Mitsubishi Electric FX2N-32CAN User manual

HARDWARE MANUAL
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module
Foreword
•This manual contains text, diagrams and explanations which will guide the reader in the correct installation
and operation of the communication facilities of the FX2N-32CAN module.
•Before attempting to install or use the communication facilities of the FX2N-32CAN module, this manual and
FX2N-32CAB User’s Manual should be read and understood.
•If in doubt at any stage of the installation of the communication facilities of the FX2N-32CAN module always
consult a professional electrical engineer who is qualified and trained to the local and national standards
which apply to the installation site.
•If in doubt about the operation or use of the communication facilities of the FX2N-32CAN module please
consult the nearest Mitsubishi Electric distributor.
•This manual is subject to change without notice.

i
FX2N-32CAN Communication Module
Hardware Manual
FX2N-32CAN Communication Module
Manual number : JY992D92901
Manual revision : B
Date : May 2003

FX2N-32CAN Communication Module
ii
Guidelines for the safety of the user and protection of the FX2N-32CAN
Communication Module.
This manual provides information for the use of the FX2N-32CAN Communication Module. The
manual has been written to be used by trained and competent personnel. The definition of
such a person or persons is as follows:
a) Any engineer who is responsible for the planning, design and construction of automatic
equipment using the product associated with this manual should be of a competent
nature, trained and qualified to the local and national standards required to fulfill that
role. These engineers should be fully aware of all aspects of safety with regards to
automated equipment.
b) Any commissioning or service engineer must be of a competent nature, trained and
qualified to the local and national standards required to fulfill that job. These engineers
should also be trained in the use and maintenance of the completed product. This
includes being completely familiar with all associated documentation for said product. All
maintenance should be carried out in accordance with established safety practices.
c) All operators of the completed equipment (See Note) should be trained to use that
product in a safe manner in compliance to established safety practices. The operators
should also be familiar with documentation which is connected with the actual operation
of the completed equipment.
Note : The term ‘completed equipment’ refers to a third party constructed device which
contains or uses the product associated with this manual.

FX2N-32CAN Communication Module
iii
Note’s on the symbols used in this manual
At various times through out this manual certain symbols will be used to highlight points of
information which are intended to ensure the users personal safety and protect the integrity of
equipment. Whenever any of the following symbols are encountered its associated note must
be read and understood. Each of the symbols used will now be listed with a brief description of
its meaning.
Hardware warnings
1) Indicates that the identified danger WILL cause physical and property damage.
2) Indicates that the identified danger could POSSIBLY cause physical and property
damage.
3) Indicates a point of further interest or further explanation.
Software warning
4) Indicates special care must be taken when using this element of software.
5) Indicates a special point which the user of the associate software element should
be aware.
6) Indicates a point of interest or further explanation.

FX2N-32CAN Communication Module
iv
• Under no circumstances will Mitsubishi Electric be liable responsible for any consequential
damage that may arise as a result of the installation or use of this equipment.
• All examples and diagrams shown in this manual are intended only as an aid to
understanding the text, not to guarantee operation. Mitsubishi Electric will accept no
responsibility for actual use of the product based on these illustrative examples.
• Please contact a Mitsubishi Electric distributor for more information concerning applications
in life criticatical situations or high reliability.

