Delta IFD9503 Applications Manual

IFD9503

CANopen Slave Communication Module

Application Manual

CANopen Slave Communication Module IFD9503

Warning

Please read this instruction carefully before use and follow this instruction to operate the device in order to prevent

damages on the device or injuries to staff.

Switch off the power before wiring.

IFD9503 is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity,

electric shock and vibration. The enclosure should prevent non-maintenance staff from operating the device (e.g. key or specific tools are required for operating the enclosure) in case danger and damage on the device may occur.

IFD9503 is to be used for controlling the operating machine and equipment. In order not to damage it, only

qualified professional staff familiar with the structure and operation of IFD9503 can install, operate, wire and maintain it.

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 the power is switched on. Make sure the ground terminal



1 INTRODUCTION...................................................................................................................................3

2 COMPONENTS .................................................................................................................................... 5

3 FUNCTIONS OF IFD9503 ....................................................................................................................8

Table of Contents

1.1 IFD9503 Brief............................................................................................................................3

1.2 Features....................................................................................................................................3

2.1 Product Profile and Outline .......................................................................................................5

2.2 CANopen Connector.................................................................................................................5

2.3 Address Setup Rotary Switch....................................................................................................5

2.4 Function Setup DIP switch........................................................................................................6

2.5 Communication Ports on IFD9503............................................................................................7

3.1 Common Functions...................................................................................................................8

is correctly grounded in order to prevent electromagnetic interference.

3.2 When IFD9503 is connected to AC motor drive......................................................................12

3.3 When IFD9503 is connected to temperature controller (DTA/DTB)........................................15

3.4 When IFD9503 is connected to ASD-A servo drive.................................................................19

3.5 When IFD9503 is connected to programmable logic controller...............................................22

3.6 When IFD9503 is connected to Delta DOP-A HMI..................................................................26

3.7 When IFD9503 is connected to custom equipment.................................................................31

4 LED INDICATORS & TROUBLE-SHOOTING....................................................................................35

4.1 RUN LED.................................................................................................................................35

4.2 ERROR LED ...........................................................................................................................35

4.3 SCAN LED ..............................................................................................................................35

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

5 OBJECT DICTIONARY......................................................................................................................35

6 CONNECTION OF IFD9503 WITH OTHER EQUIPMENT ................................................................ 52

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

1 Introduction

1. To make sure that you are able to correctly install and operate IFD9503, please read this chapter carefully before starting to use IFD9503 and keep this handy for your quick reference.

2. This chapter only provides introductory information and guidelines on IFD9503. Details of CANopen protocol are not included. For more information on CANopen protocol, please refer to relevant references or literatures.

3. IFD9503 is defined as CANopen slave station communication module to be used on the connection between CANopen network and Delta programmable logi c controller, Delta AC motor drive, Delta servo drive, Delta temperature controller and Delta human machine interface. In addition, the custom function of IFD9503 allows the custom equipment with Modbus protocol to connect with CANopen network.

1.1 IFD9503 Brief

1. RUN indicator and ERROR indicator display the connection status between IFD9503 and CANopen. SCAN PORT indicator displays the connection status between IFD9503 and the equipment. For more details on LED indicators, see 13.4.

2. IFD9503 sets up its node address in CANopen by two rotary switches. For more details on the switches, see 13.2.

3. Functions of DIP switches: selecting equipment conn ected to IFD9503, selecting communication port of IFD9503, setting up the baud rate between IFD9503 and the master. For more details on DIP switches, see 13.2.

4. CANopen interface connects IFD9503 to CANopen network. For more details, see 13.2.

5. The communication ports allows IFD9503 to connect with Delta programmable logic controller, Delta AC motor drive, Delta temperature controller, Delta servo drive, Delta human machine interface and equipment with Modbus protocol. For more details, see 13.2.

1.2 Features

1. Functions supported:

z CAN2.0A protocol. z CANopen DS301 V4.02.

