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
11. State LED..................................................................... 22
Appendix 1 OD .................................................................. 23
Appendix 2 Function codes (HD1 Inverter) ........................ 26
