CANopen Slave Communication Module IFD9503 Word 2 (byte 2 & byte 3) → 2 nd word of RxPDO1 Word 3 (byte 4 & byte 5) → 3 rd word of RxPDO1 Word 4 (byte 6 & byte 7) → 4 th word of RxPDO1 „ PDO2 ~ PDO8 (Default: Close) y TxPDO (IFD9503 → master): Send the status data of the slave equipment (IFD9503) to the master. Preset the length of the data to be mapped to 0 byte. You can map maximum 8 bytes. Same as TxPDO1, PDO2 ~ PDO8 map RxPDO2 ~ RxPDO8. The mapping relation is corresponding and fixed. y RxPDO (master → IFD9503): Send the control data of the master to the slave (IFD9503). Preset the length of the data to be mapped to 0 byte. You can map maximum 8 bytes.
Same as RxPDO1, PDO2 ~ PDO8 map RxPDO2 ~ RxPDO8 in the download area. The mapping relation is corresponding and fixed. „ Explanation If the custom equipment is a Delta VFD-B AC motor drive, and we would like to control its RUN/STOP, frequency input and monitor its operation status and frequency, follow the explanations below: y Map the 1 st word of RxPDO1 and 2 nd word of RxPDO1 in RxPDO1 and map the 1 st word of TxPDO1 and 2 nd word of TxPDO1 in TxPDO1. y Write the Modbus address corresponding to VFD-B in the index address of IFD9503 through SDO, e.g. H’2000 → 5000/01, H’2001 → 5000/02; H’2101 → 5001/01, H’2103 → 5001/02.
y In this way, we will be able to control the control word (H’2000), frequency command (H’2001) and monitor the status word (H’2101) and running frequency (H’2103) in VFD-B through RxPDO1 and TxPDO1. y Note: You can only map the Modbus address of 16-bit word device in the dowbload area „ Data transmission mode and upload area. y TxPDO in IFD9503 supports many modes: synchronously non-cyclic, synchronously cyclic, synchronous RTR, asynchronous RTR and asynchronous modes.
DVP-PLC Application Manual 34 Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’200 + Node-ID Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’xxxx +Node-ID Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H’yyyy +Node-ID