimal 1 10000 2 10001 10253 10254 10507 10508 10761 10762 11015 11016 11023 Tab 3 23 Directreceive buffer memory access for un
151. kbps 50m e 500 kbps 100m e 250 kbps 250m e 125 kbps 500m 100 kbps 600m e 50 kbps 1 000 m e 20 kbps 2 500 m e 10 kbps 5 000 m Connection cable The cable should conform to ISO11898 Recommended is a shielded 2x2 twisted pair cable with an impedance of about 120 Q refer to section 6 3 2 Connection to CANopen network via 9 pin D sub connector Insulation method Photocouplers are used to insulate the CAN input from the PLC e A DC DC converter is used to insulate the power supply from the CAN input Number of occupied I O points 32 points I O assignment Intelligent 32 points Internal current consumption 5 V DC 0 39 A Weight 0 14 kg Tab 3 4 Specifications of the ME3CAN1 L sse MITSUBISHI ELECTRIC Specifications Detailed Description of the Module 3 2 1 External Dimensions RUN CANRUN TX RX L ERR CANERR 45 45 Unit mm Fig 3 3 Dimensions ofthe ME3CAN1 L MELSEC L Series CANopen Module ME3CAN1 L Detailed Description of the Module I O Signals for the Programmable Controller CPU 3 3 3 3 1 NOTE I O Signals for the Programmable Controller CPU List of I O signals Note that the I O numbers X Y shown in this section and thereafter depend on the mounting posi tion resp on the start I O number or head address of the ME3CAN1 L This head address has to be added to the shown I O n
152. l error situation and are transmitted from an emergency producer on the CANopen device MELSEC L Series CANopen Module ME3CAN1 L 1 1 Overview Features of the ME3CAN1 L Network management NMT General NMT services Boot up Message Node guarding Master Slave Heartbeat Consumer Producer CANopen services according to CiA 302 V4 1 NMT master The network management provides services for controlling the network behavior 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 Flying master The flying master mechanism provides services for a hot stand by NMT master within a CANopen network Configuration manager The Configuration manager provides mechanisms for configuration of CANopen devices in a CANopen network SYNC producer The SYNC producer broadcasts the SYNC object The SYNC service provides the basic network synchronization mechanism Layer Setting Services master LSS according to the Standard CiA 305 V2 2 It is necessary to set the baud rate and node number of the CANopen devices But some CANopen devices e g devices with high IP protection like rotary encoders waterproof sensor etc don t have DIP switches for these setting Such devices must be configured by CAN using this LSS CANopen device profiles according to CiA 405 V2 0 Interface and Device Profile CiA9 405 V2 0 for
153. lave and assigned NMT master E to be started up by the tothis NMT master active NMT master these flying master shall switch to NMT slave mode Refer to section 4 8 10 Shall configuration and NMT service Start remote node be allowed in case of error control event or NMT boot slave NMT service Boot up e Refer to sections 4 8 1 4 8 2 and 4 8 12 Bit 0 Shall not be allowed Bit 1 Shall be performed Tab 4 30 Description ofthe configuration field sa MITSUBISHI ELECTRIC Network Management Functions Bit Item Description Remark Mandatory How shall the CANopen device be present prior to network start up Bit 0 May be present CANopen device is optional Bit 1 Shall be present CANopen device is mandatory e For mandatory slaves please consider the bit 4 and 6 of the object 1F80H Refer to section 4 8 5 For LSS slave this bit must be set to 1 to enable the LSS service for this NMT slave Refer to sec tion 4 8 11 Reset communication How shall the NMT service Reset communication be executed for the CANopen device Bit 0 May be executed at any time Bit 1 Shall not be executed when the CANopen device is in NMT state Operational When using flying master service all nodes reset communication command will be exe cuted during the flying master negotiation If heartbeat consumption is not configured for this node the NMT start up master will start
154. line mode Un G29 bit 5 is set to ON Message transmit trigger completed Xn4 Message transmit trigger request Yn4 The transmission trigger of a message in Layer 2 mode which is set in Un G8400 to Un G8402 must be started with a message transmit trigger request Yn4 The message transmit trigger completed signal Xn4 will turn ON when all the messages have been written into the transmit buffer Please refer also to section 3 6 4 sa MITSUBISHI ELECTRIC I O Signals for the Programmable Controller CPU Detailed Description of the Module ME3CAN1 L error XnF ME3CANT L error clear request YnF If one or more of the following bits in the buffer memory address Un G29 error state are turned ON XnF will be turned ON Bits 1 2 4 5 6 8 or 15 Please refer to section 3 5 7 If XnF is turned ON if necessary please take corrective action to remove the error cause and then turn ON YnF to clear the error signals XnF and the bits in the error state Un G29 fanewerror is generated while the ME3CANT L error clear request YnF is ON this will be cleared automatically After the ME3CAN1 L error clear request YnF is turned OFF the ME3CAN1 L will check for new errors again Error Un G29 OFF ON f ME3CAN1 Lerror XnF OFF ME3CAN1 L error clear reguest YnF OFF B ON Performed by the ME3CAN1 L Performed by the sequence program Fig 3 5 Timing ofthe signals XnF and YnF
155. m ParameterC Set cycle time here in ms Message1Param ParameterD Set CAN ID here H18FEE000 Canld Message1Param CanldLow Message1Param CanldHigh Set RTR and data length here Message1Param RtrNewDLC CopyMessage1Param Fig 7 38 Example Program 1 Copy message parameter MELSEC L Series CANopen Module ME3CAN1 L Programming Layer 2 Communication Set message parameter to module ConfigureMessage1 XI3 Un 110 ME MOV Message1Param ParameterA G6000 Un MOV Message1Param ParameterB G6001 Un MOV Message1Param ParameterC G6002 Un MOV Message1Param ParameterD G6003 Un MOV Message1Param CanidLow G10000 Un Message1Param CanldHigh G10001 Un MOV MessagelParam RrNewDLC G10002 KI TO TO un 163 Message1Param ParameterA G6000 M10 Un Message1Param ParameterB G6001 M11 Un Message1Param ParameterC G6002 M12 Un Message1Param ParameterD G6003 M13 Un Message1Param CanldLow G10000 M14 Un Message1Param CanldHigh G10001 M15 Un Message1Param RrNewDLC G10002 M16 M10 M11 M12 M13 M14 M15 M16 206 RST ConfigureMessage1 SET ConfigureMessage1Completed Fig 7 39 Example Program 2 Set message parameter to module 7 34 sse MITSUBISHI ELECTRIC Layer 2 Communication Programming Set online mode S
156. may be caused by CANopen device internal failures Object 1029H Sub index 01H Error behavior object Value hex Description Change to NMT state Pre operational only if currently in NMT state Operational No change of the NMT state Change to NMT state Stopped Not used Tab 4 26 Error class values PLCRUN STOP In case setting value 01H the ME3CAN1 L will change into Pre operational but can be set again to Opera tional also when the PLC is in STOP 4 34 sse MITSUBISHI ELECTRIC Network Management Functions 4 8 4 8 1 Network Management NMT provides services for controlling the network behavior of CANopen devices All CANopen devices of anetwork referred to as NMT slaves are controlled by services provided by an NMT master The NMT master is usually but not necessarily the application master The ME3CAN1 L supports the following master functions NMT start up master Flying master Configuration manager SYNC producer TIME producer LSS master CANopen boot up procedure and NMT states CANopen devices change to the NMT state Pre operational directly after finishing device initializa tion 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 start up master into the NMT state Operational Power ON Description
157. memory allocation Address Description Decimal Transmit message Receive message e 000BH Command success e 000CH Communication error e 000FH Error Refer to section 5 4 e FFFFH CIF Busy 0000H No Error 0001H EMCY Inhibit time not elapsed 0002H Device is not in CANopen State Operational or Pre Operational Command 000AH Send emergency message Emergency error code Low Byte Error register Refer to section 4 6 2 and section 4 6 12 e High Byte Byte 0 of Manufacturer specific error code msef Refer to section 4 6 12 Low Byte Byte 1 of msef High Byte Byte 2 of msef Unused Low Byte Byte 3 of msef High Byte Byte 4 of msef 1005 1066 Unused Unused 1004 Unused Tab 5 9 Buffer memory allocation when sending an emergency message O For Emergency error codes please refer to section 8 2 1 MELSEC L Series CANopen Module ME3CAN1 L 5 7 Command Interface Display Current Parameter 5 3 Display Current Parameter The command Display Current Parameter can be used to display the parameter of the last issued CIF command in Un G1001 to Un G1066 If a command caused an error this function allows the parameter which caused the error to be dis played and to make the necessary adjustments to the parameter set and PLC program Execution procedure Display current parameter Write the command code 0000H to Un G1000 TurnON Y n 1 7 in order to trigger th
