E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
HIWIN MIKROSYSTEM Corp. 2-11
2.5.2 FreeRun
FreeRun is started by the local timer interrupt of the drive. The local cycle runs independently of the
communication cycle and the master cycle.
Figure 2.5.2.1
Note: The PDO transmission interval should not be less than 250 μs.
2.6 SDO abort code
When SDO communication error occurs, SDO abort code is returned. The supported SDO abort codes
are listed in Table 2.6.1.
Table 2.6.1
Value Descritpion
Unsupported access to an object
Attempt to write to a read-only object
The object does not exist in the object dictionary
Number and length of the objects to be mapped would exceed PDO length
Value range of parameter exceeded (only for write access)
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