Delta IFD9503 Instructions for use

IFD9503
CANopen Slave Communication Module
Application Manual

CANopen Slave Communication Module IFD9503
DVP-PLC Application Manual 1
Warning
3 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.
3 Switch off the power before wiring.
3 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.
3 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.
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 the power is switched
on. Make sure the ground terminal is correctly grounded in order to prevent electromagnetic interference.
Table of Contents
1INTRODUCTION...................................................................................................................................3
1.1 IFD9503 Brief............................................................................................................................3
1.2 Features....................................................................................................................................3
2COMPONENTS ....................................................................................................................................5
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
3FUNCTIONS OF IFD9503 ....................................................................................................................8
3.1 Common Functions...................................................................................................................8
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-AHMI..................................................................26
3.7 When IFD9503 is connected to custom equipment.................................................................31
4LED INDICATORS & TROUBLE-SHOOTING....................................................................................35
4.1 RUN LED.................................................................................................................................35
4.2 ERROR LED ...........................................................................................................................35
4.3 SCAN LED ..............................................................................................................................35

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5OBJECT DICTIONARY...................................................................................................................... 35
6CONNECTION OF IFD9503 WITH OTHER EQUIPMENT ................................................................52

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DVP-PLC Application Manual 3
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 logic 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 connected 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, DeltaAC
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:
zCAN2.0A protocol.
zCANopen DS301 V4.02.
2. Services supported:
zPDO (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.
zSDO (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.
zSOP (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

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zNMT (Network Manegment)
Supports NMT Module control.
Supports NMT Error control.
Supports Boot-up.
zServices 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
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.)
800 k bps (bit/sec.)
Baud rate
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

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2 Components
2.1 Product Profile and Outline
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 connector enclosed with IFD9503 or any connectors you
can buy in the store for wiring.
zConnect to th bus on CANopen
zConnect 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 Signal+
5 V+ 24V DC
1
2
3
4
5
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).
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
ID_H ID_L
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”.
1
23
4
5
6
78
9
10

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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 connected to IFD9503,
the selection of communication ports and setting up the baud rate of
IFD9503 and the master in CANopen.
12345678
SW3
DIP
ON
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
zExample
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.
zNote:
The changed setting of DIP switch is only valid when IFD9503 is re-powered. When IFD9503 is 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 Incorrect setting
zNote:
The changed setting of the communication mode is only valid when IFD9503 is re-powered. When
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
Off Off Off 10k bps
Off Off On 20k bps

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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
zNote:
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 connection the
equipment (Delta programmable logic controller, DeltaAC motor drive,
Delta temperature controller, Delta servo drive, Delta human machine
interface and custom equipment).
PORT1PORT2
1. PORT 1 PIN definition:
PORT 1 sketch PIN Description
1 N.C.
2 GND
3 DATA-
4 DATA+
5 N.C.
1
2
3
4
5
6
PORT1
6 N.C.
zNote:
PORT 1 supports RS-485 communication only.
2. PORT 2 PIN definition:
PORT2 sketch PIN RS-232 RS-485
1 N.C. N.C.
2 RXD N.C.
3 TXD DATA-
4 N.C. N.C.
5 GND N.C.
6 N.C. N.C.
7 N.C. N.C.
8 N.C. DATA+
1
6
2
7
3
8
4
9
5
DB9 male
9 N.C. N.C.
zNote:
PORT 2 supports RS-232 and RS-485 communication only.

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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.
zFormat
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 slaves).
Every slave will have to execute NMT.
zCommands
See below for the functions of all command specifiers:
Command specifier (CS)Function
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
zExplanation
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.
zAfter 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
zSupposed 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:

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Stop: H’04; Operation in progress: H’05; Pre-operation: H’7F.
zExplanation: 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.
zFormat
Master →IFD9503
COB-ID
128(H’080)
4. SDO service
All SDO message are fixed at 8 bytes.
zRequest: Master →IFD9503
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Object index Request data
1536(H’600)
+Node-ID Request code LSB MSB
Sub-index
of object bit7-0 bit15-8 bit23-16 bit31-24
zResponse: IFD9503 →master
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
Object index Response data
1408(H’580)
+Node-ID Response code LSB MSB
Sub-index
of object bit7-0 bit15-8 bit23-16 bit31-24
zIf the “request code” (or “response code”) is different, the corresponding “request data” (or
“response data”) will also be different. See the table below.
Request
code Explanation Byte 4 Byte 5 Byte 6 Byte 7
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