158. mm or more AWG22 to AWG18 Impedance 120Q Tab 6 2 Specifications of the CAN bus cable The following table shows the relation between bus length and cable cross section Bus length m Cable cross section mm Length related resistance mQ m Oto 40 0 3 to 0 34 70 40to 300 0 34 to 0 60 lt 60 300 to 600 0 50 to 0 60 lt 40 600 to 1000 0 75 to 0 80 lt 26 Tab 6 3 Relation between bus length and cable cross section Grounding of the twisted pair cable For electromagnetic compatibility EMC it is recommended to ground the cable shield at both ends CANnode ss CANnode sss CAN node d 9 5 2 CAN_GND CAN_GND CAN_GND amp CAN L CAN L CAN L E CAN SHLD CAN SHLD CAN SHLD S lt CAN_H CAN_H CAN_H 5 E CAN V CAN V CAN V E e e Grounding resistance of Grounding resistance of 100 Q or less Class D 100 or less Class D Optional external supply for transmission hardware Fig 6 2 Connection of the CAN bus cable 6 4 sse MITSUBISHI ELECTRIC Wiring Setup and Procedures before Operation WARNING For safety always check the potential differences between the grounding points If potential differences are found proper measures must be taken to avoid damages MELSEC L series PLC Power CPU ME3CAN1 L supply Grounded mounting plate or
159. mmand with the parameters given in Un G1001 to Un G1066 After the command has been written to Un G1000 the result Un G1000 will display CIF busy FFFFH After the command written to Un G1000 has been processed the result Un G1000 will be set to the corresponding success failure code and will not contain the value FFFFH If any buffer memory from Un G1000 to Un G1066 is accessed by a write access while the CIF is busy the data is not written to the buffer memory area and the Command or parameter change while CIF was busy error is displayed in the result buffer memory This error status must be acknowledged reset by a special command to make the CIF available again refer to the next section 5 4 3 below pees Description Tab 5 13 galu Error message when a commandor parameter 1000 000FH Error change was attempted while CIF was busy 1001 Error Class FFFFH 1002 1066 Unused 5 4 3 Clear Reset the CIF was busy error To reset the CIF after a Command or parameter change while CIF was busy error refer to section 5 4 3 above FFFFH must be written to Un G1000 Then Y n 1 7 must be turned ON in order to trigger the command execution If the command execution is finished X n 1 7 will be turned ON The CIF is available again if Un G1000 contains 0000H MELSEC L Series CANopen Module ME3CAN1 L 5 9 Command Interface Error Messages 5 4 4 NOTE 5 4 5 5 4 6 5 10 SDO Error Node ID of an error and an error code ar
160. mp 9 9S amp 9 amp 9S S amp 9 amp 9S amp amp A KS S ST ST 55 55 ST H 5 e Tab 4 10 Mode 405 TPDO mapping parameter 4 14 sse MITSUBISHI ELECTRIC Communication Profile Area Functions Index hex Default value of sub index hex 01H Rw 02H R w 03H R W O 04H R W O 05H R w O 1A7C m A101F310 A101F410 A101F510 A101F610 0 o o o 1A7D A101F710 A101F810 A101F910 A101FA10 1A7E A101FB10 A101FC10 A101FD10 A101FE10 1A7F A1020110 A1020210 A102031 A102041 1A80 A1020510 A1020610 A102071 A102081 1A81 A1020910 A1020A10 A1020B1 A1020C1 1A82 A1020D10 A1020E10 A1020F1 A102101 1A83 A1021110 A1021210 A102131 A102141 1A84 A1021510 A1021610 A102171 A102181 1A85 A1021910 A1021A10 A1021B1 A1021C1 1A86 A1021D10 A1021E10 A1021F1 A102201 1A87 A1022110 A1022210 A102231 A102241 1A88 A1022510 A1022610 A102271 o jojo jojojo ojojoj jo A102281 1A89 A1022910 A1022A10 A1022B1 A1022C10 1A8A A1022D10 A1022E10 A1022F1 A1023010 1A8B A1023110 A1023210 A102331 A1023410 1A8C A1023510 A1023610 A102371 A102381
161. nfiguration maintenance servicing and testing of these prod ucts The installation should be carried out in accordance to applicable local and national standards Safety warnings in this manual In this manual warnings that are relevant for safety are identified as follows DANGER Failure to observe the safety warnings identified with this symbol can result in health and injury hazards for the user WARNING Failure to observe the safety warnings identified with this symbol can result in damage to the equipment or other property MELSEC L Series CANopen Module ME3CAN1 L General safety information and precautions The following safety precautions are intended as a general guideline for using PLC systems together with other equipment These precautions must always be observed in the design installation and operation of all control systems DANGER Observe all safety and accident prevention regulations applicable to your specific applica tion Always disconnect all power supplies before performing installation and wiring work or opening any of the assemblies components and devices Assemblies components and devices must always be installed in a shockproof housing fitted with a proper cover and fuses or circuit breakers Devices with a permanent connection to the mains power supply must be integrated in the building installations with an all pole disconnection switch and a suitable fuse Check power cables and line
162. ng HeartbeatProducerSetting 9999 9 i FF mjmqnrn StartProducerSetup e K3 rNodelD 0 TlitePreoperational si gs i i at l mi 2 roducerSetupCompleted roducerSetupError Fig 7 7 Example Program 3 MELSEC L Series CANopen Module ME3CAN1 L 7 7 Programming CANopen PDO Communication using Function Blocks Fig 7 8 Example Program 4 7 8 se MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming ConsumerSetupError e a ow m merSetupOkCounter Fig 7 9 Example Program 5 MELSEC L Series CANopen Module ME3CAN1 L 7 9 Programming CANopen PDO Communication using Function Blocks SlaveSettingsSetup StanNMTSlaveSetup e m lt PII I l TlitePreoperational TSlaveSetupError NMTSlaveSetCompleted NMTSlaveSetupError e Fig 7 10 Example Program 6 7 10 se MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming ReleaseAnaloginputdata StartSDOWrite e STliteHeartbeatActive STlitePreoperational WriteNodeAddress Writelndex Fig 7 11 Example Program 7 MELSEC L Series CANopen Module ME3CAN1 L 7 11 Programming CANopen PDO Communication using Function Blocks Fig 7 12 Example Program 8
163. ng Detail Se Fig 7 42 Global Label setting for this program example The Global Labels Message1 Param and Message1 Data are Structured Data Types i 3 NONE As Parameter E Global Label Global1 51 Program Setting E POU Program E MAIN 4j Program 2 Intelligent Function Module 4 Global Device Comment Local Label ii FB Pool E3 Structured Data Types 83 Layer2MessageData 83 Layer2MessageParameter 3 Local Device Comment Fig 7 43 Navigator window ofthe example project ParameterB Word Signed ParameterC Word Signed ParameterD CanldLow Word Signed Word Signed CanldHigh Word Signed RtrNewDLC i e ej Word Signed Fig 7 44 Structured Data Type Layer2MessageParameter sse MITSUBISHI ELECTRIC Layer 2 Communication Programming as aie ms a RUNG 7 Dase wosia iH Fig 7 45 Structured Data Type Layer2MessageData For the Global Labels Message1Param and Message1Data some detailed setting is required Click on Detail Setting in the Global Label Setting dialog refer to fig 7 42 and enter the appropriate data please refer to the program shown below Structure Device Setting Fig 7 46 Detailed setting for the Global Label Message1Param Structure Device Setting LabeNam Data ype
164. node ID ofa CANopen device in the network The sub index which corresponds to the node ID of the NMT Master is ignored To enable node guarding the configuration bit 0 the guard time and the retry factor need to be set Fig 4 32 Bit 31 Bit 16 Bit 15 Bit8 Bit 7 Bit 0 Bit allocation for NMT slave assignment Guard time The value for the guard time indicates the cycle time for the node guarding of the CANopen device The value is in units of ms The value 0 disables the node guarding of the CANopen device If the heartbeat consumer object is configured to a value 0 then the heartbeat mechanism will have priority over node guarding Setting range KO to K65535 6 Retry factor 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 the node guarding of the CANopen device Setting range KO to K255 Configuration Bit 7 Bit 5 Bit4 Bit 3 Bit 2 Bit 1 BitO Reset Fig 4 33 Bit allocation for the configuration field of NMT slave assignment Bit Item Description Remark e f the NMT master shall start up the NMT slave and or execute node guarding to the NMT slave it s mandatory to set this bit Bit 0 Remote node is NMT master or not M When using flying master service please con NMT slave j assigned sider that if flying masters are not the active Bit 1 Remote node is NMT s
