Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Table of Contents
Table of Contents
1. About this Manual ............................................................................................................................................ 1-1
1.1 Preface............................................................................................................................................ 1-2
1.2 Trademark ....................................................................................................................................... 1-2
1.3 General precautions ....................................................................................................................... 1-3
1.4 Safety precautions .......................................................................................................................... 1-4
2. EtherCAT Communication ................................................................................................................................ 2-1
2.1 System configuration ...................................................................................................................... 2-2
2.2 Specifications .................................................................................................................................. 2-2
2.3 EtherCAT frame structure ............................................................................................................... 2-4
2.3.1 EtherCAT commands ............................................................................................................. 2-5
2.3.2 WKC (Working Counter) ........................................................................................................ 2-6
2.4 EtherCAT State Machine ................................................................................................................ 2-7
2.5 Synchronous mode ....................................................................................................................... 2-10
2.5.1 DC ........................................................................................................................................ 2-10
2.5.2 FreeRun ................................................................................................................................ 2-11
2.6 SDO abort code ............................................................................................................................. 2-11
2.7 Emergency message .................................................................................................................... 2-12
2.8 PDO (Process Data Object) ......................................................................................................... 2-13
2.8.1 PDO mapping object ............................................................................................................ 2-13
2.8.2 PDO assign object ............................................................................................................... 2-14
2.9 EtherCAT display and setting area ............................................................................................... 2-15
2.9.1 Node address setting ........................................................................................................... 2-15
2.9.2 EtherCAT indicators ............................................................................................................. 2-16
2.10 EtherCAT related errors ................................................................................................................ 2-17
3. Object Dictionary .............................................................................................................................................. 3-1
3.1 Communication profile area ............................................................................................................ 3-2
3.1.1 Default PDO mapping ............................................................................................................ 3-7
3.1.2 Mapping objects to PDO ........................................................................................................ 3-9
3.1.3 PDO data exchange timing ................................................................................................... 3-11
3.2 Standardized device profile area .................................................................................................. 3-12
3.2.1 PDS (Power Drive System) .................................................................................................. 3-19
3.2.2 Profile position mode (pp) .................................................................................................... 3-22

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English