CANopen Slave Communication Module IFD9503 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, it 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 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, and the value in the error register will become 1. Ќ Eliminating error „ Explanation When an error is eliminated, the emergency error code will become H’0000. 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 CANopen bus communication error y When in insufficient PDO data length y When the error is eliminated. Still other errors exiting: All errors are eliminated: y Note:
IFD9503 sends out EMERGENCY message only when error occurs. z PDO service IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be DVP-PLC Application Manual 32 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 30 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 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