Fx2N-32CAN Communication Module User's Manual
Contents
1. 4 4 4 3 Extended BFM Structure BFM32 32767 4 5 5 The Object Dictionary eie eee a docnit ro re 5 1 5 1 BFM access to the Object Dictionary Write 5 1 5 2 BFM access to the Object Dictionary Read 5 3 5 3 CANopen Object Dictionary 5 4 5 3 1 The General Setup eee id 5 4 5 3 2 The Detailed Object Dictionary Contents According to DS 301 5 4 MITSUBISHI vi FX2N 32CAN Communication Module 6 The Command IAS ACS iii tret medie VE 6 1 6 1 SDO Read Requesting iiini di 6 1 6 2 SDO Write Request needed e ge aee ended etae 6 2 6 3 Layer 2 Messages 6 3 1 The PDO Remote Transmission 6 4 Error MeSSages ose rd ed a de ra Sd ee ee de 6 4 1 General Error Messages 6 4 2 Local SDO Error Codes BFM1001 3 6 4 3 Remote SDO Error Codes BFM1001 3 6 4 4 Unknown Command Used BFM1001 100 6 4 5 Queue was not available BFM1001 8FFFF hex 6 4 6 Command or Parameter Change while CIF was busy BFM1001 FFFF hex 6 7 6 4 7 The Clea2. JY992D76401 packed with product Describes the hardware specifications such as the wiring and mounting of the FX2NC Series PLC O Refer to these manuals O Refer to the manual required depending on the equipment used MITSUBISHI 1 1 FX2N 32CAN Communication Module Introduction 1 1 2 General Names and Abbreviations Unless otherwise specified this manual uses the general names and abbreviations shown in the table below to describe the FX2N 32CAN Communication Module Table 1 2 Vocabulary List General name abbreviation Description FX2N 32CAN Abbreviation of the FX2N 32CAN Communication Module Cyclic transmission Transmission method to periodically communicate the contents of remote l Os and remote registers Network Management Node which controls the data link system for the CANopen network Node One Network Manager station is required per system Receive Process Data Objects are data read from other nodes via the Rx PDO CAN bus Transmit Process Data Objects are the data sent to other nodes via Tx PDO the CAN bus The Command Interface is the FX2N 32CAN tool used to perform CIF actions such as to set parameters execute commands establish communication connections access the CANopen Object Dictionary and read error messages The CAN Object ID number is a unique identifying number to COB ID distinguish between different messa
3. Baud Rate BFM24 Value 10 kBd 10 20 kBd 20 50 kBd 50 125 kBd 125 250 kBd 250 500 kBd 500 800 kBd 800 1000 kBd 1000 4 2 4 Reading the Communication Status BFM 25 Read the CANopen module s communication status from BFM 25 per the table below Table 4 3 Communication Status Bit On Off b0 module online offline module online module offline b1 b7 reserved 00 Prepared State 01 Pre operational State 10 Operational State 11 Not Possible b9 b8 CANopen network state b10 b15 reserved Note On write access BFM25 contains the command flags to reset the FX2N 32CAN and to restart the CANopen stack Table 4 4 CANopen Stack Reset Bit On Off b0 restart command CANopen stack will be restarted Normal operation b1 615 reserved The restart command can be used after the baud rate BFM24 or the node address BFM27 was changed By setting BO to 41 use the pulse instruction the module can be forced to go offline and to restart with the new settings without switching off the power of the host PLC MITSUBISHI 4 2 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 The Watch Dog Timer Setting BFM 26 The Watch Dog Timer setting is stored in BFM 26 in units of 10 ms A WDT error will occur if there is no FROM or TO instruction to any BFM for the time specifi
4. MITSUBISHI 84 FX2N 32CAN Communication Module Emergency Messages 9 9 Emergency Messages 9 1 The FX2N 32CAN will store the Emergency messages which are received from the bus to an internal buffer This buffer can store up to 22 emergency messages and is separated in an 11 message stack buffer and an 11 message ring buffer The stack buffer will store the first 11 emergency messages received after PWO or after the Emergency message buffer was cleared the last time The ring buffer will store the next eleven Emergency messages all further received Emergency telegrams will overwrite the oldest message in the ring buffer The Read Emergency Message Buffers stack buffer will not be overwritten Table 9 1 Head EMERGENCY Message Buffer BFM READ FROM WRITE TO Stack buffer displayed 8701 hex i 2042 hex CIF BUSY FFFF hex Read stack buffer 0 1 Read ring buffer 1 2 BFM 1001 Node ID 6 Read next unread buffer entry 2 3 Read stack buffer amp clear buffer 10 hex 4 Read ring buffer amp clear buffer 11 hex 5 BFM 1002 Message Counter 7 BFM 1003 EMERGENCY data 8 BFM 1004 EMERGENCY data 8 Unused BFM 1005 EMERGENCY data 8 BFM 1006 EMERGENCY data 8 BFM 1007 Node ID 6 BFM 1008 Message Counter 7 BFM 1009 EMERGENCY data 8 BFM 1010 EMERGENCY data 8 BFM 1011 EMERGENCY data 8 B
5. MITSUBISHI 7 9 FX2N 32CAN Communication Module The Mapping Modes 7 Destination Parameter Errors There are four different states which can be displayed in BFM1001 to BFM1066 nn node number number Table 7 7 Destination Parameter Errors Error Number Description Node ID higher than 127 PDO number 0 or the Parameter FFFF hex may have been skipped if a Source error occured nn00 hex No response from node nn time out Previous COB ID of destination was 80000000 hex PDO was 00mm hex disabled Binding was accomplished but there might be an error in the hardware mapping for the destination node 1 Node nn rejected access to PDO mm mapping parameter PDO number not supported 1 Please take care with this error message If the desination PDO was disabled it is not sure if there is some hardware mapping inside the destination node for this PDO This node might receive the data but it is not transferred to any I O or data register When the Destination node is an FX2N 32CAN the PDO data will be mapped to a BFM if the hardware mapping was not changed previously In the case of the FX2N 32CAN the error can be judged as a warning which can be completely avoided if the mapping is done by the remote FX2N 32CAN node itself Another possibility is to set the remote FX2N 32CAN to Mode A mapping In this case all Rx COB IDs are different from 80000000 hex the dis
6. MITSUBISHI PROGRAMMABLE CONTROLLERS ADVANCED AND EVER ADVANCING MITSUBISHI ELECTRIC CANopen FX2N 32CAN Communication Module MITSUBISHI FX2N 32CAN Communication Module FX2N 32CAN Communication Module USER S MANUAL Manual number JY992D92801 Manual revision A Date DEC 2001 MITSUBISHI FX2N 32CAN Communication Module MITSUBISHI FX2N 32CAN Communication Module FAX BACK Mitsubishi has a world wide reputation for its efforts in continually developing and pushing back the frontiers of industrial automation What is sometimes overlooked by the user is the care and attention to detail that is taken with the documentation However to continue this process of improvement the comments of the Mitsubishi users are always welcomed This page has been designed for you the reader to fill in your comments and fax them back to us We look forward to hearing from you Fax numbers AA Mitsubishi Electric rar ia America 01 847 478 2253 Your Australia 02 638 7072 7 ee oe ete is Germany 0 21 02 4 86 1 12 Your location 2 South Africa 027 34 444 0229 yia raae eed United Kingdom 01707 278 695 Please tick the box of your choice What condition did the manual arrive in LlGood Minor damage HlUnusable Will you be using a folder to store the manual Yes ANo What do you think to the manual presentation T
7. The local FX2N 32CAN module will transfer the BFMs mapped to Tx PDO 5 with the COB ID of 1FF hex by default this would be 1 of node 127 180 127 Note The local Tx PDO numbers 1 4 are using the COB IDs 180 hex local node ID to 480 hex local node ID which are the standard COB IDs An attempt to assign a COB ID to the first four PDOs will cause an error The End of the Parameter Table If the last parameter is not located in BFM1065 1066 the paramter set must be terminated with Source FFFF hex MITSUBISHI 7 6 FX2N 32CAN Communication Module The Mapping Modes 7 7 4 7 4 1 PDO Mapping Table Overviews Tx PDO Mapping Table Table 7 4 Tx PDO Mapping Table Default Mode B Mapping Meet dem Como assigne Br Mapping prepared COB ID Mapped BFMs access style Tx PDO 1 0180 hex node ID BFM 3 BFM 2 1 BFM 0 Tx PDO 2 0280 hex node ID BFM 7 BFM 6 BFM 5 BFM 4 Tx PDO 3 0380 hex node ID BFM 11 BFM 10 9 BFM 8 Tx PDO 4 0480 hex node ID BFM 15 BFM 14 BFM 13 BFM 12 Tx PDO 5 19 BFM 18 17 BFM 16 Tx PDO 6 BFM 103 BFM 102 101 BFM 100 Tx PDO 7 Disabled COB ID BFM 107 BFM 106 BFM 105 BFM 104 Tx PDO 8 WI CUM to set aac dd 111
8. 110 109 108 TO Tx PDO 9 These PDOs can be acti Can be defined by 115 112 TO BFMii9 BEM TT6 TO Tx PDO 11 ter BFM 123 BEM 120 TO Tx PDO 12 BFM 127 124 TO Tx PDO 13 BFM 131 128 TO Tx PDO 14 BFM 135 132 TO Tx PDO 15 BFM 139 BEM 136 TO Tx PDO 16 BFM 143 140 TO Tx PDO 17 BFM 147 144 Tx PDO 18 BFM 151 148 Tx PDO 19 BFM 155 152 TO Tx PDO 20 Disabled COB ID BFM 159 156 Tx PDO 21 Mag a to set E 163 160 TO Tx PDO 22 These PDOs can be acti Can be defined by BFM 167 BFM 164 TO Tx PDO 23 vated py mode Bim apping moge B mapping BFM 171 BFM 168 TO Tx PDO 24 parameter 175 172 TO Tx PDO 25 BFM 179 BFM 176 TO Tx PDO 26 BFM 183 BFM 180 TO Tx PDO 27 BFM 187 BFM 184 TO Tx PDO 28 BFM 191 BFM 188 TO Tx PDO 29 BFM 195 BFM 192 TO Tx PDO 30 BFM 199 196 TO 2 MITSUBISHI 7 7 FX2N 32CAN Communication Module The Mapping Modes 7 7 4 2 Rx PDO Mapping Table Table 7 5 Rx PDO Mapping Table Default Mode B Rx PDO Factory PD Manoing Assigned BFM Mapping is prepared COB ID Mapped BFMs access style Rx PDO 1 0200 08 181 hex BFM 3 BFM 2 BF
