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CANopen Slave Communication Module IFD9503

 

DVP-PLC Application Manual

 

30 

Note: See 13.5.1 “Communication Objects in Object Dictionary” for the corresponding 

index and sub-index of upload start address, download start address and all mapping 

parameters. 

y

 

RxPDO1 (master 

→

 IFD9503): 

Send the control data of the master to the slave (IFD9503). Preset the length of data to be 

mapped to 8 bytes and the content to be mapped to “the 1

st

 ~ 4

th

 registers in the download 

area”. You can map any parameters in the download area, 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 

D0 

D1 

D2 

D3 

„

  PDO2 ~ PDO8 (Default: Close) 

y

 

TxPDO (IFD9503 

→

 master): 

Send the status data of the slave (IFD9503) to the master. Preset the length of the data to 

be mapped to 0 byte. You can map any parameters in the download area, 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 equipment (IFD9503). Preset the length of 

the data to be mapped to 0 byte. You can map any parameters in the download area, 

maximum 8 bytes.

 

Default COB-ID 

Byte 0

Byte 1

Byte 2

Byte 3

Byte 4 

Byte 5 

Byte 6

Byte 7

H’yyyy 

+Node-ID 

    

„

  Data transmission mode 

TxPDO in IFD9503 supports many modes: synchronously non-cyclic, synchronously cyclic, 

synchronous RTR, asynchronous RTR and asynchronous modes.

 

Содержание IFD9503

Страница 1: ...IFD9503 CANopen Slave Communication Module Application Manual...

Страница 2: ......

Страница 3: ...it 3 DO NOT connect input AC power supply to any of the I O terminals otherwise serious damage may occur Check all the wirings again before switching on the power and DO NOT touch any terminal when th...

Страница 4: ...CANopen Slave Communication Module IFD9503 DVP PLC Application Manual 2 5 OBJECT DICTIONARY 35 6 CONNECTION OF IFD9503 WITH OTHER EQUIPMENT 52...

Страница 5: ...node address in CANopen by two rotary switches For more details on the switches see 13 2 3 Functions of DIP switches selecting equipment connected to IFD9503 selecting communication port of IFD9503 s...

Страница 6: ...ded cable Electrical isolation 500V DC Communication PDO SDO SYNC Emergency Message type NMT 10 k bps bit sec 20 k bps bit sec 50 k bps bit sec 125 k bps bit sec 250 k bps bit sec 500 k bps bit sec 80...

Страница 7: ...ou can buy in the store for wiring z Connect to th bus on CANopen z Connect to the CANopen communication port on IFD9503 PIN Signal Description 1 V 0V DC 2 CAN_L Signal 3 SHIELD Shielded cable 4 CAN_H...

Страница 8: ...ammable logic controller Off On On Temperature controller On Off Off Servo drive On Off On Human machine interface On On Off Custom equipment On On On Test mode z Example If the equipment connected to...

Страница 9: ...ion ports on IFD9503 are used for the connection the equipment Delta programmable logic controller Delta AC motor drive Delta temperature controller Delta servo drive Delta human machine interface and...

Страница 10: ...to all IFD9503 CANopen slaves Every slave will have to execute NMT z Commands See below for the functions of all command specifiers Command specifier CS Function H 01 Enable remote node H 02 Disable...

Страница 11: ...ronous mode while using PDO z Format Master IFD9503 COB ID 128 H 080 4 SDO service All SDO message are fixed at 8 bytes z Request Master IFD9503 COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6...

Страница 12: ...hen polling an object parameter a polling fault appears 0601 0001 Try to execute reading request to a write only parameter 0601 0002 Try to execute writting request to a read only parameter 0602 0000...

Страница 13: ...ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H 586 H 43 H 18 H 10 H 01 H DD H 01 H 00 H 00 2 Read the maximum output frequency of AC motor drive index 2001H sub index 01H supposed the v...

Страница 14: ...e and communication format z Before connecting the AC motor drive to the bus first set the communication address of the AC motor drive to 01 baud rate to 38 400bps and communication format to 8 N 2 RT...

Страница 15: ...d IFD9503 slave e g master disconnection When such error occurs the emergency error code will be H 8130 and the value in the error register will become 1 Insufficient length of PDO data This error ind...

Страница 16: ...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 Not...

Страница 17: ...et the length of the 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 yyyy Node ID Data transmis...

