Hiwin E1 Series Command Manual
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Hiwin E1 Series Command Manual

Ethercat(coe) communications
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  • Page 1 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual www.hiwinmikro.tw...
  • Page 2 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Revision History Revision History Release Date Version Applicable Product Revision Contents Dec. 04 , 2018 E1-series CoE drive First edition.

  • Page 3: Table Of Contents

    E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Table of Contents Table of Contents About this Manual ............................1-1 Preface............................1-2 Trademark ............................1-2 General precautions ........................1-3 Safety precautions .......................... 1-4 EtherCAT Communication ..........................2-1 System configuration ........................2-2 Specifications ..........................
  • Page 4 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Table of Contents Table of Contents 3.2.3 Cyclic synchronous position mode (csp) ................3-29 3.2.4 Homing mode (hm) ......................3-31 3.2.5 Profile velocity mode (pv) ..................... 3-36 3.2.6 Cyclic synchronous velocity mode (csv) ................3-37 3.2.7...

  • Page 5: About This Manual

    1. About this Manual About this Manual ............................1-1 Preface............................1-2 Trademark ............................1-2 General precautions ........................1-3 Safety precautions .......................... 1-4...

  • Page 6: Preface

    This manual introduces EtherCAT (Ethernet for Control Automation Technology) communication and CiA 402 drive profile applied to E1-series CoE (CANopen over EtherCAT) drive. As for basic specifications, wiring and settings of E1-series drive, please refer to “E1 Series Servo Drive User Manual”. 1.2 Trademark EtherCAT ®...

  • Page 7: General Precautions

    Do not subject the product to shock. HIWIN is not responsible for any damage, accident or injury  caused by improper usage. If an error occurs in the drive, please refer to “E1 Series Servo Drive User Manual” and follow the  instructions for troubleshooting. After the error is eliminated, power on the drive again.

  • Page 8: Safety Precautions

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual About this Manual 1.4 Safety precautions Carefully read through this manual before installation, transportation, maintenance and  examination. Ensure the product is correctly used. Carefully read through electromagnetic (EM) information, safety information and related ...
  • Page 9 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual About this Manual Operation  Do not touch the terminals and the internal part of the product when power  on, or it may cause electric shock. Do not touch the terminals and internal part of the product within 10 minutes ...
  • Page 10 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual About this Manual Installation  Do not place heavy object on the product, or it may cause injury.  Prevent any foreign matter from entering the product, or it may cause fire.

  • Page 11: Ethercat Communication

    2. EtherCAT Communication EtherCAT Communication ..........................2-1 System configuration ........................2-2 Specifications ..........................2-2 EtherCAT frame structure ....................... 2-4 2.3.1 EtherCAT commands ......................2-5 2.3.2 WKC (Working Counter) ......................2-6 EtherCAT State Machine ........................ 2-7 Synchronous mode ........................2-10 2.5.1 DC ............................

  • Page 12: System Configuration

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.1 System configuration The connection type of EtherCAT is a network system that connects a master and multiple slaves. The number of the connected slaves depends on the factors such as master’s performance, communication cycle, etc.
  • Page 13 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication Cyclic synchronous torque mode Touch probe function Torque limit function Synchronous mode DC Sync0 FreeRun Cycle time 250, 500, 1000, 2000, 4000 μs Communication object SDO (service data object)

  • Page 14: Ethercat Frame Structure

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.3 EtherCAT frame structure EtherCAT frames (Ethernet frames with EtherType 0x88A4, see Figure 2.3.1) are processed by EtherCAT Slave Controller (ESC) on the fly. EtherCAT datagrams are processed before the complete frame is received.

  • Page 15: Ethercat Commands

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.3.1 EtherCAT commands Table 2.3.1.1 Abbr. Name Description No operation Slave ignores command. Slave increases address. Slave puts read data into APRD Auto increment read EtherCAT datagram if received address is zero.

  • Page 16: Wkc (Working Counter)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.3.2 WKC (Working Counter) Working Counter (WKC) is a 16-bit field placed at the end of each EtherCAT datagram. The addressed slave increases WKC based on Table 2.3.2.1 for the master to check if the number of nodes of the corresponding EtherCAT PDU is in line with expectations.

  • Page 17: Ethercat State Machine

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.4 EtherCAT State Machine EtherCAT State Machine (ESM) is responsible for the coordination of the applications for master and slaves at start up and during operation. State changes are typically initiated by the requests of the master.
  • Page 18 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication Table 2.4.1 State / State change Description No communication on Application Layer (AL) Init Master accesses to Data Link (DL)-Information registers Master configures registers - DL address register Init to PreOp...
  • Page 19 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication Table 2.4.3 shows the relationship between PDS (Power Drive System) and ESM states. Table 2.4.3 Init PreOp SafeOp Not ready to switch on Switch on disabled Ready to switch on...