9. 4 must be written to BFM1000 If the access has been successful BFM1000 will display 5 1003 will contain the node address index and subindex numbers for verification purposes The length of the read data in bytes will be stored in BFM1004 and 1005 1063 will contain up to 118 data bytes Byte order 1st data byte BFM1005 low byte 2nd data byte BFM1005 high byte 3rd data byte BFM1006 low byte 4th data byte BFM1006 high byte etc MITSUBISHI 61 FX2N 32CAN Communication Module The Command Interface 6 6 2 SDO Write Request The SDO Service Data Object command can access all nodes on the CAN network via the Object Dictionary by using FROM TO commands A PLC can access the connected FX2N 32CAN module by writing the actual module address 17127 or by writing 0 in the FROM TO command To initialize the SDO Write command the value of the node address must be written to BFM 1001 the Object Dictionary Index to BFM 1002 and the Subindex to BFM 1003 Finally the command code for SDO Write Access 2 must be written to BFM1000 If the access has been successful BFM1000 will display 3 BFM 1003 will contain the node address index and subindex numbers for verification purposes Table 6 1 BFM Structure for the SDO Read Write Commands BFM READ FROM WRITE TO BFM1000 Command Read 0004 Write 0002 BFM10
10. Table 4 5 Error Bit Description for BFM 29 Bit On Off 60 general error This bit is ON if b2 b3 b4 are On No general error b1 reserved b2 power error Power supply error Power supply normal b3 CAN bus off error CAN bus off error b4 EEPROM flash memory Data in EEPROM or flash memory is EEPROM and flash memory data error corrupted normal b5 b6 reserved b7 FROM TO watchdog No FROM TO instruction received FROM TO instructions received value to BEMO writing a for the time specified in BFM26 regularly Data could not be written to internal b8 Data queue overflow No data queue overflow queue b9 Command queue or Data could not be written to internal No command queue or event queue event queue overflow command queue or event queue overflow b10 CANopen guarding error b11 Baud rate change error New baud rate not valid no change Set baud rate valid b12 Address change error New address not valid no change Address is valid CANopen guarding error occurred No CANopen guarding error occurred b13 CANopen emergency CANopen emergency occurred No emergency exists b14 CAN error passive state CAN error passive CAN error active b15 Reserved NOTE 1 The error bits b2 b8 and b9 are latched and must be reset from the PLC by writing 0 to the appropriate bit in BFM29 By writing 0 to all of BFM29 all latched error
11. 176 FROM Rx PDO 26 287 Node 7 BFM 183 180 FROM Rx PDO 27 387 data 187 184 FROM Rx PDO 28 487 BFM 191 188 FROM Rx PDO 29 188 Node 8 BFM 195 BFM 192 FROM Rx PDO 30 288 data BFM 199 BFM 196 FROM The Factory Default Mapping contains only the first two Rx PDOs and the first two Tx PDOs as defined in DS 301 Mode 0 mapping sets the first four Rx PDOs and Tx PDOs as shown in the Tables MITSUBISHI 7 8 FX2N 32CAN Communication Module The Mapping Modes 7 7 4 8 Mode B Mapping Errors If the CIF was not able to execute the mode B Mapping command with the given parameter set it will return 83FF hex in BFM1000 BFM1001 1066 will show which parameter caused the error s Ex If parameter 5 BFM1009 TO caused an error the value of 1009 FROM will be different from 0 7 4 4 Source Parameter Errors There are four different states which can be displayed in BFM1001 1066 nn node ID mm PDO no Table 7 6 Source Parameter Errors Error Number Description FFFF hex Node ID higher than 127 or PDO number 0 nn00 hex No response from node nn time out 00mm hex COB ID is 80000000 hex PDO disabled nhnmmhex Node nn rejected access to PDO mm mapping parameter PDO number not supported
12. 8401 hex Parameter Error 84FF hex Command 8400 hex CIF Busy FFFF hex BFM 1001 Slave to be Guarded See Section 7 2 1 BFM 1002 Requested Services See Section 7 2 2 BFM 1003 Guard Time See Section 7 2 3 BFM 1004 Retry Factor See Section 7 2 4 BFM 1005 Slave to be Guarded 1006 Diagnosis Data 0000 hex no error Requested Services BFM 1007 Guard Time BFM 1008 Retry Factor All other Values the corresponding BFM 1061 parameter caused an error Slave st to be Guarded BFM 1062 Requested Services BFM 1063 Guard Time BFM 1064 Retry Factor BFM 1065 Unused BFM 1066 Unused Node Guarding Parameter Settings The following parameters define the Slave Node Guarding Slave Number This parameter specifies the slave number which shall be guarded by the local FX2N 32CAN node This is only valid if the Network Manager function is activated for the local station The CANopen Object Dictionary uses Index value 1F81 hex for Node Guarding values The FX2N 32CAN module is set to write to this index automatically when using the TO commands as outlined in Table 8 1 MITSUBISHI 8 1 FX2N 32CAN Communication Module Node Guarding 8 8 2 2 8 2 3 8 2 4 8 2 5 8 2 6 Services Requested This parameter specifies the services requested below Table 8 2 Service Request Table Bit Number Bit 0 Bit z 1 Node is a slave After
13. 53 FX2N 32CAN Communication Module The Object Dictionary 5 5 3 CANopen Object Dictionary Structure 5 3 14 The General Setup The general setup for the CANopen Object Dictionary is shown in Table 6 3 below Table 5 3 General Object Dictionary Structure Index hex Object type 0000 Not Used 0001 001F Static Data Types 0020 003F Complex Data Types 0040 005F Manufacturer Specific Data Types 0060 007F Device Profile Specific Static Data Types 0080 009F Device Profile Specific Complex Data Types 00A0 OFFO Reserved 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FF9 Standard Device Profile Area A000 FFFF Reserved 5 3 2 Detailed Object Dictionary Contents According to DS 301 The detailed setup for the CANopen Object Dictionary for the CANopen node is shown below Table 5 4 Detailed Object Dictionary Structure Index hex Object type 1000 Device Type 1001 Error Register 1004 Number of PDOs supported 1005 COB ID of SYNC message producer consumer can be selected 1006 Communication Cycle Period defines SYNC mes sage timing 1007 Synchronous Window Length defines SYNC time window 1008 Manufacturer Device Name 1009 Hardware Version 100A Software Version 100B Node ID 100C Guard Time 100D Life Time Factor 1010 Store Parameter
14. After all unread messages have been processed the following executions will show 0 in 1001 to BFM1066 unless a new emergency message is received 4 Basically this parameter will cause the same behavior as the read stack buffer parameter but after the read access is finished the internal emergency buffer is cleared both stack and ring buffers The next received emergency message will be stored in the first cell of the stack buffer 5 Basically this parameter will cause the same behavior as the read ring buffer parameter but after the read access is finished the internal emergency buffer is cleared both stack and ring buffers The next received emergency message will be stored in the first cell of the stack buffer 6 The ID number of the node which sent the emergency message to the network is displayed 7 The message counter shows a value from 1 to 255 This figure is a kind of running counter which is increased with every incoming emergency message until a value of 255 is reached The counter will stay at this value as long as the buffer is not cleared and the module stays powered On 8 The next four BFMs contain the data of the emergency telegram The first emergency data byte is located in the low byte of the first BFM the second data byte in the high byte of the first BFM MITSUBISHI 9 2 FX2N 32CAN Communication Module Emergency Messages 9 9 2 Send an Emergency Message This co
15. Configuration the node will be set to operational Bit 0 Node is not a slave On guard error or boot up detection automatically configure the slave via Configuration Manager and afterward set the slave to operational On guard error or boot up detection Bit 2 DO NOT automatically configure and start the slave Other bits Unused Guard Time The station which is configured to guard one or more nodes will send a Guard request every n x 1ms to the network If no response is received from the slave station the request is repeated after the next n x 1ms has elapsed until the specified number of retries has been submitted If no response is received a Guarding error will occur Number of Retries This parameter defines the number of retries for the Guard Request to poll the node before an error is recorded End of Parameter Table After setting the parameters one or more nodes to be guarded a setting must be given to signal the end of the parameter write This is accomplished by writing FFFF hex in the Slave Number to be guarded following the last node configuration setting If the final setting is located in BFM1061 BFM1064 writing FFFF hex is not required Parameter Errors If the node number to be guarded exceeds the range 1 127 the corresponding BFM will display the value which caused the problem The FX2N 32CAN module may write a value of FFFF hex to the Requested Services parameter
