Mitsubishi Electric MELSEC L-, CANopen ME3CAN1-L User Manual
MELSEC L-Series
Programmable Logic Controllers
User's Manual
Art. no.: 286236
11 05 2015
Version A
CANopen쏐 Module
ME3CAN1-L
INDUSTRIAL AUTOMATION
Version check
About this Manual
The texts, illustrations, diagrams and examples in this manual are provided for
information purposes only. They are intended as aids to help explain the
installation, operation, programming and use of the programmable controllers
of the Mitsubishi MELSEC-L series.
If you have any questions about the installation and operation of any of the
products described in this manual please contact your local sales office or
distributor (see back cover).
You can find the latest information and answers to frequently asked
questions on our website at
https://eu3a.mitsubishielec
tric.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this
manual or the technical specifications of its products at any time without notice.
© 2014
MITSUBISHI ELECTRIC EUROPE B.V.
Version Changes / Additions / Corrections
A 05/2015 pdp-dk First edition
CANopen쏐 Module
ME3CAN1-L
User's Manual
Art.-no.: 286236
Safety Guidelines
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who are
fully acquainted with the relevant automation technology safety standards. All work with the hardware descr
ing of the equipment, may only be performed by trained electrical technicians with approved qualifications who are fully acquainted with all the applicable automation technology safety standards
and regulations. Any operations or modifications to the hardware and/or software of our products
specifically described in this manual may only be performed by authorised Mitsubishi Electric staff.
Proper use of the products
The programmable logic controllers of the MELSEC-L series are only intended for the specific applications explicitly described in this manual. All parameters and settings specified in this manual must
be obser
in strict compliance with the relevant safety standards. Unqualified modification of the hardware or
software or failure to observe the warnings on the products and in this manual may result in serious
personal injury and/or damage to property. Only peripherals and expansion equipment specifically
recommended and approved by Mitsubishi Electric may be used with the programmable logic controllers of the MELSEC-L series.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations
ibed, including system design, installation, configuration, maintenance, service and test-
ved. The produc
ts described have all been designed, manufactured, tested and documented
not
m
b
All safety and accident prevention regulations relevant to your specific application must be obser
in the system design, installation, configuration, maintenance, servicing and testing of these products. The installation should be carried out in accordance to applicable local and national standards.
Safety warnings in this manual
In this manual warnings that are relevant for safety are identified as follows:
DANGER:
Failure to observe the safety warnings identified with this symbol ca
hazards for the user.
WARNING:
Failure to observe the safety warnings identified with this symbol can result in damage to the
equipment or other property.
n result in health and injury
ed
v
MELSEC-L Series – CANopen Module ME3CAN1-L I
m
General safety information and precautions
The following safety precautions are intended as a general guideline for using PLC systems together
with other equipment. These precautions must always be observed in the design, installation and
operation of all control systems.
DANGER:
● Observe all safety and accident prevention regulations applicable to your specific application. Always disconnect all power supplies before performing installation and wiring work
or opening any of the assemblies, components and devices.
● Assemblies, components and devices must always be installed in a shockproof housing fitted
with a proper cover and fuses or circuit breakers.
● Devices with a permanent connection to the mains power supply must be integrated in the
building installations with an all-pole disconnection switch and a suitable fuse.
● Check power cables and lines connected to the equipment regularly for breaks and insulation
damage. If cable damage is found immediately disconnect the equipment and the cables
from the power supply and replace the defective cabling.
● Before using the equipment for the first time check that the power supply rating matches that
of the local mains power.
● Take appropriate steps to ensure that cable damage or core breaks in the signal lines cannot
cause undefined states in the equipment.
●
You are responsible for taking the necessary precautions to ensure that programs interrupted
by brownouts and power failures can be restarted properly and safely. In particular, you must
ensure that dangerous conditions cannot occur under any circumstances, even for brief
periods.
● EMERGENCY OFF facilities conforming to EN 60204/IEC 204 and VDE 0113 must remain fully
operative at all times and in all PLC operating modes. The EMERGENCY OFF facility reset
function must be designed so that it cannot ever cause an uncontrolled or undefined restart.
