E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-5
1A03h
-
4
th
TxPDO mapping - - - - -
The specification is the same as that of 1
st
TxPDO 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 -
1C00h
-
SyncManager communication type - - - - -
Set the communication type of each SyncManager (SM).
00h Number of entries U8 ro - 4 -
01h
Communication type SyncManager 0 U8 ro - 1 -
SM0 is responsible for receiving data through Mailbox. The value is 1.
02h
Communication type SyncManager 1 U8 ro - 2 -
SM1 is responsible for sending data through Mailbox. The value is 2.
03h
Communication type SyncManager 2 U8 ro - 3 -
SM2 is responsible for process data output (RxPDO). The value is 3.
04h
Communication type SyncManager 3 U8 ro - 4 -
SM3 is responsible for process data input (TxPDO). The value is 4.
1C12h
-
SyncManager 2 PDO assignment - - - - -
It is the PDO mapping object entry for SM2, which is responsible for process data output (RxPDO).
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 assigned PDOs U8 rw - 0 ~ 1 -
01h
Index of assigned RxPDO 1 U16 rw - 1600h ~ 1603h -
RxPDO mapping object index
1C13h
-
SyncManager 3 PDO assignment - - - - -
It is the PDO mapping object entry for SM3, which responsible is for process data input (TxPDO).
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 assigned PDOs U8 rw - 0 ~ 1 -
01h
Index of assigned TxPDO 1 U16 rw - 1A00h ~ 1A03h -
TxPDO mapping object index
1C32h
- SyncManager 2 synchronization - - - - -
00h Number of synchronization parameters U8 ro - 12 -
01h
Synchronization type U16 ro - 0 ~ 2 -
Mode of SM2 synchronization
0: FreeRun (not synchronized)
2: DC Sync0 (synchronized with Sync0 event)
02h
Cycle time U32 ro - 250000 ~ 4000000 ns
It is the communication cycle of SM. The value is defined as below.
Sync mode Description
The local cycle time of the application controller
Sync0 cycle time (09A0h~09A3h)
04h Synchronization types supported U16 ro - 5 -
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