16. Dictionary and read error messages It is located in BFM 1000 1066 COB ID The CAN Object ID number is a unique identifying number to distinguish between different messages on the CANBus e g PDO SDO NMT SYNC EMCY messages BFM The Buffer Memory is the data storage memory location Mapping Mode 0 Base Configuration where 4 Rx PDOs and 4 Tx PDOs are given BFM assignments for each FX2N 32CAN node according to the pre defined connection set of CANopen Mapping Mode A Mitsubishi Electric defined configuration for the FX2N 32CAN module that defines the relationship between up to eight FX2N 32CAN nodes the node BFMs and the Rx PDOs and Tx PDOs This mode is very convenient if every node is an FX2N 32CAN module Mapping Mode B Configuration mode that allows specific Rx PDOs and Tx PDOs to be matched on a node by node basis For more information on the CANopen specifications please see the Can in Automation website at www can cia de MITSUBISHI 7 1 FX2N 32CAN Communication Module The Mapping Modes 7 7 1 Factory Default Mapping Mode 0 Mapping The Factory Default Mapping conforms to CANopen specification DS 301 and contains only the first 2 Tx PDOs and the first two Rx PDOs Please refer to the Tables in section 10 4 that give repectively the relationships between Tx PDO number COB IDs BFM and the Rx PDO COB Ds BFM By executing the Mode 0 mapping command shown below the number of automatically assigned Tx PDOs be
17. PDO to the same message identifier The Source Parameter specifies the producer to the data telegram to bind The high byte of this parameter is the node ID number The node ID range is 17127 The local FX2N 32CAN module can be specified by the actual node number or by using a 0 The low byte specifies the PDO number The FX2N 32CAN module will start a read access to the object dictionary of the source node to read the COB ID This COB ID is written in the next step to the Destination node s PDO mapping table Ex Source 1009 hex The node number is the high byte or node 10 The low byte designates Tx PDO 09 This information will be bound to the node Rx PDO in the Destination BFM that directly follows the Souce BFM Note An error will be generated if the Destination BFM is not configured The Destination Parameter This parameter defines the Destination for the corresponding Source parameter data The high byte of the BFM signifies the node number where the data is received and the low byte signifies the Rx PDO which is the final destination Ex Destination 0203 hex The Source data will be bound to PDO of Node 2 The Destination node COB ID is checked before the Source data is written to the mapping table Note An error message will be received if the Destination PDO was not written to the destination PDO Note The mode B mapping command cannot be used to change the mapping of the PDOs and or the Hardware of the R
18. flags will be cleared 2 All other error flags will be reset automatically as soon as the corresponding error has been solved BFM Data Memory Backup The data BFM24 26 and 27 are kept by EEPROM MITSUBISHI 44 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 4 3 Extended BFM Structure BFM32 BFM32767 Table 4 6 Extended BFM Structure READ FROM WRITE TO BFM32 BFM99 Reserved Reserved BFM100 BFM199 Received Output Data Transmit Data BFM200 BFM999 Reserved Reserved BFM1000 BFM1066 Module Command Interface Module Command Interface BFM1067 BFM32767 Reserved Reserved The Command Interface CIF offers the possibility to send commands directly to the CANopen module This command interface can be used to manipulate and control all items in the object dictionary to send and receive SDO messages to send network management messages or to send emergency messages MITSUBISHI 4 5 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 MEMO MITSUBISHI 4 6 FX2N 32CAN Communication Module The Object Dictionary 5 5 The Object Dictionary The Object Dictionary is a structure for data organization within the CAN bus The data within the Object Dictionary can be used to set CAN bus parameters initialize special functions control da
19. on the CAN network can write data to the all the other nodes on the network Each piece of data has a unique identifiying number that is read by the receiving nodes to determine whether that data should be kept in the receiving nodes Buffer Memory The FX2N 32CAN module has separate buffer memories for writing TO and reading FROM the CAN bus These Buffer Memories are accessed by FROM TO commands of the PLC The Object Dictionary The Object Dictionary is a kind of indexed storage system that contains data device parameters CANopen feature setup data instruction triggers and other information necessary to configure and operate the CANopen protocol SDO Command The Service Data Object Command can be used to read write data to the Object Dictionary This command can be used to set network parameters and also to initiate CANopen functionality The Command Interface The Command Interface is a set of Buffer Memories that is used when using the SDO Command The data placed in these BFMs is used to access the parameter setup of the Object Dictionary Node Guarding The nodes on a CAN bus can be checked for their communication status at user defined intervals If a problem occurs or communication is blocked for some reason an error message will be generated to alert the user to the situation MITSUBISHI 22 FX2N 32CAN Communication Module Specification 3 3 Specification 3 1 Environmental Standards Specifications Table
20. status node BFM 1001 ps 2 status pond status no Status 2 Display next node with guarding error 128 255 1 Unused BFM 1002 Node 4 status Node 3 status 2 2 BFM 1003 Node 6 status Node 5 status 2 2 BFM 1004 Node 8 status Node 7 status 2 2 Unused Node 126 Node 125 FEM IOS status 2 status 2 BFM 1064 unused status 2 1065 unused BFM 1066 1 The parameter given in BFM1001 will influence the display style of the Guarding status If a node number 1 127 is written to the BFM1001 BFM1000 will display Single node status displayed 8501 hex BFM1001 will show the node ID for verification purposes and BFM1002 will contain the guarding status flags The parameter value 128 255 written to BFM1001 will make the read Guarding status command display the next node number that is in some guarding error state Another execution of the read Guarding status command with the parameter value 128 255 will display the next node with guarding problems so it is possible to jump through all nodes with Guarding errors BFM1000 will display a value of 8502 hex if the Display next node with guarding error parameter has been used BFM1001 will show the node ID for verification purpose and BFM1002 will contain the guarding status flags If currently no node is in gurading error state the BFMs 1001 and 1002 will display O If BFM 1001 is set to 0 the status of all 127 nodes is displayed i
21. the identified danger could POSSIBLY cause physical and property damage 3 Indicates a point of further interest or further explanation OBD o oftware Warnings 4 Indicates special care must be taken when using this element of software 5 Indicates a special point which the user of the associate software element should be aware of 6 Indicates a point of interest or further explanation MITSUBISHI FX2N 32CAN Communication Module Under no circumstances will Mitsubishi Electric be liable responsible for any consequential damage that may arise as a result of the installation or use of this equipment examples and diagrams shown in this manual are intended only as aid to understanding the text not to guarantee operation Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples Owing to the very great variety in possible application of this equipment you must satisfy yourself as to its suitability for your specific application MITSUBISHI vi FX2N 32CAN Communication Module Table of Contents Guideline of Safty sse eene V E 1 1 1 1 Associated Manuals intet eret de ei ee c ede be n 1 1 1 2 General Names and Abbreviations 1 2 Rr t ERI PESE 2 1 2 1 Overview of the CANopen Network ses
22. 005 Error Buffer Content of BEM1006 Error Buffer Additional Content of BFM1007 Data Error Buffer Error Class Content of BFM1008 Dependent Err r Buffer Content of BEM1064 Error Buffer Content of BFM1065 Error Buffer Content of BFM1066 Error Buffer 2 Device ID which caused the error when it was accessed by SDO 3 Low word of error code see DS 301 05 405 4 High word of error code see DS 301 DS 405 MITSUBISHI 6 5 FX2N 32CAN Communication Module The Command Interface 6 6 4 2 Local SDO Error Codes BFM1001 3 Table 6 5 Local Node Error Codes Subindex Local Error Description byte data 0 x 50000000 Time out or Impossible to allocate identifier for SDO transmission or Protocol mismatch 0 x 60600000 Buffer too small for received SDO data this error will occur during initialisation of the transmission 0 x 08000020 Buffer too small for received SDO data this failure will occur ONLY during transmission 0 x 08000022 Different transmission for requested SDO aready running 6 4 3 Remote SDO Error Codes BFM1001 3 Table 6 6 Remote Node Error Codes Subindex Local Error Description byte data 0 x 05030000 Toggle bit not alternated 0 x 05040000 Time Out value reached 0 x 05040001 Client Server command specifier no valid or unknown Requested access type is not supported for this O