165. nstallation of the ME3CANT L refer to the user s manual Hardware design maintenance and inspection for the CPU module used Handling Precautions The following are precautions for handling the ME3CAN1 L as a unit Do not drop the module or subject it to heavy impact Do not remove the printed circuit board of each module from its case This may cause a failure in the module Be careful not to let foreign objects such as wire chips enter the module during wiring In the event any foreign object enters remove it immediately Tighten the screws within the following torque range Screw location Tightening torque range CAN cable connector screw 4 40UNC screws 0 20 to 0 28 Nm Tab 6 1 Tightening torque MELSEC L Series CANopen Module ME3CAN1 L 6 1 Setup and Procedures before Operation Procedures before Operation 6 2 Procedures before Operation Start Module mounting Refer to the user s manual for the Add the ME3CAN1 L to the MELSEC L series system CPU module used Wiring Connect the CAN bus Refer to section 6 3 Perform the start up procedure Refer to section 6 4 Programming and debugging Create and check the seguence program Refer to chapter 7 Fig 6 1 Function chart for the setup of the CANopen module 6 2 sa MITSUBISHI ELECTRIC Wiring Setup and Procedures before Operation 6 3 6 3 1 Wiring Wiring Precautions Please ob
166. nternal buffer This buffer can store up to 22 emergency messages and is separated in an 11 message stack buffer Un G750 to Un G804 and an 11 message ring buffer Un G805 to Un G859 The stack buffer will store the first 11 emergency messages received after power on or after the Emer gency 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 buf fer The stack buffer will not be overwritten To ensure that the EMCY data are handled in a consistent way it is necessary to refresh the data before reading the EMCY data turn Xn1 ON refer to section 3 3 2 To clear the entire buffer write OH to Un G750 Address Description Decimal High byte The node ID number which sent the emergency message to the network is displayed Emergency Error code O oldest message Byte 0 of manufacturer spe EMERGENCY data cific error code msef Byte 2 of msef Byte 1 of msef Error register Byte 4 of msef Byte 3 of msef Stack buffer The node ID number which sentthe emergency message to Mode ID the network is displayed Emergency Error code O newest message EMERGENCY data Byte 0 of msef Error register Byte 2 of msef Byte 1 of msef Byte 4 of msef Byte 3 of msef The node ID number which sent the emergency message to Harm the network is displayed
167. odes only 860 999 System area 1000 1066 Command Interface 1067 5000 System area 5001 5042 Tab 3 6 Message Slot error code list Layer 2 function modes only Buffer memory assignment of the ME3CAN1 L MELSEC L Series CANopen Module ME3CAN1 L 3 13 Detailed Description of the Module Buffer Memory Overview 3 14 Address Decimal Description Default Stored to Reference Flash ROMO Section 5043 5999 System area 6000 8167 Pre defined Layer 2 message configuration Layer 2 modes only 8168 8349 8350 8352 System area Layer 2 RTR flags Layer 2 modes only 8353 8399 System area 8400 8402 Message transmit trigger flags Layer 2 modes only 8403 8449 System area 8450 8477 PLC RUN gt STOP messages Layer 2 modes only 8478 9999 System area Layer 2 modes only 10000 10293 Receive Transmit Process Data From 10294 System area 405 Mode on ly 10000 11023 Receive Process Data RPDO 11024 12999 System area 13000 15047 Transmit Process Data TPDO From 15048 Tab 3 6 O Indicates whether reading from and writing to a sequence program are enabled System area Buffer memory assignment of the ME3CAN1 L R Read enabled W Write enabled Only in Layer 2 mode the contents of some buffer memory addresses is stored into
168. on is started Case 1 Inhibit time 0 Event time 0 Buffer memory data 0001H 3528H Data exchange request Yn1 Object Dictionary TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 Fig 4 9 Relationships for inhibit time and event time 0 If the data exchange request is triggered by Yn1 and the data in the buffer memory is different to the data in the Object Dictionary the buffer memory data will be copied to the Object Dictionary Then a PDO will be created and sent to the CAN bus If the data are the same no PDO will be sent even if the data exchange is triggered by Yn1 Case 2 Inhibit time gt 0 Event time 0 Buffer memory data Data exchange request Yn1 Object Dictionary TPDO 1 Inhibit time TPDO 1 Event time CAN Bus TPDO 1 Fig 4 10 Relationships for inhibit time gt 0 and event time 0 The behavior is the same as for case 1 but with the following condition added APDO will only be sent if the inhibit time is not active and the data exchange is requested 4 24 MITSUBISHI ELECTRIC Communication Profile Area Functions Case 3 Inhibit time 0 Event time 50 Buffer memory data 0001H Data exchange request Yn1 Object Dictionary TPDO 1 Inhibit time TPDO 1 Event time 3528H CAN Bus TPDO 1 Fig 4 11 Relationships for inhibit time 0 and event time gt 0 The behavior is the same as for case 1 but with the following condition added APDO will also be sent whenever
169. onfiguration a NMT Reset communication all Nodes and NMT Start all Nodes The value in Un G70 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 500 ms The setting range is 0 ms to 65535 ms For the NMT Startup process please refer to section 4 8 5 SDO Time out Un G71 In Un G71 the time out for SDO communication is set The value can be set in ms default 500 ms The setting range is 50 ms to 32767 ms For SDO please refer to section 4 6 4 NMT Error Clear Node Un G400 Un G400 specifies the number of the node whose NMT errors are to be cleared To clear the NMT errors of all nodes UnXG401 UnG527 write 0000H to this buffer memory address This is also the default setting After writing a value to this Un G400 please execute the NMT error clear by setting the output Y n 1 0 to ON Please refer to section 3 3 2 MELSEC L Series CANopen Module ME3CAN1 L 3 21 Detailed Description of the Module Buffer Memory Details CANopen Mode 3 5 15 NMT Error Control Status Un G401 Un G527 The buffer memory addresses Un G401 to Un G527 display the Node Guarding and Heartbeat status Address Decimal Description Tab 3 16 Allocation of the buffer memory addresses 401 Node 1 status UmG401 to Un G527 402 Node 2 status 403 Node 3 status 404 Node 4 status
170. ontroller CPU 3 10 EMCY message available X n 1 1 EMCY message area clear request Y n 1 1 If there is at least one CANopen emergency received reception of an Emergency message from at least one activated EMCY consumer objects the EMCY message available X n 1 1 will turn ON To clear all EMCY messages turn ON the EMCY message area clear request Y n 1 1 All EMCY messages will be then cleared and the EMCY message available X n 1 1 will be turned OFF If anew EMCY message is received while the EMCY message area clear request Y n 1 1 is ON this will be cleared automatically After the EMCY message area clear request Y n 1 1 is turned OFF the ME3CAN1 L will store the newly received EMCY messages again For more error details please refer to the sections 4 6 12 and 3 5 17 EMCY message available X n 1 1 OFF EMCY message area clear request Y n 1 1 OFF ON po j EMCY messages No EMCY data data No EMCY data cleared available Performed by the ME3CAN1 L Performed by the sequence program Fig 3 6 Timing of the signals X n 1 1 and Y n 1 1 Time stamp setting completed X n 1 2 Time stamp set request Y n 1 2 After setting the necessary time stamp information in Un G50 to Un G58 please turn ON the time stamp set request Y n 1 2 After the setting is finished the time stamp setting completed signal X n 1 2 will be turned ON and the request
171. orks as NMT slave When using flying master service all NMT mas ters in the network need to be set as flying master When using flying master service additional set tings need to be considered refer to section 4 8 10 Stop all nodes How to stop nodes if an error control event occurs in an assigned mandatory NMT slave Bit 0 Do not stop all nodes Bit 1 Stop all nodes Tab 4 29 Description of object 1F80H NMT start up MELSEC L Series CANopen Module ME3CAN1 L If this setting is set to 1 the bit 4 setting is ignored Torestart the network the NMT master has to be reset manually by Yn2 or by executing the SDO write command for the object 1F82H to execute the NMT service Reset communication or Reset node for all nodes Refer to sections 3 3 2 4 8 8 and 3 5 18 Functions Network Management 4 8 6 NOTE NMT slave start up This setting is optional Depending on the setting the NMT master shall start up the NMT slave In this case the NMT start up master uses the indexes 1F84H to 1F88H refer to section 4 8 4 to identify the NMT slaves during boot up To check whether the NMT slave is available in the network the NMT start up master will request the index 1000H of the NMT slave If there is no response to this request the NMT master will retry the request after 1 s until the NMT slave responds to the request or until the boot time for mandatory slave elapses without a response refe
