Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
HIWIN MIKROSYSTEM Corp. 2-13
MD08UE01-1812
2.8 PDO (Process Data Object)
The PDOs are used to transfer data during cyclic communication in realtime. RxPDOs receive data from
the master. TxPDOs send status from the drive to the master. Objects updated by PDO are not updated
by SDO.
2.8.1 PDO mapping object
Before using PDO communication, application objects should be mapped to the PDO mapping object.
Each PDO mapping object can store up to eight application objects, and the maximum length of the PDO
mapping object is 32 Bytes. In the object dictionary, index 1600h to 1603h are for RxPDOs, and index
1A00h to 1A03h are for TxPDOs.
An example of PDO mappings is shown in Figure 2.8.1.1. Three application objects (Obj A, Obj C and Obj
F) are mapped to the PDO mapping object 1600h. Please refer to Section 3.1.1 for the default of each
PDO mapping object.
Figure 2.8.1.1

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English