2. Services supported: z PDO (Process Data Object):

PDO1 ~ PDO8: RxPDO maps the equipment parameters writable; TxPDO maps the equipment parameters readable. PDO information is in peer for transmitting real-time data.

z SDO (Service Data Object):

SDO information adopts ”custom machine/servo” mode for configuring slave nodes and visiting the object dictionary of every node. There are two types of SDO: request SDO and response SDO.

z SOP (Special Object Protocol):

 Supports the default COB-ID between the connection of pre-definited master and slave.  Supportes broadcasting service (when the address is 0).  Supports SYNC service.  Supports Emergency service

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

z NMT (Network Manegment)

 Supports NMT Module control.  Supports NMT Error control.  Supports Boot-up.

z Services not supported

 Time Stamp service.

3. Specifications: CANopen connector

Type Removable connector (5.08mm) Transmission method CAN Transmission cable 2 communication cables, 2 power cables and 1 shielded cable Electrical isolation 500V DC

Communication

Message type

Baud rate

PDO SDO SYNC Emergency 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.) 800 k bps (bit/sec.) 1 M bps (bit/sec.)

Supplier ID 477

Electrical specification

CANopen voltage 11 ~ 25V DC Safety standard Under EN50178 standard Certifications CE certified and UL certified

Environment

Operation temperature -4 ~ 122°F (-10 ~ 50°C) Storage temperature -4 ~ 140°F (-20 ~ 60°C) Humidity < 90%, (under normal pressure) Altitude Max. 1,000m Shock/vibration immunity 0.5G 9 ~ 200Hz

DVP-PLC Application Manual

2 Components

2.1 Product Profile and Outline

6 7

CANopen Slave Communication Module IFD9503

3 4

Unit: mm

1. Communicaton ports 6. RUN indicator

2. Address setup rotary switches 7. ERROR indicator

3. Function setup DIP switches 8. CANopen connector

4. Descriptions for DIP switches 9. DIN rail

5. SP (Scan Port) indicator 10. DIN rail clip

2.2 CANopen Connector

To connect with CANopen network, you can use the conne ctor en cl osed with IF D9503 or any conne ctors yo u

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 Signal3 SHIELD Shielded cable 4 CAN_H Signal+ 5 V+ 24V DC

5 4 3

2 1

2.3 Address Setup Rotary Switch

The two rotary switches SW1 and SW2 set up the node address on CANopen network in hexadecimal form. Setup range: 01 ~ 7F (80 ~ FF are forbidden).

4. Example: If you need to set the node address of IFD9503 as 26 (H’1A), simply switch the corresponding rotary switch of ID_H to “1” and the corresponding rotary switch of ID_H to “A”.

DVP-PLC Application Manual

ID_H ID_L

CANopen Slave Communication Module IFD9503

Address setting Description

0 ~ 7F Valid CANopen node address

80 ~ FF Invalid CANopen node address

5. Note: The changed values on SW1 or SW2 are only valid when IFD9503 is re-powered. When IFD9503 is operating, changing the set value of node address will be invalid.

2.4 Function Setup DIP switch

The DIP switch SW3 is to be used on the equipment conne cted to IFD95 03, the selection of communication ports and setting up the baud rate of IFD9503 and the master in CANopen.

1. Selecting equipment connected to IFD9503

PIN 3 PIN 2 PIN 1 Equipment

Off Off On AC motor drive Off On Off Programmable 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

SW3

1234567

DIP

If the equipment connected to IFD9503 is Delta servo drive, you only need to switch PIN 3 in SW3 to “On”, PIN 1 and PIN 2 to “Off” and re-power IFD9503.

z Note:

The changed setting of DIP switch is o nly valid when IFD95 03 is re-powe red. Wh en IFD9503 i s operating, changing the setting of DIP switch will be invalid.

2. Selecting IFD9503 communication mode

PIN 5 PIN 4 Communication mode

Off Off RS-485 On On RS-232 Off On On Off

z Note:

The changed setting of the communication mode is only valid when IFD9503 is re-po wered. Whe n IFD9503 is operating, changing the setting of communication mode will be invalid.

3. Setting up baud rate

PIN 8 PIN 7 PIN 6 Baud rate

Incorrect setting

Off Off Off 10k bps Off Off On 20k bps

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

PIN 8 PIN 7 PIN 6 Baud rate

Off On Off 50k bps Off On On 125k bps On Off Off 250k bps On Off On 500k bps On On Off 800k bps On On On 1M bps

z Note:

The changed setting of the baud rate of CANopen is only valid when IFD9503 is re-powered. When IFD9503 is operating, changing the baud rate will be invalid.

