CANopen Slave Communication Module IFD9503 2. Functions & features In addition, IFD9503 also supports the following two functions. z Emergency object – EMERGENCY When IFD9503 detects an internal error, it will send an EMCY message to the CANopen bus. „ Format IFD9503 → master y Error register The value in the error register will be mapped to index address H’1001 in the object dictionary. Value = 0 indicates that no error occurs. Value = 1 incicates that a general error takes place. Value = H’80 indicates that an internal error in the equipment occurs. y Emergency error code Ќ Internal communication error This error indicates the communication error between IFD9503 and PLC (e.g.
communication failure). When such error occurs, the emergency error code will be Ќ CANopen bus communication error H’8101, and the value in the error register will become 1. This error indicates the communication error between CANopen master and IFD9503 slave (e.g. master disconnection). When such error occurs, the emergency error code will be H’8130, and the value in the error register will become 1. Ќ Insufficient length of PDO data This error indicates that the length of Receive PDO data actually sent out is shorter than the set data length. When such error occurs, the emergency error code will be H’8210, Ќ Eliminating error and the value in the error register will become 1.
When an error is eliminated, the emergency error code will become H’0000. „ Explanation Take the IFD9503 slave of node ID = 6 as the object and compare the EMERGENCY messages sent out by IFD9503 in different error conditions. y When in internal communication error y When in CANopen bus communication error y When in insufficient PDO data length DVP-PLC Application Manual 23 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 128(H’080) +Node-ID Emergency error code Error register 00 00 00 00 00 LSB MSB COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 86 01 81 01 00 00 00 00 00 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 86 30 81 01 00 00 00 00 00