CANopen Slave Communication Module IFD9503 y When the servo drive conducts emergency stop (internal error of the equipment) (When stops urgently, the error code of srovo drive is H’0D) y Error removed When there is still other error exiting When all errorss have been removed y Note z PDO service Only when error status has changed that IFD9503 could send EMMERGENCY message. IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be repeated. „ 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 2 bytes and the content to be mapped to “status word of digital output contact”. You can map any readable parameters, maximum 8 bytes. y RxPDO1 (master → IFD9503) ： Send the control data of the master to the slave (IFD9503). Preset the length of data to be mapped to 2 bytes and the content to be mapped to “control word of digital input contact”. You can map any readable parameters, maximum 8 bytes. „ PDO2 ~ PDO8 (Default: Close) y TxPDO (IFD9503 → master): Send the status date of the slave (IFD9503) to the master. Preset the length of data to be mapped to 0 byte. You can map any readable parameters, maximum 8 bytes. y RxPDO (master → IFD9503):
Send the control data of the master to the slave (IFD9503). Preset the length of data to be DVP-PLC Application Manual 21 COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 86 0D FF 80 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 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’180 + Node-ID DO1~DO5 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’200 + Node-ID DI1~DI8 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’xxxx +Node-ID