2.5 Communication Ports on IFD9503

The communication ports on IFD9503 are used for the conn ection the equipment (Delta programmable logic controller, Delta AC motor drive, Delta temperature controller, Delta servo drive, Delta human machine interface and custom equipment).

1. PORT 1 PIN definition:

PORT 1 sketch PIN Description

PORT1

z Note:

PORT 1 supports RS-485 communi cation only.

1 N.C.

6 5 4 3 2 1

2 GND 3 DATA4 DATA+ 5 N.C. 6 N.C.

PORT1PORT2

2. PORT 2 PIN definition:

PORT2 sketch PIN RS-232 RS-485

DB9 male

z Note:

PORT 2 supports RS-232 and RS-485 communication only.

DVP-PLC Application Manual

1 N.C. N.C. 2 RXD N.C.

1 6 2 7 3 8 4 9 5

3 TXD DATA4 N.C. N.C. 5 GND N.C. 6 N.C. N.C. 7 N.C. N.C. 8 N.C. DATA+ 9 N.C. N.C.

CANopen Slave Communication Module IFD9503

3 Functions of IFD9503

IFD9503 can be connected to different equipment. The function s of IFD9503 va ry upon the equipment conn ected

to it.

3.1 Common Functions

IFD9503 supports NMT, SYNC, EMERGENCY, PDO and SDO, among which the functions of NMT, SYNC

and SDO are fixed, and the functions of others vary upon the equipment connected to IFD9503.

1. NMT module control

This function controls the status of node controlling NMT slave through NMT master. z Format

Master → IFD9503

COB-ID Byte 0 Byte 1

0 (H’000) Command specifier (CS) Node-ID

If Node-ID =0, the “command specifier” will be broadcasted to all IFD9503 (CANopen slave s). Every slave will have to execute NMT.

z Commands

See below for the functions of all command specifiers:

Command specifier (CS)

H’01 Enable remote node H’02 Disable remote node H’80 Enter pre-operation status H’81 Reset application layer H’82 Reset communication

Function

z Explanation

Switching IFD9503 whose node ID = 6 to pre-operation status.

COB-ID Byte 0 Byte 1

H’000 H’80 H’06

2. NMT error control

This function is applicable to NMT slave node sending its own operational status back to NMT master. z After IFD9503 is initialized and enters pre-operation status, IFD9503 will send out the only

BOOT-UP signal. IFD9503 → master

COB-ID Byte 0

1792(H’700)+Node-ID H’00

z Supposed IFD9503 sends out one status signal during the operation, its format will be:

IFD9503 → master

COB-ID Byte 0

1792(H’700)+Node-ID NMT status

NMT status:

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

Stop: H’04; Operation in progre ss: H’05; Pre-operation: H’7F.

z Explanation: Assume the Node-ID of a IFD9503 is 6

When IFD9503 operation is in progress:

COB-ID Byte 0

H’706 H’05

When IFD9503 is shut down:

COB-ID Byte 0

H’706 H’04

When IFD9503 is in pre-operation status:

COB-ID Byte 0

H’706 H’7F

Communication reset or application layer reset:

COB-ID Byte 0

H’706 H’00

3. Synchronous signal -- SYNC SYNC signal is sent out by the loop of CANopen master. SYNC does not contain any data, and its

main purpose is to request the PDO of slave node to operate in synchronous communication mode. In this way, you can set to synchronous or asynchronous 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 Byte 7

1536(H’600)

+Node-ID

Request

code

z Response: IFD9503 → master

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

1408(H’580)

+Node-ID

Response

code

z If the “request code” (or “response code”) is different, the corresponding “request data” (or

“response data”) will also be different. See the table below.

Object index Request data

LSB MSB

Object index Response data

LSB MSB

Sub-index

of object

Sub-index

of object

bit7-0 bit15-8 bit23-16 bit31-24

Request

code H’23 Write a 4-byte datum bit7-0 bit15-8 bit23-16 bit31-24

H’2B Write a 2-byte datum bit7-0 bit15-8 H’00 H’00 H’2F Write a 1-byte datum bit7-0 H’00 H’00 H’00

