FX3U-CAN USER'S MANUAL

Transcription

1 FX3U-CAN USER'S MANUAL

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3 Safety Precautions (Rea these precautions before use.) Before installation, operation, maintenance or inspection of this prouct, thoroughly rea through an unerstan this manual an all of the associate manuals. Also, take care to hanle the moule properly an safely. This manual classifies the safety precautions into two categories: an. Inicates that incorrect hanling may cause hazarous conitions, resulting in eath or severe injury. Inicates that incorrect hanling may cause hazarous conitions, resulting in meium or slight personal injury or physical amage. Depening on the circumstances, proceures inicate by may also cause severe injury. It is important to follow all precautions for personal safety. Store this manual in a safe place so that it can be taken out an rea whenever necessary. Always forwar it to the en user. 1. DESIGN PRECAUTIONS Reference Make sure to have the following safety circuits outsie of the PLC to ensure safe system operation even uring external power supply problems or PLC failure. Otherwise, malfunctions may cause serious accients. 1) Most importantly, have the following: an emergency stop circuit, a protection circuit, an interlock circuit for opposite movements (such as normal vs. reverse rotation), an an interlock circuit (to prevent amage to the equipment at the upper an lower positioning limits). 2) Note that when the PLC CPU etects an error, such as a watchog timer error, uring self-iagnosis, all outputs are turne off. Also, when an error that cannot be etecte by the PLC CPU occurs in an input/output control block, output control may be isable. External circuits an mechanisms shoul be esigne to ensure safe machinery operation in such a case. For the operating status of each noe in the case of a communication error, see the FX3U-CAN user s manual an the prouct manual of each noe. Erroneous output or malfunctions may cause an accient. When executing control (ata changes) to an operating PLC, construct an interlock circuit in the sequence program so that the entire system operates safely. In aition, when executing control such as program changes an operation status changes (status control) to an operating PLC, carefully rea the manual an sufficiently confirm safety in avance. Especially in control from external equipment to a PLC in a remote place, problems in the PLC may not be able to be hanle promptly ue to abnormality in ata transfer. Construct an interlock circuit in the sequence program. At the same time, etermine the actions in the system between the external equipment an the PLC for protection against abnormalities in ata transfer. 24 Reference Make sure to observe the following precautions in orer to prevent any amage to the machinery or accients ue to abnormal ata written to the PLC uner the influence of noise: 1) Do not bunle the main circuit line together with or lay it close to the main circuit, high-voltage line or loa line. Otherwise, noise isturbance an/or surge inuction are likely to take place. As a guieline, lay the control line at least 100mm (3.94") or more away from the main circuit or high-voltage lines. 2) Groun the shiel wire or shiel of a shiele cable. Do not use common grouning with heavy electrical systems (refer to the manual of the PLC main unit). 24 (1)

4 Safety Precautions (Rea these precautions before use.) 2. INSTALLATION PRECAUTIONS Reference Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to o so may cause electric shock or amage to the prouct. 26 Reference Use the prouct within the generic environment specifications escribe in PLC main unit manual (Harware Eition). Never use the prouct in areas with excessive ust, oily smoke, conuctive usts, corrosive gas (salt air, Cl2, H2S, SO2 or NO2), flammable gas, vibration or impacts, or expose it to high temperature, conensation, or rain an win. If the prouct is use in such conitions, electric shock, fire, malfunctions, eterioration or amage may occur. Do not touch the conuctive parts of the prouct irectly. Doing so may cause evice failures or malfunctions. When rilling screw holes or wiring, make sure that cutting an wiring ebris o not enter the ventilation slits. Failure to o so may cause fire, equipment failures or malfunctions. Be sure to remove the ust proof sheet from the PLC's ventilation port when installation work is complete. Failure to o so may cause fire, equipment failures or malfunctions. Install the prouct on a flat surface. If the mounting surface is rough, unue force will be applie to the PC boar, thereby causing nonconformities. Install the prouct securely using a DIN rail or mounting screws. Connect extension cables securely to their esignate connectors. Loose connections may cause malfunctions WIRING PRECAUTIONS Reference Make sure to cut off all phases of the power supply externally before attempting installation or wiring work. Failure to o so may cause electric shock or amage to the prouct. 29 Reference Perform class D grouning (grouning resistance: 100Ω or less) to the shiel of the twiste shiel cable (refer to Subsection 4.2.3). Do not use common grouning with heavy electrical systems. When rilling screw holes or wiring, make sure cutting or wire ebris oes not enter the ventilation slits. Failure to o so may cause fire, equipment failures or malfunctions. Install moule so that excessive force will not be applie to communication connectors or communication cables. Failure to o so may result in wire amage/breakage or PLC failure. Make sure to affix the CAN bus connector with fixing screws. Tightening torque shoul follow the specifications in the manual. Loose connections may cause malfunctions. Make sure to properly wire to the terminal block (CAN bus connector) in accorance with the following precautions. Failure to o so may cause electric shock, equipment failures, a short-circuit, wire breakage, malfunctions, or amage to the prouct. - The isposal size of the cable en shoul follow the imensions escribe in the manual. - Tightening torque shoul follow the specifications in the manual. - Twist the en of stran wire an make sure that there are no loose wires. - Do not soler-plate the electric wire ens. - Do not connect more than the specifie number of wires or electric wires of unspecifie size. - Affix the electric wires so that neither the terminal block nor the connecte parts are irectly stresse. Make sure to observe the following precautions in orer to prevent any amage to the machinery or accients ue to abnormal ata written to the PLC uner the influence of noise: 1) Do not bunle the main circuit line together with or lay it close to the main circuit, high-voltage line or loa line. Otherwise, noise isturbance an/or surge inuction are likely to take place. As a guieline, lay the control line at least 100 mm (3.94") or more away from the main circuit or high-voltage lines. 2) Groun the shiel wire or shiel of a shiele cable. Do not use common grouning with heavy electrical systems. Place the communication cable in groune metallic ucts or conuits both insie an outsie of the control panel whenever possible. 29 (2)

