i-MO HD1-E-COP User manual

Instruction Manual
CANopen option card
HD1-E-COP
Thank you for purchasing your HD1-E-COP option card.
•This product is designed for setting and programming CANopen communication protocol with HD1 series of inverters
•Improper handling might result in incorrect operation, a short life, or even a failure of this product.
•Deliver this manual to the end user of this product. Keep this manual in a safe place until this product is discarded.
•For how to use an optional device, refer to the instruction and installation manuals for that optional device.
IMO Precision Controls Ltd. HD1-E-COP MANUAL

Copyright © 2018 IMO Precision Controls Ltd
All rights reserved.
No part of this publication may be reproduced or copied without prior written permission from IMO Precision Controls Ltd.
All products and company names mentioned in this manual are trademarks or registered trademarks of their respective holders.
The information contained herein is subject to change without prior notice for improvement.

HD1-E CANopen instruction manual
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Safety precautions
Before installing and operating the module, operators must receive professional training on electrics and safety as well as pass the test,
and they have been familiar with procedures and requirements about installation, commissioning, running and maintenance of the
equipment in avoidance of various emergencies.
Before installation, unpacking and operation, carefully read Safety precautions in this manual and the manual of the inverter to operate
safely.
If any physical injury or death, or damage to the devices occurs for ignoring to the safety precautions in the manual, our company will not
be responsible for any damage.
Because installing and unpacking the module need to remove the inverter cover, all power supplies must be disconnected to guarantee
internal safe voltage. Refer to the inverter manual for specific information. Ignoring the requirement may cause serious physical injury or
death.
✓Put the module in places out of dust, humidity, electric shock as well as mechanical pressure.
✓The module is electrostatic. Take measures to avoid electrostatic discharge during relevant operation.
✓Tighten the screws to ensure the tightness and proper grounding.
Note
✓To enable CANopen, select relevant CANopen channel (except CANopen communication timeout fault time and baud
rate). If the inverter manual changes without further notice in this manual, information will be subject to CANopen
channel.

HD1-E CANopen instruction manual
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Terms and abbreviations
CAN
Controller Area Network
COB
Communication Object, a transmission unit in CAN network; data are transmitted in the whole network
inside COB; one part of CAN information frames
EDS
Electronic Data System; when configuring CANopen, EDS needs to use the special ASCII file for a
node and it contatins the general information on nodes and relevant object dictionary.
NMT
Network Management, one of the application-layer service elements of models set by CAN, is in
charge of initialization, configuration and trouble shooting.
OD
Object dictionary is used to store all communication objects identified by a certain device in local.
PDO
Process Data Object, one of COBs, is used to transmit process data, such as the control command,
set values, state values and actual values.
PDOn Tx
PDO command sent by slave station to master station, n represents 1, 2, 3 and 4
PDOn Rx
PDO command received by slave station from master station, n represents 1, 2, 3 and 4
SDO
Service Data Object, one of COBs, is used to transmit non- time key data, such as parameters.
RO
It indicates read-only visit.
RW
It indicates read or write visit.
SYNC
Synchronous transmission type
Node-ID
Node identity, namely communication card address
0x
It indicates the following digit is hex. For example, 0x10 means decimal 16.

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

HD1-E CANopen instruction manual
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1. Unpacking inspection
Check as follows receiving the products:
⚫Check that the communication card is not damaged.
⚫Check the silkscreen model on the PCB board to verify that the communication card is correct, as shown in Table1.
⚫Check that the accessories in the pakage are correct, as shown in Table1.
⚫If there is any damage to the communication card, the model is incorrect, or the items are not complete, please contact supplier.
⚫Contact IMO for EDS or download.eds file from IMO website: www.imopc.com
⚫Table1 Accessories
Description
Communication card
Screws(M3)
Pictures
Qty.
1
3
2. General
1. Thanks for choosing IMO HD1-E-COP communication card. The manual provides product specification, installation, operation and
setting as well as introduction on protocols. To ensure correct installation and operation, please carefully read this manual and
communication protocol of the inverter before proper use.
2. The manual is only for operating guidance and relevant instructions of HD1-E-COP but not for detailed CANopen protocol. Please
refer to relevant professional articles or books for more information about CANopen protocol.
3. HD1-E-COP is defined as CANopen slave station communication card applicable to the inverter that supports CANopen
communication.
4. CANopen supports two process quantities of read and write, one by PDO and the other by SDO defined by manufacturer.