● You must implement both hardware and software safety precautions to prevent the possibility of undefined control system states caused by signal line cable or core breaks.
● When using modules always ensure that all electrical and mechanical specifications and
requirements are observed exactly.
II
Symbols used in the Manual
Use of notes
Notes concerning important information are marked separately and are displayed as follows:
NOTE Note text
Use of examples
Examples are marked separately and are displayed as follows:
Example Example text
The end of an example is marked with the following symbol:
se of numbering in the figures
U
Numbering within the figures is displayed by white numbers within black cir
a table following it using the same number, e.g.:
Use of handling instructions
Handling instructions are steps that must be carried out in their exact sequence during startup, operation, maintenance and similar operations.
They are numbered consecutively (black numbers in white circles):
Text.
Text.
Text.
Use of footnotes in tables
Instructions in tables are explained in footnotes underneath the tables (in superscript). There is a footnote character at the appropriate position in the table (in superscript).
If there are several footnotes for one table then these are numbered consecutively underneath the
table (black numbers in white circle, in superscript):
Text
Text
Text
cles and is explained in
Writing conventions and guidance notes
Keys or key-combinations are indicated in square brackets, such as [Enter], [Shift] or [Ctrl]. Menu
names of the menu bar, of the drop-down menus, options of a dialogue screen and buttons are indicated in italic bold letters, such as the drop down menu New in the Project menu or the option Serial
USB in the "Transfer Setup Connection" screen.
Registration
● CiA and CANopen are registered Community Trademarks of CAN in Automation e.V.
● The company name and the product name to be
trademarks or trademarks of each company.
MELSEC-L Series – CANopen Module ME3CAN1-L III
described in this manual are the registered
IV
Contents
Contents
1 Overview
1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.2 Features of the ME3CAN1-L . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.3 Abbreviations and Generic Terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-3
2 System Configuration
2.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Applicable Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.3 How to Check the Function Version and Serial No. of the Modules . . . . . . . . . . . . . . . . . . . . .2-2
2.4 System Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
3 Detailed Description of the Module
3.1 Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1.1 Indicator LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.1.2 Signal Layout of the Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-4
3.2.1 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-5
3.3 I/O Signals for the Programmable Controller CPU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.3.1 List of I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-6
3.3.2 Details of I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7
3.4 Buffer Memory Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.4.1 Buffer Memory Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.5 Buffer Memory Details: CANopen
Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.5.1 Data Exchange Control (Un\G20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.5.2 Function Mode (Un\G21). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.5.3 Save/Restore Configuration (Un\G22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.5.4 Baud Rate (Un\G24). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.5.5 Communication Status (Un\G25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.5.6 Node Address (Un\G27). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.5.7 Error state (Un\G29) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.5.8 CAN transmission error counter (Un\G35) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
MELSEC-L Series – CANopen Module ME3CAN1-L V
Contents
3.5.9 CAN reception error counter (Un\G36). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.5.10 Buffer memory setting error display (Un\G39, Un\G40). . . . . . . . . . . . . . . . . . . . . . 3-19
3.5.11 Time stamp (Un\G50–Un\G59) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.5.12 NMT Start all Nodes delay (Un\G70) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.5.13 SDO Time out (Un\G71) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.5.14 NMT Error Clear Node (Un\G400) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.5.15 NMT Error Control Status (Un\G401–Un\G527). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.5.16 NMT State (Un\G601–Un\G727) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.5.17 Emergency Message Buffer (Un\G750–Un\G859) . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.5.18 Command Interface (Un\G1000–Un\G1066) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.5.19 RPDO (Un\G10000–Un\G11023), TPDO (Un\G13000–Un\G14023) . . . . . . . . . . . 3-26
3.6 Buffer Memory Details: Layer 2 Message Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.6.1 Message Slot specific error code list (Un\G5001–Un\G5042). . . . . . . . . . . . . . . . . 3-32
3.6.2 Pre-defined Layer 2 message configuration (Un\G6000–Un\G6167) . . . . . . . . . 3-33
3.6.2.1 Pre-defined Layer 2 transmit messages 34
3.6.2.2 Pre-defined Layer 2 receive messages 36
3.6.3 Layer 2 RTR flags (Un\G8350–Un\G8352) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.6.4 Message transmit trigger flags (Un\G8400–Un\G8402) . . . . . . . . . . . . . . . . . . . . . . 3-39
3.6.5 PLC RUN>STOP messages (Un\G8450–Un\G8477) . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.6 Receive/Transmit Process Data (Un\G10000–Un\G10293) . . . . . . . . . . . . . . . . . . . 3-41
3.6.7 CIF (command interface): Sending Layer 2 Message. . . . . . . . . . . . . . . . . . . . . . . . . 3-43
4Functions
4.1 Function Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Function Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-2
