E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
3-10 HIWIN MIKROSYSTEM Corp.
An example of adding object 607Fh to 1600h and using 1600h as the assigned RxPDO is explained as
follows.
Before change (default setting)
Table 3.1.2.1
Subindex Value Name
RxPDO
(1600h)
03h 60720010h Max torque
06h 60FE0120h Digital outputs: physical output
After change
Table 3.1.2.2
Subindex Value Name
RxPDO
(1600h)
03h 60720010h Max torque
Digital outputs: physical output
Step 1. Set ESM state to PreOp.
Step 2. Disable PDO mapping assignment. Set 1C12:00h to 0.
Step 3. Set 1600:00h to 0.
Step 4. Set the value of 1600:07h to 607F0020h. Then, set 1600:00h to 7.
Step 5. Set the value of 1C12:01h to 1600h.
Step 6. Set 1C12:00h to 1 to enable PDO mapping assignment.
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.
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