5 Safety Precautions (Rea these precautions before use.) 4. STARTUP AND MAINTANCE PRECAUTIONS Reference Do not touch any terminal while the PLC's power is on. Doing so may cause electric shock or malfunctions. Before cleaning or retightening terminals, cut off all phases of the power supply externally. Failure to o so may cause electric shock. Before moifying or isrupting the program in operation or running the PLC, carefully rea through this manual an the associate manuals an ensure the safety of the operation. An operation error may amage the machinery or cause accients Reference Do not isassemble or moify the PLC. Doing so may cause fire, equipment failures, or malfunctions. For repair, contact your local Mitsubishi Electric representative. Turn off the power to the PLC before connecting or isconnecting any extension cable. Failure to o so may cause equipment failures or malfunctions. Do not rop the prouct or exert strong impact to it. Doing so may cause amage. Turn off the power to the PLC before attaching or etaching the following evices. Failure to o so may cause equipment failures or malfunctions. - Peripheral evices, isplay moule, expansion boars, an special aapters - Input/output extension units/blocks, FX Series terminal blocks an special function units/blocks - Battery an memory cassette DISPOSAL PRECAUTIONS Reference Please contact a certifie electronic waste isposal company for the environmentally safe recycling an isposal of your evice TRANSPORTATION AND STORAGE PRECAUTIONS Reference The PLC is a precision instrument. During transportation, avoi impacts larger than those specifie in the general specifications of the PLC main unit manual by using eicate packaging boxes an shock-absorbing palettes. Failure to o so may cause failures in the PLC. After transportation, verify operation of the PLC an check for amage of the mounting part, etc. 24 (3)

6 Safety Precautions (Rea these precautions before use.) MEMO (4)

7 FX3U-CAN User's Manual Manual number JY997D43301 Manual revision D Date 8/2016 Forewor This manual escribes the FX3U-CAN Communication Block an shoul be rea an unerstoo before attempting to install or operate the harware. Store this manual in a safe place so that you can take it out an rea it whenever necessary. Always forwar it to the en user. This manual confers no inustrial property rights or any rights of any other kin, nor oes it confer any patent licenses. Mitsubishi Electric Corporation cannot be hel responsible for any problems involving inustrial property rights which may occur as a result of using the contents note in this manual MITSUBISHI ELECTRIC CORPORATION 1

8 Outline Precautions This manual provies information for the use of the FX3U-CAN Communication block. The manual has been written to be use by traine an competent personnel. The efinition of such a person or persons is as follows; 1) Any engineer who is responsible for the planning, esign an construction of automatic equipment using the prouct associate with this manual shoul be of a competent nature, traine an qualifie to the local an national stanars require to fulfill that role. These engineers shoul be fully aware of all aspects of safety with aspects regaring to automate equipment. 2) Any commissioning or maintenance engineer must be of a competent nature, traine an qualifie to the local an national stanars require to fulfill the job. These engineers shoul also be traine in the use an maintenance of the complete prouct. This inclues being familiar with all associate manuals an ocumentation for the prouct. All maintenance shoul be carrie out in accorance with establishe safety practices. 3) All operators of the complete equipment shoul be traine to use that prouct in a safe an coorinate manner in compliance with establishe safety practices. The operators shoul also be familiar with ocumentation that is connecte with the actual operation of the complete equipment. Note: The term 'complete equipment' refers to a thir party constructe evice that contains or uses the prouct associate with this manual. This prouct has been manufacture as a general-purpose part for general inustries, an has not been esigne or manufacture to be incorporate in a evice or system use in purposes relate to human life. Before using the prouct for special purposes such as nuclear power, electric power, aerospace, meicine or passenger movement vehicles, consult with Mitsubishi Electric. This prouct has been manufacture uner strict quality control. However when installing the prouct where major accients or losses coul occur if the prouct fails, install appropriate backup or failsafe functions into the system. When combining this prouct with other proucts, please confirm the stanars an coes of regulation to which the user shoul follow. Moreover, please confirm the compatibility of this prouct with the system, machines, an apparatuses to be use. If there is oubt at any stage uring installation of the prouct, always consult a professional electrical engineer who is qualifie an traine in the local an national stanars. If there is oubt about the operation or use, please consult your local Mitsubishi Electric representative. Since the examples within this manual, technical bulletin, catalog, etc. are use as reference; please use it after confirming the function an safety of the equipment an system. Mitsubishi Electric will not accept responsibility for actual use of the prouct base on these illustrative examples. The content, specification etc. of this manual may be change for improvement without notice. The information in this manual has been carefully checke an is believe to be accurate; however, if you notice any oubtful point, error, etc., please contact your local Mitsubishi Electric representative. Registration CiA an CANopen are registere Community Traemarks of CAN in Automation e.v. The company name an the prouct name to be escribe in this manual are the registere traemarks or traemarks of each company. 2

