Delta IFD9503, Руководство по применению, Страница: 16 / 57

CANopen Slave Communication Module IFD9503
DVP-PLC Application Manual 14
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
y
When in insufficient PDO data length
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
y
When the AC motor drive in low voltage (internal error of the equipment)
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
86 0E FF 80 00 00 00 00 00
(When in low voltage, the error code in AC motor drive will be H’0E.)
y
When internal error in the equipment has been eliminated
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
86 00 00 80 00 00 00 00 00
y
When the error is eliminated
Still other errors existing:
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
All errors are eliminated:
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
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.
„
PDO1 (Default: Open)
y
TxPDO1 (IFD9503
→
master):
Send the status data of the salve (IFD9503) to the master. Preset the length of data to be
mapped to 2 byte and the content to be mapped to status word. You can map any readable
paramemters, maximum 8 bytes.
Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
H’180 + Node-ID Status word
y
RxPDO1 (master
→
IFD9503):
Send the control data of the master to the slave (IFD9503). Preset the length of the data to
be mapped to 2 bytes and the content to be mapped to control word. You can map any
readable parameters, maximum 8 bytes.