4.3 Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.4 Command Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.5 Data Type Definition Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.6 Communication Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-4
4.6.1 CAN-ID / COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.6.2 Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.6.3 Pre-defined error field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.6.4 SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.6.5 RPDO / TPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.6.6 SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.6.7 Node guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
MELSEC-L Series – CANopen Module ME3CAN1-L VI
Contents
4.6.8 Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.6.9 TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.6.10 Store parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.6.11 Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.6.12 EMCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4.7 Error Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.8 Network Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.8.1 CANopen
4.8.2 Boot-Up protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.8.3 NMT protocol (node control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
4.8.4 NMT slave identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
4.8.5 NMT master start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38
4.8.6 NMT slave start-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.8.7 NMT boot-up / Error event handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
boot-up procedure and NMT states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.8.8 Request NMT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47
4.8.9 Request node guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48
4.8.10 Flying master. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-48
4.8.11 Layer Setting Services (LSS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52
4.8.12 Configuration manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.9 Device Profile CiA
5 Command Interface
5.1 SDO Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-2
5.1.1 CIF SDO read access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.2 CIF Multi SDO read access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-3
5.1.3 CIF SDO write access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4
5.1.4 CIF Multi SDO write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-6
5.2 Send an Emergency Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-7
5.3 Display Current Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
-405 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55
5.4 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
5.4.1 Unknown command used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
5.4.2 Command or parameter change while CIF was busy . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
5.4.3 Clear/Reset the "CIF was busy" error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-9
5.4.4 SDO Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.4.5 Bus OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.4.6 Device in wrong state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
MELSEC-L Series – CANopen Module ME3CAN1-L VII
Contents
6 Setup and Procedures before Operation
6.1 Implementation and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1.1 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
6.2 Procedures before Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.3.1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-3
6.3.2 CAN bus wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-4
6.4 Start-up Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.4.1 CANopen
6.4.2 11 bit/29 bit CAN-ID Layer 2 Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
7 Programming
405 mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
7.1 CANopen PDO Communication using Function Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.1.1 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1.2 Local Label setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.3 Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-5
7.2 Layer 2 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.2.1 Layer 2 communication using function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.2.2 Layer 2 communication without function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
8Troubleshooting
8.1 Error Processing and Recovery Method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1.1 Preliminary check by LED status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1.2 Detailed error check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-2
8.2 Error Code and Error Message Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
8.2.1 EMCY Emergency error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-4
8.2.2 EMCY Manufacturer specific error codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
VIII
8.2.3 SDO Access abort codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
Index
Introduction Overview
1 Overview
This User's Manual describes the specifications, handling and programming methods for the
CANopen Module ME3CAN1-L (hereinafter referred to as the ME3CAN1-L) which is used with the
programmable controllers of the MELSEC-L series.
Before using the ME3CAN1-L, please read this manual and the relevant manuals carefully and develop
familiarity with the functions and performance of the MELSEC-L series programmable controller to
handle the product correctly.
1.1 Introduction
The ME3CAN1-L is a network module of the MELSEC-L series. It is used to connect a MELSEC-L series
PLC system to CANopen and CAN Layer 2 networks. CAN (Controller Area Network) is a serial bus sys-
tem especially for networking devices as well as sensors and actuators.
1.2 Features of the ME3CAN1-L
D-sub connector for connection to CAN
The connection to the CANopen network is made via a D-sub 9-pin connec
CiA-303-1 V1.8.
Various bit rates
● Pre-defined (according to CANopen standard):
10 k
bps, 20 kbps, 50 kbps, 100 kbps, 125 kb
CANopen services according to CiA-301 V4.2
● 256 TPDO (1024 word write)
The Process Data Objec
(the consumers) which subscribed to it. The Transmit PDO (TPDO) is used to send input data of
the node.