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Request
code Explanation Byte 4 Byte 5 Byte 6 Byte 7
H’40 Read data H’00 H’00 H’00 H’00
H’80 Stop the current SDO
command H’00 H’00 H’00 H’00
Response
code Instruction explanation Byte 4 Byte 5 Byte 6 Byte 7
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
zWhen 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
0504 0002 Invalid block length (in block mode)
0504 0003 Invalid serial number (in block mode)
0504 0004 CRC error (in block mode)
0504 0005 Memory is full
0601 0000 When 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 The requested index object does not exist in the object dictionary
0604 0041 Object parameters could not be mapped into PDO
0604 0042
The number or length of the parameters to be mapped have exceeded the
maximum PDO’s length
0604 0043 Common parameters are incompatible
0604 0047 AC motor drive is incompatible inside
0606 0000 Polling fails because 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
Having exceeded the parameters’ value selection range (only for writing
authority)
0609 0031 Written parameters are too big
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

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End code (16#) Description
0800 0021
For the reason of local control, parameters could not be transmitted to or
stored to application layer
0800 0022
Because of the present status of AC motor drive, parameters could not be
transmitted or stored to application layer
0800 0023
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)
zExplanation: 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
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 ofAC 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:
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
4. Index 1408 does not exist. If you read or write1408/01, IFD9503 will respond with an end
code.
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’08 H’14 H’01 H’88 H’13 H’00 H’00

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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
zNote:
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
DVP-SV
DVPCOPM-SL
DVPCOM DVP28SV
RUN
STOP
Master CANopen
RJ12
RS-485
IFD9503
CAN+
CAN-
SHLD
GND
Delta VFD series
AC motor drive
1. Setting up baud rate and communication format
zBefore 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).
zTo 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 theAC drive to the corresponding one.
2. Functions & features
In addition, IFD9503 also supports the following two functions.

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zEmergency 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
Emergency error code Error register
128(H’080)
+Node-ID LSB MSB 00 00 00 00 00
yError 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 indicates that a general error
takes place. Value = H’80 indicates that an internal error in the equipment occurs.
yEmergency error code
Internal communication error
This error indicates the communication error between IFD9503 andAC 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 theAC motor drive (e.g. AC motor drive
in low voltage). When such error occurs, the emergency error code will be H’FFXX (XX
refers to the error code of the AC motor drive), 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.
yWhen in internal communication error
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
yWhen in CANopen bus communication error

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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
yWhen 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
yWhen 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.)
yWhen 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
yWhen 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
yNote:
IFD9503 sends out EMERGENCY message only when error occurs.
zPDO service
IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be
repeated.
PDO1 (Default: Open)
yTxPDO1 (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
yRxPDO1 (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.

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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)
yTxPDO (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
yRxPDO (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 transmission mode
yTxPDO in IFD9503 supports many modes: synchronously non-cyclic, synchronously cyclic,
synchronous RTR, asynchronous RTR and asynchronous modes.
3.3 When IFD9503 is connected to temperature controller (DTA/DTB)
DVP-SV
DVPCOPM-SL
DVPCOM DVP28SV
RUN
STOP
Master CANopen
CAN+
CAN-
SHLD
GND
DTA/DTB
RS-485
IFD9503
1. Setting up baud rate and communication format
zBefore 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;

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ASCII (the format is fixed; other formats will be invalid).
zBefore communicating with DTA series temperature controller, first set the content of H’471A to
H’0001 to allow the write-in of communication.
zBefore communicating with DTB series temperature controller, first set the content of H’0810 to
H’FF00 to allow the write-in of communication.
zTo 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 5003/04.
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-power IFD9503.
Adjust the baud rate of the temperature controller to the corresponding one.
2. Functions & features
In addition, IFD9503 also supports the following two functions.
zEmergency 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
Emergency error code Error register
128(H’080)
+Node-ID LSB MSB 00 00 00 00 00
yError 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.
yEmergency 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
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 temperature controller (e.g. the

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DVP-PLC Application Manual 17
temperature has not been acquired immediately after the controller is switched on).
When such error occurs, the emergency error code will be H’FFXX (XX refers to the
error code of the temperature controller), and the value in the error register will become
H’80.
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 EMERGENCY
messages sent out by IFD9503 in different error conditions.
yWhen in internal communication error
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
yWhen in CANopen bus communication error
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
yWhen 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
yWhen the temperature has not yet been acquired (internal error of the equipment)
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
86 02 FF 80 00 00 00 00 00
(When temperature has not been acquired, the error code in the temperature controller will
be H’02.)
yWhen 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
yNote:
IFD9503 sends out EMERGENCY message only when error occurs.
zPDO service
IFD9503 supports PDO1 ~ PDO8. For IFD9503, COB-ID of PDO can be modified but cannot be
repeated.
PDO1(Default: Open )

CANopen Slave Communication Module IFD9503
DVP-PLC Application Manual
18
yTxPDO1 (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 present temperature value. 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 PV
yRxPDO1 (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 present temperature value. 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 SV
PDO2 ~ PDO8 (Default: Close)
yTxPDO (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 parameter, 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
yRxPDO (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 readbable 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 transmission mode
yTxPDO in IFD9503 supports many modes: synchronously non-cyclic, synchronous cyclic,
synchronous RTR, asynchronous RTR and asynchronous modes.