9 Table of Contents Table of Contents SAFETY PRECAUTIONS...(1) Stanars... 8 Certification of UL, cul stanars... 8 Compliance with EC irective (CE Marking)... 8 Associate Manuals Generic Names an Abbreviations Use in the Manual Reaing the Manual Introuction Outline Overview of the CANopen Network Overview of FX3U-CAN communication block Characteristics External Dimensions an Each Part Name External imensions an each part name Power an status LEDs Terminal layout System Configuration General configuration Applicable PLC Connection with PLC System Start-up Proceure Specifications General Specifications Power Supply Specifications Performance Specifications Installation Connection with PLC Mounting DIN rail mounting Direct Mounting Wiring Applicable Cable an Connector Applicable connector Applicable cable Termination of cable en Removal an installation of CAN bus connector CAN-Bus Wiring Connecting communication cables Moule wiring Grouning of twiste pair cable Termination Grouning

10 Table of Contents 5. Introuction of Functions Functions List Function Moes Object Dictionary Comman Interface Data Type Definition Area Communication Profile Area CAN-ID / COB-ID Error Register Pre-efine error fiel SDO RPDO / TPDO MPDO SYNC Noe guaring Heartbeat TIME Store parameters Restore efault parameters EMCY Error Behaviour Network Management CANopen Boot-Up Proceure an NMT states Protocol Boot-Up Protocol NMT (Noe control) NMT slave ientification NMT master startup NMT slave startup NMT slave assignment NMT Bootup / Error Event hanling Request NMT Request noe guaring Flying Master LSS Configuration manager Device Profile CiA 405 V2.0 for IEC Programmable Devices Application Profile CiA 417 V2.1 for Lift Control Systems Lift number Virtual input mapping Virtual output mapping Door control wor Door status wor Light barrier status Control wor Status wor Moes of operation Moes of operation isplay Target position Loa value Loa signalling Allocation of Buffer Memories Buffer Memories (BFM) Lists How to Rea/Write from/to Buffer Memory Direct specification of buffer memory (FX3U/FX3UC/FX5U/FX5UC only) FROM/TO instructions Receive/Transmit Process Data

11 Table of Contents 6.4 [BFM #20] Data Exchange Control [BFM #21] Function Moe [BFM #22] Save/Restore Configuration [BFM #24] Bau Rate [BFM #25] Communication Status [BFM #26] FROM/TO Watchog [BFM #27] Noe Aress [BFM #29] Error Status [BFM #30] Moule ID Coe [BFM #35] CAN Transmission Error Counter [BFM #36] CAN Reception Error Counter [BFM #37] Bau Rate Display [BFM #38] Sampling Point Display [BFM #39] BFM Setting Error Display [BFM #40] BFM Initialisation/Online Moe Write Error Display [BFM #50 to #59] Time Stamp [BFM #70] NMT Start all Noes elay [BFM #71] SDO Time out [BFM #601 to #727] NMT State [BFM #750 to #859] Emergency Message Buffer [BFM #900 to #963] NMT Error Control Status CANopen 405 Moe Data Transfer Location for CANopen 405 Moe Direct TO BFM Access to the CANopen 405 Object Direct FROM BFM access to the CANopen 405 Object PDO Mapping/Bining of the Network for CANopen 405 Moe TPDO mapping table RPDO mapping table Moe 0 mapping Moe A mapping Moe B COB-ID mapping Moe B COB-ID Mapping Errors CANopen 417 Moe Buffer Memories Lists of Lift Application Lift Number Virtual Input/Output Mapping Virtual input mapping Virtual output mapping Door Control Wor/Door Status Wor Door control wor Door status wor Door Position Light Barrier Status Position Value Spee Value Car Acceleration Value Car Control Wor/Status Wor Control wor Status wor Moes of operation/moes of operation isplay Moes of operation Moes of operation isplay

12 Table of Contents 8.12 Control Effort Position Actual Value/Target Position Position actual value Target position Profile Velocity Velocity Actual Value/Target Velocity Target velocity Velocity actual value Loa Value Loa Signalling CAN Layer 2 Moe Receive/Transmit Process Data Layer 2 Message Specific Error Coe List Pre-efine Layer 2 Message Configuration Pre-efine Layer 2 transmit messages Pre-efine Layer 2 receive messages Layer 2 RTR Flags Message Transmit Trigger Flags PLC RUN>STOP Messages CIF Sening Layer 2 Message Comman Interface [BFM #1000 to #1066] Comman Interface SDO Request CIF SDO rea access CIF Multi SDO rea access CIF SDO write access CIF Multi SDO write access Set Heartbeat Set Noe Guaring / NMT Slave Assignment Sen an Emergency Message Store Object Dictionary Settings Restore Object Dictionary Default Settings Display Current Parameter Error Messages Error messages CIF busy message PLC RUN/STOP Communication Settings Proceure CANopen 405 Moe CANopen 417 Moe bit / 29 bit CAN-ID Layer 2 Moe

13 Table of Contents 13. Program Example System Configuration Local Label Setting Program Diagnostics Preliminary Checks Detail Error Check Warranty Revise History

14 Stanars Stanars Certification of UL, cul stanars FX3U-CAN units comply with the UL stanars (UL, cul). UL, cul File number :E95239 Regaring the stanars that comply with the main unit, please refer to either the FX series prouct catalog or consult with your nearest Mitsubishi prouct provier. Compliance with EC irective (CE Marking) This ocument oes not guarantee that a mechanical system incluing this prouct will comply with the following stanars. Compliance to EMC irective an LVD irective for the entire mechanical moule shoul be checke by the user / manufacturer. For more information please consult with your nearest Mitsubishi prouct provier. Regaring the stanars that comply with the main unit, please refer to either the FX series prouct catalog or consult with your nearest Mitsubishi prouct provier. Requirement for Compliance with EMC irective The following proucts have shown compliance through irect testing (of the ientifie stanars below) an esign analysis (through the creation of a technical construction file) to the European Directive for Electromagnetic Compatibility (2014/30/EU) when use as irecte by the appropriate ocumentation. Attention This prouct is esigne for use in inustrial applications. Type: Programmable Controller (Open Type Equipment) Moels: MELSEC FX3U series manufacture from April 1st, 2012 FX3U-CAN Stanar :2007 Programmable controllers - Equipment requirements an tests Remark Compliance with all relevant aspects of the stanar. EMI Raiate Emission Conucte Emission EMS Raiate electromagnetic fiel Fast transient burst Electrostatic ischarge High-energy surge Voltage rops an interruptions Conucte RF Power frequency magnetic fiel 8