● 256 RPDO (1024 word read)
The Receive PDO (RPDO) is used to receive output data.
● SDO ser
The Ser
can be used to set network parameters and also to initiate CANopen functionality.
● SYNC serv
vice
vice Data Object can be used to read/write data to the Object
ice
t (PDO) is sent by a node (the producer) and will be received by other nodes
ps, 250 kbps, 500 kbps, 800 kbps, 1 Mbps
tor according to
Dictionary. This command
The SYNC service provides the basic network synchronization mechanism.
● TIME ser
The TIME ser
may use the TIME object to adjust their own time
● EMCY object
Emergency objects are triggered by the occurrence of a CANopen device internal error situation
and are transmitted from an emergency producer on the CANopen device.
MELSEC-L Series – CANopen Module ME3CAN1-L 1 – 1
vice
vice provides a simple network clock. CANopen devices that operate a local clock
base to that of the time stamp object producer.
service
Overview Features of the ME3CAN1-L
C
● Network management (NMT)
– General NMT services
– Boot-up Message
– Node guarding Master/Slave
– Heartbeat Consumer/Producer
CANopen services according to CiA-302 V4.1
T master
● NM
The network management provides services for controlling the network behavior of CANopen
devices as defined in CiA
NMT slaves are controlled by ser
● Flying master
-301 and CiA-302. All CANopen devices of a network referred to as
vices provided by an NMT master.
The flying master mechanism provides services for a hot stand-by NMT master within a C
network.
● Configuration manager
The Configur
pen network.
CANo
● SYNC producer
The SYNC producer broadcasts the SYNC object. The SYNC serv
synchronization mechanism.
Layer Setting Services master (LSS) according to the Standard CiA-305 V2.2
It is necessary to set the baud rate and node number of the C
devices, e.g. devices with high IP protection like rotary encoders, waterproof sensor, etc. don't have
DIP-switches for these setting. Such devices must be configured by CAN using this LSS.
CANopen device profiles according to CiA-405 V2.0
Interface and Device Profile CiA-405 V2.0 for IEC 61131-3 Progr
cation with other Device Profiles (e.g. encoder CiA-406, motion/ drives CiA-402, etc.).
Setting back up in non-volatile memory
The following setting values will be backed up in the Flash-ROM:
– Setting values stored in the buffer memory;
ation manager provides mechanisms for configuration of CANopen devices in a
ice provides the basic network
ANopen devices. But some CANopen
mmable Devices allows communi-
a
ANopen
1 – 2
– Module configuration stored in the Object Dictionary;
– Setting values of Concise Device Setting File (CDCF).
CAN layer 2 communication
Besides the CANopen mode, the ME3CAN1-L can be swit
and be set up so that it can be used for the customer's own CAN based communication protocol.
ched to CAN layer 2 communication mode,
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Abbreviations and Generic Terms Overview
1.3 Abbreviations and Generic Terms
Unless otherwise specified, this manual uses the following generic terms and abbreviations to
describe the CANopen Module ME3CAN1-L.
General term / Abbreviation Description
ME3CAN1-L Abbreviation for the CANopen Module ME3CAN1-L.
MELSEC-L CPU
LCPU
PLC CPU
CPU module
GX Works2 Generic product name for the programming and configuration software GX Works2.
CAN Controller Area Network
CANopen CAN based higher-layer protocol
CiA
RPDO Receive Process Data Objects are data read from other nodes via the CAN bus.
TPDO Transmit Process Data Objects are data send to other nodes via the CAN bus.
CIF
SDO Service Data Object
SYNC Synchronization object
EMCY Emergency object
NMT Network management
LSS Layer Setting Services
RTR Remote transmission request
OD
COB-ID
CDCF Concise Device Setting File
Generic term for L series CPU modules, e.g. L02CPU, L02CPU-P, L26CPU-BT and
L26CPU-PBT, etc.
Generic term for programmable controller.
CAN in Automation
Non-profit organization for standardization of CAN protocols. The CiA Members
develop specifications which are published as CiA specifications. (http://can-cia.org/)
Command interface; used to access the Object Dictionary of the local node or a network
node.