172. outer WerdSigee BVR Bt J 119 v w StrCommuicaion Bt 120 VAR lt SlaveSetingsSetup Bt J 1 dz v T StartNode WordfSignedj 122 v Y NumberONodes M 123 V m STieOperaiona RE 124 V w NMTStsusRead NMTSGus 1 1 a 125 V CheckNMIStatus Bit 126 V HeartbeatStatusRead HeartbeatStatus 7 127 v Y CheckHearbeatStatus Di 1 4 1128 v Stopped Bit ia M29 VAR Sim Bit Jj MIR wjRedk lm 1 BI VAR w ResetHeartbeatro 5 132 wjHeabbeatrr MBR 4 133 jv Y TimeReceived 4 134 VAR NMTSlaveStartup Bit 135 V LssMasterRoutineActive lim P 136 V WriteOkCounter WeordSiged 137 V m ReadOkCounter WeordSiged LI 338 V w ReadDataiog Word UnsignedJBitSting 16 bi 0 3 Fig 7 4 Local Label for this example 3 MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming 7 1 3 Program Fig 7 5 Example Program 1 MELSEC L Series CANopen Module ME3CAN1 L 7 5 Programming CANopen PDO Communication using Function Blocks NMTMasterSetCompleted NMTMasterSetError Fig 7 6 Example Program 2 7 6 se MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programmi
173. pError Bit FF 0 1 VAR m PDOSeupEnCounter WordSimdQ VAR v PDOSetupOkCounter Word Signed Ez VAR m PDOSetupProcessing Bit 8 60707 VAR m PdoWrite PDOWrite 5 5 VAR PDOWriteData Word Unsigned BitSting 16 bi 0 3 E VAR m Preoppaima MAA JL Fig 7 2 Local Label for this example 1 sse MITSUBISHI ELECTRIC CANopen PDO Communication using Function Blocks Programming Class Label Name Data Type 50 VAR_w ProducerHeartbeatTime ______ Word Signed 0 32 51 VAR iw ProducerNodeID WordSigned 039 ___________ 52 VAR w ProducerSetupError Bt o xj 53 VAR iw ProducerSetpEmorCouter WordSigeed 1 1 o 54 VAR iw ProducerSeupCompeed Gi O Z 55 VAR w ProducerSetupOkCounter Wod ge Cid 56 VAR iw SDOReadCompeted Cd 57 VAR mw ReadData Word Unsigned BitStingr bi 0 61 58 VAR w ReadDatalength WodSgml 59 VAR v SDOReadErrorCode Double Word Unsigned BitSting 32 bi 60 VAR w sbOReaEmr Bt 4 j 61 VAR iw SDOResdEmorCouter j WordSiged 62 IVAR w Readndex Word UnsignedVBitString 16 bi 63 VAR w ReadNodeAddess WordSimlQ 64 VAR w ReadSubindex ___________ word Unsigned Bit String 16 bit 65 VAR w ReceiveOrTransmit_ sd 66 VAR w ReleaseAnalognpudaa
174. pt CANopen specific functions The buffer memory addresses of the Emergency Message Buffer and the Heartbeat Node Guarding Status are not active 3 6 1 Message Slot specific error code list Un G5001 Un G5042 The Message Slot specific error code list contains an error for each message slot Address Decimal Description 5001 Message 1 error code Message 2 error code 5002 5042 Error code Message 42 error code Description 0000H No error code 2000H Receive buffer overflow Tab 3 28 Allocation of the buffer memory addresses Un G5001 to Un G5042 Tab 3 29 Error code in Layer 2 messages sse MITSUBISHI ELECTRIC Buffer Memory Details Layer 2 Message Mode Detailed Description of the Module 3 6 2 NOTES Pre defined Layer 2 message configuration Un G6000 Un G6167 The parameters of a Layer 2 message number are usedto define ifthe corresponding Layer 2 message number in Un G10000 Un G10293 is a transmit or receive message Address wee Decimal Description Default Remark 6000 Layer 2 message 1 parameter A FFFFH 6001 Layer 2 message 1 parameter B FFFFH Layer 2 message 1 parameter R W 6002 Layer 2 message 1 parameter C 0000H 6003 Layer 2 message 1 parameter D 0000H 6004 Layer 2 message 2 parameter A FFFFH 6005 Layer 2 message 2 parameter B FFFFH Layer 2 message 2 parameter 6006 Layer 2 message 2 parameter C 0
175. published as CiA specifications http can cia org Receive Process Data Objects are data read from other nodes via the CAN bus Transmit Process Data Objects are data send to other nodes via the CAN bus Command interface used to access the Object Dictionary of the local node or a network node Service Data Object Synchronization object Emergency object Network management Layer Setting Services Remote transmission request Object dictionary The object dictionary is an array of variables with a 16 bit index Additionally each varia ble can have an 8 bit subindex The variables can be used to configure the device and reflect its environment i e contain measurement data Communication object identifier Identifier that contains the CAN ID and additional control bits Concise Device Setting File Tab 1 1 Abbreviations and general terms MELSEC L Series CANopen Module ME3CAN1 L 1 3 Abbreviations and Generic Terms Overview MELSEC L Series CANopen Module ME3CAN1 L 1 4 Overview System Configuration 2 2 1 System Configuration Overview The ME3CANT L can be connected to a CPU module an extension module or a CC Link IE Field net work head module of the MELSEC L series CANopen Node ME3CAN1 L CAN bus network Terminating resistor Terminating resistor CANopen Node ME3CAN1 L Fig 2 1 ME3CAN1 L connected to a L
176. r SDO access error code Node number VD Index Success Node number read back Error High Byte OFH Low Byte Node number read back Index read back e Low byte Sub index e High byte reserved Data length in byte Sub index read back Unused Command parameter data 1 to 8 byte 1065 1066 Unused e Success Unused e Error SDO access error code Unused Tab 5 8 Buffer memory allocation for CIF Multi SDO write access Node number 0 is accessing the local ME3CAN1 L modules Object Dictionary regardless of its real node address This is useful as the configuration of the local node can be programmed independently from the node address O If the final setting is located before Un G1057 write FFFFH in the last buffer memory address Node number Send an Emergency Message Command Interface 5 2 Send an Emergency Message This command can be used to send an emergency message by the PLC to the CANopen network Execution procedure Send an emergency message Write the command code 000AH to Un G1000 Write the Emergency error code Error register and Manufacturer specific error code that will be sent as the Emergency Message to Un G1001 to Un G1004 Unused emergency data bytes have to be filled with 00H After writing the necessary command parameters turn ON Y n 1 7 to execute the command If the command execution is finished X n 1 7 will be turned ON Buffer
177. r to fig 4 28 The index 1F89H Boot time refer to page 4 45 shall be set to a value higher than the maximum NMT start up time of the slowest mandatory slave This time is measured from power on restart of the NMT master until the point where the last mandatory slave gets to the NMT state Operational If identification data of NMT slaves doesn t match to the setting in the NMT Master the whole NMT startup process will be stopped and the NMT start up master will be disabled If the identification is successful the configuration manager configures the NMT Slave at the time when configuration data are stored in the NMT Master Refer to section 4 8 12 Depending on the setting the NMT master then sets the NMT slave into the NMT state Operational To get the CANopen network work properly it is recommended to assign all CANopen devices which are NMT slave to the NMT master OD Index 1F81HBItO NMT Slave startup process OD Index 1F81HBit2 NMT Slave Request OD Index shall be started by 1000H from NMT Master NMT Slave Node is assigned NMT Slave No Response received End boot up with no NMT Slave response receive NMT Slave device type equal or don t care To the next page Fig 4 31 NMT Slave startup process 1 sse MITSUBISHI ELECTRIC Network Management Functions Continued from the previous page OD Indexes 1F85Hto 1F88H Identity ch
178. re may be a time jitter in transmission by the SYNC producer corresponding approximately to the latency from some other message being transmitted just before the SYNC SYNC producer SYNC consumers Request Indication Mi Indication Indication SYNC Object SYNC triggered PDO Objects a Communication cycle period me Fig 4 14 Transfer of a SYNC message 4 26 s e MITSUBISHI ELECTRIC Communication Profile Area Functions 4 6 7 Object 1005H COB ID SYNC message In order to guarantee timely access to the network the SYNCis given a very high priority CAN ID Bit 31 Bit 30 Bit 29 Bit 11 Bit 10 Bit 0 Fig 4 15 Bitallocation for object 1005H COB ID SYNC message Bit Item Description X Do not care Bit 0 Don t generate SYNC message Bit 1 Generate SYNC message NOTES The device needs to be active NMT master to produce SYNC messages Before activating SYNC generation the communication cycle period has to be set up 11 bit CAN ID of the CAN base frame Refer to section 4 6 1 11 bit CAN ID Tab 4 20 Description for object 1005H COB ID SYNC message Object 1006H Communication cycle period The object 1006H provides the communication cycle period This period defines the SYNC interval The 32 bit value is given in us units The ME3CANT L counting resolution is 1 ms values smaller than 1 ms will set internally to 1 ms values starting from 1 ms will be divided by 1000 The value