15 Stanars Caution for Compliance with EC Directive 1) Caution for wiring For noise prevention, please groun at least 35 mm (1.38") of the twiste-pair cable along the grouning plate to which the groun terminal is connecte. For etails regaring wiring, refer to Section 4.2 2) Installation in Enclosure For etails regaring installation in an enclosure of FX3G Series PLC, refer to FX3G User's Manual - Harware Eition For etails regaring installation in an enclosure of FX3GC *1 Series PLC, refer to FX3GC User's Manual - Harware Eition For etails regaring installation in an enclosure of FX3U Series PLC, refer to FX3U User's Manual - Harware Eition For etails regaring installation in an enclosure of FX3UC *1 Series PLC, refer to FX3UC User's Manual - Harware Eition For etails regaring installation in an enclosure of FX5U *2 PLC, refer to MELSEC iq-f FX5U User's Manual (Harware) For etails regaring installation in an enclosure of FX5UC *2 PLC, refer to MELSEC iq-f FX5UC User's Manual (Harware) *1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC. *2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. 9

16 Associate Manuals Associate Manuals Only the installation manual is packe together with the FX3U-CAN Communication Block. For a etaile explanation of the FX3U-CAN, refer to this manual. For further information of the harware information an instructions on the PLC main unit/cpu Moule, refer to the respective manuals. Title of manual Manual for the Main Unit/CPU Moule FX3G Series PLCs Main Unit Supplie Manual Aitional Manual FX3G Series Harware Manual FX3G Series User's Manual - Harware Eition FX3GC Series PLCs Main Unit Supplie Manual Aitional Manual FX3GC Series Harware Manual FX3GC Series User's Manual - Harware Eition FX3U Series PLCs Main Unit Supplie Manual Aitional Manual FX3U Series Harware Manual FX3U Series User's Manual - Harware Eition FX3UC Series PLCs Main Unit Supplie Manual Supplie Manual Supplie Manual Aitional Manual FX3UC(D,DS,DSS) Series Harware Manual FX3UC-32MT-LT-2 Harware Manual FX3UC-32MT-LT Harware Manual (Only Japanese ocument) FX3UC Series User's Manual - Harware Eition Document number JY997D46001 JY997D31301 JY997D45201 JY997D45401 JY997D50301 JY997D16501 JY997D50501 JY997D31601 JY997D12701 JY997D28701 Refer to these manuals Refer to the appropriate equipment manual For a etaile explanation, refer to an aitional manual Describes FX3G Series PLC specification for I/O, wiring an installation extracte from the FX3G User's Manual - Harware Eition. For etails, refer to FX3G Series User's Manual - Harware Eition. Describes FX3G Series PLC specification etails for I/O, wiring, installation an maintenance. Describes FX3GC Series PLC specification for I/O, wiring an installation extracte from the FX3G User's Manual - Harware Eition. For etails, refer to FX3GC Series User's Manual - Harware Eition. Describes FX3GC Series PLC specification etails for I/ O, wiring, installation an maintenance. Describes FX3U Series PLC specification for I/O, wiring an installation extracte from the FX3U User's Manual - Harware Eition. For etails, refer to FX3U Series User's Manual - Harware Eition. Describes FX3U Series PLC specification etails for I/O, wiring, installation an maintenance. Describes FX3UC(D,DS,DSS) Series PLC specification for I/O, wiring an installation extracte from the FX3UC Series User's Manual - Harware Eition. For etails, refer to FX3UC Series User's Manual - Harware Eition. Describes FX3UC-32MT-LT-2 specification for I/O, wiring an installation extracte from the FX3UC User's Manual - Harware Eition. For etails, refer to FX3UC Series User's Manual - Harware Eition. Describes FX3UC-32MT-LT specification for I/O, wiring an installation extracte from the FX3UC User's Manual - Harware Eition. For etails, refer to FX3UC Series User's Manual - Harware Eition. Describes FX3UC Series PLC specification etails for I/O, wiring, installation an maintenance. Moel coe - 09R521-09R533-09R R519 10