Страница 18: ...te 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Emergency error code Error register 128 H 080 Node ID LSB MSB 00 00 00 00 00 y Error register The value in the error register will be mapped to index address H...

Страница 19: ...B 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 0...

Страница 20: ...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 SV PDO2 PDO8 Default Close y TxPDO IFD9503 master Send the status date of the slave IFD9503 to the...

Страница 21: ...id z To adjust the baud rate follow the steps listed below Set up the DIP switch SW3 of IFD9503 to custom equipment mode Connect IFD9503 to the bus of CANopen and enable the operation of IFD9503 Modif...

Страница 22: ...will become 1 Insufficient length of PDO data This error indicates that the length of Receivce PDO data actually sent out is shorter than the set data length When such error occurs the emergency erro...

Страница 23: ...e 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 Defa...

Страница 24: ...Delta DVP series PLC 1 Setting up baud rate and communication format z Before connecting the PLC to the bus first set up the communication address of the PLC to 01 baud rate to 115 200bps and communi...

Страница 25: ...H 8101 and the value in the error register will become 1 CANopen bus communication error This error indicates the communication error between CANopen master and IFD9503 slave e g master disconnection...

Страница 26: ...ferent upload areas For example When the upload start address 0 the upload area will be D0 D31 When the upload start address 10 the upload area will be D10 D41 y RxPDO RxPDO is only able to map parame...

Страница 27: ...03 master Send the status data of the slave IFD9503 to the master Preset the lengrh of the data to be mapped to 0 byte You can map any parameters in the upload area maximum 8 bytes Default COB ID Byte...

Страница 28: ...There are 64 virtual D devices D0 D63 in IFD9503 CANopen master and HMI are able to map read and write the virtual D devices in IFD9503 z To adjust the baud rate follow the steps listed below Set up t...

Страница 29: ...Click OK to create a new file Select Options Configuration Communication and you will see the dialog box below 2 3 4 5 6 Follow step 2 6 PLC Station 1 communication format 115 200 7 E 1 ASCII Click OK...

Страница 30: ...yte 4 Byte 5 Byte 6 Byte 7 Emergency error code Error register 00 00 00 00 00 128 H 080 Node ID LSB MSB y Error register The value in the error register will be mapped to index address H 1001 in the o...

Страница 31: ...te 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...

Страница 32: ...H 200 Node ID D0 D1 D2 D3 PDO2 PDO8 Default Close y TxPDO IFD9503 master Send the status data of the slave IFD9503 to the master Preset the length of the data to be mapped to 0 byte You can map any p...

Страница 33: ...he baud rate follow the steps listed below Modify the index parameter 5003 07 5003 07 1 19 200 8 N 2 RTU Default 5003 07 2 38 400 8 N 2 RTU 5003 07 3 57 600 8 N 2 RTU 5003 07 4 115 200 8 N 2 RTU Re po...

Страница 34: ...is shorter than 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 Eliminating error When an error is eliminated the e...

Страница 35: ...ss into 5000 01 The same rule also applies to other sub index addresses y Note See 13 5 1 Communication Objects in Object Dictionary for the corresponding index and sub index of upload start address d...

Страница 36: ...he mapping relation is corresponding and fixed Default COB ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 H yyyy Node ID Explanation If the custom equipment is a Delta VFD B AC motor drive...

Страница 37: ...AN LED LED Status IFD9503 Status How to deal with it Off No power Check the power of IFD9503 and make sure the connection is normal Green light flashes The correct information of the equipment connect...

Страница 38: ...2 bits R 0x00010002 RxPDO1 communication parameter H 00 Number of items Unsigned 8 bits R 3 H 01 COB ID of RxPDO1 Unsigned 32 bits RW 0x00000200 Node ID H 02 Transmission mode Unsigned 8 bits RW 0xFF...

Страница 39: ...RW 0 RxPDO1 mapping parameter H 00 Number of items Unsigned 8 bits RW Denpens on the connected equipment H 01 The first mapped object Unsigned 32 bits RW Denpens on the connected equipment H 01 The se...

Страница 40: ...object Unsigned 32 bits RW 0 RxPDO7 mapping parameter H 00 Number of items Unsigned 8 bits RW 0 H 01 The first mapped object Unsigned 32 bits RW 0 H 01 The sencond mapped object Unsigned 32 bits RW 0...

Страница 41: ...of TxPDO5 Unsigned 32 bits RW 0x80000000 H 02 Transmission mode Unsigned 8 bits RW 0xFF H 03 Forbidden time Unsigned 16 bits RW 50 H 1804 H 05 Timer Unsigned 16 bits RW 100 TxPDO6 communication parame...

