E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-45
3.3 Manufacturer specific profile area
The 2000h series objects are from servo parameters. Please refer to “E1 Series Servo Drive User Manual”
for more information. The mapping relationship between servo parameter numbers and object indexes is
as follows:
Object index = 2000h + servo parameter number
3.3.1 Absolute encoder initialization
When using a rotary absolute encoder, it is necessary to clear multi-turn data at the first start up after
installing the battery. There are two types of data in a rotary absolute encoder, single-turn data and multi-
turn data. The single-turn data shows the position of the motor’s rotation within a single turn. The multi-
turn data counts the number of the turns, and the backup is stored by the battery.
The position information of the drive is based on the following formulas, where M is multi-turn data and S
is single-turn data.
6063h (position actual internal value) = M x encoder resolution + S
6064h (position actual value) = 6063h x electronic gear + 607Ch (home offset)
Keep servo off until the procedure of clearing data is finished. After that, power cycle the drive.
The procedure of clearing multi-turn data via EtherCAT
Step 1. Disable the motor.
Step 2. Set 3200h to 1.
Step 3. Set 1010h to 0x65766173.
Step 4. Reset the drive.
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