Object dictionary
The object dictionary is an array of variables with a 16-bit index. Additionally, each varia-
ble can have an 8-bit subindex. The variables can be used to configure the device and
reflect its environment, i.e. contain measurement data.
Communication object identifier
Identifier that contains the CAN-ID and additional control bits.
Tab. 1-1: Abbreviations and general terms
MELSEC-L Series – CANopen Module ME3CAN1-L 1 – 3
Abbreviations and Generic Terms Overview
MELSEC-L Series – CANopen Module ME3CAN1-L 1 – 4
Overview System Configuration
Terminating
resistor
Terminating
resistor
CANopen Node
CANopen
Node
CANopen Node
(ME3CAN1-L)
CANopen Node
(ME3CAN1-L)
CAN bus network
Terminating
resistor
Terminating
resistor
CANopen Node
CANopen Node
CANopen Node
(ME3CAN1-L)
CC-Link IE Field Master/Local Module
(QJ71GF11-T2)
CC-Link IE Field
CANopen Module (ME3CAN1-L)
CC-Link IE Field Head module (LJ72GF15-T2)
CAN bus network
2 System Configuration
2.1 Overview
The ME3CAN1-L can be connected to a CPU module, an extension module or a CC-Link IE Field network head module of the MELSEC-L series.
Fig. 2-1:
L63P
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L63P
ME3CAN1-L connected to a LCPU directly
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MELSEC-L Series – CANopen Module ME3CAN1-L 2 – 1
Fig. 2-2:
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L02CPU
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
L63P
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
INPUT
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
24VDC
L02CPU
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POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
POWER
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
L6DSPU
ME3CAN1-L connected to a CC-Link IE Field head module
System Configuration Applicable Systems
C
Serial number
(first 5 digits)
Function
version
Model name
2.2 Applicable Systems
For the number of connectable modules and the compatible software version, refer to the following.
● MELSEC-L CPU Module User's M
● MELSEC-L CC
Restrictions when the ME3CAN1-L is connected to a head module
No special restriction is applied for the ME3CAN1-L.
-Link IE Field Network Head Module User's Manual
anual (Hardware Design, Maintenance and Inspection)
2.3 How to Check the Function Version and Serial No. of the Modules
The serial No. and function version can be checked on the label attached to the right side of the
module.
Using the programming software GX Works2, the serial No. and the function version can be checked
while the PLC is operating.
From the Diagnostics menu select System Monitor and then select Product Information List.
2 – 2
Fig. 2-3:
Product Information List for a PLC with a ME3CAN1-L
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System Equipment System Configuration
Terminating
resistor
Terminating
resistor
CANopen Node
CANopen Node
MELSEC-L series PLC
with ME3CAN1-L
Configuration by FBs
in GX Works2
Repeater
USB cable
CAN bus network
Import
EDS file
Terminating
resistor
Terminating
resistor
CAN bus network
MELSEC-L series PLC
with ME3CAN1-L
3rd party
configuration tool
2.4 System Equipment
ME2PNR2-L
Fig. 2-4:
Product Description Note
ME3CAN1-L
Configuration tool integrated in
GX Works2
3rd party configuration tool —
D-sub connector
Terminating resistor
CAN bus network cable
CANopen node
Repeater
EDS file
Tab 2-1: System Equipment
Example for a system configuration with ME3CAN1-L
Module for CAN communication
Used to configure ME3CAN1-L (and CANopen
network)
Connector to connect ME3CAN1-L to the CAN
network
Resistor to terminate the CAN network. It is integrated in some D-sub connector.
Communication cable for CAN network
CANopen node from other manufacturer
Repeater for CAN network
Electronic data sheet (EDS) to describe the module. Used for 3rd party configuration tool.
—
—
—
Resistors are required to terminate
the CAN network at both ends.
—
—
—
—
MELSEC-L Series – CANopen Module ME3CAN1-L 2 – 3
System Configuration System Equipment
C
2 – 4
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Part Names Detailed Description of the Module
3 Detailed Description of the Module
3.1 Part Names
This section explains the names of the components for the ME3CAN1-L.