DVP-PLC Application Manual

Explanation Byte 4 Byte 5 Byte 6 Byte 7

CANopen Slave Communication Module IFD9503

Request

code

H’40 Read data H’00 H’00 H’00 H’00 H’80

Explanation Byte 4 Byte 5 Byte 6 Byte 7

Stop the current SDO

command

H’00 H’00 H’00 H’00

Response

code H’43 Read 4-byte data bit7-0 bit15-8 bit23-16 bit31-24

H’4B Read 2-byte data bit7-0 bit15-8 H’00 H’00 H’4F Read 1-byte data bit7-0 H’00 H’00 H’00 H’60 Read 1/2/4-byte data H’00 H’00 H’00 H’00 H’80 Stop SDO command End code

z When IFD9503 detects an SDO error, SDO data transmission will be terminated, and IFD9503

will respond SDO master with an end code. See the table below for all end codes:

End code (16#) Description 0503 0000 Transmission in sections: “toggle bit” has not been changed 0504 0000 SDO protocol time-out 0504 0001 “Request code” is invalid or unknown

Instruction

explanation

Byte 4 Byte 5 Byte 6 Byte 7

0504 0002 Invalid block length (in block mode) 0504 0003 Invalid serial n umber (in block mode) 0504 0004 CRC error (in block mod e) 0504 0005 Memory is full 0601 0000 When polli ng 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 The requested index object does not exist in the object dictionary 0604 0041 Object parameters could not be mapped into PDO

0604 0042 0604 0043 Common parameters are incompatible

0604 0047 AC motor drive is incompatible inside 0606 0000 Polling fails be cause of hardware error. 0607 0010 Data type doesn’t match; the length of service parameters doesn’t match 0607 0012 Data type doesn’t match; the length of service parameters is too long 0607 0013 Data type doesn’t match; the length of service parameters is too short 0609 0011 Sub-index doesn’t exit.

0609 0030 0609 0031 Written parameters are too big

The number or length of the parameters to be mappe d have exceeded the maximum PDO’s length

Having exceeded the parameters’ value selection range (only for writing authority)

0609 0032 Witten parameters are too small 0609 0036 The maximum value of the parameter is less than the minimum value 0800 0000 General error occurs 0800 0020 Parameters could not be transmitted to or stored to application layer

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

End code (16#) Description

0800 0021 0800 0022

0800 0023

z Explanation: Supposed there is a slave IFD9503 (Node-ID = 6)

1. Read the ID if the IFD9503 supplier (index H’1018, sub-index H’01)

Master → IFD9503:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’606 H’40 H’18 H’10 H’01 H’00 H’00 H’00 H’00

IFD9503 → master:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

For the reason of local control, parameters could not be transmitted to or stored to application layer Because of the present status of AC motor drive, parameters could not be transmitted or stored to application layer Dynamic creating of the object dictionary fails or object dictionary does not exit (e.g. object dictionary was created from a file, if this file has an error, then the creating of object dictionary will fail)

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 value is 60.00Hz) Master → IFD9503:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’606 H’40 H’01 H’20 H’01 H’00 H’00 H’00 H’00

IFD9503 → master:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’586 H’4B H’01 H’20 H’01 H’70 H’17 H’00 H’00

3. Write the maximum output frequency of AC motor drive (supposed the value is 50.00Hz)

Master → IFD9503:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’606 H’2B H’01 H’20 H’01 H’88 H’13 H’00 H’00

IFD9503 → master:

4. Index 1408 does not exist. If you read or write1408/01, IFD9503 will respond with an end

code. Master → IFD9503:

DVP-PLC Application Manual

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’586 H’60 H’01 H’20 H’01 H’00 H’00 H’00 H’00

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’606 H’2B H’08 H’14 H’01 H’88 H’13 H’00 H’00

CANopen Slave Communication Module IFD9503

IFD9503 → master:

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’586 H’80 H’08 H’14 H’01 H’00 H’00 H’02 H’06

z Note:

When IFD9503 is connected to different equipments, see 13.5.1 “Communication Objects in Object Dictionary” for the corresponding relations beween index (sub index) and equipment parameters.

3.2 When IFD9503 is connected to AC motor drive

DVPCOPM-SL DVP- SV

DVPCOM DVP28SV

CAN+ SHLD CANGND

RUN

STOP

Master

CANop en

Delta VFD series AC motor drive

RJ12

IFD9503

RS-485

1. Setting up baud rate 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; RTU (the format is fixed; other formats will be invalid).