23. 01 Node Address Node Address BFM1002 Index Index BFM1003 Subindex Subindex BFM1004 Data Length Data Length BFM1005 Result Data Command Parameter Data BFM1006 Result Data Command Parameter Data BFM1007 Result Data Command Parameter Data BFM1008 Result Data Command Parameter Data BFM1009 Result Data Command Parameter Data BFM1010 Result Data Command Parameter Data BFM1062 Result Data Command Parameter Data BFM1063 Result Data Command Parameter Data BFM1064 Unused Unused BFM1065 Unused Unused BFM1066 Unused Unused MITSUBISHI 62 FX2N 32CAN Communication Module The Command Interface 6 6 3 Layer 2 Messages Using this function the PLC can send any Layer 2 messages to the CAN bus Incorrect use of this command can cause strange behavior in the CANopen network Please take care to use this function only for special purposes Table 6 2 Layer 2 Message Commands READ FROM WRITE TO BFM1000 Command 000C hex BFM1001 COB ID low word 1 BFM1002 There are no Special Return COB ID high word 1 BFM1003 Values but the Queue not RTR Remote Transmission Request 2 Available error may occur under BFM1004 high busload conditions DLC Data Length Count 3 BFM1005 Data byte 2 data byte 1 4 BFM1006 busy FFFF hex Data byte 4 data byte 3 4 BFM1007 Data byte 6 Data byte 5 4 BFM1008 Data byte 8
24. 3 1 Environmental Standards Specifications Item Description Environmental specifications excluding dielectric withstand Same as those of the main unit voltage Dielectric Withstand Voltage 500 V AC gt 1 min tested between signal line and ground CAN Standard ISO 11898 1993 CANopen Standard by CiA DS 301 Version 3 0 Guarding and Guarding request based 05 302 V2 0 Addit ona CANopen peatures Network Variables based on DS 405 V1 0 Emission EN50081 2 Saad Immunity EN61131 2 3 2 Power Supply Specifications Table 3 2 Power Supply Specifications Item Description External Power Supply None Internal Current Consumption 130 mA at 5 V DC MITSUBISHI 34 FX2N 32CAN Communication Module Specification 3 3 3 Performance Specification Table 3 3 Performance Specifications Item Specification Applicable function CANopen Node Applicable PLC FX2N c Transmission speed Selectable Write to BFM 24 10 kBd 20 kBd 50 kBd 125 kBd 250 kBd 500 kBd 800 kBd 1 MBd Node number Selectable from 1 127 Write to BFM 26 Maximum total cable length maximum transmission distance 5000 m maximum Varies depending on the transmission speed Maximum number of connected modules The node address can be set from 1 127 A total of 30 nodes can be connected on eac
25. 8 2 4 Number of Retries 8 2 5 End of Parameter 8 2 0 Parameter 8 2 7 Read Guarding 8 2 8 Reset Guarding Status 9 Emergency Messages e 9 1 9 1 Read Emergency Message 9 1 9 2 Send an Emergency 9 3 MITSUBISHI vii FX2N 32CAN Communication Module Introduction 1 1 Introduction 1 1 Associated Manuals Table 1 1 Manual List Manual name Manual number Description FX2N 32CAN Describes the wiring installation parts and Communication Module Hardware Manual JY992D92901 packed with product handling of the CANopen Communication Module FX1S FX1N FX2N FX2NC Programming Manual II JY992D88101 sent separately Explains the instructions in the FX1S FX1N FX2N FX2NC Series PLC O FX1N Hardware Manual JY992D89301 packed with product Describes the contents related to the hardware such as specification wiring and mounting of the FX1N Series PLC FX2N Hardware Manual JY992D66301 packed with product Describes the hardware specifications such asthe wiring and mounting of the FX2N Series PLC FX2NC Hardware Manual
26. Connections can be made to different types of devices made by partner manufacturers giving flexibility to the system 4 Messages can be prioritized for transfer to the CAN Bus Overview of FX2N 32CAN Communication Module The FX2N 32CAN Communication Module is a special extension block which allows an FX1N 2N c PLC to transfer receive data from other nodes on the CAN bus 1 CANopen ready stations and device stations can be connected to the CAN bus and information can be transmitted to the FX2N 32CAN module and FX Series PLC 2 By using the FX2N 32CAN module two or more FX1N 2N c Series PLCs be connected via the CAN bus to configure a simple distributed system Network Configuration Manager CANopen Network Terminating Terminating Resistor 1200 Resistor 1200 Repeater CANopen EXeN FXiN FXoN FX2N Node PXenc 32CAN FX2NC 32CAN Node Network Manager Node Station which controls the data link system CANopen Node Node for transferring or receiving data from the CAN bus MITSUBISHI 24 FX2N 32CAN Communication Module Overview 2 2 3 Characteristics This section describes the characteristics of the CAN bus communication with other CANopen nodes and some of the special features available in the CANopen protocol Communication with other CANopen Nodes All nodes
27. Data byte 7 4 1009 Unused Unused BFM1066 1 11 bit Identifier COB ID for transmission identification 2 Set this BFM to 0 for normal transmission If this BFM is set to 1 a request frame is sent This request makes the producer of the associated CAN ID specified 1001 1002 send the actual data 3 The data length in bytes 4 The data byte order is the same as the SDO Read and Write Requests MITSUBISHI 6 3 FX2N 32CAN Communication Module The Command Interface 6 6 3 1 The PDO Remote Transmission Request This function can be used to refresh the local receive data buffer Basically a CANopen node will not send its data unless a trigger condition occurs change SYNC signal or manufacturer specific events The data in the local receive data buffer may not be exactly the same as the data in the CANopen node that produces the data This does not mean that the local data is wrong it means that according to the configuration of the CANopen node producing the data a transmission is was not necessary There may be no need to monitor an Hour meter on a minute by minute basis for example or there might be analog data that is triggered when it reaches a certain level With the PDO Remote Transmit Request the data receiver can send a request to the data producer that the latest data be transmitted To refresh the receive data buffer write the receive PDO number to BFM1001 and se
28. FM 1012 EMERGENCY data 8 BFM 1055 Node ID 6 Unused if BFM 1056 Message Counter 7 single BFM 1057 EMERGENCY data 8 Unused BFM 1058 EMERGENCY data 8 displayed BFM 1059 EMERGENCY data 8 BFM 1060 EMERGENCY data 8 BFM 1061 Node ID 6 BFM 1062 Message Counter 7 BFM 1063 EMERGENCY data 8 BFM 1064 EMERGENCY data 8 BFM 1065 EMERGENCY data 8 BFM 1066 EMERGENCY data 8 MITSUBISHI FX2N 32CAN Communication Module Emergency Messages 9 1 If the parameter 0 is set in BFM1001 the read Emergency buffer command will display the complete stack buffer in the BFM1001 to BFM1066 The stack buffer always contains the first eleven emergency messages which have been received since the PWO or since the emergency buffer has been cleared the last time If the stack buffer is displayed the BFM1000 will contain 8701 hex 2 The parameter value 1 will cause the display of the whole content of the ring buffer The oldest message will be displayed in BFM1001 to BFM1066 the later messages in the higher BFMs BFM1000 will display 8702 hex 3 If the read Emergency buffer command is executed with the read next unread buffer entry the CIF will display the next unread emergency message in BFM1001 to BFM1066 BFM1000 will display 8703 hex With every execution of the read next unread buffer entry command with this parameter the CIF will show the next unread emergency message
29. M 1 BEM 0 FROM Rx PDO 2 EPA 281 hex E BFM 7 BFMif6 BFM 5 4 FROM Rx PDO 3 1 381 hex BFM 11 10 9 BEM 8 FROM Rx PDO 4 2330 nex 481 hex Aa BFM 15 BFM 14 13 BEM 12 FROM 80000000 hex Rx PDO 5 182 Can be defined BFM 19 18 BFM 17 BFM 16 FROM Rx PDO 6 COB ID set 282 ME BFM 103 BFM 102 BFM 101 100 FROM Rx PDO 7 to 80000000 382 command BFM 107 BFM 106 105 104 FROM Rx PDO 8 NM 482 BFM 111 BFM 110 BFM 109 108 FROM Rx PDO 9 can be 183 BFM 115 114 BFM 113 BFM 112 FROM activated by Rx PDO10 ModeB 283 BFM 119 116 FROM Rx PDO 11 comands 383 data BFM 123 BEM 120 FROM Rx PDO 12 483 BFM 127 BEM 124 FROM Rx PDO 13 184 BFM 131 BEM 128 FROM Rx PDO 14 284 Node 4 135 132 FROM Rx PDO 15 384 data 139 136 FROM Rx PDO 16 484 BFM 143 140 FROM Rx PDO 17 185 BFM 147 144 FROM ae CX 285 Node 5 151 148 FROM 19 COB ID set 385 BFM 155 BFM 152 FROM Rx PDO 20 485 FDA BFM 159 156 FROM Rx PDO 21 These PDOs 186 BFM 163 BFM 160 FROM Rx PDO 22 adn ibd by 286 Node 6 ae BFM 167 BEM 164 FROM Rx PDO 23 Wee rie 386 data command 171 168 FROM Rx PDO 24 commands 486 parameter BFM 175 172 FROM Rx PDO 25 187 BFM 179
30. O BFMO Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 1 Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 BFM19 Received data Section 4 2 1 2 Data to Transmit Section 4 2 1 2 BFM20 Data exchange status bit Section 4 2 2 Data exchange control bit Section 4 2 2 21 Reserved Reserved BFM22 Reserved Reserved BFM23 Reserved Reserved BFM24 Read baud rate Section 4 2 3 Set baud rate Section 4 2 3 default 10kBd BFM25 Module communication status Section 4 2 4 125 CANopen restart command Section Read FROM TO watchdog timer reload value Set FROM TO watchdog timer reload value 26 default 20 equals 200ms Section 4 2 5 default 20 equals 200ms Section 4 2 5 BFM27 Read node address Section 4 2 6 address default 127 Section BFM28 Reserved Reserved BFM29 Error status Section 4 2 7 Reset latched error status Section 4 2 7 BFM30 Module code K7100 Read only BFM31 Reserved Reserved Buffer Memory Functions Data Transfer Locations BFMs 0 19 and 100 199 These Buffer memory locations in the FX2N 32CAN module are used to receive from and transfer data to the CAN bus The Data Exchange Mode BFM 20 On read access BFM20 contains a status bit for data exchange If bitO is 1 the module is in data exchange mode and the received data are valid no CAN error occurred If bitO is 0 the module is not in dat