Fig. 3-1: Names of parts
No. Name Description
ed to indicate the status of the ME3CAN1-L.
Indicator LEDs
CAN interface connector
(D-sub 9-pin male connec
tor)
Us
For a detailed description, please refer to section 3.1.1.
This connector connects the communication cable to the ME3CAN1-L.
For details, refer to section 3.1.2.
Tab. 3-1: Description of the LEDs and the connector of the ME3CAN1-L
MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 1
Detailed Description of the Module Part Names
3.1.1 Indicator LEDs
The LEDs are arranged in two groups:
● General LEDs are arranged on the left side.
● LEDs for CAN communication are arranged on the right side.
Fig. 3-2:
Indicator LEDs of the ME3CAN1-L
LED Color Status Description
RUN Green
ERR. Red
CAN RUN Green
CAN ERR Red
TX/RX Green
ON Normally operating
OFF Hardware error (watchdog timer error) or power failure
ON An module error has occurred.
OFF Normally operating
ON
FLICKERING* LSS services in progress.
BLINKING* CANopen쏐 mode: The device is in CANopen state Pre-operational.
SINGLE FLASH* The device is in CANopen쏐 state Stopped.
OFF Layer 2 mode: The device is in Layer 2 offline mode.
ON
FLICKERING* LSS Services in progress.
BLINKING* General error
DOUBLE FLASH*
SINGLE FLASH* Warning limit reached.
OFF No error
ON Module is transmitting/receiving CAN message
OFF Module is not transmitting/receiving CAN message
앫 CANopen쏐 mode: The device is in CANopen쏐 state Operational.
앫 Layer 2 mode: The device is in Layer 2 online mode.
앫 The CAN controller is Bus-OFF-state.
앫 The CAN controller has too many transmission errors.
Error control event
A NMT guarding failure (NMT-Slave or NMT-Master) or a heartbeat fail-
ure (heartbeat consumer) has occurred.
3 – 2
Tab. 3-2: Indicator LEDs
* The LEDs CAN RUN and CAN ERR have four kinds of flicker states (according to CiA쏐-303-3 V1.4): single flash, double flash,
blinking, and flickering. These LEDs flicker as follows.
SINGLE FLASH
0.2 s 1 s
DOUBLE FLASH
0.2 s 1 s0.2 s 0.2 s
BLINKING
0.2 s 0.2 s
FLICKERING
0.1 s
Part Names Detailed Description of the Module
3.1.2 Signal Layout of the Connector
E
CANopen쏐 interface
connector
6
.
.
.
9
1
.
.
.
.
5
Pin no. Signal Description
1 — Reserved
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN ground
4 — Reserved
5 CAN_SHLD CAN shield
6 — Reserved
7 CAN_H CAN_H Bus line (dominant high)
8 — Reserved
9 — Reserved
Tab. 3-3: Pin assignments of the CAN interface connector (D-sub 9-pin male connector) on the
ME3CAN1-L
WARNING:
Leave the "reserved" pins unconnected.
NOTE An inch screw thread (#4-40UNC) is used to fix the connector to the ME3CAN1-L.
For the wiring of the CANopen쏐 module ME3CAN1-L please refer to section 6.3.2.
MELSEC-L Series – CANopen쏐 Module ME3CAN1-L 3 – 3
Detailed Description of the Module Specifications
C
3.2 Specifications
The specifications for the ME3CAN1-L are shown in the following table. For general specifications,
refer to the operation manual for the CPU module being used.
Specification ME3CAN1-L
Transmission type CAN Bus network (RS-485, CSMA/CR)
Applicable functions
CANopen communication services according
to CiA standards
CANopen device and application profiles
according to CiA Standards
Remote Transmit Request (RTR)
Node number Selectable from 1 to 127
Communication method Acyclic, cyclic or event-driven
Supported transmission speed / maximum
bus length
Connection cable
Connection to CANopen network via 9-pin D-sub connector
Insulation method
Number of occupied I/O points 32 points (I/O assignment: Intelligent 32 points)
Internal current consumption (5 V DC) 0.39 A
Weight 0.14 kg
앫 CANopen Node
앫 CAN Layer 2 Node
앫 CiA-301 V4.2
앫 CiA-302 V4.1
앫 CiA-305 V2.2
Interface and Device Profile CiA-405 V2.0 for IEC 61131-3 Programmable
Devices
앫 Layer 2 mode: supported
앫 CANopen mode: not supported for PDO
The maximum bus length varies depending on the transmission speed.