HD1-E CANopen instruction manual
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3. Features
(1) Functions
➢CAN2.0A protocol
➢CANopen DS301
(2) Available service
➢PDO: four pairs of PDO service (PDO1~PDO4 TX, PDO1~PDO4 RX), PDO1 for read and write inverter parameters, PDO2~PDO4
for realtime control and obtaining actual values.
➢SDO: SDO adopts “client/server”mode to configure slave station nodes and visit the object dictionary of each node.
➢Emergency service
➢NMT node guarding
➢Heartbeat producer
➢NMT (Network Management)
⚫NMT module control
⚫NMT broadcast address
⚫NMT error control
⚫Boot-up
➢SYNC (1~240)
➢Asynchronous transmission 254 and 255
➢Prohibition time
➢Event timer
➢SDO defined by manufacturer to control, read and write the actual values of the inverter.
(3) Unavailable service
➢Power-off save for object dictionary parameters.
➢Time Stamp
(4) Address and baud rate Table 2 Available address and baud rate
Items
Specification
Address
1~127 (decimal)
Baud rate
1000k bps (bit/second)
800k bps (bit/second)
500k bps (bit/second)
250k bps (bit/second)
125k bps (bit/second)
100k bps (bit/second)
50k bps (bit/second)
20k bps (bit/second)
(5) Environment Table 3 Environment specification
Items
Specification
Ambient temperature
-10~50℃
Storage temperature
-20~60℃
Humidity
5%~95%
Other weather conditions
No condensation, ice, rain, snow or hail, solar radiation less than 700W/m2
Pressure
70~106kPa
Vibration and shock
Sinusoidal vibration 9~200Hz, 5.9m/s2 (0.6g)

HD1-E CANopen instruction manual
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4. Parts introduction
See the parts of CANopen communication card in Fig1.
A
B
C
D
E
F
EC-TX105
Fig1 Parts of CANopen communication card
A–CANopen communication port (DB9 female)
B–CANopen communication port terminal (3pin)
C–CANopen terminating resistor switch
D–CANopen status indicator light
F–communication card port pin
Note: Two address knobs will not be installed, and the communication address is set by inverter function code.
Users can select either of two CANopen communication ports, DB9 female (A) and 3pin open terminal (B).
See the functions of DB9 female communication port in Table 4.
Table 4 Functions of CANopen DB9 female communication port
CANopen communication port (DB9
female)
Pin
Function
Description
1
-
2
CAN_L
CANopen bus low level signal
3
-
4
-
5
CAN_SHLD
CANopen bus shielding
6
-
7
CAN_H
CANopen bus high level signal
8
-
9
-
-
CAN_SHLD
CANopen bus shielding
See the functions of 3pin open terminal communication port in Table 5.
Table 5 Functions of 3pin open terminal communication port
3pin open terminal
Pin
Function
Description
1
CAN_L
CANopen bus low level signal
2
CAN_SHLD
CANopen bus shielding
3
CAN_H
CANopen bus high level signal
See the functions of terminating resistor switch in Table 6.
Table 6 Functions of terminating resistor switch
Terminating resistor switch
Direction
Function
Description
Up
OFF
No terminating resistor connected with
CAN_H and CAN_L
Down
ON
120Ωterminating resistor connected with
CAN_H and CAN_L

HD1-E CANopen instruction manual
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5. Wiring
Select either DB9 female (A) or 3pin open terminal (B) for communication terminals and try to choose shielding wire for bus cable.
Customers are advised to connect the shielded cable to the PE terminal of the inverter when using switch on terminating resistor when
the communication card becomes terminating slave station.
See the wiring diagram in Fig 2.
Fig 2 Wiring diagram
HD1-E-COP
HD1-E-COP
HD1-E-COP

HD1-E CANopen instruction manual
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6. Installation
Procedures for installing HD1-E-COP communication card:
1. Disconnect all power supplies applied to the inverter to ensure safe voltage in the inverter.
2. Remove the cover of the inverter and find the control board.
3. Plug communication card pin in expansion slot of the control board.
4. Fasten three screws.
5. Connect and fix the communication cable.
6. Install the cover of the inverter.
Fig 3 shows the schematic diagram of the communication card installed on HD1-18.5A-43 inverter.
Fig 3 Installation diagram of communication card
HD1-E-COP

