Delta IFD9503, Руководство по применению, Страница: 23 / 57

CANopen Slave Communication Module IFD9503
DVP-PLC Application Manual
21
y
When the servo drive conducts emergency stop (internal error of the equipment)
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
(When stops urgently, the error code of srovo drive is H’0D)
y
Error removed
When there is still other error exiting
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
When all errorss have been removed
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
Only when error status has changed that IFD9503 could send EMMERGENCY message.
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 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.
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
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.
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
„
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.
Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
H’xxxx +Node-ID
y
RxPDO (master
→
IFD9503):
Send the control data of the master to the slave (IFD9503). Preset the length of data to be