CANopen Slave Communication Module IFD9503 1 „ Select “DELTA PLC” in Set Device Type column, as step 1 . Click “OK” to create a new file. „ Select “Tools => TP Object Communication Default Setting”, and you will see the dialog box below. 3 2 „ Follow step 2 ~ 3 : Set PLC ID = 1; check “Select Default PLC ID”. Click “OK”. 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 indicates that a general error takes place. Value = H’80 indicates that an internal error in the equipment occurs. y Emergency error code Ќ CANopen bus communication error This error indicates the communication error between CANopen master and IFD9503 slave (e.g. master disconnection). When such error occurs, the emergency error code Ќ Insufficient length of PDO data will be H’8130, and the value in the error register will become 1.
This error indicates that the length of Receive PDO data actually sent out is shorter than DVP-PLC Application Manual 28 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