Hiwin E1 Series Command Manual

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-9
MD08UE01-1812
3.1.2 Mapping objects to PDO
The procedure of setting PDO mapping is described as follows.
Step 1. Set ESM state to PreOp.
Step 2. Disable PDO mapping assignment. Set subindex 00h of object 1C12h and 1C13h to 0.
Step 3. Set the number of mapping entries for PDO mapping object 1600h~1603h and 1A00h~1A03h to
0.
Step 4. Set all of the mapping entries for PDO mapping object 1600h~1603h and 1A00h~1A03h.
Step 5. Set the assigned PDO mapping object. Set subindex 1 of object 1C12h and 1C13h.
Step 6. Enable PDO mapping assignment. Set subindex 0 of object 1C12h and 1C13h to 1.
Step 7. Set ESM state from PreOp to SafeOp. TxPDO will be effective.
Step 8. Set ESM state from SafeOp to Op. RxPDO will be effective.
Note:
1. The PDO mapping settings will be checked after Step 6. If the mapped objects exceeds the
maximum number of PDO mapping objects or maximum PDO data length, SDO abort code
0x06040042 will be returned.
2. It is not allowed to write PDO mapping object in SafeOp or Op state. Otherwise, SDO abort code
0x06010002 will be returned.
3. If unsupported object is written to PDO mapping object, SDO abort code 0x06020000 will be
returned.

Hiwin E1 Series Specifications

General

Brand	Hiwin
Model	E1 Series
Category	Servo Drives
Language	English