앫 1 Mbps / 25 m
앫 800 kbps / 50 m
앫 500 kbps / 100 m
앫 250 kbps / 250 m
앫 125 kbps / 500 m
앫 100 kbps / 600 m
앫 50 kbps / 1,000 m
앫 20 kbps / 2,500 m
앫 10 kbps / 5,000 m
The cable should conform to ISO11898.
Recommended is a shielded 2x2 twisted pair cable with an impedance of
about 120 (refer to section 6.3.2).
앫 Photocouplers are used to insulate the CAN input from the PLC.
앫 A DC/DC converter is used to insulate the power supply from the CAN
input.
3 – 4
Tab. 3-4: Specifications of the ME3CAN1-L
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Specifications Detailed Description of the Module
4
DIN rail center
45
Unit: mm
(45)
95
90
4
4
28.5
3.2.1 External Dimensions
Fig. 3-3: Dimensions of the ME3CAN1-L
MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 5
Detailed Description of the Module I/O Signals for the Programmable Controller CPU
C
3.3 I/O Signals for the Programmable Controller CPU
3.3.1 List of I/O signals
Note that the I/O numbers (X/Y) shown in this section and thereafter depend on the mounting position resp. on the start I/O number or head address of the ME3CAN1-L. This head address has to be
added to the shown I/O numbers.
For example, if the ME3CAN1-L occupies the range from X/Y040 to X/Y05F the head address is X/Y040.
However the least significant digit is omitted and the head address "n" in this case reads as "4". The "module ready" input (Xn0) will be X40 and the "EMCY message available" signal (X(n+1)1) will be X51.
Signal direction CPU Module ME3CAN1-L Signal direction CPU Module ME3CAN1-L
Device No. (Input) Signal name Device No. (Output) Signal name
Xn0 Module ready Yn0 Use prohibited
Xn1 Data exchange completed Yn1 Data exchange request
Xn2 Module restart completed Yn2 Module restart
Xn3
Xn4
Xn5
Xn6 Yn6
Xn7 Yn7
Xn8 Yn8
Xn9 Yn9
XnA YnA
XnB YnB
XnC YnC
XnD YnD
XnE YnE
XnF ME3CAN1-L error YnF ME3CAN1-L error clear request
X(n+1)0
X(n+1)1
X(n+1)2
X(n+1)3
X(n+1)4
X(n+1)6 Y(n+1)6
X(n+1)7 Command execution completed Y(n+1)7 Command execution request
X(n+1)8
X(n+1)9 Y(n+1)9
X(n+1)A Y(n+1)A
X(n+1)B Y(n+1)B
X(n+1)C Y(n+1)C
X(n+1)D Y(n+1)D
X(n+1)E Y(n+1)E
X(n+1)F
Module in Layer 2 online mode
(Layer 2 modes only)
Message transmit trigger completed
(Layer 2 modes only)
Use prohibited
NMT Error Control failure available
(CANopen mode only)
EMCY message available
(CANopen mode only)
Time stamp setting completed
(CANopen mode only)
Time stamp information is available in
buffer memory (CANopen mode
only)
Use prohibited
Use prohibited
Save configuration / restore factory
default completed
Yn3
Yn4
Yn5
Y(n+1)0
Y(n+1)1
Y(n+1)2
Y(n+1)3
Y(n+1)4
Y(n+1)8
Y(n+1)F
Layer 2 online mode request
(Layer 2 modes only)
Message transmit trigger request
(Layer 2 modes only)
Use prohibited
NMT Error Control failure clear
request (CANopen mode only)
EMCY message area clear request
(CANopen mode only)
Time stamp set request
(CANopen mode only)
Time stamp read request
(CANopen mode only)
Use prohibitedX(n+1)5 Y(n+1)5
Use prohibited
Save configuration / restore factory
default configuration request
Tab. 3-5: I/O signals of the ME3CAN1-L
NOTE The "Use prohibited" signals cannot be used by the user since they are for system use only.
