Hiwin D1COE, User Manual

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Drive User Guide
2
Contexts
1. Communication Specification of EtherCAT ............................................................................................ 4
2. Physical Dimensions ............................................................................................................................... 5
3. Object Dictionary Table.......................................................................................................................... 8
3.1 Data Type ................................................................................................................................... 8
3.2 Common Objects ....................................................................................................................... 8
3.3 PDO Mapping Objects ................................................................................................................ 9
3.4 Communication Objects of Sync Manager ................................................................................ 9
3.5 CiA 402 Objects of Guide Regulations ..................................................................................... 10
3.6 Manufacturer Defined Objects ................................................................................................ 12
3.7 Objects description of the Manufacture Defined Objects ....................................................... 12
4. Communication Architecture of EtherCAT Drive ................................................................................. 15
5. State Machine of EtherCAT .................................................................................................................. 17
6. State Machine of CiA402 ..................................................................................................................... 19
7. PDO Mapping ....................................................................................................................................... 21
8. Synchronization Mode ......................................................................................................................... 23
9. Drive’s Mode of Operation .................................................................................................................. 24
9.1 Position Control Mode ............................................................................................................. 24
9.1.1 Profile Position Mode (PP) ........................................................................................... 24
9.1.2 Cyclic Synchronization Position Mode ......................................................................... 28
9.2 Velocity Control Mode ............................................................................................................. 30
9.3 Torque Control Mode ............................................................................................................... 32
9.4 Homing Mode .......................................................................................................................... 33
10. Touch Probe Function .................................................................................................................. 41
A. How to use TwinCAT making connection with drive ........................................................................... 43
B. How to use TwinCAT operating drive in position mode ...................................................................... 46
C. How to use TwinCAT to process dynamic PDO Mapping ..................................................................... 52
D. How to setup the Operational Mode for EtherCAT ............................................................................. 53
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