CANopen Slave Communication Module IFD9503 repeated. „ Particularly for custom equipment, the PDO parameters in IFD9503 are divided into an upload area and download area, featuring: y TxPDO H’5001). For example, TxPDO is only able to map 32 parameters (sub-index addess) in the upload area (index 5001/01 (1 st word of TxPDO1) 5001/02 (2 nd word of TxPDO1) If you would like to correspond the 1 st word of TxPDO1 to a certain Modbus address (parameter address) of the connected equipment, you can write the Modbus address into 5001/01. The same rule also applies to other sub-index addresses. y RxPDO RxPDO is only able to map 32 parameters (sub-index addess) in the download area (index H’5000).
For example, 5000/01 (1 st word of RxPDO1) 5000/02 (2 nd word of RxPDO1) If you would like to correspond the 1 st word of RxPDO1 to a certain Modbus address (parameter address) of the connected equipment, you can write the Modbus address into 5000/01. The same rule also applies to other sub-index addresses. y Note: See 13.5.1 “Communication Objects in Object Dictionary” for the corresponding 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 0 byte.
You can map maximum 8 bytes in the 1 st word of TxPDO 1 ~ 4 th word of TxPDO1 in the upload area. The mapping relation is corresponding and fixed. For example, Word 2 (byte 2 & byte 3) → 2 nd word of TxPDO1 Word 1 (byte 0 & byte 1) → 1 st word of TxPDO1 Word 3 (byte 4 & byte 5) → 3 rd word of TxPDO1 Word 4 (byte 6 & byte 7) → 4 th word of TxPDO1 y RxPDO1 (master → IFD9503): Send the contol data of the master to the slave (IFD9503). Preset the length of the data to be mapped to 0 byte. You can map maximum 8 bytes in the 1 st word of RxPDO 1 ~ 4 th word of RxPDO1 in the download area. The mapping relation is corresponding and fixed.
For example, Word 1 (byte 0 & byte 1) → 1 st word of RxPDO1; DVP-PLC Application Manual 33 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’180 + Node-ID