17 Associate Manuals FX5U PLCs CPU Moule Supplie Manual Aitional Manual FX5UC PLCs CPU Moule Supplie Manual Aitional Manual Programming Aitional Manual Aitional Manual Aitional Manual Aitional Manual Aitional Manual Aitional Manual Aitional Manual MELSEC iq-f FX5U CPU Moule Harware Manual MELSEC iq-f FX5U User's Manual (Harware) MELSEC iq-f FX5UC CPU Moule Harware Manual MELSEC iq-f FX5UC User's Manual (Harware) FX3S/FX3G/FX3GC/FX3U/ FX3UC Series Programming Manual - Basic & Applie Instruction Eition MELSEC-Q/L/F Structure Programming Manual (Funamentals) FX CPU Structure Programming Manual [Device & Common] FX CPU Structure Programming Manual [Basic & Applie Instruction] FX CPU Structure Programming Manual [Application Functions] MELSEC iq-f FX5 Programming Manual (Program Design) MELSEC iq-f FX5 Programming Manual (Instructions, Stanar Functions/Function Blocks) Manuals for FX3U-CAN Communication Block Supplie Manual Aitional Manual Title of manual FX3U-CAN Installation Manual FX3U-CAN User's Manual (This Manual) Document number JY997D53401 JY997D55301 JY997D61001 JY997D61401 JY997D16601 SH JY997D26001 JY997D34701 JY997D34801 JY997D55701 JY997D55801 JY997D43201 JY997D43301 Describes FX5U PLC specification for I/O, wiring an installation extracte from the FX5U PLC from MELSEC iq-f FX5U User's Manual (Harware). For etails, refer to FX5U PLC from MELSEC iq-f FX5U User's Manual (Harware). Describes FX5U PLC specification etails for I/O, wiring, installation an maintenance. Describes FX5UC PLC specification for I/O, wiring an installation extracte from the FX5UC PLC from MELSEC iq-f FX5UC User's Manual (Harware). For etails, refer to FX5UC PLC from MELSEC iq-f FX5UC User's Manual (Harware). Describes FX5UC PLC specification etails for I/O, wiring, installation an maintenance. Describes FX3S/FX3G/FX3GC/FX3U/FX3UC Series PLC programming for basic/applie instructions an evices. Programming methos, specifications, functions, etc. require to create structure programs. Devices, parameters, etc. provie in structure projects of GX Works2. Sequence instructions provie in structure projects of GX Works2. Application functions provie in structure projects of GX Works2. Describes specifications of laers, ST, FBD/LD, an other programs an labels. Describes specifications of instructions an functions that can be use in programs. Describes some of FX3U-CAN communication block specifications for installation an wiring extracte from the FX3U-CAN User's Manual. For etails, refer to FX3U-CAN User's Manual. Describes etails of the FX3U-CAN communication block. Moel coe - 09R536-09R558 09R517 13JW06 09R925 09R926 09R927 09R538 09R

18 Generic Names an Abbreviations Use in the Manual Generic Names an Abbreviations Use in the Manual Generic name or abbreviation PLC FX3G series FX3G PLC or main unit FX3GC series FX3GC PLC or main unit FX3U series FX3U PLC or main unit FX3UC series FX3UC PLC or main unit FX5U FX5U PLC or CPU moule FX5UC FX5UC PLC or CPU moule Expansion boar Special aapter I/O extension unit/block Special function unit/block or Special extension unit Special function unit Special function block FX3U-CAN Memory cassette FX Series terminal block Peripheral unit Peripheral unit Programming tool Programming tool Programming software GX Works2 GX Developer Hany programming panel (HPP) Generic name for FX3G Series PLC Generic name for FX3G Series PLC main unit Generic name for FX3GC Series PLC Generic name for FX3GC Series PLC main unit Generic name for FX3U Series PLC Generic name for FX3U Series PLC main unit Generic name for FX3UC Series PLC Generic name for FX3UC Series PLC main unit Generic name for FX5U PLC Generic name for FX5U PLC CPU moule Generic name for FX5UC PLC Generic name for FX5UC PLC CPU moule Generic name for expansion boar The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for high-spee input/output special aapter, communication special aapter, analog special aapter, an CF car special aapter. The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for input/output powere extension unit an input/output extension block The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for special function unit an special function block The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for special function unit Generic name for special function block Abbreviate name for FX3U-CAN Generic name for memory cassette. The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for FX Series terminal block. The number of connectable units, however, epens on the type of main unit. To check the number of connectable units, refer to the User's Manual - Harware Eition of the main unit to be use for your system. Generic name for programming software, hany programming panel, an inicator Generic name for programming software an hany programming panel Generic name for programming software Abbreviation of programming software packages SW DNC-GXW2-J/SW DNC-GXW2-E Abbreviation of programming software packages SW D5C-GPPW-J/SW D5C-GPPW-E Generic name for FX-30P an FX-20P(-E) 12

19 Generic Names an Abbreviations Use in the Manual Generic name or abbreviation Inicator GOT1000 series GOT-900 series GOT-A900 series GOT-F900 series ET-940 series Manual FX3G Harware Eition FX3GC Harware Eition FX3U Harware Eition FX3UC Harware Eition Programming manual Communication control Eition Analog control Eition Positioning control Eition Generic name for GT15, GT11 an GT10 Generic name for GOT-A900 series an GOT-F900 series Generic name for GOT-A900 series Generic name for GOT-F900 series Generic name for ET-940 series Abbreviation of FX3G Series User's Manual - Harware Eition Abbreviation of FX3GC Series User's Manual - Harware Eition Abbreviation of FX3U Series User's Manual - Harware Eition Abbreviation of FX3UC Series User's Manual - Harware Eition Generic name for FX3S/FX3G/FX3GC/FX3U/FX3UC Series Programming Manual - Basic an Applie Instruction Eition, MELSEC iq-f FX5 Programming Manual (Program Design), an MELSEC iq-f FX5 Programming Manual (Instructions, Stanar Functions/Function Blocks) Abbreviation of FX Series User's Manual - Data Communication Eition Abbreviation of FX3S/FX3G/FX3GC/FX3U/FX3UC Series User's Manual - Analog Control Eition Abbreviation of FX3S/FX3G/FX3GC/FX3U/FX3UC Series User's Manual - Positioning Control Eition CANopen communication term U8, U16, U32, U48 Unsigne Integer x Bit I8, I16, I32 Signe Integer x Bit Visible String String of ISO646 bit coe characters which en after the last character. Domain Large block of binary ata. CAN Controller Area Network CANopen CAN base higher-layer protocol CAN-ID CAN Ientifier Ientifier for CAN ata an remote frames as efine in ISO CAN in Automation CiA Non-profit organization for stanarization of CAN protocols. The CiA Members evelop specifications which are publishe as CiA specifications. ( COB-ID Communication object ientifier Ientifier that contains the CAN-ID an aitional control bits. RPDO Receive Process Data Objects are ata receive from other noes via the CAN bus. TPDO Transmit Process Data Objects are ata sent to other noes via the CAN bus. MPDO Multiplexe Process Data Object SDO Service Data Object SYNC Synchronization object EMCY Emergency object NMT Network management LSS Layer Setting Services OSC Open Style Connector RTR Remote transmission request VD Virtual Device 13