31. Tidy LlUnfriendly Are the explanations understandable Not too bad LlUnusable Which explanation was most difficult to understand Are there any diagrams which are not clear Yes ANo IP SO WhICHE What do you think to the manual layout LlGood LINot too bad LlUnhelpful If there one thing you would like to see improved what is Could you find the information you required easily using the index and or the contents if possible please identify your Thank you for taking the time to fill out this questionnaire We hope you found both the product and this manual easy to use MITSUBISHI i FX2N 32CAN Communication Module MITSUBISHI FX2N 32CAN Communication Module Guidelines for the Safety of the User and Protection of the Programmable Controller This manual provides information for the use of the FX2N 32CAN Communication Module The manual has been written to be used by trained and competent personnel The definition of Such a person or persons is as follows a Any engineer who is responsible for the planning design and construction of automatic equipment using the product associated with this manual should be of a competent nature trained and qualified to the local and national standards required to fulfill that role These engineers should be fully aware of all aspects of safety wi
32. a exchange mode On write access BFM20 acts as the data exchange control signal To ensure that the FX2N 32CAN module can handle the PDO data in a consistent way it is absolutely necessary to write a 1 to this BFM before reading Rx data FROM and after writing Tx PDO data TO to the module The data exchange control signal ensures by internal buffer exchange that TO data from the PLC will be transmitted within the same corresponding Tx PDO at the same time data will only be sent to the CAN bus after write access to BFM20 data 1 As long as the reading of the previous data is not finished and a new exchange command to 20 has not been sent FROM data from the CAN bus will not be partially overwritten by further Rx PDOs with the same ID MITSUBISHI 44 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 If the CANopen module is in data exchange mode the received PDO data Rx PDO from other nodes can be read by the FX2N C FX1N PLC by using a FROM instruction and the transmit PDO data Tx PDO can be written to the module and sent to the network by using a TO instruction 4 2 3 Setting the Baud Rate BFM 24 24 contains the current baud rate setting of the FX2N 32CAN module as shown in Table 4 2 below The baud rate can be set by writing TO BFM24 and the baud rate must be equal for all nodes on the CANopen network Table 4 2 Baud Rate Settings
33. advantage is that if all Rx PDOs are mapped they will also be received This is not really a problem but the FX2N 32CAN cycle time will be a little bit higher and it may be confusing if unused BFMs are also change their data values Note If the local FX2N 32CAN is the destination this error is disabled Other Errors If the prepare mode B mapping parameter 0000 hex is used nn node ID mm no Table 7 8 Prepare Parameter Setting Error Number Description Parameter can be used only as Source1 Destination1 fbr Rex 1001 1002 If the occupy parameter is not set properly Table 7 9 Occupy Parameter Error Error Number Description rinm dex Source node nn must be in the range 1 to 127 and PDO number mm must be 1 4 for Source Parameter 5 127 Destination Parameter MITSUBISHI 7 10 FX2N 32CAN Communication Module Node Guarding 8 8 1 8 2 8 2 1 Node Guarding Nodes can be set to Guarding Master or Guarding Slave status by writing values to Index 1F81 using the Command Interface CIF The parameters for the guarding are included in the information that can be written to the CAN bus Please see Table 8 1 for details CIF BFM Structure for Slave Guarding Assignment Table 8 1 CIF Command for Slave Guarding Assignment BFM READ From WRITE TO BFM 1000 Slaves have been Assigned
34. ake some time as long as the command is being executed the result BFM1000 will display CIF busy FFFF hex To abort a running remote transmission command FFFF hex can be written to the command BFM 1000 When the result BFM 1000 does not display CIF busy anymore the CIF is ready to receive new commands 2 If a single PDO number is requested to be refreshed and the CIF could not find a valid COB ID in the object dictionary the error message no COB ID found for requested PDO 81FF hex will be displayed in BFM1000 The Rx PDO number which caused the failure can be read from BFM1001 MITSUBISHI 64 FX2N 32CAN Communication Module The Command Interface 6 6 4 6 4 1 Error Messages If the BFM1000 receives a value of OOOF hex an error has occured during the execution of a command General Error Messages Table 6 4 Error Messages when BFM1000 000F hex Command Unknown Queuewas or Short Parameter CIF Internal BEM Description SDO Emor on cus E Change Error Y While CIF was Busy BFM1000 Error 000F hex 000F hex 000F hex 000F hex 000F hex 1001 Error Class 0003 0064 hex 8FFF hex FFFF hex 00C8 hex Content of BFM1002 Device ID Error Buffer Low Word of Content of BEM1003 Error Code 3 Error Buffer High Word of Content of 1004 4 Error Buffer Content of BFM1
35. bject attempting to Read a Write Only device Requested access type is not supported for this Object 05920009 attempting to Write to a Read Only device 0 x 06020000 Requested Object does not exist in the Object Dictionary 0 x 06040000 The index is reserved for future use 0 x 06040041 The Object cannot be mapped to the PDO 0 x 06040042 Number and length of the Object to be mapped would exceed PDO length 0 x 06040043 General parameter incompatibility 0 x 06040047 General internal incompatibility in the device Buffer too small for received SDO data this error will 0 x 06060000 occur during initialisation of the transmission or Access failed because of an hardware error 0 x 06070010 Data type does not match length of service parameter does not match 0 x 06070012 Data type of Write access and destination does not match service parameter too long 0 x 06070013 Data type of Write access and destination does not match service parameter too short 0 x 06090011 Requested Sub Index does not exist 0 x 06090030 Requested Write access exceeds value range of this parameter MITSUBISHI 6 6 FX2N 32CAN Communication Module The Command Interface 6 Table 6 6 Remote Node Error Codes Subindex Local Error Description byte data 0 x 06090031 Value of the parameter to Write is too high 0 x 06090032 Value of the parameter to Write is too low 0 x 06090036 Maximum value is les
36. busy the data is not written the BFM area and the Command or parameter change while CIF was busy Error is displayed in the result BFMs This error status must acknowledged reset by a special command to make the CIF available again see section 9 4 7 The Clear Reset CIF was busy Error To Reset the CIF after a Command or Parameter Change while CIF was busy Error FFFF hex must be written using the TO command to BFM1000 The CIF is available again if the BFM1000 displays 0000 hex Note If the 2 2 is in From To watchdog error the command execution is shifted as long as the FROM TO error is not reset MITSUBISHI 67 FX2N 32CAN Communication Module The Command Interface 6 6 4 8 CIF Internal Error BFM1001 200 hex This error code was implemented to handle possible errors which are not covered by the normal error detection If an error occurs which does not have a corresponding error code a classification value will be displayed in BFM1002 and the internal error data buffer is copied to BFM1003 1066 If this error occurs please contact your service representative MITSUBISHI 6 8 FX2N 32CAN Communication Module The Mapping Modes 7 T The Mapping Modes In order to exhange data over the CANopen but the data channels between nodes must be defined or mapped The FX2N 32CAN module has been pre configured to support three defined mapping modes or can be configured completely to sui
37. comes four instead of two Four Rx PDOs are also mapped automatically Table 7 1 Mode 0 Mapping Command BFM READ FROM WRITE TO BFM1000 oe successfully established Command 8900 hex BFM1001 Unused Unused Unused Unused BFM1066 Unused Unused The BFM 0 15 are distributed to Rx PDOs 1 4 and Tx PDOs 1 4 as shown in section 5 4 This setting is useful for a network that features many different types of node or as a base for a network mapping configured with the Mode B mapping command The PDOs from 5 30 BFM16 19 and BFM100 199 are disabled in the default settings but further mapping of BFM16 19 and BFM100 199 can be accomplished using the Mode mapping technique 7 2 Mode A Mapping Setting up a CANopen network of only FX2N 32CAN nodes can be accomplished by simply using the Mode A Mapping configuration Other types of CANopen modules can be added to the Network but additional user inputs are necessary Table 7 2 Mode A Mapping Command BFM READ FROM WRITE TO Mapping successfully established BFM1000 ped nodo number MUST be in the Command 8200 hex range 1 8 82FF hex BFM1001 Unused Unused Unused Unused BFM1066 Unused Unused To establish communication between a FX2N 32CAN node and up to 7 other FX2N 32CAN nodes it is only necessary to write the set Mode A Mapping command 8200 hex to all the FX2N 32CAN modules via the l
