Mitsubishi Electric MELSEC L-Series User manual

INDUSTRIAL AUTOMATION
MELSEC L-Series
Programmable Logic Controllers
User's Manual
CANopen쏐Module
ME3CAN1-L
Art. no.: 286236
11 05 2015
Version A 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.mitsubishielectric.com.
MITSUBISHI ELECTRIC EUROPE BV reserves the right to make changes to this
manual or the technical specifications of its products at any time without notice.
© 2014
MITSUBISHI ELECTRIC EUROPE B.V.

CANopen쏐Module
ME3CAN1-L
User's Manual
Art.-no.: 286236
Version Changes / Additions / Corrections
A 05/2015 pdp-dk First edition

MELSEC-L Series – CANopenModule ME3CAN1-L I
Safety Guidelines
For use by qualified staff only
This manual is only intended for use by properly trained and qualified electrical technicians who are
fully acquainted with the relevant automation technology safety standards. All work with the hard-
ware described, including system design, installation, configuration, maintenance, service and test-
ing of the equipment, may only be performed by trained electrical technicians with approved qual-
ifications who are fully acquainted with all the applicable automation technology safety standards
and regulations. Any operations or modifications to the hardware and/or software of our products
not
specifically described in this manual may only be performed by authorised Mitsubishi Electric staff.
Proper use of the products
The programmable logic controllers of the MELSEC-L series are only intended for the specific appli-
cations explicitly described in this manual. All parameters and settings specified in this manual must
be observed. The products described have all been designed, manufactured, tested and documented
in strict compliance with the relevant safety standards. Unqualified modification of the hardware or
software or failure to observe the warnings on the products and in this manual may result in serious
personal injury and/or damage to property. Only peripherals and expansion equipment specifically
recommended and approved by Mitsubishi Electric may be used with the programmable logic con-
trollers of the MELSEC-L series.
All and any other uses or application of the products shall be deemed to be improper.
Relevant safety regulations
All safety and accident prevention regulations relevant to your specific application must be observed
in the system design, installation, configuration, maintenance, servicing and testing of these prod-
ucts. The installation should be carried out in accordance to applicable local and national standards.
Safety warnings in this manual
In this manual warnings that are relevant for safety are identified as follows:
m
DANGER:
Failure to observe the safety warnings identified with this symbol can result in health and injury
hazards for the user.
b
WARNING:
Failure to observe the safety warnings identified with this symbol can result in damage to the
equipment or other property.

II
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.
m
DANGER:
●Observe all safety and accident prevention regulations applicable to your specific applica-
tion. Always disconnect all power supplies before performing installation and wiring work
or opening any of the assemblies, components and devices.
●Assemblies, components and devices must always be installed in a shockproof housing fitted
with a proper cover and fuses or circuit breakers.
●Devices with a permanent connection to the mains power supply must be integrated in the
building installations with an all-pole disconnection switch and a suitable fuse.
●Check power cables and 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 possibil-
ity of undefined control system states caused by signal line cable or core breaks.
●When using modules always ensure that all electrical and mechanical specifications and
requirements are observed exactly.

MELSEC-L Series – CANopenModule ME3CAN1-L III
Symbols used in the Manual
Use of notes
Notes concerning important information are marked separately and are displayed as follows:
Use of examples
Examples are marked separately and are displayed as follows:
The end of an example is marked with the following symbol:

Use of numbering in the figures
Numbering within the figures is displayed by white numbers within black circles and is explained in
a table following it using the same number, e.g.:
   
Use of handling instructions
Handling instructions are steps that must be carried out in their exact sequence during startup, oper-
ation, maintenance and similar operations.
They are numbered consecutively (black numbers in white circles):
Text.
Text.
Text.
Use of footnotes in tables
Instructions in tables are explained in footnotes underneath the tables (in superscript). There is a foot-
note character at the appropriate position in the table (in superscript).
If there are several footnotes for one table then these are numbered consecutively underneath the
table (black numbers in white circle, in superscript):

Text

Text

Text
Writing conventions and guidance notes
Keys or key-combinations are indicated in square brackets, such as [Enter], [Shift] or [Ctrl]. Menu
names of the menu bar, of the drop-down menus, options of a dialogue screen and buttons are indi-
cated in italic bold letters, such as the drop down menu 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 described in this manual are the registered
trademarks or trademarks of each company.
NOTE Note text
ExampleExample text

IV

Contents
MELSEC-L Series – CANopenModule ME3CAN1-L V
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

Contents
MELSEC-L Series – CANopenModule ME3CAN1-L VI
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

Contents
MELSEC-L Series – CANopenModule ME3CAN1-L VII
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
 boot-up procedure and NMT states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
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
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
 -405 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55
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
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

