E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-3
It is the process data reception failure threshold. If the value of the internal error counter in the drive exceeds the
threshold, the drive will issue an error (AL status code 0x1A) and ESM state will change to SafeOp.
The drive increases sync error counter by 3 in case of a missed a SM2 event, while it decreases sync error counter by 1
in case of a received SM2 event. An example of sync error counter is shown as follows.
SM2 event 1 0 1 0 1 0 1 0 1 0 1
Sync error counter
(Error counter limit = 9)
0 3 2 5 4 7 6 9 9 9 9
If sync error counter limit is set to 0, the drive will not detect any missing SM2 event.
1600h
-
1
st
RxPDO mapping - - - - -
They are the mapping parameters of PDOs that the drive can receive. The value of the object can only be changed when
ESM state is PreOp. If subindex 00h is not cleared as 0, subindex 01h to 08h cannot be changed.
00h Number of entries U8 rw - 0 ~ 8 -
01h
Mapping entry 1 U32 rw - 0x0 ~ 0xFFFFFFFF -
It is the 1
st
RxPDO object to be mapped. The content is defined as below.
Bit 31 ... 16 15 ... 08 07 ... 01
The same setting method applies to the rest of the mapping entries.
Note: Mapping the same object to different mapping entries is not supported by the drive.
02h Mapping entry 2 U32 rw - 0x0 ~ 0xFFFFFFFF -
03h Mapping entry 3 U32 rw - 0x0 ~ 0xFFFFFFFF -
04h Mapping entry 4 U32 rw - 0x0 ~ 0xFFFFFFFF -
05h Mapping entry 5 U32 rw - 0x0 ~ 0xFFFFFFFF -
06h Mapping entry 6 U32 rw - 0x0 ~ 0xFFFFFFFF -
07h Mapping entry 7 U32 rw - 0x0 ~ 0xFFFFFFFF -
08h Mapping entry 8 U32 rw - 0x0 ~ 0xFFFFFFFF -
1601h
-
2
nd
RxPDO mapping - - - - -
The specification is the same as that of 1
st
RxPDO mapping object.
00h Number of entries U8 rw - 0 ~ 8 -
01h Mapping entry 1 U32 rw - 0x0 ~ 0xFFFFFFFF -
02h Mapping entry 2 U32 rw - 0x0 ~ 0xFFFFFFFF -
03h Mapping entry 3 U32 rw - 0x0 ~ 0xFFFFFFFF -
04h Mapping entry 4 U32 rw - 0x0 ~ 0xFFFFFFFF -
05h Mapping entry 5 U32 rw - 0x0 ~ 0xFFFFFFFF -
06h Mapping entry 6 U32 rw - 0x0 ~ 0xFFFFFFFF -
07h Mapping entry 7 U32 rw - 0x0 ~ 0xFFFFFFFF -
08h Mapping entry 8 U32 rw - 0x0 ~ 0xFFFFFFFF -
1602h
-
3
rd
RxPDO mapping - - - - -
The specification is the same as that of 1
st
RxPDO mapping object.
00h Number of entries U8 rw - 0 ~ 8 -
01h Mapping entry 1 U32 rw - 0x0 ~ 0xFFFFFFFF -
02h Mapping entry 2 U32 rw - 0x0 ~ 0xFFFFFFFF -
03h Mapping entry 3 U32 rw - 0x0 ~ 0xFFFFFFFF -
04h Mapping entry 4 U32 rw - 0x0 ~ 0xFFFFFFFF -
05h Mapping entry 5 U32 rw - 0x0 ~ 0xFFFFFFFF -
06h Mapping entry 6 U32 rw - 0x0 ~ 0xFFFFFFFF -
07h Mapping entry 7 U32 rw - 0x0 ~ 0xFFFFFFFF -
08h Mapping entry 8 U32 rw - 0x0 ~ 0xFFFFFFFF -
1603h -
4
th
RxPDO mapping - - - - -
The specification is the same as that of 1
st
RxPDO mapping object.
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