HD1-E CANopen instruction manual
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Content
1. Unpacking inspection ......................................................1
2. General............................................................................ 1
3. Features..........................................................................2
4. Parts introduction.............................................................3
5. Wiring..............................................................................4
6. Installation .......................................................................5
7. Communication................................................................6
7.1 Message structure .....................................................6
7.2 State shift...................................................................7
7.3 NMT...........................................................................8
7.4 NMT node guarding...................................................8
7.5 Heartbeat producer....................................................9
7.6 NMT boot-up..............................................................9
7.7 SYNC.........................................................................9
7.8 EMCY ........................................................................9
7.9 SDO......................................................................... 11
8. PDO............................................................................... 14
8.1 Trigger modes of PDO Tx........................................ 14
8.2 PDO1.......................................................................14
8.3 PDO2 Rx..................................................................16
8.4 PDO2 Tx.................................................................. 17
8.5 PDO3 Rx and PDO4 Rx........................................... 18
8.6 PDO3 Tx and PDO4 Tx ...........................................18
9. SDO............................................................................... 19
10. Baud rate and communication address.......................21
10.1 Baud rate setting.................................................... 21
10.2 Communication address setting.............................21
11. State LED.....................................................................22
Appendix 1 OD.................................................................. 23
Appendix 2 Function codes (HD1 Inverter)........................26
