Hiwin E1 Series - PDO Data Exchange Timing

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary
HIWIN MIKROSYSTEM Corp. 3-11
MD08UE01-1812
3.1.3 PDO data exchange timing
Figure 3.1.3.1 shows an example of PDO exchange between the master and the slaves in DC synchronous
mode.
Figure 3.1.3.1
Figure 3.1.3.2 shows an example of PDO exchange between the master and the slaves in FreeRun (DC
unused) mode.
Figure 3.1.3.2