HD1-E CANopen instruction manual
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7. Communication
7.1 Message structure
CAN2.0A message transmits data between the master station and bus nodes via data frame. The message structure is shown as
follows:
Communication object
Function code (binary)
COB-ID (hexadecimal)
NMT
0
0x00
SYNC
1
0x80
EMCY
1
0x81 ~ 0xFF
PDO1 Tx
11
0x181 ~ 0x1FF
PDO1 Rx
100
0x201 ~ 0x27F
PDO2 Tx
101
0x281 ~ 0x2FF
PDO2 Rx
110
0x301 ~ 0x37F
PDO3 Tx
111
0x381 ~ 0x3FF
PDO3 Rx
1000
0x401 ~ 0x47F
PDO4 Tx
1001
0x481 ~ 0x4FF
PDO4 Rx
1010
0x501 ~ 0x57F
SDO Tx
1011
0x581 ~ 0x5FF
SDO Rx
1100
0x601 ~ 0x67F
Node guarding
1110
0x701 ~ 0x77F
COB-ID is different with different communication addresses, but its range is definite at the same command.
Note: If the command does not refer to the remote frame, it will be the data frame.

HD1-E CANopen instruction manual
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7.2 State shift
HD1-E-COP supports start-up sequence defined by CANopen communication protocol. The following diagram is about NMT state shift
of HD1-E-COP.
Fig 4 NMT state shift
Table7 NMT state shift
State shift
Trigger action in need
(1)
Automatically initialize after powering on
(2)
Automatically shift after initialization
(3) (6)
NMT master station starts remote node command
(4) (7)
NMT master station enters pre-operation state command
(5) (8)
NMT master station enters stop state command
(9) (10) (11)
Reset remote node command of NMT master station
(12) (13) (14)
Reset remote node communication parameter command of NMT master station
HD1-E-COP supports different services in different states, as shown in Table 8.
Table 8 Avaliable service in various NMT states
Service
Pre-operation state
Operation state
Stop state
PDO
No
Yes
No
SDO
Yes
Yes
No
SYNC
Yes
Yes
No
EMCY
Yes
Yes
No
NMT
Yes
Yes
No
Error control
Yes
Yes
Yes

HD1-E CANopen instruction manual
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7.3 NMT
The function is available for NMT when master station controls slave station node.
⚫Command
Master station→slave station
COB-ID
Byte 0
Byte1
0x000
Command word (CS)
Node-ID (Node identity)
⚫Instruction
COB-ID is fixed as 0x00. If Node-ID =0, broadcast the command to all CANopen slave stations, each slave station must execute NMT
command. See the functions of command words (CS) in Table 9.
Table 9 Functions of command words
NMT Command word (CS)
NMT service (control action)
0x01
Start slave station devices
0x02
Stop slave station devices
0x80
Enable slave station into pre-operation
0x81
Reset slave station
0x82
Reset node communication
⚫Example
Enable HD1-E-COP of node ID=3 into per-operation. The command is shown as follows:
COB-ID
Byte0
Byte1
0x000
0x80
0x03
Start all HD1-E-COP nodes in CANopen network. The command is shown as follows:
COB-ID
Byte0
Byte1
0x000
0x01
0x00
7.4 NMT node guarding
By node guarding, NMT main node can detect the current state of each node.
⚫Command
Request: master station (remote frame) →slave station
COB-ID
No data
0x700 + Node-ID
Response: slave station →master station
COB-ID
Byte0 (state value)
0x700 + Node-ID
Bit7: trigger bit, Bit0~Bit6 state
⚫Instruction
The highest bit7 of Byte0 (state value) for response command is the trigger bit; that is to say, 0 and 1 will alternate for the response to
show the differences of frames when the slave station sends out a frame. Bit0~Bit6 are the states of the slave station, as shown in
Table10: Table10 Node guarding state value
State value
(Byte0: Bit0~Bit6)
State
0x00
Initializing
0x04
Stopped
0x05
Operational
0x7F
Pre-operational
⚫Example
The master station will detect the state of slave station3, as shown below:
Master station (remote frame) →slave station
COB-ID
No data
0x703
The slave station will respond as follows after receiving power saving command from the master station.
COB-ID
Byte0 (state value)
0x703
0x85
If Bit7=1 and state=0x05, node 3 slave station is in operation. If the slave station receives a node guarding command, it will respond a
command of 0x05 state value to the master station because Bit7 of Byte0 alternates into 0.