179. resistor resistor Fig 7 30 System configuration for this example The ME3CAN1 L must be set to the 29 bit CAN ID Layer 2 mode beforehand Please refer to section 3 5 2 Layer 2 Message Transmission Local Label Setting Fig 7 31 Local Label setting for this program example Global Label Setting Label Name 1 VAR GLOBAL ConfigureMessage1 2 VAR GLOBAL ConfigureMessage1Completed 3 VAR GLOBAL SetOnlineMode 4 VAR GLOBAL ExchangeData 5 VAR GLOBAL MessagelParam Layer2MessageParameter 6 VAR GLOBAL Message1Data Layer2MessageData 7 VAR GLOBAL CopyMessage1Param Bit 8 VAR GLOBAL CopyMessage1Data 9 Fig 7 32 Global Label setting for this program example sse MITSUBISHI ELECTRIC Layer 2 Communication Programming The Global Labels Message1Param and Message1 Data are Structured Data Types Fig 7 33 i Navigation ax Navigator window of the example project ke da o la Fp Zi Parameter 34 Intelligent Function Module 4 Global Device Comment Global Label Global E Program Setting EM POU E Program E O MAIN 8 Program Local Label Pool E 63 Structured Data Types 83 Layer2MessageData 83 Layer2MessageParameter 3 Local Device Comment Device Memory M Device Initial Value Label Name Data Type Constant Comme ParameterA Word Si
180. rt 0 All nodes 2 Stop 1 127 Selected node 128 Pre operational 129 Reset application 130 Reset communication Fig 4 27 Node control NMT slave identification The NMT start up master and the LSS master are using the NMT slave identification data to identify the NMT slave before configuring the NMT slave If the configured identification data on the NMT master and the response from the NMT slave are different the NMT start up master service will stop the start up of this NMT slave The sub index corresponds to the NMT slave Node ID The default value 0 means 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 1F84H Sub index 01H to 7FH Device Type The sub index corresponds to the node ID The value refers to the object 1000H sub index 00H of the corresponding node ID Object 1F85H Sub index 01H to 7FH Vendor identification The sub index corresponds to the node ID The value refers to the object 1018H sub index 01H of the corresponding node ID Object 1F86H Sub index 01H to 7FH Product code The sub index corresponds to the node ID The value refers to the object 1018H sub index 02H of the corresponding node ID MELSEC L Series CANopen Module ME3CAN1 L 4 37 Functions Network Management 4 8 5 Object 1F87H Sub index 01H to 7
181. s connected to the equipment regularly for breaks and insulation damage If cable damage is found immediately disconnect the equipment and the cables from the power supply and replace the defective cabling Before using the equipment for the first time check that the power supply rating matches that of the local mains power Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot cause undefined states in the equipment You are responsible for taking the necessary precautions to ensure that programs interrupted by brownouts and power failures can be restarted properly and safely In particular you must ensure that dangerous conditions cannot occur under any circumstances even for brief periods EMERGENCY OFF facilities conforming to EN 60204 IEC 204 and VDE 0113 must remain fully operative at all times and in all PLC operating modes The EMERGENCY OFF facility reset function must be designed so that it cannot ever cause an uncontrolled or undefined restart You must implement both hardware and software safety precautions to prevent the possibil ity of undefined control system states caused by signal line cable or core breaks When using modules always ensure that all electrical and mechanical specifications and requirements are observed exactly Il s e MITSUBISHI ELECTRIC Symbols used in the Manual Use of notes Notes concerning important information are marked separately and are displayed as follo
182. s is shown in the following table Ser vices in the listed communication objects may only be executed if the CANopen 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 NMT state Communication Object Pre operational Operational Stopped PDO O e O SDO e e O SYNC e e O EMCY e O TIME e e O Node control and error control e e e Tab 4 28 Relation between communication objects and NMI states Applicable O Not applicable 4 8 2 Boot Up protocol The boot up 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 0 Boot up producer Boot up consumers Request COB ID 1792 Node ID Indication Fig 4 26 Protocol Boot Up 4 36 sse MITSUBISHI ELECTRIC Network Management Functions 4 8 3 4 8 4 NMT protocol node control The NMT protocol is used by the NMT Master to control the NMT state of remote nodes Only the NMT Master is allowed to produce this protocol The active NMT master ignores NMT messages with the Node ID 0 all nodes NMT Master NMT Slaves CAN ID 0 specifier Request Indication a Indication Indication Command specifier 1 byte Node ID 1 byte 1 Sta
183. s less than minimum value 060A 0023 Resource not available SDO connection 0800 0000 General error 0800 0020 Data cannot be transferred or stored to the application 0800 0021 Data cannot be transferred or stored to the application because of local control 0800 0022 Data cannot be transferred or stored to the application because of the present device state 0800 0023 Object dictionary dynamic generation fails or no object dictionary is present 0800 0024 No data available 5000 0000 Time out or impossible to allocate identifier for SDO transmission or Protocol mismatch Buffer too small for received SDO data this error will occur during initialization of the 6060 0000 SUSA transmission Tab 8 5 SDO Access abort codes NOTE More SDO Access abort codes are defined in the various CiA Device Profiles and by the device manufacturer For the case of not listed SDO Access abort codes please refer to the manual of the device which responds the SDO Access abort code MELSEC L Series CANopen Module ME3CAN1 L 8 5 Troubleshooting Error Code and Error Message Summary 8 6 sse MITSUBISHI ELECTRIC Index B Buffer memory Overview 3 13 Structure 3 12 C CAN bus Termination 6 5 Wiring emm tee 6 4 CAN ERR LED ug x aceti e Rep HOM e eh 3 2 CAN RUN LED 3 2 CANopen Function modes
184. s set to 5FFFH the ME3CANT L will discard any incoming RTR telegrams matching the CAN ID of this Layer 2 message slot NOTE The Layer 2 implementation of the ME3CANT L can handle up to 28 transmit slots with RTR han dling Parameter B 7FFFH or 6FFFH If the configuration violates this rule the first 28 transmit message configurations remain as they are and any further transmit messages parameter B is forced to 5FFFH Refer to section 3 6 3 3 34 sa MITSUBISHI ELECTRIC Buffer Memory Details Layer 2 Message Mode Detailed Description of the Module Transmission Layer 2 message n parameter C transmission type The transmission type defines under which conditions a transmit message is sent Transmission type exis Description transmission trigger event When Yn1 is set to ON the Layer 2 message is always transmitted When Yn1 is set to ON the Layer 2 message is transmitted However if data has not been changed it is not transmitted Time triggered e Data refresh by Yn1 e Time set by parameter D cycle time Time triggered e Data refresh by Yn1 e Time set by parameter D cycle time e Message is not sent if data did not change On request or PLC User trigger only Tab 3 32 Description ofthe setting values for transmission type O The request via RTR frames works for a maximum of 28 transmit messages Additionally the transmission can be triggered if the corresponding flag in Un G
185. serve the following precautions for external wiring Perform class D grounding grounding resistance 100 0 or less to the shield ofthe twisted shield cable refer to section 6 3 2 Do not use common grounding with heavy electrical systems Always confirm the connector layout before connecting the CAN bus to the ME3CAN1 L For the signal layout of the connector please refer to section 3 1 2 Make sure to properly wire to the CAN bus connector in accordance with the following precautions Failure to do so may cause electric shock equipment failures a short circuit wire breakage malfunc tions or damage to the product The 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 connector nor the connected parts are directly stressed Make sure that foreign matter such as cutting chips and wire scraps does not enter the ME3CANT L Failure to observe this could lead to fires faults or malfunctioning Make sure to affix the CAN bus connector with fixing screws Tightening torque should be within 0 20 to 0 28 Nm Loose connections may cause malfunctions Do not disconnect the CAN bus ca
