Station.. ………………………………………………………………15-22 15.5 Sending SDOs and NMT, and Reading Emergencies by Functions Blocks ………………………………………………………………………………15-23 15.5.1 Principle...................................................................................... 15-23 15.5.2 Sending an SDO Command ....................................................... 15-24 15.5.3 Sending an NMT Command ....................................................... 15-27 15.5.4 Reading Emergency Messages .................................................. 15-29 15.5.5 Obtaining the States of the Slave Stations on a CANopen Network ....
................................................................................................... 15-32 15.6 Error Diagnostics and Troubleshooting .............................................. 15-35 15.6.1 LED Indicators and Troubleshooting .......................................... 15-35 15.6.2 Error Codes ................................................................................ 15-36 Chapter 16 Remote I/O Module AHRTU-ETHN-5A 16.1 Introduction to AHRTU-ETHN-5A ........................................................ 16-2 16.1.1 Function........................................................................................
16-2 16.1.2 Specification ................................................................................. 16-2 16.2 Parts of AHRTU-ETHN-5A ................................................................... 16-4 16.2.1 Profile and Dimensions................................................................. 16-4 16.2.2 Parts ............................................................................................. 16-4 16.2.3 Ethernet Connector ...................................................................... 16-5 16.2.4 IP Address Switch.........................................................................
16-5 16.3 Installation of AHRTU-ETHN-5A .......................................................... 16-5 16.3.1 Installed to Backplanes ................................................................. 16-5 16.3.2 Modules Supported ...................................................................... 16-8 16.4 Devices in AHRTU-ETHN-5A .............................................................. 16-9 16.4.1 MODBUS Addresses .................................................................... 16-9 16.4.2 Status Register (SR) ................................................................... 16-10 16.4.3 RTU Input Register .....................................................................
16-11 16.5 Software ............................................................................................ 16-12 16.5.1 ISPSoft ....................................................................................... 16-12 16.5.2 EIP Builder ................................................................................. 16-12 16.6 CIP Object ......................................................................................... 16-26 16.7 Trouble Shooting ............................................................................... 16-26 16.7.1 Error Type ...................................................................................
16-26 16.7.2 Error Codes and Trouble-shooting ............................................. 16-27 16.7.3 Indicator Status ........................................................................... 16-29 xiv