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 occrs. Value = 1 incicates that a general error takes place. Value = H’80 indicates that an internal error in the equipment occurs. y Emergency error code Ќ Internal communication error This error indicates the communication error between IFD9503 and the servo drive (e.g. communication failure). When such error occurs, the emergency error code will be H’8101, and the value in the error register will become 1.
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 than the set data length. When such error occurs, the emergency error code will be This error indicates that the length of Receivce PDO data actually sent out is shorter H’8210, and the value in the error register will become 1. Ќ Internal error in the equipments This error indicates the error taken place inside the servo drive (e.g. sevo drive conducts emergency stop).
When such error occurs, the emergency error code will be H’FFXX (XX refers to the error code of the servo drive), and the value in the error Ќ Eliminating error register will become H’80. When an error is eliminated, the emergency error code will become H’0000. „ Explanation Take the COA slave of node ID = 6 as the object and compare the EMERGENCY messages sent out by IFD9503 in different error conditions.
y When in internal communication error y When in CANopen bus communication error y When in insufficient PDO data length DVP-PLC Application Manual 20 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 01 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 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