HD1-E CANopen instruction manual
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7.5 Heartbeat producer
Sometimes, to know the realtime state of the slave station, the master station requires the slave station should automatically send
heartbeat producer every interval defined in object dictionary 0x1017 (16bit data length, unit: ms). If time=0, the slave station will not
send heartbeat producer. The default heartbeat time of HD1-E-COP is 0.
⚫Command
Slave station→master station
COB-ID
Byte0
0x700 + Node-ID
State value
⚫Instruction
The formats for heartbeat producer and node guarding response are the same, but there is no trigger bit alternative variation (always 0)
for heartbeat producer. The state values are shown in Table10.
⚫Example
For example, when slave station address=3, the slave station is in operation. If the parameter in 0x1017 is set to 100, the slave station
will send a heartbeat producer every 100ms.
COB-ID
Byte0
0x703
0x05
SDO can be used to diable heartbeat producer. Send 2B 17 10 00 00 00 00 00 (time=0).
Note: The same time node guarding and heartbeat producer are not available simultaneously for the communication card.
7.6 NMT boot-up
When the communication card finishes boot-up, it will send a start-up message.
⚫Command
Slave station→master station
COB-ID
Byte0
0x700 +Node-ID
0x00
⚫Example
For example, when communication card node=3, the start-up message sent by the communication card after boot-up is shown as
follows:
COB-ID
Byte0
0x703
0x00
7.7 SYNC
Without any data, SYNC signals that CANopen master station usually cycles and sends are mainly used to request the slave station
node to respond process quantity for PDO Tx of synchronous transmission. 0x1005 of object dictionary defines COB-ID that is used to
receive SYNC and connected set to be 0x80. Each PDO Tx 1~240 is synchronous transmission type.
⚫Command
Master station →slave station
COB-ID
No data
0x80
7.8 EMCY
When an error occurs in the communication card or inverter or the error clears, EMCY will be sent.
⚫Command
Slave station→master station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x80 + Node-ID
Emergency error code
Error register
Inverter error code
LSB
MSB
bit7-0
bit15-8
bit23-16
bit31-24
bit39-32
⚫Instruction
Emergency error code contains two bytes with low Byte0 and high Byte1 while inverter error code consists of five bytes with low Byte3
and high Byte7.
Emergency error code refers to specific current error type, as shown in Table11. EMCY error type can be figured out via current error
type in error register, as shown in Table12.
Refer to inverter manual for inverter error code which is given by function code P07.27 in Appendix2.

HD1-E CANopen instruction manual
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Table11 Emergency error code
Emergency
error code (hex)
Description of functions
00xx
Error Reset or No Error
10xx
Generic Error
20xx
Current
21xx
Current, device input side
22xx
Current, inside the device
23xx
Current, device output side
30xx
Voltage
31xx
Mains voltage
32xx
Voltage inside the device
33xx
Output voltage
40xx
Temperature
41xx
Ambient temperature
42xx
Device temperature
50xx
Device hardware
60xx
Device software
61xx
Internal software
62xx
User software
63xx
Data set
70xx
Additional modules
80xx
Monitoring
81xx
communication
8110
CAN overrun
8120
Error Passive
8130
Life Guard Error
or Heartbeat Error
8140
Recovered from Bus-Off
82xx
Protocol Error
8210
PDO no processed
Due to length error
8220
Length exceed
90xx
External error
F0xx
Additional functions
FFxx
Device specific
Table12 Bits of error register
Bit of error register (bit)
Error type
0
Generic or no error
1
Current
2
Voltage
3
Temperature
4
Communication
5
Device profile specific
6
Reserved (=0)
7
Manufacturer specific