20 Reaing the Manual Reaing the Manual Shows the manual title. This area shows the manual title for the current page. Shows the title of the chapter an the title of the section. This area shows the title of the chapter an the title of the section for the current page. Inexes the chapter number. The right sie of each page inexes the chapter number for the page currently opene. Shows the reference. The " " mark inicates a reference estination an reference manual. The above is ifferent from the actual page, as it is provie for explanation only. 14

21 1 Introuction 1.1 Outline 1. Introuction 1Introuction 1.1 Outline The FX3U-CAN communication block is an interface block that allows FX3G/FX3GC/FX3U/FX3UC/FX5U/FX5UC PLCs to connect to a CANopen system. FX3U-CAN can be connecte irectly to the FX3G/FX3GC *1 /FX3U/ FX3UC *1 /FX5U *2 /FX5UC *2 PLC's extension port, or to any other extension unit / block's right sie extension port. *1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC. *2. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. 2Specifications 3Installation For safe use This prouct has been manufacture as a general-purpose part for general inustries, an has not been esigne or manufacture to be incorporate in a evice or system use in purposes relate to human life. Before using the prouct for special purposes such as nuclear power, electric power, aerospace, meicine or passenger movement vehicles, consult with Mitsubishi Electric. This prouct has been manufacture uner strict quality control. However when installing the prouct where major accients or losses coul occur if the prouct fails, install appropriate backup or failsafe functions in the system Overview of the CANopen Network CANopen is a CAN base higher layer protocol which provies a very flexible system for transferring serial messages between ifferent noes via the CAN bus. 1) Simple, relatively high spee communication can be accomplishe with moules that hanle binary ata such as I/Os or numeric ata. 2) All CANopen noes are able to transmit ata an several noes can make a request to the CAN bus simultaneously. 3) Messages can be prioritize for transfer to the CAN Bus. 4Wiring 5Introuction of Functions 6Allocation of Buffer Memories 7Interface an Device Profile (405 moe) 8Lift Application Profile (417 Moe) 9CAN Layer 2 Moe Interface 10Comman 15

22 1 Introuction 1.1 Outline Overview of FX3U-CAN communication block CANopen reay I/O stations an evice stations can be connecte to the CAN bus an information can be transmitte to the FX3U-CAN communication block an FX3G/FX3GC/FX3U/FX3UC/FX5U/FX5UC PLC. 1. The maximum sen / receive message number 80 TPDO /80 RPDO (8 bytes / PDO) can be sent an receive to/from a CANopen network. 2. CANopen evice/application Profiles accoring to CiA Stanars Interface an Device Profile CiA 405 V2.0 for IEC Programmable Devices. Application Profile CiA 417 V2.1 for lift control systems. 3. Communication with other CANopen noes All noes on the CANopen network can write ata to all the other noes on the network. Each piece of ata has a unique ientifying number that is rea by the receiving noes to etermine whether that ata shoul be kept in the receiving noes' Buffer Memory. The FX3U-CAN communication block uses buffer memories to communicate on the CAN bus. Each buffer memory is separate into memory eicate to write TO an memory eicate to rea FROM the CAN bus. These Buffer Memories are accesse by FROM/TO commans of the PLC. However, only FX3U/FX3UC/ FX5U/FX5UC PLC supports irect specification of the buffer memory. For further information on applie instructions, bit specification of wor evices an irect specification of buffer memory, refer to the following manual. Refer to PROGRAMMING MANUAL Note Buffer memory that is assigne in 32 bits must use 32-bit instructions to rea/write. 32-bit ata cannot be correctly rea/written from/to buffer memory if 16-bit rea/write instructions are use Characteristics This section escribes the characteristics of the CAN bus, communication with other CANopen noes, an some of the special features available in the CANopen protocol. 1. The object ictionary The Object Dictionary is a type of inexe storage system that contains ata, evice parameters, CANopen feature setup ata, instruction triggers, an other information necessary to configure an operate the CANopen protocol. 2. SDO comman The Service Data Object Comman can be use to rea/write ata to the Object Dictionary. This comman can be use to set network parameters an also to initiate CANopen functionality. 3. SYNC service The SYNC service provies the basic network synchronization mechanism. 4. TIME service The TIME service provies a simple network clock. CANopen evices that operate a local clock may use the TIME object to ajust their own time base to that of the time stamp object proucer. 5. EMCY object service Emergency objects are triggere by the occurrence of a CANopen evice internal error situation an are transmitte from an emergency proucer on the CANopen evice. 16

