CANopen Slave Communication Module IFD9503 3 Functions of IFD9503 IFD9503 can be connected to different equipment. The functions of IFD9503 vary upon the equipment connected to it. 3.1 Common Functions and SDO are fixed, and the functions of others vary upon the equipment connected to IFD9503. IFD9503 supports NMT, SYNC, EMERGENCY, PDO and SDO, among which the functions of NMT, SYNC 1. NMT module control This function controls the status of node controlling NMT slave through NMT master. z Format Master → IFD9503 If Node-ID =0, the “command specifier” will be broadcasted to all IFD9503 (CANopen slaves). Every slave will have to execute NMT.
z Commands See below for the functions of all command specifiers: z Explanation Switching IFD9503 whose node ID = 6 to pre-operation status. 2. NMT error control This function is applicable to NMT slave node sending its own operational status back to NMT master. z After IFD9503 is initialized and enters pre-operation status, IFD9503 will send out the only BOOT-UP signal. IFD9503 → master z Supposed IFD9503 sends out one status signal during the operation, its format will be: IFD9503 → master NMT status:
DVP-PLC Application Manual 8 COB-ID Byte 0 Byte 1 0 (H’000) Command specifier (CS) Node-ID Command specifier (CS) Function H’01 Enable remote node H’02 Disable remote node H’80 Enter pre-operation status H’81 Reset application layer H’82 Reset communication COB-ID Byte 0 Byte 1 H’000 H’80 H’06 COB-ID Byte 0 1792(H’700)+Node-ID H’00 COB-ID Byte 0 1792(H’700)+Node-ID NMT status