CANopen Slave Communication Module IFD9503 Stop: H’04; Operation in progress: H’05; Pre-operation: H’7F. z Explanation: Assume the Node-ID of a IFD9503 is 6 When IFD9503 operation is in progress: When IFD9503 is shut down: When IFD9503 is in pre-operation status: Communication reset or application layer reset: 3. Synchronous signal -- SYNC SYNC signal is sent out by the loop of CANopen master. SYNC does not contain any data, and its main purpose is to request the PDO of slave node to operate in synchronous communication mode. In this way, you can set to synchronous or asynchronous mode while using PDO. z Format Master → IFD9503 COB-ID 128(H’080) 4. SDO service z Request:
Master → IFD9503 All SDO message are fixed at 8 bytes. z Response: IFD9503 → master z If the “request code” (or “response code”) is different, the corresponding “request data” (or “response data”) will also be different. See the table below.
DVP-PLC Application Manual 9 COB-ID Byte 0 H’706 H’05 COB-ID Byte 0 H’706 H’04 COB-ID Byte 0 H’706 H’7F COB-ID Byte 0 H’706 H’00 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 1536(H’600) +Node-ID Request code Object index Sub-index of object Request data LSB MSB bit7-0 bit15-8 bit23-16 bit31-24 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 1408(H’580) +Node-ID Response code Object index Sub-index of object Response data LSB MSB bit7-0 bit15-8 bit23-16 bit31-24 Request Explanation Byte 4 Byte 5 Byte 6 Byte 7 code H’23 Write a 4-byte datum bit7-0 bit15-8 bit23-16 bit31-24 H’2B Write a 2-byte datum bit7-0 bit15-8 H’00 H’00 H’2F Write a 1-byte datum bit7-0 H’00 H’00 H’00