  • Page 20: Synchronous Mode

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.5 Synchronous mode There are two types of synchronous mode, DC and FreeRun. 2.5.1 DC The synchronization of EtherCAT communication is based on DC. The local cycle and the servo process of the drive are triggered by Sync0 event.

  • Page 21: Freerun

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 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.

  • Page 22: Emergency Message

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.7 Emergency message When an error occurs, a slave notifies the master of the emergency message through the mailbox communication. An emergency message consists of 8 Bytes of data, as Table 2.7.1 shows.

  • Page 23: Pdo (Process Data Object)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.8 PDO (Process Data Object) The PDOs are used to transfer data during cyclic communication in realtime. RxPDOs receive data from the master. TxPDOs send status from the drive to the master. Objects updated by PDO are not updated by SDO.

  • Page 24: Pdo Assign Object

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.8.2 PDO assign object Besides PDO mappings described above, it is also necessary to assign PDO mapping table in SyncManager. SyncManager PDO assignment objects describe the relationship between PDO mapping tables and SyncManagers.

  • Page 25: Ethercat Display And Setting Area

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication 2.9 EtherCAT display and setting area Figure 2.9.1 shows the EtherCAT display and setting area of E1-series drive. Figure 2.9.1 2.9.1 Node address setting When communication starts, the master detect the slaves through auto-increment addressing. The slaves are accessed by the master according to the connection order (physical position).

  • Page 26: Ethercat Indicators

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication Table 2.9.1.1 Node address switch setting Descritpion The node address is set by the controller. 01h~FFh The node address switch setting is used as the node address. Note: Do not change node address setting after control power-on.

  • Page 27: Ethercat Related Errors

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication The states of the indicators are shown in Figure 2.9.2.1. Figure 2.9.2.1 2.10 EtherCAT related errors In case of an EtherCAT communication error, the AL status code register (0134h:0135h) will be set. After the error is cleared, the AL status code will also be cleared.
  • Page 28 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication (This page is intentionally left blank.) 2-18 HIWIN MIKROSYSTEM Corp.
  • Page 29 3. Object Dictionary Object Dictionary .............................. 3-1 Communication profile area ......................3-2 3.1.1 Default PDO mapping ......................3-7 3.1.2 Mapping objects to PDO ......................3-9 3.1.3 PDO data exchange timing ....................3-11 Standardized device profile area ....................3-12 3.2.1 PDS (Power Drive System) ....................3-19 3.2.2 Profile position mode (pp) ....................

  • Page 30: Object Dictionary

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Every object in the object dictionary is addressed by a 16-bit index and an 8-bit subindex. The standard object dictionary layout is shown in Table 3.1. Table 3.1 Index...
  • Page 31 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 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.
  • Page 32 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Number of entries 0 ~ 8 Mapping entry 1 0x0 ~ 0xFFFFFFFF Mapping entry 2 0x0 ~ 0xFFFFFFFF Mapping entry 3 0x0 ~ 0xFFFFFFFF Mapping entry 4 0x0 ~ 0xFFFFFFFF...
  • Page 33 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary TxPDO mapping The specification is the same as that of 1 TxPDO mapping object. Number of entries 0 ~ 8 Mapping entry 1 0x0 ~ 0xFFFFFFFF Mapping entry 2...
  • Page 34 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary The bits corresponding to the supported synchronization modes are set to 1. The meaing of each bit is defined as below. Description FreeRun The bit is 1. SM synchronous mode The bit is 0.

  • Page 35: Default Pdo Mapping

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.1.1 Default PDO mapping The definition of the default PDO mapping in E1-series drive is described as below. PDO mapping 1 (csp, touch probe, torque limit)  Table 3.1.1.1...
  • Page 36 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary PDO mapping 3 (cst)  Table 3.1.1.3 Subindex Value Name 60400010h Controlword 60600008h Modes of operation RxPDO (1602h) 60710010h Target torque 60FE0120h Digital outputs: physical output 603F0010h Error code...

  • Page 37: Mapping Objects To Pdo

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.1.2 Mapping objects to PDO The procedure of setting PDO mapping is described as follows. Step 1. Set ESM state to PreOp. Step 2. Disable PDO mapping assignment. Set subindex 00h of object 1C12h and 1C13h to 0.
  • Page 38 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 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 60400010h...

  • Page 39: Pdo Data Exchange Timing

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 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.