Contents
VIII
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
 405 mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
6.4.2 11 bit/29 bit CAN-ID Layer 2 Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
7 Programming
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
8.2.3 SDO Access abort codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
Index

Introduction Overview
MELSEC-L Series – CANopenModule ME3CAN1-L 1 – 1
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 connector according to
CiA-303-1 V1.8.
Various bit rates
●Pre-defined (according to CANopenstandard):
10 kbps, 20 kbps, 50 kbps, 100 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps, 1 Mbps
CANopenservices according to CiA-301 V4.2
●256 TPDO (1024 word write)
The Process Data Object (PDO) is sent by a node (the producer) and will be received by other nodes
(the consumers) which subscribed to it. The Transmit PDO (TPDO) is used to send input data of
the node.
●256 RPDO (1024 word read)
The Receive PDO (RPDO) is used to receive output data.
●SDO service
The Service Data Object can be used to read/write data to the Object Dictionary. This command
can be used to set network parameters and also to initiate CANopenfunctionality.
●SYNC service
The SYNC service provides the basic network synchronization mechanism.
●TIME service
The TIME service provides a simple network clock. CANopendevices that operate a local clock
may use the TIME object to adjust their own time base to that of the time stamp object producer.
●EMCY object service
Emergency objects are triggered by the occurrence of a CANopendevice internal error situation
and are transmitted from an emergency producer on the CANopendevice.

Overview Features of the ME3CAN1-L
1 – 2
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●Network management (NMT)
– General NMT services
– Boot-up Message
– Node guarding Master/Slave
– Heartbeat Consumer/Producer
CANopenservices according to CiA-302 V4.1
●NMT master
The network management provides services for controlling the network behavior of CANopen
devices as defined in CiA-301 and CiA-302. All CANopendevices of a network referred to as
NMT slaves are controlled by services provided by an NMT master.
●Flying master
The flying master mechanism provides services for a hot stand-by NMT master within a CANopen
network.
●Configuration manager
The Configuration manager provides mechanisms for configuration of CANopendevices in a
CANopennetwork.
●SYNC producer
The SYNC producer broadcasts the SYNC object. The SYNC service provides the basic network
synchronization mechanism.
Layer Setting Services master (LSS) according to the Standard CiA-305 V2.2
It is necessary to set the baud rate and node number of the CANopendevices. But some CANopen
devices, e.g. devices with high IP protection like rotary encoders, waterproof sensor, etc. don't have
DIP-switches for these setting. Such devices must be configured by CAN using this LSS.
CANopendevice profiles according to CiA-405 V2.0
Interface and Device Profile CiA-405 V2.0 for IEC 61131-3 Programmable Devices allows communi-
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;
– 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 switched to CAN layer 2 communication mode,
and be set up so that it can be used for the customer's own CAN based communication protocol.

Abbreviations and Generic Terms Overview
MELSEC-L Series – CANopenModule ME3CAN1-L 1 – 3
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 Generic term for L series CPU modules, e.g. L02CPU, L02CPU-P, L26CPU-BT and
L26CPU-PBT, etc.
LCPU
PLC CPU Generic term for programmable controller.
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
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/)
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 Command interface; used to access the Object Dictionary of the local node or a network
node.
SDO Service Data Object
SYNC Synchronization object
EMCY Emergency object
NMT Network management
LSS Layer Setting Services
RTR Remote transmission request
OD
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.
COB-ID Communication object identifier
Identifier that contains the CAN-ID and additional control bits.
CDCF Concise Device Setting File
Tab. 1-1: Abbreviations and general terms

Abbreviations and Generic Terms Overview
MELSEC-L Series – CANopenModule ME3CAN1-L 1 – 4

Overview System Configuration
MELSEC-L Series – CANopenModule ME3CAN1-L 2 – 1
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 net-
work head module of the MELSEC-L series.
Fig. 2-1:
ME3CAN1-L connected to a LCPU directly
Fig. 2-2: ME3CAN1-L connected to a CC-Link IE Field head module
L63P
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L63P
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Terminating
resistor
Terminating
resistor
CANopen  Node
CANopen
 Node
CANopenNode
(ME3CAN1-L)
CANopenNode
(ME3CAN1-L)
CAN bus network
L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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L6DSPU
L02CPU
POWER
L63P
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24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
24VDC
INPUT
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

System Configuration Applicable Systems
2 – 2
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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 Manual (Hardware Design, Maintenance and Inspection)
●MELSEC-L CC-Link IE Field Network Head Module User's Manual
Restrictions when the ME3CAN1-L is connected to a head module
No special restriction is applied for the ME3CAN1-L.
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.
Fig. 2-3:
Product Information List for a PLC with a ME3CAN1-L
Serial number
(first 5 digits)
Function
version
Model name