38. e 2 1 2 2 Overview of FX2N 32CAN Communication 2 1 23 Characteristics ei 2 2 2 3 1 Communication with other CANopen 2 2 20 2 The Object Dictionaries 2 2 2 33 SDO Command ireren dnn aodio 2 2 2 3 4 The Command 00 0 0000 2 2 2 30 Node GUIA 2 2 3 ODOGIICallOris ii 3 1 3 1 Environmental Standards 3 1 3 2 Power Supply 3 1 3 3 Performance Specification 3 2 4 Buffer Memory Structure Parameter 4 1 4 1 Basic Buffer Memory Structure BFMO 1 4 1 4 2 Buffer Memory Functions nennen nennen 4 1 4 2 1 Data Transfer Locations BFMs 0 19 and 100 199 4 1 4 2 2 The Data Exchange Mode BFM 20 4 1 4 2 3 Setting the Baud Rate BFM 24 20044000000 4 2 4 2 4 Reading the Communication Status BFM 25 4 2 4 2 5 The Watch Dog Timer Setting BFM 26 sse 4 3 4 2 6 The Node Address BFM 27 1 4 3 42 Ertor Staus BEM A EE nuege 4 4 4 2 8 BFM Data Memory
39. each specific application USER S MANUAL FX2N 32CAN Communication Module MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100 8310 TELEX J24532 CABLE MELCO TOKYO HIMEJI WORKS 840 CHIYODA CHO HIMEJI JAPAN Effective DEC 2001 JY992D92801A Specification are subject to change without notice
40. ect Dictionary FROM Instruction Access Index Index Index Index Index Index Index A6COh A680h A640h A580h A540h A4COh A480h BFM FROM float 32 unsigned signed unsigned signed unsigned signed 8 access bit 32 bit 32 bit 16 bit 16 bit 8 bit bit object object object object object object object sub sub sub sub sub sub sub index index index index index index index 01h 01h BFM 0 lower 8 bit 01h 01h 02h 02h BFM 0 higher 8 bit 01h 01h 01h 03h 03h BFM 1 lower 8 bit 02h 02h 04h 04h BFM 1 higher 8 bit 05h 05h BFM 2 lower 8 bit 03h 03h 06h 06h BFM 2 higher 8 bit 02h 02h 02h 07h 07h BFM 3 lower 8 bit 04h 04h 08h 08h BFM 3 higher 8 bit 09h 09h BFM 4 lower 8 bit 05h 05h 0Ah OAh BFM 4 higher 8 bit 03h 03h 03h OBh OBh BFM 5 lower 8 bit 06h 06h OCh OCh BFM 5 higher 8 bit 25h 25h BFM 18 lower 8 bit 13h 13h 26h 26h BFM 18 higher 8 bit 0Ah OAh OAh 27h 27h BFM 19 lower 8 bit 14h 14h 28h 28h BFM 19 higher 8 bit 29h 29h BFM 100 lower 8 bit 15h 15h 2Ah 2Ah BFM 100 higher 8 bit OBh OBh OBh 2Bh 2Bh BFM 101 lower 8 bit 16h 16h 2Ch 2Ch BFM 101 higher 8 bit EDh EDh BFM 198 lower 8 bit 77h 77h EEh EEh BFM 198 higher 8 bit 3Ch 3Ch 3Ch EFh EFh BFM 199 lower 8 bit 78h 78h FOh FOh BFM 199 higher 8 bit MITSUBISHI
41. ed After the WDT has expired it must be reset by writing the current or a new value to BFM26 When the value 0 is written to BFM26 the FROM TO watchdog timer is disabled During normal operation as soon as the module receives a FROM or TO instruction the WDT will reset to time zero Note No Emergency Message will be transmitted if the WDT is disabled and the FROM TO communication stops and the FX2N 32CAN module is in operational mode The Node Address BFM 27 The CANopen node supports setting of the node address by the FX2N C FX1N PLC via the TO instruction The actual address is displayed BFM27 The Node address must be set for communication to take place via the CAN bus In case of an address change by TO instruction the new address value 1 1274 must be written to BFM27 The new address will only become effective after a power down of the host PLC or after a restart command written to BFM25 MITSUBISHI 4 3 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 4 2 7 4 2 8 Error Staus BFM 29 BFM29 reflects the error status of the module Bit 7 shows the status of the FROM TO watchdog timer see section 4 1 7 BFM 26 In case of a watchdog timer error b7 is ON an external emergency message will be sent to the CANopen network if the module is in operational mode When the value 0 is written to BFM26 the FROM TO watchdog timer is disabled and b7 of BFM29 will never become 1
42. emote modules This type of network setup can be accomplished by the SDO write access command or by a standard configuration tool MITSUBISHI 7 5 FX2N 32CAN Communication Module The Mapping Modes 7 Assign Additional COB IDs to the Local Node By default every CANopen node can use four COB IDs to transmit its data to other CANopen stations All COB IDs for Data transmission are by default reserved for the nodes 1 127 If it is necessary to transmit more than 4 PDOs more than 16 words from one node this node must occupy COB IDs of other unused stations It is recommended to use the identifier of higher number stations for this purpose 127 126 125 etc The lower the used COB ID is the higher is the priority of the messages According to this for highly important data it should be avoided to assign the COB ID of the Tx PDO4 node 127 because all other Tx PDO COB IDs have a higher priority for transmission on the CANopen bus The Source parameter high byte defines the node which is by default the owner of hte COB ID to occupy the low byte defines the number Tx COB ID 0180 hex node ID for Tx PDO1 0280 hex node ID for Tx PDO2 0380 node ID for Tx PDO3 0480 hex node ID for 4 To assign a COB ID by the local station the high byte number must be set to 80 hex The low byte tells the PDO number in the local station which shall use the occupied COB ID Ex Source 7F01 hex Destination 2 8005 hex
43. estination 5 2 BFM1063 Source 32 1 BFM1064 Destination 32 2 BFM1065 Source 33 1 BFM1066 Destination 33 2 There is a special parameter to set up the mapping table If 1 BFM1001 and Destination1 BFM1002 are set to 0000 hex the PDO mapping will be reset to the state shown in section 10 4 The prepare parameter must be set in the first Source Destination parameter set if it is used in Source2 Destination2 Source33 Destination33 it will be ignored and will generate an error message If it is necessary to execute the mode B mapping more than one time to bind all PDOs the preparation command must not be set in the second or following parameter sets When the preparation command is used all previous bindings will be reset Note The parameter set must be terminated by the end of binding Table parameter This is accomplished by setting the Source parameter that follows the final binding parameter to FFFF hex With one execution of the Mode B mapping command up to 33 binding connections between CANopen stations can be made To establish more data connections the command can be repeated as often as necessary The mode B mapping commands can be used in the same manner if Mode 0 or Mode A is used as a base configuration MITSUBISHI 74 FX2N 32CAN Communication Module The Mapping Modes 7 The Source Command The task of the mapping command is to connect a data producer and a data consumer
44. ges on the CAN bus e g PDO SDO NMT SYNC EMCY messages Mapping Mode 0 Base Configuration where 4 Rx PDOs and 4 Tx PDOs are given BFM assignments for each FX2N 32CAN node according to the pre defined connection set of CANopen Mapping Mode A Mitsubishi Electric defined configuration for the FX2N 32CAN module that defines the relationship between up to eight FX2N 32CAN nodes the node BFMs and the Rx PDOs and Tx PDOs This mode is very convenient if every node is an FX2N 32CAN module Mapping Mode B Configuration mode that allows specific Rx PDOs and Tx PDOs to be matched on a node by node basis MITSUBISHI FX2N 32CAN Communication Module Overview 2 2 1 2 2 Overview This chapter describes the overview of the FX2N 32CAN Communication Module for the FX1N 2N c Series PLC The Controller Area Network CAN used hereafter in this manual is a serial bus system especially suited for networking intelligent devices as well as sensors and actuators within a System or sub system Overview of the CANopen Network The CANopen protocol provides a system for transferring serial messages between different nodes via the CAN bus 1 Simple relatively high speed communication can be accomplished with modules that handle the ON OFF data such as 1 or numeric data 2 All CAN nodes are able to transmit data and several nodes can make a request to the CAN bus simultaneously 3
45. h 02h 02h 07h 07h BFM 3 lower 8 bit 04h 04h 08h 08h BFM 3 higher 8 bit 09h 09h BFM 4 lower 8 bit 05h 05h 03h 0Ah OAh BFM 4 higher 8 bit OBh OBh BFM 5 lower 8 bit 06h 06h OCh OCh BFM 5 higher 8 bit 25h 25h BFM 18 lower 8 bit 13h 13h 26h 26h BFM 18 higher 8 bit 0Ah OAh OAh 27h 27h BFM 19 lower 8 bit 14h 14h 28h 28h BFM 19 higher 8 bit MITSUBISHI 5 1 FX2N 32CAN Communication Module The Object Dictionary 5 Table 5 1 CAN bus Object Dictionary TO Instruction Access Index Index Index Index Index Index Index A240h A200h A1COh A100h A0COh A040h A000h float 32 unsigned signed unsigned signed unsigned signed8 BFM TO access bit 32 bit 32 bit 16 bit 16 bit 8 bit bit object object object object object object object 29h 29h BFM 100 lower 8 bit 15h 15h 2Ah 2Ah BFM 100 higher 8 bit OBh OBh OBh 2Bh 2Bh BFM 101 lower 8 bit 16h 16h 2Ch 2Ch BFM 101 higher 8 bit EDh EDh 198 lower 8 bit 77h 77h EEh EEh 198 higher 8 bit 3Ch 3Ch 3Ch EFh EFh BFM 199 lower 8 bit 78h 78h FOh FOh BFM 199 higher 8 bit MITSUBISHI 5 2 FX2N 32CAN Communication Module The Object Dictionary 5 5 2 BFM access to the Object Dictionary Read FROM Use the FROM instruction to read values from these locations in the Object Dictionary Table 5 2 CAN bus Obj
