CANopen Slave Communication Module IFD9503 y When the error is eliminated. Still other errors exiting: All errors are eliminated: y Note IFD9503 sends out EMMERGENCY message only when error occurs. z PDO service IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be repeated. „ Particularly for PLC, the PDO parameters in IFD9503 are divided into an upload area and download area, featuring: y TxPDO TxPDO is only able to map parameter D (upload start address+0) ~ D (upload start address+31), the 32 registers, in the upload area. By modifying the upload start address, you can obtain different upload areas.
For example, When the upload start address = 0, the upload area will be D0 ~ D31. When the upload start address = 10, the upload area will be D10 ~ D41. y RxPDO RxPDO is only able to map parameter D (download start address+0) ~ D (download start address+31), the 32 registers, in the download area. By modifying the download start address, you can obtain different download areas. For example, When the download start address = 0, the download area will be D0 ~ D31. y Note: See 13.5.1 “Communication Objects in Object Dictionary” for the corresponding When the download start address = 10, the download area will be D10 ~ D41.
index and sub-index of upload start address, download start address and all mapping parameters. „ PDO1 (Default: Open) y TxPDO1 (IFD9503 → master): Send the status data of the slave (IFD9503) to the master. Preset the length of data to be mapped to 8 bytes and the content to be mapped to “the 1 st ~ 4 th registers in the upload area”. You can map any parameters in the upload area, maximum 8 bytes.
DVP-PLC Application Manual 24 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 86 10 82 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 00 00 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 00 00 00 00 00 00 00 00 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’180 + Node-ID D (up+0) D (up+1) D (up+2) D (up+3)