HD1-E CANopen instruction manual
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⚫Example
For example, when inverter unit U-phase protection fault (OUT1) occurs to the slave station of node 3 and fault type is 1 (inverter error
code=1), HD1-E-COP will send EMCY as follows:
COB-ID
Emergency error code
Error register
Inverter error code
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x83
0x00
0x30
0x04
0x01
0x00
0x00
0x00
0x00
From the command, emergency error code=0x3000 indicates voltage error; error register=0x04, that is to say, the second bit is 1,
indicates voltage error; when inverter error code=0x0000000001, refer to HD1 inverter manual for inverter unit U-phase protection fault
(OUT1).
When the fault resets, HD1-E-COP will send following EMCY to inform of the master station that the slave station has no fault.
COB-ID
Emergency error code
Error register
Inverter error code
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x83
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0x00
7.9 SDO
Service data object is mainly adopted to transmit non-time key data and it can read and write the content of object dictionary.
⚫Command
Request: master station →slave station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x600+
NodeID
Request code
Object index
Sub-index
Response data
LSB
MSB
bit7-0
bit15-8
bit23-16
bit31-24
Response: slave station→master station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x580+
NodeID
Response code
Object index
Sub-index
Response data
LSB
MSB
bit7-0
bit15-8
bit23-16
bit31-24
⚫Instruction
The object index contains two bytes with low Byte1 and high Byte2. Refer to the object dictionary in appendix for object index and
sub-index. The request codes consist of read type and write type.
Write request codes are different according to different character lengths of items in object dictionary while read request codes are fixed
into 0x40. See Table13.
Successful read response codes are different according to different character lengths of items in object dictionary while successful write
response codes are fixed into 0x80. See Table14.
Table13 SDO request codes and data
Type
Request codes
Instruction
Request data
Byte4
Byte5
Byte6
Byte7
Write
0x23
Write 4 bytes
bit7-0
bit15-8
bit23-16
bit31-24
0x2B
Write 2 bytes
bit7-0
bit15-8
-
-
0x2F
Write 1 byte
bit7-0
-
-
-
Read
0x40
Read data
-
-
-
-
Table14 SDO response codes and data
Type
Response codes
Instruction
Response data
Byte4
Byte5
Byte6
Byte7
Read
0x43
Read 4 bytes
bit7-0
bit15-8
bit23-16
bit31-24
0x4B
Read 2 bytes
bit7-0
bit15-8
-
-
0x4F
Read 1 byte
bit7-0
-
-
-
Write
0x60
Write succeeded
-
-
-
-
Read/ Write
0x80
Read and write failed
Terminating error code
bit7-0
bit15-8
bit23-16
bit31-24
Note: “-”in Table13 and Table14 stands for reserved and ineffective.
Table15 shows terminating error code.

HD1-E CANopen instruction manual
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Table15 Terminating error code
Termination code
Description of code functions
0503 0000
No alternative variation for trigger bit
0504 0000
SDO protocol overtime
0504 0001
Illegal or unknown client or server
0504 0002
Invalid block size
0504 0003
Invalid serial number
0504 0004
CRC error
0504 0005
Memory overflow
0601 0000
The object does not allow visit.
0601 0001
Try to read write-only object.
0601 0002
Try to write read-only object.
0602 0000
The object in object dictionary does not exist.
0604 0041
The object cannot map to PDO.
0604 0042
The quantity and length of mapping objects exceed those of PDO.
0604 0043
Generic parameters are incompatible.
0604 0047
Generic internal parts are incompatible.
0606 0000
Hardware error causes object visit failure.
0607 0010
Neither data type nor service parameter length matches.
0609 0011
Sub-index in object dictionary does not exist.
0609 0030
Out of range of parameters
0609 0031
Write parameter is too high.
0609 0032
Write parameter is too low.
0609 0036
The maximum value is smaller than the minimum value.
0800 0000
Generic error
0800 0020
Data cannot be transmitted or saved to application.
0800 0021
Due to local control, data cannot be transmitted or saved to application.
0800 0022
Due to current state, data cannot be transmitted or saved to application.
0800 0023
The object dictionary dynamically causes errors or it does not exist.

