Functions Of Ifd9503; Common Functions - Delta IFD9503 Applications Manual

CANopen Slave Communication Module IFD9503
3

Functions of IFD9503

IFD9503 can be connected to different equipment. The functions of IFD9503 vary upon the equipment connected
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.
Format
Master → IFD9503
If Node-ID =0, the "command specifier" will be broadcasted to all IFD9503 (CANopen slaves).
Every slave will have to execute NMT.
Commands
See below for the functions of all command specifiers:
Command specifier (CS)
Explanation
Switching IFD9503 whose node ID = 6 to pre-operation status.
2. NMT error control
This function is applicable to NMT slave node sending its own operational status back to NMT master.
After IFD9503 is initialized and enters pre-operation status, IFD9503 will send out the only
BOOT-UP signal.
IFD9503 → master
1792(H'700)+Node-ID
Supposed IFD9503 sends out one status signal during the operation, its format will be:
IFD9503 → master
1792(H'700)+Node-ID
NMT status:
8
COB-ID
0 (H'000) Command specifier (CS)
H'01
H'02
H'80
H'81
H'82
COB-ID
H'000
COB-ID
COB-ID
Byte 0
Function
Enable remote node
Disable remote node
Enter pre-operation status
Reset application layer
Reset communication
Byte 0
H'80
Byte 0
H'00
Byte 0
NMT status
Byte 1
Node-ID
Byte 1
H'06
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