186. signal can be turned OFF When the ME3CANT L is the current network master and Pro ducer then the first time stamp will be sent Time stamp information is available in buffer memory X n 1 3 Time stamp read request Y n 1 3 To read the time stamp please set the time stamp read request Y n 1 3 to ON The time stamp information will be stored in the buffer memory addresses Un G50 to Un G58 and the time stamp information is available in buffer memory X n 1 3 signal will be turned ON to indicate that actual time stamp information is available Command 1 execution completed X n 1 7 Command 1 execution request Y n 1 7 These signals are used for execution of Command Interface 1 After writing the necessary command parameter refer to section 3 5 18 turn ON Y n 1 7 to execute the command If the command execution is finished X n 1 7 will be turned ON sa MITSUBISHI ELECTRIC I O Signals for the Programmable Controller CPU Detailed Description of the Module Save configuration Restore factory default completed X n 1 F Save configuration Restore factory default configuration request Y n 1 F These signals are used to execute the save configuration restore factory default request The request must be specified in Un G22 Save Restore Configuration refer to section 3 5 3 After that the request can be executed by setting Y n 1 F to ON When the request is completed the corresponding bits in Un G22 will be cleared an
187. signed and signed 16 bit objects MELSEC L Series CANopen Module ME3CAN1 L Detailed Description of the Module Buffer Memory Details CANopen Mode Signed unsigned and float 32 bit object Index Hexadecimal Sub index Buffer memory address Float 32 bit Unsigned 32 bit Signed 32 bit Hex Decimal object object object 10000 10001 10002 10003 10506 10507 10508 10509 11014 11015 11016 11017 11022 11023 Tab 3 24 Directreceive buffer memory access for float unsigned and signed 32 bit objects 3 28 sse MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module Direct transmit buffer memory access to the CiA 405 Object Use a TO or MOV instruction to write data to the following locations The default TPDO mapping is assigned to unsigned 16 bit objects To change this setting please use the SDO command in the CIF command interface refer to sections 4 6 5 and 5 1 or CANopen net work configuration software NOTE Data written to the buffer memory will only be copied into the Object Dictionary OD when they are mapped into a PDO Example Un G13000 is assigned to the OD Indexes Sub indexes A240H 01H A200H 01H A1COH 01H A100H 01H AOCOH O1H 02H and A000H 01H 02H If none of these indexes are mapped into a TPDO the data will not copy from the buffer memory into one of th
188. software has a problem with the automatic transfer of the CDCF If the ME3CANT L responds to a SDO write access to a sub index with an SDO access Error flash ROM busy errors will occur In this case please use the selective file download if supported All 1F22H sub indexes can also be deleted by the restore default parameter command refer to section 4 6 11 The self configuration by configuring the sub index of the self node ID is not supported The CDCF data will be directly stored in the flash ROM A store parameter command by using the object dictionary index 1010H is not necessary refer to section 4 6 10 MELSEC L Series CANopen Module ME3CAN1 L 4 53 Functions Network Management Object 1F25H Sub index 01H 80H Configuration request initiate a configuration request for a CANopen node use the SDO write command in the CIF com mand interface refer to section 5 1 3 and write 666E6F63 ISO8859 string code conf to the cor responding sub index of the ME3CAN1 L The sub index 80H 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 will be generated If no data are stored for the Node ID in sub index 01H to 7FH a SDO error 08000024H will be generated A configuration request to the self node ID will be ignored Object 1 26 Sub index 01H 7FH Expected configuration da
189. ss is detected The content of Un G39 shows the buffer memory address where this failure occurred In case of a multiple write error the first failure will be displayed The buffer memory will be reset by set ting YnF to ON Buffer memory initialization online mode write error display Un G40 If a write access is done while the module is in Layer 2 online mode or in initialization mode bit 5 of Un G29 is set to 1 and Un G40 indicates the buffer memory address where this failure has occurred In case of a multiple write error the first failure will be displayed The buffer memory will be reset by setting YnF to ON MELSEC L Series CANopen Module ME3CAN1 L 3 19 Detailed Description of the Module Buffer Memory Details CANopen Mode 3 5 11 NOTES Time stamp Un G50 Un G59 CANopen devices which operate a local clock may use the TIME object to adjust their own time base to the time of the time stamp producer After each power up or restart the date and time are set to the default values and the counting is stopped If the ME3CANT L is set to consumer the clock starts counting after receiving the first time stamp object When the module is setup as producer the counter starts after setup of Un G50 to Un G58 and turn ing ON the Time stamp set request Y n 1 2 signal refer to section 3 3 2 The time stamp will only be produced if the ME3CAN1 L is active NMT Master and in CANopenS state Operational or Pre opera
190. stors at both ends of the network are connected Check that all nodes have the same baud rate setting Check that all nodes have a unique node ID setting Check that the CAN_H CAN_L and CAN_GND wires are not broken Check that the CAN_SHLD is grounded Check that the CAN SHLD is connected at all nodes Check that the CAN cable wires do not short cir cuit other CAN cable wires Tab 8 1 The LEDs CAN RUN blinking and flicke An unexpected error other than the errors described above has occurred Indication of errors ring These LEDs flicker as follows Please consult your local Mitsubishi representative explaining a detailed description of the problem and CAN ERR have four kinds of flicker states according to CiA 303 3 V1 4 single flash double flash SINGLE FLASH k sk 3 0 25 15 DOUBLE FLASH EE k gt 3 0 25 0 25 0 25 15 BLINKING J EEE k 3 0 25 0 25 FLICKERING k 0 15 MELSEC L Series CANopen Module ME3CAN1 L 8 1 Troubleshooting Error Processing and Recovery Method 8 1 2 NOTE 8 2 Detailed error check Please check the bit status of the buffer memory address Un G29 Error Status The error flags Un G29 bit 5 6 8 10 and 15 are latched Setting YnF to ON will clear all latched errors The error flags Un G29 bit 1 3 4 and 14 are not latched and reset automatically if the cause of the error
191. sub index 01H 0FH Consumer Ifthe heartbeat time is 0 orthe node ID is 0 or greater than 127 the corresponding object entry is not used The unit of heartbeat time is ms Object 1017H Producer heartbeat time The unit of 16 bit producer heartbeat time is ms The value 0 disables the producer heartbeat MELSEC L Series CANopen Module ME3CAN1 L 4 29 Functions Communication Profile Area 4 6 9 NOTE TIME The TIME producer broadcasts the time stamp object This TIME provides the simple network clock The time stamp contains the time of day which is represented by a 48 bit sequence These sequences represent the time in milliseconds after midnight 28 bits and the number of days since 1984 01 01 16 bits Only one time stamp producer is allowed in the Network The time and the date have to be configured by setting Un G51 to Un G57 clock data In order to guarantee timely access to the network the TIME is given a very high priority CAN ID CANopen devices that operate a local clock may use the TIME object to adjust their own time base to that of the time stamp object producer The consuming and producing setting can be directly changed at Un G50 refer to section 3 5 11 In case of time overflow time later than 31st December 2079 23 59 59 the time returns to 1st January 2000 00 00 00 Buffer memory display for year will be 00 to 99 in all cases For TIME consuming a received time stamp before 1st Jan