v
Table of contents
Guideline ............................................................................................. iii
1. Introduction............................................................................................1-1
1.1 Features of the FX2N-32CAN Module.................................................................. 1-1
1.2 External Dimensions and Each Part Name ......................................................... 1-2
1.3 System configuration ........................................................................................... 1-4
1.4 Applicable PLC .................................................................................................... 1-4
2. Wiring ....................................................................................................2-1
2.1 Caution for Wiring................................................................................................ 2-1
2.3 Pin Configuration ................................................................................................. 2-2
3. Specifications ........................................................................................3-1
3.1 Environmental/Standards Specifications ............................................................. 3-1
3.2 Power Supply Specifications ............................................................................... 3-1
3.3 Performance Specifications................................................................................. 3-2
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module
vi
4. Buffer Memory Structure .......................................................................4-1
4.1 Basic Buffer Memory Structure, BFM #0 ~ BFM #31 .......................................... 4-1
4.2 Buffer Memory Functions .................................................................................... 4-2
4.2.1 Data Transfer Locations, BFMs #0~#19 and #100~#199 ......................................... 4-2
4.2.2 The Data Exchange Mode, BFM #20 ........................................................................ 4-2
4.2.3 Setting the Baud Rate, BFM #24............................................................................... 4-3
4.2.4 Reading the Communication Status, BFM #25 ......................................................... 4-4
4.2.5 The Watch Dog Timer Setting, BFM #26 .................................................................. 4-5
4.2.6 The Node Address, BFM #27.................................................................................... 4-5
4.2.7 Error Staus, BFM #29................................................................................................ 4-6
4.2.8 BFM Data Memory Backup ....................................................................................... 4-7
4.3 Extended BFM Structure, BFM #32 ~ BFM #32767 ............................................ 4-8
5. Module Parameterization and Configuration .........................................5-1
5.1 Factory Default Mapping/Mode 0 Mapping.......................................................... 5-3
5.2 Mode A Mapping ................................................................................................. 5-4
5.3 Mode B Mapping ................................................................................................. 5-5
5.3.1 Prepare the PDO Mapping Table .............................................................................. 5-6
5.4 PDO Mapping Table Overviews .......................................................................... 5-8
5.4.1 Tx-PDO Mapping Table............................................................................................. 5-8
5.4.2 Rx-PDO Mapping Table .......................................................................................... 5-10

FX2N-32CAN Communication Module
vii
6. Diagnostics............................................................................................6-1
6.1 LED Status .......................................................................................................... 6-1
6.1.1 The Power LED ......................................................................................................... 6-1
6.1.2 The FROM/TO LED................................................................................................... 6-1
6.1.3 The RUN LED ........................................................................................................... 6-2
6.1.4 The Rx/Tx LED .......................................................................................................... 6-2
6.1.5 The ERROR LED ...................................................................................................... 6-3
7. Example Program..................................................................................7-1
7.1 SDO Write Command.......................................................................................... 7-2
7.2 Mode 0 Mapping Command ................................................................................ 7-4
7.3 Mode A Mapping Example .................................................................................. 7-5
7.4 Mode A Mapping with Node Start Up Command................................................. 7-6
7.5 Mode B Mapping Example with SDO Command................................................. 7-8
Appendix A:
Further Information Manual Lists.............................................................. A-1

FX2N-32CAN Communication Module
viii

Introduction 1.
1-1
1. Introduction
The FX2N-32CAN Communication Module is an interface block which connects the FX2N(C)/FX1N PLC
to an existing CANopen network. The CANopen network is an internationally accepted network for
industrial automation.
For more information on the CANopen specifications please see the Can in Automation
website at www.can-cia.de.
1.1 Features of the FX2N-32CAN Module
• A maximum of 120 words can be sent and received as Process Data Object (PDO) data. The num-
ber of words can be transmitted in each direction is set from 1 ~ 120.
• The buffer memory of the FX2N-CANopen Communication Module is read and written by FROM/TO
instructions.
• Eight I/O points from the PLC expansion port are occupied in the PLC.
• The node address can be numbered from 1 to 127. A total of 30 nodes can be connected to any
segment of the bus and by the use of repeaters or bridges, the total number can be extended up to
127 nodes.
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module Introduction 1.
1-2
1.2 External Dimensions and Each Part Name
Dimensions: mm (inches) MASS (Weight): 0.2 kg (0.44 lbs)
Accessory: Special block No. label
F X 2 N - 3 2 C A N
P O W E R
RUN
F R O M / T O
T x / R x
E R R O R
F X
2 N
- 3 2 C A N
4 3 ( 1 . 6 9 " )
9 0 ( 3 . 5 4 " )
9 ( 0 . 3 5 " )
8 8 . 7 ( 3 . 4 9 " ) 4 ( 0 . 1 6 " )
a )
)
c )
)
d )
e )
f )
g )
h )
i )
j )
R e m o v e T o p C o v e r
k )