HD1-E CANopen instruction manual
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⚫Example
For example, when slave station address is 3, conduct read and write operation on the object of 0x1801 index and 03 sub-index. (Refer
to Appendix1 for the object of 0x1801 index and 03 sub-index. The object indicates the prohibition time of PDO2 Tx.)
Write example: To modify the prohibition time of PDO2 Tx into 1000ms, write command of the master station goes as follows.
COB-ID
Request code
Object index
Sub-
index
Request data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x603
0x2B
0x01
0x18
0x03
0xe8
0x03
0x00
0x00
After receiving the command from the master station, the slave station will respond the following command if the modification succeeds.
COB-ID
Response code
Object index
Sub-
index
Response data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x583
0x60
0x01
0x18
0x03
0x00
0x00
0x00
0x00
Read example: To read the prohibition time of PDO2 Tx, read command of the master station goes as follows.
COB-ID
Request code
Object index
Sub-
index
Request data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x603
0x40
0x01
0x18
0x03
0x00
0x00
0x00
0x00
After receiving the command from the master station, the slave station will respond the following command if the prohibition time of
PDO2 Tx is 1000ms.
COB-ID
Response code
Object index
Sub-
index
Response data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x583
0x43
0x01
0x18
0x03
0xe8
0x03
0x00
0x00
Example of read and write error: The read command of the master station for the object dictionary where read does not exist (0x6000
index, 0x00 sub-index) goes as follows.
COB-ID
Request code
Object index
Sub-
index
Request data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x603
0x40
0x00
0x60
0x00
0x00
0x00
0x00
0x00
Because the object does not exist, the slave station responds read and write error command.
COB-ID
Response code
Object index
Sub-
index
Response data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x583
0x80
0x00
0x60
0x00
0x00
0x00
0x02
0x06
0x06020000 error code for response indicates that the object dictionary does not exist.

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8. PDO
The communication card defines four of PDO Tx (0x1800~0x1803) and four of PDO Rx (0x1400~0x1403) for usage. PDO Rx is the PDO
command that the slave station receives from the master station while PDO Tx is the PDO command that the slave station sends to the
master station.
The control word, state word, set value and return value of each PDO are defined with object dictionary defined by manufacturer. The
purpose is to monitor the process quantity of the inverter either by PDO or by SDO. The following PDO commands are marked with
object dictionary defined by manufacturer in format 0xXXXX.HH. XXXX and HH separately stand for index and sub-index in
hexadecimal.
8.1 Trigger modes of PDO Tx
Each PDO Tx is defined with transmission type, prohibition time and event timer. They separately correspond to sub-indexes 0x02, 0x03
and 0x05. Therefore, the object dictionary index the transmission type of PDO2 Tx corresponds to is 0x1801, the sub-index is 0x02,
similarly for other PDO Tx. Refer to Appendix object dictionary for detailed information. The unit of prohibition time and event timer is
millisecond.
Synchronous trigger: When the transmission type is set to 1~240, PDO Tx is synchronous transmission. For example, set PDO2 Tx
transmission type to n (1≤n≤240). Then the slave station will send a PDO2 Tx command once it receives n of SYNC, similarly for other
PDO Tx.
Asynchronous trigger (254): When the event timer is non-zero, the slave station will send PDO Tx regularly. For example, the event
timer of PDO2 Tx is set to 200, the slave station will send a PDO2 Tx every 200ms. When the event timer is zero, the slave station will
send the PDO Tx as long as corresponding PDO Tx data change. However, the interval for sending is limited by prohibition time. The
same PDO Tx can be sent only once in prohibition time to reduce the load of bus efficiently. When the prohibition time is less than 50ms,
work according to 50ms.
Asynchronous trigger (255): When the event timer is non-zero, the slave station will send PDO Tx regularly. For example, the event
timer of PDO2 Tx is set to 200, the slave station will send a PDO2 Tx every 200ms. When the event timer is zero, the slave station will
send the PDO Tx as long as it receives corresponding PDO Rx. For example, the slave station will send a PDO2 Tx after receiving a
PDO2 Rx.
Table16 Avaliable trigger modes
Trigger
mode
Transmission
type(decimal)
Event trigger
PDO1 TX
PDO2 TX
PDO3 TX
PDO4 TX
Syn
1~240
/
Not
available
Available
Available
Available
Asyn
254
Event timer
Not
available
Available
Available
Available
Prohibition time
Not available
Available
Available
Available
255
Event timer=0
Available
Available
Available
Available
Event timer
Not available
Available
Available
Available
Table17 PDO Tx default values
PDO1 TX
PDO2 TX
PDO3 TX
PDO4 TX
Transmission type
255
254
254
254
Event timer (ms)
0
0
0
0
Prohibition time (ms)
500
500
500
500
Please refer to SDO for information on how to set trigger types of PDO Tx.
8.2 PDO1
PDO1 is used to read and write inverter parameters. PDO1 has similar functions as SDO, SDO for object dictionary read and write while
PDO1 for inverter parameters read and write.
Note: PDO1 Tx only supports asynchronous transmission 255, so do not set the transmission into other types, nor set the event timer for
sending the master station PDO1 Tx regularly.
8.2.1 PDO1 Rx
⚫Command
Request: master station →slave station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
0x200+NODE-ID
Request code
Parameter address
Request data
0x2100.00
0x2100.01
0x2100.02
⚫Instruction
The request code has two bytes with low Byte0 and high Byte1. The object dictionary defined by manufacturer is: index 0x2100,
sub-index 0x00. See the functions of the request code in Table18.
Table18 Functions of request code
Request code
Function
0
No task
1
Read parameters
2
Modify parameters [only RAM]
4
Modify parameters [both RAM and EEPROM] (reserved)
The parameter address made up of two bytes with low Byte2 and high Byte3 indicates read or modified data address.