  • Page 40: Standardized Device Profile Area

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2 Standardized device profile area Table 3.2.1 Sub- Data Index Name Access Valid value Unit Index type Error code 0x0 ~ 0xFFFF Display the last error that occurs. 603Fh The value of the error code is FF**h, where ** is the error code from E1-series drive.
  • Page 41 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Torque limit Interpolation speed exceeded in csp Torque limit Hardware limit on / off Velocity pv, csv control Torque limit...
  • Page 42 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Halt option code The object indicates the action when halt function is executed. E1-series drive only supports option 2: Slow down on quick stop ramp.
  • Page 43 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Modes of operation display 0 ~ 10 6061h The actual operation mode in the drive. The object will change to the commanded mode after internal mode is successfully changed.
  • Page 44 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Software position limit To enable software limit, 3041h must be set to 1. After the position coordinate is finalized, the software limit will be effective.
  • Page 45 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type 60B1h Velocity offset -2147483648 ~ 2147483647 inc/s 60B2h Torque offset -3000 ~ 3000 0.1% Touch probe function 0 ~ 65535 E1-series drive only supports touch probe 1 function.
  • Page 46 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type 60C6h Max deceleration 0 ~ 4294967295 inc/s Positive torque limit value 0 ~ 65535 0.1% 60E0h The configured maximum positive torque in the motor.

  • Page 47: Pds (Power Drive System)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.1 PDS (Power Drive System) PDS that controls the drive can be operated by 6040h (controlword) from the master, drive internal control, or error detection signal. The state of PDS is reported by 6041h (statusword) from the drive. PDS FSA (Finite State Automaton) in Figure 3.2.1.1 defines the status and the control sequence of PDS.
  • Page 48 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Receive “Shutdown” command. None Receive “Quick stop” or “Disable voltage” command. None ESM is in Init state. Receive “Shutdown” command. The drive function is disabled. Receive “Disable voltage” command.
  • Page 49 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary The procedure of clearing errors  There are drive errors and EtherCAT related communication errors. The procedure of clearing errors are described as follows. If there is a drive error, (1) Eliminate the cause of the drive error.

  • Page 50: Profile Position Mode (Pp)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.2 Profile position mode (pp) Profile position mode is for moving to the target position at the profile velocity and the profile acceleration. The structure of the trajectory generation is shown in Figure 3.2.2.1.
  • Page 51 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Min position limit -2147483648 ~ 2147483647 Max position limit -2147483648 ~ 2147483647 607Fh Max profile velocity 0 ~ 4294967295...
  • Page 52 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of setting basic set-point  The master sets 607Ah (target position), and then sets bit 4 of 6040h (controlword) from 0 to 1 (edge trigger). The drive acknowledges the new set-point by setting bit 12 of 6041h (statusword) to 1. Then, the drive starts to move toward target position from 607Ah (target position).
  • Page 53 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of setting single set-point  When bit 5 of 6040h (controlword) is 1, the new set-point is immediately validated by bit 4 of 6040h (controlword). Thus, the set-point in progress will be interrupted.
  • Page 54 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of setting set of set-points (change target during motion)  After bit 12 of 6041h (statusword) is set to 0, the master changes the value of 607Ah (target position) and set bit 4 of 6040h (controlword) from 0 to 1 (edge trigger).
  • Page 55 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of buffering set-points  E1-series drive only supports 2 set-points maximum. The handling of the set-points is shown as follows. When there is no set-point in progress, a new set-point A is immediately effective.
  • Page 56 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of halt bit  When bit 8 of 6040h (controlword) is set to 1 in pp mode, the motion will be temporarily stopped. After bit 8 of 6040h (controlword) returns to 0, unfinished set-points will be resumed.

  • Page 57: Cyclic Synchronous Position Mode (Csp)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.3 Cyclic synchronous position mode (csp) The motion profile (trajectory) is generated by the master. Therefore, the position command is updated by the master every communication cycle. Cyclic synchronous position mode is used in DC mode. Before enabling the motor in csp mode or switching to csp mode, be sure to align 607Ah (target position) with 6064h (position actual value) first.
  • Page 58 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Related objects for csp mode are listed in Table 3.2.3.1. Table 3.2.3.1 Sub- Data Index Name Access Valid value Unit Index type 6040h Controlword 0x0 ~ 0xFFFF 6041h Statusword...
  • Page 59 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.4 Homing mode (hm) This mode is for incremental encoder. After homing procedure is done, the home position of the machine will be found. To make position zero offset from the home position, add home offset to the home position.
  • Page 60 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type 60C5h Max acceleration 0 ~ 4294967295 inc/s 60C6h Max deceleration 0 ~ 4294967295 inc/s Controlword (6040h) for hm mode ...
  • Page 61 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of successful homing procedure  Set 6098h (homing method) to the required homing method. Homing methods supported by E1-series CoE drive are given in Table 3.2.4.4. Accordingly set homing parameters, 609Ah (homing acceleration), 6099:01h (speed during search for switch), 6099:02h (speed during search for zero) and 607Ch (home offset).
  • Page 62 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Table 3.2.4.4 Method Description Homing on negative limit switch and index pulse If the negative limit switch is inactive, the initial direction of the movement is leftward. The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive.
  • Page 63 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Method Description Homing on index pulse The direction of homing is negative (33) or positive (34) respectively. The home position is at the index pulse found in the selected direction.