46. h bus By the use of repeaters or bridges the total number can be extended up to 127 nodes Communication method Cyclic or Event Driven Transmission path type CAN Bus RS 485 Connection cable The cable should conform to ISO11898 1993 Recommended is a shielded 2 X 2 twisted pair cable with an impedance of about 120 ohm Connectable PLC FX1N FX2n c Series PLC Number of occupied points 8 I O points of FX Series PLC Selectable from Inputs or Outputs Communication with PLC By FROM TO instructions via the buffer memory Operation indication RUN Lit green when module is exchanging information with the CANopen network FROM TO Lit green when module is receiving FROM TO commands Lit green when CAN interface system is in normal operation ERROR Lit red when communication overflow or general error occurs POWER Lit green when the 5VDC power is supplied from main unit MITSUBISHI 3 2 FX2N 32CAN Communication Module Buffer Memory Structure Parameter Setup 4 4 1 4 2 4 2 1 4 2 2 Buffer Memory Structure Parameter Setup This chapter describes Buffer Memory Structure of the FX2N 32CAN module and the how to Set the parameters associated with the CANopen protocol Basic Buffer Memory Structure BFMO BFM31 Table 4 1 Buffer Memory Structure 0 1 BFM READ FROM WRITE T
47. mmand can be used to send an emergency message by the PLC to the CANopen network BFM READ FROM WRITE TO No special return values but the Queue was not available error may occur under BFM 1000 high busload conditions Command 000A hex Also CIF BUSY FFFF hex BFM 1001 Emergency Data byte 2 and 1 1 BFM 1002 Emergency Data byte 4 and 3 1 BFM 1003 Emergency Data byte 6 and 5 1 BFM 1004 Emergency Data byte 8 and 7 1 1 Emergency data defined in DS301 revision 3 0 Write first emergency data byte to low byte of BFM1001 second emergency data byte to high byte of BFM1001 third emergency data byte to low byte of BFM1002 and so on Unused emergency data bytes HAVE TO BE filled with 00 hex MITSUBISHI 9 3 FX2N 32CAN Communication Module Emergency Messages 9 MEMO MITSUBISHI 94 Under no circumstances will Mitsubishi Electric be liable or responsible for any consequential damage that may arise as a result of the installation use and or programming of the products associated with this manual All examples and diagrams shown in this manual are intended as an aid to understanding the text not to guarantee operation Mitsubishi Electric will accept no responsibility for actual use of the product based on these illustrative examples Owing to the very great variety of possible applications users must satisfy themselves as to the suitability of
48. n BFM1001 to BFM1064 as shown in the table above and BFM1000 will display 8503 hex in this case MITSUBISHI 8 3 FX2N 32CAN Communication Module Node Guarding 8 The high byte of the parameter in BFM1001 is ignored 2 Node Guarding Status Flags Bit 0 Guarding is Activated Bit 1 Reserved Bit 2 One response is Missed Bit 3 No response and Lifetime Elapsed Bit 4 Toggle Error Bit 5 State changed bus state of the node changed operational pre operational etc Bit 6 Guarding failed for the local node guarding request from the network manager was not received in the expected time Bit 7 Reserved 8 2 8 Reset Guarding Status Latch To reset the local guarding error latch the CIF supports the reset Guarding status latch command 8600 hex A parameter given in BFM1001 decides if the guarding status of a special node or the status latch of all nodes will be reset If BFM1001 is set to a value from 1 127 the corresponding node status latch is reset the guarding error flags are set to 0 A value of 0 or 1128 255 in BFM1001 will cause the CIF to reset the complete local guarding error latch for all nodes Table 8 4 Reset Guarding Status Latch BFM READ FROM WRITE TO Status latch was reset 8601 hex CIF BUSY FFFF hex Node number 1 127 10 Reset complete latch 0 128 255 1000 Command 8600 hex 1002 Unused Unused BFM1066
49. node number of hte local FX2N 32CAN node must be in the range 1 8 If the node number is different the result BFM1000 will display the node number mismatch 82FF hex error message Mode B Mapping With Mode B Mapping it is possible to build up a binding a connection between two node addresses between all nodes connected to the FX2N 32CAN module Also the binding of any CANopen node with any other CANopen node is supported The Mode B mapping is limited to the binding of the PDOs which are already configured in the remote stations no change of the mapping between CANopen data and the remote node s hardware which will be suitable for most cases Prepare the PDO Mapping Table The Mode B mapping command will modify or add to the current PDO mapping therefore it is important to have a clearly defined mapping base before executing any Mode B commands Executing the Mode B Mapping commands before creating a PDO mapping base may create errors in the data transmission or module operation The PDO mapping base can be the Mode 0 mapping or the Mode A mapping explained in previous sections to prepare the default Rx PDO and Tx PDO formats as shown in section 10 4 Another method to create or reset a Mapping base is to initialize the Mode B Mapping with a special instruction at the beginning of the Mode B Mapping Command The purpose of the Mode B Mapping Commands is to bind a Tx PDO from one CANopen node to a Rx PDO of another node This all
50. ocal PLC One of the nodes must be configured as the network manager The network manager can be defined in the Network Configuration tool or by writing to the Object Dictionary using the CIF SDO write command When all the stations have executed the Mode A Mapping command it is possible to exchange 16 data words with every other FX2N 32CAN module Due to the data size the number of nodes in this mapping Mode is limited to 8 stations f the node number is outside the range 1 8 BFM1000 will display the node number mismatch error message 82FF hex MITSUBISHI 72 FX2N 32CAN Communication Module The Mapping Modes 7 7 3 Note Nodes 1 7 can exchange 16 words of data with every other node but station number 8 can send just 8 words of data to the other 7 stations Node 8 can read the 16 words of data from all the other stations A closer look at the mapping shows that the Tx PDO is dependent upon the node ID but the mapping for the Rx PDO is fixed to the default Tx PDO COB ID of the stations 1 8 The advantage is that the data location o the other nodes are the same for all FX2N 32CAN modules eg station 43 is always BFM112 127 FROM To include other types of CANopen nodes in the Mode A network it is necessary to change the Rx PDO and communication parameters of these stations This can be done by the Mode B mapping commands the SDO write access Command or by a standard configuration tool Note For Mode A Mapping th e
51. of a node that has a parameter configuration error The FX2N 32CAN module may write a value of FFFF hex to the Guard Time parameter of a node that has a parameter configuration error If the Retry Factor parameter exceeds 255 an error value will be displayed in the corresponding BFM The FX2N 32CAN module may write a value of FFFF hex to the Retry Factor parameter of a node that has a parameter configuration error If the node number requested services retry factor and guarding time is just copied to the corresponding result BFMs no parameter skipped FFFF hex the remote node does not support Index 100C 100D hex guarding time retry factor In this case the remote node cannot detect a missing guarding request of the network manager MITSUBISHI 8 2 FX2N 32CAN Communication Module Node Guarding 8 8 2 7 Read Guarding Status To Read the Guarding Status of the CANopen nodes guarded by the local station the CIF supports a special read command With a parameter in BFM1001 you can choose if the state of all the nodes or only single node shall be read Table 8 3 Read Guarding Status Settings BFM READ From WRITE TO Single node status BFM 1000 displayed 8501 h All nodes status displayed Next node with error 8503 hex Command 8500 hex displayed 8502 h CIF BUSY FFFF hex CIF BUSY FFFF h Display all states 0 Node ID Display single node
52. ows certain Buffer Memory information to be transfered read in designated nodes around the CANopen network The Source parameter specifies the Node number and the specific Tx PDO The Destination parameter specifies the Node number and the specific Rx PDO that can read the data The command consists of four hexadecimal numbers the two higher byte numbers specify the node number and the two lower numbers specify the appropriate PDO number If itis necessary to change the remote node hardware mapping this can be done by the SDO write access command or by a standard configuration tool The configuration with the Mode B mapping is controlled by a parameter set which is displayed in the table below MITSUBISHI 73 FX2N 32CAN Communication Module The Mapping Modes 7 Table 7 3 Mode B Mapping Command BFM READ FROM WRITE TO Binding done without errors 8301 H BFM1000 Binding error occurs Hex 83FF Command 8300 hex CIF BUSY FFFFh BFM1001 Source 1 1 BFM1002 Destination 1 2 BFM1003 Source 2 1 BFM1004 Destination 2 2 BFM1005 Source 3 1 BFM1006 Destination 3 2 BFM1007 Source 4 1 1008 Diagnosis Data 0000 hex no error Destination 4 2 BFM1009 All other Values The Corresponding Source 5 1 parameter cause an error BFM 1000 will BFM1010 83FF hex D
