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.