  • Page 64: Profile Velocity Mode (Pv)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.5 Profile velocity mode (pv) The motor speed is output according to the profile acceleration and the profile deceleration until it reaches the target velocity. The structure of the trajectory generation is shown in Figure 3.2.5.1.

  • Page 65: Cyclic Synchronous Velocity Mode (Csv)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Controlword (6040h) for pv mode  Table 3.2.5.2 Value Definition Execute or continue the motion. (halt) Axis is stopped according to 605Dh (halt option code). Statusword (6041h) for pv mode ...
  • Page 66 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Related objects for csv mode are listed in Table 3.2.6.1. Table 3.2.6.1 Sub- Data Index Name Access Valid value Unit Index type 6040h Controlword 0x0 ~ 0xFFFF 6041h Statusword...

  • Page 67: Profile Torque Mode (Tq)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.7 Profile torque mode (tq) The torque is output up to the target torque according to the torque slope setting. Torque command is generated from 6071h (target torque) and 6087h (torque slope), as Figure 3.2.7.1 shows.
  • Page 68 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Related objects for tq mode are listed in Table 3.2.7.1. Table 3.2.7.1 Sub- Data Index Name Access Valid value Unit Index type 6040h Controlword 0x0 ~ 0xFFFF 6041h Statusword...

  • Page 69: Cyclic Synchronous Torque Mode (Cst)

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.2.8 Cyclic synchronous torque mode (cst) The motion profile (trajectory) is generated by the master. 60C2h (interpolation time period) indicates the cycle of update 6071h (target torque). The structure of the trajectory generation is shown in Figure 3.2.8.1.

  • Page 70: Touch Probe Function

    MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Statusword (6041h) for cst mode  Table 3.2.8.2 Value Definition Drive does not follow the command value. (Ignore target torque.) (drive follows Drive follows the command value. command value) (Target torque is viewed as an input to torque control loop.)
  • Page 71 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of touch probe 1 triggering first event  Figure 3.2.9.1 Table 3.2.9.2 Value Description 60B8h bit 0 = 1 Enable touch probe 1. 60B8h bit 1 = 0 Trigger first event.
  • Page 72 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Example of touch probe 1 continuous mode  Figure 3.2.9.2 Table 3.2.9.3 Value Description 60B8h bit 0 = 1 Enable touch probe 1. 60B8h bit 1 = 1 Continuous state.

  • Page 73: Manufacturer Specific Profile Area

    Object Dictionary 3.3 Manufacturer specific profile area The 2000h series objects are from servo parameters. Please refer to “E1 Series Servo Drive User Manual” for more information. The mapping relationship between servo parameter numbers and object indexes is as follows: Object index = 2000h + servo parameter number 3.3.1 Absolute encoder initialization...
  • Page 74 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary 3.4 Object dictionary list Table 3.4.1 Sub- Data Index Name Access Valid value Unit Index type Mode 1000h Device type 0x00020192 1001h Error register 0x0 ~ 0xFF Store parameters...
  • Page 75 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Mode Mapping entry 6 0x0 ~ 0xFFFFFFFF Mapping entry 7 0x0 ~ 0xFFFFFFFF Mapping entry 8 0x0 ~ 0xFFFFFFFF...
  • Page 76 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Mode Mapping entry 2 0x0 ~ 0xFFFFFFFF Mapping entry 3 0x0 ~ 0xFFFFFFFF Mapping entry 4 0x0 ~ 0xFFFFFFFF...
  • Page 77 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Mode 605Eh Fault reaction option code 0 ~ 2 6060h Modes of operation 0 ~ 10 6061h Modes of operation display...
  • Page 78 MD08UE01-1812 E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Object Dictionary Sub- Data Index Name Access Valid value Unit Index type Mode 609Ah Homing acceleration 0 ~ 4294967295 inc/s 60B1h Velocity offset -2147483648 ~ 2147483647 inc/s 60B2h Torque offset -32768 ~ 32767 0.1%...

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