53. r Reset CIF was busy Error 6 7 6 4 8 CIF Internal Error BFM1001 200 6 8 lt 5 oe od ei eve beste 7 1 7 1 Factory Default Mapping Mode 0 7 2 7 2 Mode A Mapping 7 3 Mode B Mapping 7 3 1 Prepare the PDO Mapping Table 7 3 2 The Source Command 7 3 3 The Destination Parameter 7 3 4 Assign Additional COB IDs to the Local Node 7 3 5 The End of the Parameter Table 7 4 PDO Mapping Table Overviews 7 4 4 Tx PDO Mapping 7 4 2 Rx PDO Mapping Table 7 4 3 Mode B Mapping Errors 7 4 4 Source Parameter Errors 7 4 5 Destination Parameter 7 406 Other EITOIS s cr ae aeree 8 Node Guarding Md LUE 8 1 Structure for Slave Guarding 8 2 Node Guarding Parameter Settings is 8 24 Slave N mber eere prep there m 8 22 Services Requested iveco rese egi e edo gara pe ee dele eset tns 8 2 3 Guard 202 nere ede derent
54. s than minimum value 0 x 08000020 Buffer too small for received SDO data this failure will occur ONLY during transmission 0 x 08000021 Data cannot be transferred or stored to the application because of local control 0 x 08000022 The data cannot be transmitted in the actual module status If the transfer is aborted by the communication partner 0x the corresponding abort code is displayed here This be an error code from a remote station which must be checked in the User s Manual of that station Unknown Command Used BFM1001 z 100 The command code sent from the PLC to BFM1000 is unknown Queue was not available BFM1001 8FFFF hex At this time the access to the internal transmission queue was rejected it is possible that the bus load was too high Command or Parameter Change while CIF was busy BFM1001 FFFF hex After the CIF has received a new command in the BFM1000 it will start to execute this command with the parameters given in BFM1001 BFM1006 After the command has been written TO BFM1000 the result FROM BFM1000 will display CIF busy FFFF hex There are two BFM1000s one for the TO command and one for the FROM command After the command written to 1000 has been processed the result FROM BFM1000 will be set to the corresponding success failure code and will not contain the value FFFF hex If any BFM from 1000 1066 is accessed by TO command while the CIF is
55. t BFM1000 to 8100 hex Thke requeste PDO must exist in the local Object Dictionary and has to be properly configured because all parameter data are taken from the local Object Dictionary The PDO number 0 will cause the request of all local configured Rx PDOs If the result BFM1000 becomes 8101 hex the rtr frame has been successfully sent to the transmit queue If the CIF was not able to access the queue the result in BFM1000 will be hex If the PDO specified by BFM1001 was not configured COB ID 80000000 hex the result in BFM 1000 will be 81FF hex and BFM 1001 will display the PDO number Table 6 3 PDO Remote Transmission BFM Structure BFM READ FROM WRITE TO Request successfully sent 8191 hex BFM1000 No COB ID found 81FF hex 2 Command 8100 hex CIF BUSY FFFF hex BFM1001 Rx PDO number 2 Local Rx PDO number 1 BFM1002 Unused Unused BFM1066 1 If the PDO rtr command is used with parameter 0 the module will read the local object dictionary to get the first PDO Identifier COB ID to request afterwards the rtr frame is assembled and sent Next the second PDO Identifier is read from the local object dictionary and the process repeats After all PDOs have been requested to the network or skipped if the PDO was not configured the result in BFM 1000 is set to 8101 hex The process to request all configured PDOs to the network may t
56. t the user needs A network configuration tool is a powerful device for setting the parameter data for any manufacturers node including the FX2N 32CAN and defining the data mapping connection set It is recommended to use a network configuration tool for large networks due to the convenience flexibility and ease of use that the tools provide To build up a small network or for testing purposes the module Command InterFace CIF see Chapter 9 supports three PDO mapping binding commands designed for and supported by the FX2N 32CAN module By using these predefined Mapping configurations the CAN object ID COB ID number for data exchange for each node is clearly defined For example an Rx PDO receive process data object can be connected to a Tx PDO transmit process data object of another node These data will always be transmitted with the same COB ID and every node can distinguish relevant data by checking the COB ID Note It is strongly recommended to execute the Mapping Commands only in the pre operational or stopped mode of the local and all related CANopen nodes Vocabulary Terms Rx PDO Receive Process Data Objects are data read from other nodes via the CAN bus Tx PDO Transmit Process Data Objects are the data sent to other nodes via the CAN bus CIF The Command Interface is the FX2N 32CAN tool used to perform actions such as to set parameters execute commands establish communication connections access the CANopen Object
57. ta flow to store data in many formats or send emergency messages The Object Dictionary address consists of an Index and Sub Index for data Read Write Different indexes are used depending upon the type of data to store unsigned 8 bit signed 8 bit unsigned 16 bit signed 16 bit unsigned 32 bit signed 32 bit or 32 bit floating point The information contained in Sections 5 1 and 5 2 detail how the FX2N 32CAN module BFMs can tranfer information TO FROM the Object Dictionary Mapping For the complete structure of the CANopen Object Dictionary please go to the CAN in Automation website at http www can cia de 5 1 Use the TO instruction to write data to the following locations BFM access to the Object Dictionary Write TO Table 5 1 CAN bus Object Dictionary TO Instruction Access Index Index Index Index Index Index Index A240h A200h A1COh A100h 0 0 A040h A000h float 32 unsigned signed unsigned signed unsigned signed8 BFM TO access bit 32 bit 32 bit 16 bit 16 bit 8 bit bit object object object object object object object sub sub sub sub sub sub sub index index index index index index index 01h 01h BFM 0 lower 8 bit 01h 01h 02h 02h BFM 0 higher 8 bit 01h 01h 01h 03h 03h BFM 1 lower 8 bit 02h 02h 04h 04h BFM 1 higher 8 bit 05h 05h BFM 2 lower 8 bit 03h 03h f 06h 06h BFM 2 higher 8 bit 02
58. th regards to automated equipment b Any commissioning or service engineer must be of a competent nature trained and qualified to the local and national standards required to fulfill that job These engineers should also be trained in the use and maintenance of the completed product This includes being completely familiar with all associated documentation for the said product All maintenance should be carried out in accordance with established safety practices C All operators of the completed equipment should be trained to use that product in a safe and coordinated manner in compliance to established safety practices The operators should also be familiar with documentation which is connected with the actual operation of the completed equipment Note Note the term completed equipment refers to a third party constructed device which contains or uses the product associated with this manual Notes on the Symbols Used in this Manual At various times through out this manual certain symbols will be used to highlight points of information which are intended to ensure the users personal safety and protect the integrity of equipment Whenever any of the following symbols are encountered its associated note must e read and understood Each of the symbols used will now be listed with a brief description of its meaning o Hardware Warnings 1 Indicates that the identified danger WILL cause physical and property damage 2 Indicates that
59. to Flash 1011 Restore Parameter 1400 1BFF PDO Parameter PDO Mapping MITSUBISHI 5 4 FX2N 32CAN Communication Module The Command Interface 6 6 1 The Command Interface The Command Interface CIF is located in BFMs 1000 1066 and can be used to access the CANopen Object Dictionary to perform the following commands SDO Read Request Read the value of an index subindex of the Object Dictionary local or network node SDO Write Request Write a value to an index subindex of the Object Dictionary local or network node LAYER 2 message write Request Write a layer 2 message to the CAN bus Local Receive PDO Refresh Request a transmission of a local Rx PDO to the network Define Change the PDO Mapping Binding of the Network Setup the Guarding Parameter Read the Guarding Status Reset the Guarding Status Latch Read the Emergency Message Buffer Clear the Emergency Message Buffer SDO Read Request The SDO Service Data Object command can access all nodes on the CAN network via the Object Dictionary by using FROM TO commands using the appropriate BFMs A PLC can access the connected FX2N 32CAN module by writing the actual module address 17127 or by writing 0 in the FROM TO command To initialize the SDO Read command the value of the node address must be written to BFM 1001 the Object Dictionary Index to BFM 1002 and the Subindex to BFM 1003 Finally the command code for SDO Read Access
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