23 1 Introuction 1.1 Outline 6. Network management (hereinafter calle NMT) General NMT services Noe guaring Master/Slave Heartbeat Consumer/Proucer 7. The comman interface The Comman Interface (CIF) can be use to access the Object Dictionary of the local noe or a network noe an is locate in the BFM. Access is performe by commans for SDO rea/write, special irect comman for Noe Guaring, Heartbeat, PDO Mapping or Emergency Messages. 8. NMT master The network management provies services for controlling the network behaviour of CANopen evices as efine in CiA 301 an CiA 302. All CANopen evices of a network referre to as NMT slaves are controlle by services provie by an NMT master. 9. Flying master The flying master mechanism provies services for a hot stan-by NMT master within a CANopen network. 10.Configuration manager The Configuration manager provies mechanisms for configuration of CANopen evices in a CANopen network. 11.SYNC proucer The SYNC proucer broacasts the SYNC object. The SYNC service provies the basic network synchronization mechanism. 12.Layer setting services master (hereinafter calle LSS) accoring to stanar CiA 305 V2.2 With this service, an LSS slave evice that is seale against harsh environments an that oes not have any harware components like DIP-switches for setting the noe-id or bit timing parameters can be configure via the CAN Bus. 13.MPDO for Lift Application Profile An MPDO provies irect write access to objects of a CANopen evice's object ictionary. The size of the ata of these objects is limite to a maximum of 4 bytes. 1Introuction 2Specifications 3Installation 4Wiring 5Introuction of Functions 6Allocation of Buffer Memories 7Interface an Device Profile (405 moe) 8Lift Application Profile (417 Moe) 9CAN Layer 2 Moe Interface 10Comman 17

24 1 Introuction 1.2 External Dimensions an Each Part Name 1.2 External Dimensions an Each Part Name External imensions an each part name [2] [3] [4] Unit : mm (inches) 90 (3.55") 80 (3.15") (mounting hole pitch) [1] [5] [6] [9] [7] [8] 4 (0.16") 8 43 (1.7") (0.32") 9 (0.36") 87 (3.43") mounting holes Mass (Weight): Approx. 0.2 kg (0.44 lbs) Accessories: Label for inication of special function unit/block number, Dust proof protection sheet, Terminating resistor (120 1/2W), Manual supplie with prouct [1] Extension cable [6] Nameplate [2] Status LEDs (See Subsection 1.2.2) [7] DIN rail mounting hook [3] Power LED (See Subsection 1.2.2) [8] CAN bus connector [4] Top cover [9] Direct mounting hole [5] DIN rail mounting groove DIN rail: DIN46277, 35 mm (1.38") with 2 holes of φ4.5 (0.18") (mounting screw: M4 screw) 18

25 1 Introuction 1.2 External Dimensions an Each Part Name Power an status LEDs LED Name LED Color Status OFF Layer 2 offline moe RUN FROM/TO Tx/Rx ERROR Green Green Green Re SINGLE FLASH *1 BLINKING *1 FLICKERING *1 ON OFF ON OFF ON OFF SINGLE FLASH *1 DOUBLE FLASH *1 BLINKING *1 CANopen STOPPED state CANopen PRE-OPERATIONAL state LSS Services in progress CANopen moe: CANopen OPERATIONAL state Layer 2 moe: Layer 2 online moe PLC is not accessing BFMs in moule. PLC is accessing BFMs in moule. Moule is not transmitting or receiving CAN messages. Moule is transmitting or receiving CAN messages. No error At least one of the error counters of the moule has reache or exceee the error passive level. A NMT guaring failure (NMT-Slave or NMT-Master) or a heartbeat failure has occurre. General error FLICKERING *1 LSS Services in progress ON Moule is BUS-OFF state, or CPU error occurs in PLC main unit. POWER Green ON 24V DC power is properly supplie from PLC main unit. *1. RUN an ERROR LEDs have four kins of flicker states: single flash, ouble flash, blinking, an flickering. This LED flickers as follows. SINGLE FLASH 0.2 s 1 s 1Introuction 2Specifications 3Installation 4Wiring 5Introuction of Functions DOUBLE FLASH BLINKING 0.2 s 0.2 s 0.2 s 1 s 0.2 s 0.2 s 6Allocation of Buffer Memories FLICKERING 0.05 s 0.05 s Terminal layout CAN_GND CAN_L CAN_SHLD CAN_H CAN_V+ Pin No. Signal 1 CAN_GND Groun / 0 V / V- 2 CAN_L CAN_L bus line (ominant low) 3 (CAN_SHLD) Optional CAN shiel 4 CAN_H CAN_H bus line (ominant high) 5 (CAN_V+) Optional CAN external positive supply (not connecte internally) 7Interface an Device Profile (405 moe) 8Lift Application Profile (417 Moe) 9CAN Layer 2 Moe Interface 10Comman 19

26 1 Introuction 1.3 System Configuration 1.3 System Configuration General configuration PLC programming tool CANopen Configuration tool Import EDS File Noe 1 FX3G/FX3GC/ FX3U/FX3UC/ FX5U/FX5UC PLC FX3U-CAN Communication block Noe 2 CAN Interface CAN bus network Terminating resistor Noe 3 Terminating resistor Repeater CAN bus network Noe 5 Terminating resistor FX3G/FX3GC/ FX3U/FX3UC/ FX5U/FX5UC PLC Noe 4 FX3U-CAN Communication block Noe 6 Terminating resistor Part Name Moel Name Remarks Communication block FX3U-CAN PLC FX3G/FX3GC/FX3U/ FX3UC /FX5U/FX5UC PLC CAN bus network - CAN bus network Noe - CANopen Noe, or CAN Layer 2 Noe Repeater - An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC Series PLC. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. CANopen Configuration tool - PLC programming tool GX Works2 EDS file (Electronic Data Sheet file) FX3U-CAN-405.es, FX3U-CAN-417.es FX3U-CAN-405: When using FX3U-CAN by Interface an Device Profile CiA 405 for IEC Programmable Devices, the EDS file uses FX3U-CAN-405.es. FX3U-CAN-417: When using FX3U-CAN by Application Profile CiA 417 for lift control systems, the EDS file uses FX3U-CAN-417.es. CAN Interface - Harware Interface between CANopen Configuration tool an CAN bus. Terminating resistor - The CAN bus network requires terminating resistors for network both ens. Maximum transmission istance m (16,404'2") at 10 kbps (with repeaters). The transmission istance is reuce to 25 m (82') at the maximum bau rate of 1 Mbps. The maximum istance also epens on the specification of other connecte noes. How to obtain EDS file For EDS file, consult with your local Mitsubishi Electric representative. 20

