IMO HD1-E-COP Instruction Manual Download

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HD1-E CANopen instruction manual

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Index(hex)

Sub-

index

Description

Access right

Data type

Default value

Transmission type

Unsigned8

Unsigned16

Unsigned8

Event timer

Unsigned16

1403

PDO4 Rx communication parameters

Avaliable maximum sub-index

Unsigned8

COB-ID used by PDO

Unsigned32

Transmission type

Unsigned8

Unsigned16

Unsigned8

Event timer

Unsigned16

1600

PDO1 Rx mapping parameters

Mapping application objects in

PDO

Unsigned8

The 1

mapping object

Unsigned32

0x21000010

The 2

mapping object

Unsigned32

0x21000110

The 3

mapping object

Unsigned32

0x21000210

1601

PDO2 Rx mapping parameters

Mapping application objects in

PDO

Unsigned8

The 1

mapping object

Unsigned32

0x21010010

The 2

mapping object

Unsigned32

0x21000310

The 3

mapping object

Unsigned32

0x21000410

The 4

mapping object

Unsigned32

0x21000510

1602

PDO3 Rx mapping parameters

Mapping application objects in

PDO

Unsigned8

The 1

mapping object

Unsigned32

0x21000610

The 2

mapping object

Unsigned32

0x21000710

The 3

mapping object

Unsigned32

0x21000810

The 4

mapping object

Unsigned32

0x21000910

1603

PDO4 Rx mapping parameters

Mapping application objects in

PDO

Unsigned8

The 1

mapping object

Unsigned32

0x21000a10

The 2

mapping object

Unsigned32

0x21000b10

The 3

mapping object

Unsigned32

0x21000c10

The 4

mapping object

Unsigned32

0x21000d10

1800

PDO1 Tx communication parameters

Avaliable maximum sub-index

Unsigned8

COB-ID used by PDO

Unsigned32

Transmission type

Unsigned8

255

Prohibition time

Unsigned16

500

Reserved

Unsigned8

Event timer

Unsigned16

1801

PDO2 Tx communication parameters

Avaliable maximum sub-index

Unsigned8

COB-ID used by PDO

Unsigned32

Transmission type

Unsigned8

254

Prohibition time

Unsigned16

500

Reserved

Unsigned8

Event timer

Unsigned16

1802

PDO3 Tx communication parameters

Avaliable maximum sub-index

Unsigned8

Summary of Contents for HD1-E-COP

Page 1: ...1 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 saf...

Page 2: ...produced 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...

Page 3: ...al 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 v...

Page 4: ...uble 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 c...

Page 5: ...T 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...

Page 6: ...s 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 c...

Page 7: ...bition 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 Addre...

Page 8: ...ions 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 CANop...

Page 9: ...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...

Page 10: ...nverter 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 cab...

Page 11: ...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 1...

Page 12: ...aster 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 stat...

Page 13: ...ect 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 B...

Page 14: ...tation 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 By...

Page 15: ...re 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...

Page 16: ...3 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...

Page 17: ...apping 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 Neithe...

Page 18: ...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 comma...

Page 19: ...ss 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 slav...

Page 20: ...te 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 d...

Page 21: ...3 0x2100 04 0x2100 05 Instruction The control word has two bytes Byte0 for low byte Byte1 for high byte The definition of control word for HD1 inverter is shown in Table22 As other models please refer...

Page 22: ...Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x280 NODEID State word Return value1 Return value2 Return value3 0x2001 00 0x2000 03 0x2000 04 0x2000 05 Instruction The state word has two bytes with Byte0 for lo...

Page 23: ...e2 Byte3 Byte4 Byte5 Byte6 Byte7 0x400 NODEID Set value4 Set value5 Set value6 Set value7 0x2100 06 0x2100 07 0x2100 08 0x2100 09 PDO4 Rx command Master station slave station COB ID Byte0 Byte1 Byte2...

Page 24: ...W 2 Byte Correspond to PZD7 receiving 9 Set value7 RW 2 Byte Correspond to PZD8 receiving A Set value8 RW 2 Byte Correspond to PZD9 receiving B Set value9 RW 2 Byte Correspond to PZD10 receiving C Set...

Page 25: ...quest code Object index Sub index Request data Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 0x603 0x40 0x01 0x20 0x00 0x00 0x00 0x00 0x00 If the inverter is running forward the master station will...

Page 26: ...2 Communication address setting There are two ways to set CANopen communication address One is hardware address That is to say when the address of the knob on the communication card equals to non zero...

Page 27: ...Off No error Components in working state 2 On Bus switched off or inverter fault CAN controller bus switched off or inverter fault 3 Flickering Initialization error Address setting error 4 Flickered a...

Page 28: ...number RO Unsigned8 4 1 Supplier ID RO Unsigned32 0x0000 0000 2 Product code RO Unsigned32 0x0000 0000 3 Revision number RO Unsigned32 0x0000 0000 4 Serial number RO Unsigned32 0x0000 0000 1200 Serve...

Page 29: ...mapping parameters 0 Mapping application objects in PDO RW Unsigned8 4 1 The 1st mapping object RW Unsigned32 0x21000610 2 The 2nd mapping object RW Unsigned32 0x21000710 3 The 3rd mapping object RW U...

Page 30: ...he 3rd mapping object RW Unsigned32 0x20000210 1A01 PDO2 Tx mapping parameters 0 Mapping application objects in PDO RW Unsigned8 4 1 The 1st mapping object RW Unsigned32 0x20010010 2 The 2nd mapping o...

Page 31: ...EN communication virtual terminal output 0 40 0 P06 02 HDO output 0 40 0 P06 03 Relay RO1 output 0 40 1 P06 04 Relay RO2 output 0 40 5 P06 14 AO1 output 16 CANOPEN communication set value1 17 CANOPEN...

Page 32: ...ving 0 20 0 P15 09 PZD9 receiving 0 20 0 P15 10 PZD10 receiving 0 20 0 P15 11 PZD11 receiving 0 20 0 P15 12 PZD12 receiving 0 20 0 P15 13 PZD2 sending 0 Invalid 1 Running frequency 100 Hz 2 Set freque...

Page 33: ...d programming CANopen communication protocol with HD1 series of inverters Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have fo...

Page 34: ...IMO Precision Controls Ltd The Interchange Frobisher Way Hatfield Herts AL10 9TG England Phone 44 0 1707 414 444 Fax 44 0 1707 414 445 URL http www imopc com 2018 S Mc Issue 1...

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