If these are turned ON/OFF by the sequence program, the performance of the CANopen module
cannot be guaranteed.
3 – 6
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I/O Signals for the Programmable Controller CPU Detailed Description of the Module
3.3.2 Details of I/O signals
Module ready signal (Xn0)
● This signal turns ON when the ME3CAN1-L is enabled for access from the CPU module.
● This signal turns OFF when the ME3CAN1-L is disabled for ac
module watchdog timer error or hardware fault.
Data exchange completed (Xn1), Data exchange request (Yn1)
● These signals are used to exchange data between the buffer memory of the ME3CAN1-L and the
CA
Nopen object dictionary/Layer 2 message buffer.
● To ensure that the ME3CAN1-L can handle the C
to set the data exchange request (Yn1) to ON after writing the data. The Data exchange completed
(Xn1) and Data exchange request (Yn1) signals control the internal buffer exchange and thereby
which data is transmitted from the PLC by PDO.
● PDO transmit data will only be sent to the CAN bus if the module is in NMT state Operational and
af
ter setting Yn1 to ON. As long as the reading of the previous data is not finished and a new data
exchange command has not been sent, data will not be overwritten by further PDO.
If the module is in NMT state Operational, the received PDO data from other nodes can be read
by the MELSEC-L series CPU by using a FROM instruction and the transmit PDO data can be written
to the module and sent to the network by using
signal (Xn1) will be turned ON when the data exchange between buffer memory and Object
Dictionary/Data exchange buffer is finished.
● Depending on the bits turned ON in the Data Exchange Control (Un\G20), OD data and/or EMCY
data will be ex
NOTE If Xn1 is turned ON and the module is not in CANopen state Pre-operational or Stopped, the PDO
data will be exchanged after going into Operational state.
changed.
ANopen data in a consistent way, it is necessary
a TO instruction. The data exchange completed
cess from the CPU module due to a
MELSEC-L Series – CANopen Module ME3CAN1-L 3 – 7
Detailed Description of the Module I/O Signals for the Programmable Controller CPU
C
Performed by the ME3CAN1-L
Performed by the sequence program
Module restart request (Yn2)
Module restart completed (Xn2)
Module initialization state (Un\G25 bit 7)
OFF
OFF
ON
ON
OFF
ON
Module restart completed (Xn2), Module restart request (Yn2)
● A restart is necessary to activate the following new settings:
– Function mode (Un\G21), refer to section 3.5.2
– Baud rate (Un\G24), refer to section 3.5.4
– Node-ID (Un\G27), refer to section 3.5.6
– NMT master setting, refer to section 4.8.5.
All not saved settings will be lost.
● To restar
t the module
, please set the module restart request (Yn2) signal to ON. The module will
be set to initialization state as indicated by the Un\G25 bit 7 (refer to section 3.5.5). After the
module is restarted, the module restart completed (X
n2) will be set to ON. The module restart
request (Yn2) signal can be reset to OFF. Not setting this signal back to OFF will cause that the
module will be restarted again and again. The restart procedure will take approx. 6 seconds to
complete.
Fig. 3-4: Timing of the signals Xn2 and Yn2
Module in Layer 2 online mode (Xn3), L
● The Layer 2 online mode request signal (Yn3) must be set to ON to star
yer 2 online mode request (Yn3)
a
t data exchange with other
network nodes.
● The module in Layer 2 online mode signal (X
mode. The configuration of the module can only be changed while this signal is OFF..
NOTE In case a configuration buffer memory was changed during online mode, Un\G29 bit 5 is set to ON.
Message transmit trigger completed (Xn4), Message transmit trigger request (
● The transmission trigger of a message in Layer 2 mode which is set in Un\G8400 to Un\G8402
must be star
● The message transmit trigger completed signal (X
been written into the transmit buffer. Please refer also to section 3.6.4.
3 – 8
n3) will turn ON if the module can be set to online
ted with a message transmit trigger request (Yn4).
Yn4)
n4) will turn ON when all the messages have
MITSUBISHI ELECTRI
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