Hiwin D1NCOE User Manual page 22

Drive User Guide
Allocate Mapping Object to PDO Layout Object of Sync Manage
For example, allocate RxPDO mapping object 0x1600 to the content of the first sub-index
of 0x1C1. Designate TxPDO mapping object 0x1A01 to 0x1C13.
Set up Numbers of Mapping Object as Designated to PDO of Sync Manager
Set up the zero sub-index of 0x1C12 and 0x1C13 to 1 to enable the transmission of PDO.
Switch EtherCAT State Machine of Drive to Operational.
www.servosystem.ru +7(495) 407-01-02
22