FX2N-32CAN Communication Module Introduction 1.
1-3
a) Groove for DIN rail mounting (Width of DIN rail: 35 mm <1.38">)
b) Hook for Din rail
c) Extension cable
d) Direct mounting holes (2-∅4.5 mm <0.18">)
e) RUN LED: Lights when the FX2N-32CAN Communication Module is in Run mode.
f) FROM/TO: Lights when FROM/TO access is performed by the FX2N(C)/FX1N PLC to the
CANopen module.
g) Tx/Rx: Lights up when the module is exchanging data.
h) Error: Lights when a general error has occured.
i) POWER: Lights when 5 Volt power is supplied from the Programmable Controller.
j) 9 Pin D-sub Connector
k) Extension connector

FX2N-32CAN Communication Module Introduction 1.
1-4
1.3 System configuration
*1 The Maximum extension distance for the FX2N-32CAN module is 5000m at 10kbps (with
repeaters). The extension distance is reduced to 40m (130') at the maximum baud rate of 1 Mbd.
The maximum distance also depends on the specification of other connected CANopen nodes as
well as the connectors and cables used.
1.4 Applicable PLC
FX2N-32CAN can be connected to the FX2N(C) or the FX1N Series PLC.
Network
Configuration Manager
CANopen
Node
FX
1N
/FX
2N
/FX
2NC
FX
2N
-
32CAN
FX
1N
/FX
2N
/FX
2NC
FX
2N
-
32CAN
Terminating
Resistor 120
Ω
CANopen Network
Repeater
CANopen
Node
Terminating
Resistor 120
Ω

Wiring 2.
2-1
2. Wiring
2.1 Caution for Wiring
1) Do not lay signal cable near high voltage power cables or put them in the same trunking
duct. Otherwise, the effects of noise or surge induction are likely to take place. Keep a safe
distance of more than 100 mm (3.94") from these wires.
2) The terminal tightening torque is 0.5 to 0.8 N·m (5 to 8 kgf·cm). Tighten securely to avoid
malfunction.
3) Cut off all phases of power source externally before installation or wiring work in order to
avoid electric shock or damage to the product.
2.2 Cable
The cable should conform to ISO11898/1993.
The recommended cable is a shielded 2 x 2 twisted pair cable with an impedance of about 120
Ohm. (Example: UNITRONIC BUS LD 2 x 2 x 0.22 from company Lapp Kabel,
www.lappkabel.de).
The bus line should be terminated on both ends by connectors that contain 120 Ohm
termination resistors. Recommended is a connector which was designed to be used with
CANopen networks (Example: ERbic series from company ERNI, www.erni.com) but a normal
9 pin D-Sub female connector can be used.
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module Wiring 2.
2-2
2.3 Pin Configuration
The module connector below is a 9-pin D-SUB (#4-40 inc. inch screw thread) type.
Pin No. Signal Meaning
2 Can_L Can_L bus line, dominant low
3 Can_G Can_Ground
7 Can_H Can_H bus line, dominant high
1,4,5,6,8,9 NC Pin not Assigned
Assigned
Not assigned
54
9
3
86
1
2
7

Specifications 3.
3-1
3. Specifications
3.1 Environmental/Standards Specifications
3.2 Power Supply Specifications
Table 3.1: Environmental/Standards Specifications
Item Description
Environmental specifications
excluding dielectric withstand
voltage
Same as those of the main unit.
Dielectric Withstand Voltage 500 V AC > 1 min, tested between signal line and ground
CAN Standard ISO 11898/1993
CANopen Standard by CiA DS-301 Version 3.0
Additional CANopen Features NMT, Guarding, and Guarding request based on DS-302 V2.0.
Network Variables based on DS-405 V1.0
CE Standard Emission: EN50081-2
Immunity: EN61131-2
Table 3.2: Power Supply Specifications
Item Description
External Power Supply None
Internal Current Consumption 130 mA at 5 V DC
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module Specifications 3.
3-2
3.3 Performance Specifications
Table 3.3: Performance Specifications
Item Description
Maximum FX2N-32CAN
Modules that can be
connected to the CANopen
network.
The node address can be set from 1 ~ 127. A total of 30 nodes can be
connected on each bus. By the use of repeaters or bridges, the total
number can be extended up to 127 nodes.
Supported Baud Rate 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps,
800 kbps, 1 Mbps
Number of Occupied I/O
Points 8 points taken from either the input or output PLC I/O extension bus
Applicable Programmable
Controller FX2N(c), FX1N
Communication with
Programmable Controller FROM/TO instruction
LED Indication
RUN Lit green when module is exchanging information with the CANopen
network
FROM/TO Lit green when module is receiving FROM/TO commands.
Tx/Rx Lit green when CAN-interface system is in normal operation.
ERROR Lit red when communication, overflow, or general error occurs.
POWER Lit green when the 5 V DC power supplied from main unit.