192. t 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 w 2 Process data 2 TJ Request 0 L 8 Indication Indication oe Process data L bytes of application data Indication Fig 4 4 Transfer of PDOs sse MITSUBISHI ELECTRIC Communication Profile Area Functions With the Parameter transmission type two transmission modes are configurable Synchronous transmission Event driven transmission Use the following way to change the PDO communication or mapping parameter Set the PDO to not valid communication parameter sub index 01H bit 31 Set the communication parameters Set the mapping parameters Set 00H to the sub index 00H Modify the mapping at sub indexes 01H to 08H Enable the mapping by setting the number of mapped objects to the sub index 00H Set the PDO to valid communication parameter sub index 01H bit 31 For unneeded data in an RPDO a dummy mapping entry can be made to the data type definition indexes to make the RPDO length fit the length of the TPDO accordingly For data type definitions indexes refer to section 4 5 Object 1400H to 14FFH Sub index 01H RPDO COB ID Fig 4 5 Bit 31 Bit30 Bit 11 Bit 10 Bit O Bit allocation for sub index 01H RP
193. t n is configured as a transmit message slot The message slot n is set to no auto RTR response 6FFFH n is one of the message slots 1 to 42 The bits in the RTR message reception list are updated independently from the output signal Yn1 If a valid RTR message is received the related Layer 2 RTR flag is set When Yn1 is set to ON the data is copied to the internal data buffer and transmitted The related Layer 2 RTR flag is automatically reset when a message has been transmitted from the message slot RTR message reception list Address Decimal Description RTR message for Layer 2 message slot 1 received RTR message for Layer 2 message slot 2 received RTR message for Layer 2 message slot 15 received RTR message for Layer 2 message slot 16 received RTR message for Layer 2 message slot 17 received RTR message for Layer 2 message slot 18 received RTR message for Layer 2 message slot 31 received RTR message for Layer 2 message slot 32 received RTR message for Layer 2 message slot 33 received RTR message for Layer 2 message slot 34 received RTR message for Layer 2 message slot 42 received Not used Not used Tab 3 34 Allocation of the buffer memory addresses Un G8350 to Un G8352 O Indicates whether reading from and writing to a sequence program are enabled R Read enabled W Write enabled 3 38 sse MITSUBISHI ELECTRIC Buffer Memory D
194. t to 0 During NMT slave boot up the configuration manager compares the corresponding entries of 1020H of the slave with its own setting in the indexes 1F26H and 1F27H see below and decides if a recon figuration is necessary or not This mechanism reduces the NMT Slave boot up time Sub index 01H Configuration date contains the number of days since 1984 01 01 Sub index 02H Configuration time contains the number of ms after midnight Object 1F22H Sub index 01H 7FH CDCF Configuration files are stored in these objects in the CDCF format The sub index indicates the cor responding node ID A CANopen configuration software and a CAN Bus PC interface is necessary to generate the CANopen configuration and to save it via the CAN Bus Up to 60 CDCFs can be stored on the ME3CAN1 L The maximum size for each entry is 65531 bytes To delete a sub index entry write 0 to this sub index During this time it is not possible to write a new file If the flash ROM is busy a SDO write access error 06060000H will occur If the ME3CAN1 L responds to a SDO write access to a sub index with an SDO Error 06010002H this sub index already had been used Delete the sub index entry before by using the method described above 06070010H 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 before by using the method described above If the CANopen configuration
195. te This object is used by CANopen configuration software to verify the configuration date of the CANopen devices in the network The value contains the number of days since 1984 01 01 Object 1F27H Sub index 01H 7FH Expected configuration time This object is used by CANopen configuration software to verify the configuration time of the CANopen devices in the network The value contains the number of ms after midnight sa MITSUBISHI ELECTRIC Device Profile CiA 405 Functions 4 9 Device Profile CiA 405 This section describes the standardized CANopen interface and device profile for IEC 61131 3 pro grammable devices e g PLCs The supported objects for data read write support signed 8 bit unsigned 8 bit signed 16 bit unsigned 16 bit signed 32 bit unsigned 32 bit and float 32 bit The cor responding objects in the object dictionary can be directly accessed via the buffer memory from the PLC Inverter Encoder MELSEC L ME3CAN1 L series CPU CiA 402 CiA 406 CiA 405 device device device Terminating resistor Terminating resistor MELSEC L ME3CAN1 L I O module I O module Pump series CPU CiA 405 CiA 401 CiA 401 CiA 450 device device device device Fig 4 38 CANopen network with PLCs Input network variables The table below provides a brief description and reference information for the ME3CAN1 L CANopen object dictionary for input network variables Sub index Descript
196. te Un G24 Set the Node Address Un G27 Store the buffer memory configuration set Un G22 then turn Y n 1 F ON Restart the ME3CANT L turn Yn2 ON Configure OD Index 1F80H and if necessary the OD Index 1F90H CANopen NMT Master Store the OD configuration OD Index 1010H Restart the ME3CAN1 L turn Yn2 ON Setup Heartbeat producing consuming Setup RPDO communication and mapping parameter Setup TPDO communication and mapping parameter Setup NMT Slave assignment OD Index 1F81H Setup NMT Slave Identification data OD Indexes 1F84H to 1F88H the OD Index 1F84H is in most cases sufficient Setup the Boot time OD Index 1F89H Store the OD configuration OD Index 1010H On the NMT Master Tab 6 4 Start up procedure for CANopen 405 mode 6 4 2 11 bit 29 bit CAN ID Layer 2 Mode Reference Action Section Set the function mode Un G21 352 3 5 3 3 3 2 Restart the ME3CANT L turn Yn2 ON 3 3 2 Set the baud rate Un G24 3 54 3 5 3 3 3 2 Restart the ME3CANT L turn Yn2 ON 3 3 2 Setup Pre defined Layer 2 message configuration 3 6 2 Store the buffer memory configuration set Un G22 then turn Y n 1 F ON Store the buffer memory configuration set Un G22 then turn Y n 1 F ON Setup buffer memory location of the Receive Transmit Process Data 3 6 6 Setup PLC RUN gt STOP and power down messages 3 6 5 3 5 3 3 3 2 Store the buff
197. tion Profile Area The table below provides a brief description and reference information for the ME3CAN1 L CANopen Object Dictionary Sub index hex Object Description Data type Initial Stored to value Flash ROMO 00 Device Type Describes the device profile or the application profile Can be changed by setting the mode value in Un G21 405 00 Error Register Refer to section 4 6 2 1003 00 Reserved Pre defined error field Refer to section 4 6 3 1004 Reserved 1005 COB ID of SYNC message Refer to section 4 6 6 1006 Communication Cycle Period Refer to section 4 6 6 OH 1007 Reserved 1008 Device Name 9 Byte ASCII String 1009 Hardware Version 4 Byte ASCII String 100A Software Version 4 Byte ASCII String Visible String ME3CAN1 L 1 00 1 00 100B Reserved 100C Guard time Refer to section 4 6 7 OH 100D Life time factor Refer to section 4 6 7 OH 100E 100F Reserved 1010 Store parameters Highest sub index Save all parameters Refer to section 4 6 10 Restore default parameters Highest sub index Restore all parameters Refer to section 4 6 11 1H COB ID Time Refer to section 4 6 9 8000H 0100 Reserved COB ID EMCY Refer to section 4 6 12 80H Node ID Inhibit Time EMCY Refer to section 4 6 12
198. tric representative M Check user program do not write into configuration buffer Layer 2 mode Invalid write access to configu i O tion buff hile in ONLINE INIT memory when module is ONLINE PERO PS In Un G40 the buffer memory address where this failure occurred will be displayed Check Un G39 for buffer memory address and correct the set value to the valid range This bit is set if an attempt to write an Buffer memory setting error invalid value into a buffer memory is detected The target buffer memory address of the invalid write access is displayed in Un G39 Refer to section 3 5 10 Reserved Extreme bus load can cause the internal queues to overflow Decrease the bus load At a low baud rate a too fast data exchange Refer to section 3 5 1 can overflow the CAN Transmit Buffer Depends also on the bus load of the CAN Internal data queue overflow Reserved CAN error active state passive state Bit 0 Error active state This bit will be reset automatically if the internal error counters return back below 128 Refer to sections 3 5 8 and 3 5 9 Bit 1 Error passive state Check the Message Slot specific error code in Un G5001 Layer 2 Message Slot specific error exists Un G5584 Refer to section 3 6 1 Tab 8 2 Indication of errors in buffer memory address Un G29 sse MITSUBISHI ELECTRIC Error Processing and Recovery Method Troubleshooting 5 Layer 2 mod
