HD1-E CANopen instruction manual
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Example
For example, the inverter model is HD1 inverter and the slave address is 3. If the inverter is running, its running frequency equals to
50.00Hz. Set the return value1 to running frequency function, the return value2 to output voltage function and the return value3 to no
function.
Command: Set the return value1 to inverter running frequency (P15.13=1), the return value2 to inverter output voltage (P15.14=4) and
the return value3 to invalid (P15.15=0).
Because the inverter is running forward, and the bus voltage has been set up, the state word=0x0101; due to 50.00Hz running frequency,
the return value1=5000, that is to say 0x1388. If the output voltage is 380V, the return value2=0x017C.
PDO1 Tx command sent by the inverter is as follows.
COB-ID
State word
Return value1
Return value2
Return value3
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x283
0x01
0x01
0x88
0x13
0x7C
0x01
0x00
0x00
8.5 PDO3 Rx and PDO4 Rx
PDO3 Rx and PDO4 Rx are used to modify realtime process quantity of the inverter, such as set frequency.
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PDO3 Rx command
Master station
→slave station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x400+NODEID
Set value4
Set value5
Set value6
Set value7
0x2100.06
0x2100.07
0x2100.08
0x2100.09
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PDO4 Rx command
Master station
→slave station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x500+NODEID
Set value8
Set value9
Set value10
Set value11
0x2100.0a
0x2100.0b
0x2100.0c
0x2100.0d
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Instruction
The usage of PDO3 Rx and PDO4 Rx is the same as that of PDO2 Rx. The corresponding relations between the set values and
CANOPEN PZD are shown in Table24.
8.6 PDO3 Tx and PDO4 Tx
PDO3 Tx and PDO4 Tx are used for the inverter to send realtime process quantity to master station, such as running frequency.
PDO3 Tx or PDO4 Tx will be sent as long as the return value in the same command changes.
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PDO3 Tx command
Slave station
→master station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x380+NODEID
Return value4
Return value5
Return value6
Return value7
0x2000.06
0x2000.07
0x2000.08
0x2000.09
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PDO4 Tx command
Slave station
→master station
COB-ID
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
0x480+NODEID
Return value8
Return value9
Return value10
Return value11
0x2000.0a
0x2000.0b
0x2000.0c
0x2000.0d
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Instruction
The usage of PDO3 Tx and PDO4 Tx is the same as that of PDO2 Tx. The corresponding relations between the return values and
ANopen PZD are shown in Table25.