Buffer Memory Structure 4.
4-1
4. Buffer Memory Structure
4.1 Basic Buffer Memory Structure, BFM #0 ~ BFM #31
Table 4.1: Buffer Memory Structure, BFM #0 - BFM #31
BFM # READ (FROM) WRITE (TO)
BFM #0 Received data (Section 4.2.1-2) Data to Transmit (Section 4.2.1-2)
BFM #1 Received data (Section 4.2.1-2) Data to Transmit (Section 4.2.1-2)
:
:
:
:
:
:
BFM #19 Received data (Section 4.2.1-2) Data to Transmit (Section 4.2.1-2)
BFM #20 Data exchange status bit (Section 4.2.2) Data exchange control bit (Section 4.2.2)
BFM #21 Reserved Reserved
BFM #22 Reserved Reserved
BFM #23 Reserved Reserved
BFM #24 Read baud rate (Section 4.2.3) Set baud rate (Section 4.2.3, default 10kBd)
BFM #25 Module communication status (Section 4.2.4) Reset + CANopen restart command (Section
4.2.4)
BFM #26 Read FROM/TO watchdog timer reload value,
“default = 20” equals 200ms. (Section 4.2.5)
Set FROM/TO watchdog timer reload value,
“default = 20” equals 200ms. (Section 4.2.5)
BFM #27 Read node address (Section 4.2.6) Set node address, default = 127. (Section
4.2.6)
BFM #28 Reserved Reserved
BFM #29 Error status (Section 4.2.7) Reset latched error status (Section 4.2.7)
BFM #30 Module code (K7100) (Read only)
BFM #31 Reserved Reserved
FX2N-32CAN Communication Module

FX2N-32CAN Communication Module Buffer Memory Structure 4.
4-2
4.2 Buffer Memory Functions
4.2.1 Data Transfer Locations, BFMs #0~#19 and #100~#199
These Buffer memory locations in the FX2N-32CAN module are used to receive from and
transfer data to the CANbus. The mapping for where each data is sent/received is explained
in Chapter 5.
4.2.2 The Data Exchange Mode, BFM #20
On read access, BFM #20 contains a status bit for data exchange. If bit0 is “1”, the module is in
data exchange mode and the received data are valid (no CAN error occurred). If bit0 is “0”, the
module is not in data exchange mode.
On write access, BFM #20 acts as the data exchange control signal. To ensure that the FX2N-
32CAN module can handle the PDO data in a consistent way, it is absolutely necessary to
write a “1” to this BFM before reading Rx PDO data (FROM) and after writing Tx-PDO data
(TO) to the module. The data exchange control signal ensures, by internal buffer exchange,
that TO data from the PLC will be transmitted within the same corresponding Tx-PDO at the
same time.
TO data will only be sent to the CAN bus after a write access to BFM #20 (data = 1).
As long as the reading of the previous data is not finished and a new exchange command to
BFM #20 has not been sent, FROM data from the CAN bus will not be (partially) overwritten by
further Rx PDOs with the same ID.
If the CAN open module is in data exchange mode, the received PDO data (Rx-PDO) from
other nodes can be read by the FX2N(C)/FX1N PLC by using a FROM instruction and the
transmit PDO data (Tx-PDO) can be written to the module and sent to the network by using a
TO instruction.