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Parameter address of HD1 series inverters: The high byte is the number in front of decimal point of the function code while the low byte
is the number behind decimal point; the address should be converted into hexadecimal. Take P10.01 for example, 0x0A for the high bit
of parameter address due to 10 in front of decimal, 0x01 for the low bit of parameter address due to 01 behind decimal point, so the
address of the function code is 0x0A01.
Table19 Parameter address of GD series inverters
Function code
Name
Detailed instruction of parameters
Setting range
Default
value
Modify
P10.00
Simple PLC
0: Stop after once running
1: Keep running at final value after once
running
2: Cycle running
0~2
0
○
P10.01
Simple PLC memory
0: No memory after powering-off
1: Memorize after powering-off
0~1
0
○
Parameter address of CHV series inverters: The value that the serial number of each function code corresponds to in the appendix of list
of function parameters is the parameter address. It has to be converted into hexadecimal. For example, the serial number of function
code Pd.14 is 1314, the address is 0x522 (1314 for decimal).
The request data made up of two bytes with low Byte4 and high Byte5 indicates modified data. For read command, the request data will
be meaningless.
Note: Data area of PDO1 Rx must have six bytes; otherwise, the communication card will send EMCY.
8.2.2 PDO1 Tx
⚫Command
Response: slave station→master station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x180+NODEID
Response code
Error code
Response data
0x00
0x00
0x2000.00
0x2000.01
0x2000.02
-
-
⚫Instruction
Byte6 and Byte7 are reserved to be 0x00.
The response code has two bytes, Byte0 for low byte, Byte1 for high byte, and its functions are shown in Table20.
Table20 Functions of response code
Response code
Function
0
No response
1
Read and write succeeded
3
Read and write error, refer to Table21 for error code
Response data have four bytes, Byte4 for low byte, Byte7 for high byte. For write command response, the response data will be modified
data while for read command response, the response data will be read data.
The error code has two bytes, Byte2 for low byte, Byte3 for high byte, and it is valid only when the response code equals to 3. Refer to
Table21 for reasons that error code cannot respond PDO1 Rx.
Table 21 Error codes
Code
Name
Meaning
00H
No error
01H
Illegal command
The request code does not allow the operation. It is possible that the function
code is only available for a new device but unavailable for this device, or the
slave station deals with the request in error condition.
02H
Illegal data address
The device of slave station does not allow the parameter address on the
request of master station; specially, the combination between register address
and transmitted bytes is invalid.
03H
Illegal value
Received data field includes illegal value indicating the error on remaining
structure of combination request. Note: The value does not mean that there is
a value out of application expectation for the storing data items in register.
04H
Operation failed
Write operation is invalid to parameter setting. For example, the function input
terminal cannot be set repeatedly.
05H
Password error
The password for password check address is different from the password set
by users.
06H
Data frame error
In the information sent by the upper computer, the length of data frame is
incorrect, or the calculations of CRC check in RTU format and lower computer
verification are asynchronous.
07H
Read-only parameters
The parameters modified in write operation for master station are read-only.
08H
Unmodifiable parameters in
running
The parameters modified in write operation for master station are unmodifiable
in running.
09H
Password protection
During master station read or write, if setting user password but not unlocking
according to password, it will report the system is locked.