27 1 Introuction 1.3 System Configuration Applicable PLC Moel name Applicability FX3G Series PLC Ver an later (Up to 8 blocks can be extene *2 ) 1Introuction FX3GC Series PLC *1 Ver an later (Up to 8 blocks can be extene *2 ) FX3U Series PLC Ver an later (Up to 8 blocks can be extene *2 ) FX3UC Series PLC *1 Ver an later (Up to 8 blocks can be extene *2*3 ) FX5U PLC *4*5 Ver an later (Up to 8 blocks can be extene *2 ) FX5UC PLC *4*5 Ver an later (Up to 8 blocks can be extene *2 ) The version number can be checke by reaing the last three igits of evice D8001/D8101. *1. An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC PLC. *2. Check the current consumption of the connecte extension blocks an when necessary insert extension power supply units. *3. Up to 7 units can be connecte to the FX3UC-32MT-LT(-2) PLC. *4. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. *5. Applicable for FX3U-CAN firmware Ver an later. 2Specifications 3Installation 4Wiring 5Introuction of Functions 6Allocation of Buffer Memories 7Interface an Device Profile (405 moe) 8Lift Application Profile (417 Moe) 9CAN Layer 2 Moe Interface 10Comman 21

28 1 Introuction 1.3 System Configuration Connection with PLC The FX3U-CAN connects with a PLC via an extension cable. The FX3U-CAN is hanle as a special extension block of the PLC. The unit number of the FX3U-CAN is automatically assigne No. 0 to No. 7 *1*2 starting from the special function unit/block closest to the PLC main unit/cpu Moule. (This unit number is use for the esignation of a FROM/TO instruction.) For further information of the assignment of the I/O number an unit number of the PLC, refer to the following manual corresponing to the connecte PLC. *1. Unit No. 1 to No. 7 is assigne when the main unit is an FX3UC-32MT-LT(-2). *2. Unit No. 2 to No. 16 is assigne when the CPU moule is an FX5U/FX5UC. Refer to FX3G Harware Eition Refer to FX3GC Harware Eition Refer to FX3U Harware Eition Refer to FX3UC Harware Eition Refer to MELSEC iq-f FX5U User's Manual (Harware) Refer to MELSEC iq-f FX5UC User's Manual (Harware) FX3G/FX3U/FX5U PLC Other extension units/blocks FX3U- CAN FX3GC/FX3UC/ FX5UC PLC FX3U- CAN Other extension units/blocks FX2NC-CNV-IF An FX2NC-CNV-IF or FX3UC-1PS-5V is necessary to connect the FX3U-CAN to an FX3GC/FX3UC PLC. An FX5-CNV-BUS or FX5-CNV-BUSC is necessary to connect the FX3U-CAN to an FX5U/FX5UC PLC. The optional FX0N-65EC (FX0N-30EC) an FX2N-CNV-BC are necessary to lengthen the extension cable. (FX3G/FX3GC/FX3U/FX3UC PLC) The optional FX5-65EC (FX5-30EC) an FX5-CNV-BC are necessary to lengthen the extension cable. (FX5U/FX5UC PLC) The number of I/O points occupie by the FX3U-CAN is eight. Make sure that the total number of I/O points (occupie I/O points) of the main unit, extension unit(s), extension block(s) an the number of points occupie by special function blocks oes not excee the maximum number of I/O points of the PLC. For further information of the maximum number of I/O points of the PLC, refer to the respective prouct manual. Refer to FX3G Harware Eition Refer to FX3GC Harware Eition Refer to FX3U Harware Eition Refer to FX3UC Harware Eition Refer to MELSEC iq-f FX5U User's Manual (Harware) Refer to MELSEC iq-f FX5UC User's Manual (Harware) 22

29 1 Introuction 1.4 System Start-up Proceure 1.4 System Start-up Proceure FX3U-CAN 1Introuction Refer to Chapter 1 Outline Outline of system: Applicable PLC CANopen noes: Applicable CANopen configuration tool 2Specifications Refer to Chapter 2 Check of specifications System configuration Refer to Chapter 1 an 2 Specifications: Operation environment Power supply specifications Performance specifications - Maximum bus length (epens on bau rate) System configuration: 3Installation 4Wiring Refer to Chapter 3 an 4 Installation an wiring Communication settings Refer to Chapter 5 to12 Installation: Arrangements For arrangements, refer to the manual of the PLC main unit Mounting Wiring: Applicable cable an connector CAN bus wiring Grouning Bus terminator Communication settings: For CANopen 405 moe, refer to Section 12.1 For CANopen 417 moe, refer to Section 12.2 For CAN Layer 2 moe, refer to Section Introuction of Functions 6Allocation of Buffer Memories Create program Refer to Chapter 5 to 12 If the error status ata is abnormal, refer to Chapter 14. Refer to Chapter14 Object Dictionary (CANopen moe only): Communication profile area Network management Device profile CiA 405 (CANopen 405 moe only) Application profile CiA 417 (CANopen 417 moe only) Buffer memory: List of buffer memories Details of buffer memory For buffer memory rea/write metho, refer to programming manual Communication program: For example program, refer to Chapter 13 7Interface an Device Profile (405 moe) 8Lift Application Profile (417 Moe) 9CAN Layer 2 Moe Interface 10Comman 23