CANopen Slave Communication Module IFD9503 the set data length. When such error occurs, the emergency error code will be H’8210, and the value in the error register will become 1. Ќ Eliminating error When an error is eliminated, the emergency error code will become H’0000. „ Explanation Take the IFD9503 slave of node ID = 6 as the object and compare the EMERGENCY messages sent out by IFD9503 in different error conditions. y When in CANopen bus communication error y When in insufficient PDO data length y When the error is eliminated Still other errors exiting: All errors are eliminated: y Note: IFD9503 sends out EMERGENCY message only when error occurs.
z PDO service IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be repeated.. „ Particularly for PLC, the PDO parameters in IFD9503 are divided into an upload area and download area, featuring: y TxPDO TxPDO is only able to map 32 registers, D32 ~ D63 in the upload area. y RxPDO RxPDO is only able to map 32 registers, D32 ~ D63 in the download area. „ PDO1 (Default: Open) y TxPDO1 (IFD9503 → master): mapped to 8 bytes and the content to be mapped to “the 1 st ~ 4 th registers in the upload Send the status data of the slave (IFD9503) to the master. Preset the length of data to be area”. You can map any parameters in the upload area, maximum 8 bytes.
DVP-PLC Application Manual 29 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 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 D32 D33 D34 D35