Страница 42: ...igned 32 bits RW 0 H 02 The sencond mapped object Unsigned 32 bits RW 0 H 03 The third mapped object Unsigned 32 bits RW 0 H 1A02 H 04 The fourth mapped object Unsigned 32 bits RW 0 TxPDO4 H 00 Number...

Страница 43: ...aying of drive s rated current 3 00 02 Parameter reset 9 00 08 Setting up parameter protection password A 00 09 Control method B 00 10 Reserved z Main index H 2001 basic parameters Sub index hex Param...

Страница 44: ...Main index H 2005 multi step speed and PLC parameters Sub index hex Parameter No Parameter funcion 1 05 00 Setting up the 1 st step speed frequency 2 05 01 Setting up the 2 nd step speed frequency 3 0...

Страница 45: ...ter fault 17 08 22 Compensation coefficient for motor instability z Main index H 2009 communication parameters Sub index hex Parameter No Parameter funcion 1 09 00 Communication address 2 09 01 Transm...

Страница 46: ...ommunication status parameters Sub index hex Parameter address Parameter funcion 1 H 2100 Error code 2 H 2101 Status word 3 H 2102 Frequency instruction F H 210E Number of PG pulses within unit time h...

Страница 47: ...Parameter address Parameter funcion 1 H 2000 Setting up pattern 0 7 temperature set point 2 H 2001 Setting up pattern 0 7 temperature set point 3 H 2002 Setting up pattern 0 7 temperature set point B...

Страница 48: ...xtension parameters Sub index hex Parameter No Parameter funcion 1 2 00H Proportional position loop gain 2 2 01H Position loop gain switching rate 3 2 02H Position feed forward gain 3F 2 63H Electroni...

Страница 49: ...D down 2 word word 16 H 101D down D down 29 word 17 H 101E down D down 30 word 18 H 101F down D down 31 word z Main index H 3001 upload area parameters D device up upload start address Sub index hex P...

Страница 50: ...Parameter address Parameter funcion Parameter type 3300 01 H 0500 Y0 bit 3300 02 H 0501 Y1 bit bit 3300 FE H 05FD Y375 bit z Main index H 3400 H 3499 timer T bit device Index hex Parameter address Par...

Страница 51: ...nter C word device Index hex Parameter address Parameter funcion Parameter type 3800 01 H 0E00 C0 word 3800 02 H 0E01 C1 word word 3800 C8 H 0EC7 C199 word 3800 C9 H 0EC8 C200 Dword 3800 CA H 0EC9 C20...

Страница 52: ...word word 18 H 103D D61 word 19 H 103E D62 word 20 H 103F D63 word 8 Parameter objects of custom equipment in the object dictionay z Main index H 5000 download area parameters Sub index hex Parameter...

Страница 53: ...dex H 5001 upload area parameters Sub index hex Parameter funcion 1 1 st word of TxPDO 1 2 2 nd word of TxPDO 1 3 3 rd word of TxPDO 1 4 4 th word of TxPDO 1 5 1 st word of TxPDO 2 6 2 nd word of TxPD...

Страница 54: ...ed to Delta VFD series AC motor drive By RS 485 communication using standard cable with RJ 12 connectors is suggested IFD9503 RJ 12 RS 485 VFD series AC motor drive RJ 12 RS 485 1 2 3 4 5 6 RJ 12 RJ 1...

Страница 55: ...When IFD9503 is connected to Delta VFD series AC motor drive By RS 485 communication IFD9503 DB9 female RS 485 VFD series AC motor drive RJ 12 RS 485 DATA DATA 3 8 DATA DATA 5 9 4 8 3 7 2 6 1 DB9 fem...

Страница 56: ...e RS 485 DTA DTB RS 485 wiring terminal RS 485 DATA DATA 3 8 5 9 4 8 3 7 2 6 1 DB9 female DATA DATA DATA RS 485 DATA z When IFD9503 is connected to Delta ASD A servo drive By RS 232 communication RS 4...

Страница 57: ...interface By RS 232 communication IFD9503 DB9 female RS 232 DOP DB9 male RS 232 5 9 4 8 3 7 2 6 1 DOP COM1 5 9 4 8 3 7 2 6 1 DB9 female TX RX RXD TXD 2 3 GND 5 3 2 5 GND By RS 485 communication IFD95...

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