199. uary 2000 0 00 00 is set to 1st January 2000 00 00 00 TIME producer TIME consumers Request Indication Indication Indication Fig 4 19 Time stamping Object 1012H COB ID time stamp object Bit 31 Bit 30 Bit 29 Bit 11 Bit 10 BitO Fig 4 20 Bit allocation for object 1012H COB ID time stamp object Bit ltem Description Bit 0 Do not consume TIME messages consume Bit 1 Consume TIME messages Bit 0 Do not produce TIME messages Bit 1 Produce TIME messages NOTE e The device needs to be active NMT master to produce TIME messages 11 bit CAN ID 11 bit CAN ID of the CAN base frame Refer to section 4 6 1 produce Tab 4 21 Description for object 1012H COB ID time stamp object MITSUBISHI ELECTRIC Communication Profile Area Functions 4 6 10 NOTE 4 6 11 NOTES Store parameters To store all parameters to the non volatile memory write SDO 65766173H ISO8859 string code save to Object Index 1010H sub index 01H or use the store command in the CIF command inter face refer to section 3 5 18 After each power up or restart the saved parameters will be valid The store parameter command is not necessary for CDCF files stored on Object 1F22H On read access the ME3CAN1 L gives back information about its storage functionality Description Constant 1 Device does save parameter on command Constant 0 Device does not
200. umbers For example if the ME3CAN1 L occupies the range from X Y040 to X YO5F the head address is X Y040 However the least significant digit is omitted and the head address n in this case reads as 4 The mod ule ready input Xn0 will be X40 and the EMCY message available signal X n 1 1 will be X51 Signal direction CPU Module lt ME3CAN1 L Signal direction CPU Module ME3CAN1 L Device No Input Signal name Device No Output Signal name XnO Module ready YnO Use prohibited Xn1 Data exchange completed Yn1 Data exchange request Xn2 Module restart completed Yn2 Module restart Xn3 Module in Layer 2 online mode Layer 2 modes only Yn3 Layer 2 online mode request Layer 2 modes only Xn4 Message transmit trigger completed Layer 2 modes only Yn4 Message transmit trigger request Layer 2 modes only Xn5 Xn6 Xn7 Xn8 Xn9 XnA XnB XnC XnD XnE Use prohibited Yn5 Yn6 Yn7 Yn8 Yn9 YnA YnB YnC YnD Use prohibited ME3CAN1 L error NMT Error Control failure available CANopen mode only ME3CAN1 L error clear reguest NMT Error Control failure clear reguest CANopen mode only EMCY message available CANopen mode only EMCY message area clear reguest CANopen mode only Time stamp setting completed CANopen mod
201. umer e 1 Consumer e 2 Producer e 3 Producer Consumer Value range 1980 to 2079 o Time stamp Value range 1 to 12 o Value range 1 to 31 o A setting outside of the range such as February 30 is prohibited 24 hour format Value range 0 to 23 o Tab 3 15 Buffer memory addresses for the time stamp sa MITSUBISHI ELECTRIC Buffer Memory Details CANopen Mode Detailed Description of the Module 3 5 12 NOTE 3 5 13 NOTE 3 5 14 Address Decimal 55 Value range 0 to 59 2 Description Value range Second Value range 0 to 59 Display range 0 to 6 0 Sunday to 6 Saturday Day of the week The Day of the week will be calculated during the setup of Time stamp the clock data automatically Setthe transmission time interval for the Time stamp Object in multiples of minutes o Transmission interval Setting range 0 Time stamp transmission disabled 1 to 1440 1 min to 1440 Minutes 24 hours A constant miscount of the clock can be corrected in steps Daily correction of 1 sec per day Setting range 60 to 60 Tab 3 15 Buffer memory addresses for the time stamp 5 Timestamp will be only produced if the module is active NMT Master O If the ME3CAN1 L is setup as consumer this buffer memory addresses will be ignored NMT Start all Nodes delay Un G70 During the NMT master startup the NMT master sends depending on the c
202. upport automatic 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 1F88H after configuration to prevent an unwanted start of the LSS master Check if the LSS client activates an internal bus termination If necessary deactivate the bus termi nation first to prevent unwanted behavior of the connected nodes on the bus sa MITSUBISHI ELECTRIC Network Management Functions 4 8 12 NOTE NOTES Configuration manager The configuration manager provides mechanisms to configure the CANopen devices in a CANopen 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 only be used on the active NMT master If a failure occurs during the configuration upload to the NMT slave the configuration will be stopped except SDO access failures when reading only indexes and sub indexes Object 1020H Verify configuration This object indicates the downloaded configuration date and time in the NMT Slave A configuration manager uses this object to verify the configuration after a restart to check if a reconfiguration is nec essary If the object dictionary configuration is changed in a NMT slave the sub indexes 01H and 02H values will be se
203. w to set the function mode refer to section 3 5 2 Function mode Description This mode supports full access to layer 2 of the CAN communication protocol e AND beye Layer 2 messages with 11 bits identifier can be sent and received in this mode A This mode supports full access to Layer 2 of the CAN communication protocol 29 bit CAN ID Layer 2 mode Layer 2 messages with 29 bits identifier can be sent and received in this mode CANopen 405 mode This mode supports the CANopen CiA 405 IEC 61131 3 Programmable Device Profile Tab 4 2 Function modes of the ME3CAN1 L 4 3 Object Dictionary The Object Dictionary OD 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 con trol 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 param eter 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 Index hex Object Reference J Section 0000 Not used 0001 009F Data type definitions 4 5 00A0 0FFF Reserved 1000 1FFF Communication profile area CiA 301 CiA 302 js 2000 5FFF Manufacturer specific profile area 6000 9FFF Reserved A000 AFFF Standardized profile area CiA 405 BOOO FFFF Reserved Tab 4 3 General layout of the CANopen
204. with node guarding which must be answered within 100ms If heartbeat is not used or not supported please confirm that the NMT slave supports node guarding If the NMT slave is configured for life guarding of the NMT master take care that also the NMT Master is configured for node guarding Other wise the NMT slave will go into the NMT error state If no heartbeat or no node guarding confirma tion is received within the Heartbeat consum ing time after the Node Guarding RTR message the NMT slave start up ends with an error Reserved Set to 0 otherwise SDO access error 06090030H will occur Tab 4 30 Description of the configuration field Object 1F89H Boot time The boot time defines the time out in ms for the NMT slave boot up The time is measured from the start of the NMT slave boot process until the signaling of successful boot of all mandatory NMT slaves If the boot time elapses before all mandatory slaves are started the NMT start up will be stopped and the NMT start up master will be disabled The value 0 disables the timer Setting range KO to K4 294 967 295 Object 102AH NMT inhibit time This object configures the minimum time between two NMT messages The 16 bit value is given in multiples of 100 us lowest counting resolution of ME3CAN1 L 1ms The value 0 disables the inhibit time Setting range In the ME3CAN1 L the value is fixed to 0 MELSEC L Series CANopen Module ME3CAN1
205. ws NOTE Note text Use of examples Examples are marked separately and are displayed as follows Example V Example text The end of an example is marked with the following symbol Use of numbering in the figures Numbering within the figures is displayed by white numbers within black circles and is explained in a table following it using the same number e g 0000 Use of handling instructions Handling instructions are steps that must be carried out in their exact sequence during startup oper ation maintenance and similar operations They are numbered consecutively black numbers in white circles Text 2 Text Q Text Use of footnotes in tables Instructions in tables are explained in footnotes underneath the tables in superscript There is a foot note character at the appropriate position in the table in superscript If there are several footnotes for one table then these are numbered consecutively underneath the table black numbers in white circle in superscript O Text O Text 9 Text Writing conventions and guidance notes Keys or key combinations are indicated in square brackets such as Enter Shift or Ctrl Menu names of the menu bar of the drop down menus options of a dialogue screen and buttons are indi cated in italic bold letters such as the drop down menu Newin the Projectmenu orthe option Serial USB in the Transfer Setup Connection screen Registration CIAS and CANop

CANopen Module ME3CAN1-L - Meltrade Automatika Kft.

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