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.  Modify the index parameter 5003/02 (main index: H’5003, sub index: H’02).

5003/02 = 1 → 19,200; 8, N, 2; RTU 5003/02 = 2 → 38,400; 8, N, 2; RTU (Default)

 Return SW3 of IFD9503 back to AC drive mode and re-power IFD9503.  Adjust the baud rate of the AC drive to the corresponding one.

2. Functions & features In addition, IFD9503 also supports the following two functions.

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

z Emergency object – EMERGENCY

When IFD9503 detects an internal error, it will send an EMCY message to the CANopen bus.  Format

IFD9503 → master

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

128(H’080)

+Node-ID

Emergency error code Error register

00 00 00 00 00

LSB MSB

y Error register

The value in the error register will be mapped to index address H’1001 in the object dictionary. V alue = 0 indicates that no error occurs. Value = 1 indicates that a general error takes place. Value = H’80 indicates that an internal error in the equipment occurs.

y Emergency error code

 Internal communication error

This error indicates the communication error between IFD9503 and AC motor drive (e.g. communicate failure). When such error occurs, the emergency error code will be 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). 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 indicates that the length of Receive PDO data actually sent out 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.

 Internal error in the equipment

This error indicates the error taken place inside the AC motor drive (e.g. AC motor drive in low voltage). When such error occurs, the emergen cy error code will be H’FFXX (XX refers to the error code of the AC motor driv e), and the value in the error register will become H’80. After the error is eliminated, the emergency error code will become H’0000.

 Eliminating error

When an error is eliminated, the emergency error code will become H’0000.

 Explanation

Take the IFD9503 slave of node ID = 6 as the object and compare the EMERGENGY messages sent out by IFD9503 in different error conditions.

y When in internal communication error

y When in CANopen bus communication error

DVP-PLC Application Manual

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

86 01 81 01 00 00 00 00 00

CANopen Slave Communication Module IFD9503

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.

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

Default COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

H’200 + Node-ID Control word

 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 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 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 tr ansmission mode

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

synchronous RTR, asynchronous RTR and asynchronous modes.

3.3 When IFD9503 is connected to temperature controller (DTA/DTB)

DVPCOPM-SL DVP-SV

DVPCOM DVP28SV

RUN

CAN+ SHLD CAN-

STOP

GND

Master

CANop en

RS-485

DTA/DTB

IFD9503

1. Setting up baud rate and communication format z Before connecting the temperature controller to the bus, first set up the communication address

of the temperature controller to 01, baud rate to 38,400bps and communication format to 7, E, 1;

DVP-PLC Application Manual

CANopen Slave Communication Module IFD9503

ASCII (the format is fixed; other formats will be invalid).

z Before communicating with DTA series temperature controller, first set the content of H’471A to

H’0001 to allow the write-in of communication.

z Before communicating with DTB series temperature controller, first set the content of H’0810 to

H’FF00 to allow the write-in of communication.

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 CANop en and enable the operation of IFD9503.  Modify the index parameter 5003/04.

5003/04 = 1 → 19,200; 7, E, 1; ASCII 5003/04 = 2 → 38,400; 7, E, 1; ASCII (Default)

 Return SW3 of IFD9503 back to temperature controller mode and re-po wer IF D9503.  Adjust the baud rate of the temperature controller to the corresponding one.

2. Functions & features In addition, IFD9503 also supports the following two functions. z Emergency object – EMERGENCY

When IFD9503 detects an internal error, it will send an EMCY message to the CANopen bus.  Format

IFD9503 → master

COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

128(H’080)

+Node-ID

Emergency error code Error register

00 00 00 00 00

LSB MSB

y Error register

The value in the error register will be mapped to index address H’1001 in the object dictionary. Value = 0 indicates that no error occurs. Value = 1 incicates that a general error takes place. Value = H’80 indicates that an internal error in the equipment occurs.

y Emergency error code

 Internal communication error

This error indicates the communication error between IFD9503 and the temperature controller (e.g. communication failure). When such error occurs, the emergency error

code will be H’8101, and the value in the error register content will become 1.

 CANopen bus communication error

 Insufficient length of PDO data

 Internal error in the equipment

This error indicates the error taken place inside the temperature controller (e.g. the

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Delta IFD9503 Applications Manual

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Frequently Asked Questions

User Manual