Hiwin E1 Series Installation instructions

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EtherCAT(CoE) Communications
Command Manual
E1 Series Servo Drive

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Revision History
Revision History
Release Date Version Applicable Product Revision Contents
Dec. 04th, 2018 1.0 E1-series CoE drive First edition.

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual Table of Contents
Table of Contents
1. About this Manual ............................................................................................................................................ 1-1
1.1 Preface............................................................................................................................................ 1-2
1.2 Trademark....................................................................................................................................... 1-2
1.3 General precautions ....................................................................................................................... 1-3
1.4 Safety precautions .......................................................................................................................... 1-4
2. EtherCAT Communication................................................................................................................................ 2-1
2.1 System configuration ...................................................................................................................... 2-2
2.2 Specifications.................................................................................................................................. 2-2
2.3 EtherCAT frame structure ............................................................................................................... 2-4
2.3.1 EtherCAT commands ............................................................................................................. 2-5
2.3.2 WKC (Working Counter) ........................................................................................................ 2-6
2.4 EtherCAT State Machine ................................................................................................................ 2-7
2.5 Synchronous mode....................................................................................................................... 2-10
2.5.1 DC ........................................................................................................................................ 2-10
2.5.2 FreeRun ................................................................................................................................2-11
2.6 SDO abort code .............................................................................................................................2-11
2.7 Emergency message .................................................................................................................... 2-12
2.8 PDO (Process Data Object) ......................................................................................................... 2-13
2.8.1 PDO mapping object ............................................................................................................ 2-13
2.8.2 PDO assign object ............................................................................................................... 2-14
2.9 EtherCAT display and setting area ............................................................................................... 2-15
2.9.1 Node address setting ........................................................................................................... 2-15
2.9.2 EtherCAT indicators ............................................................................................................. 2-16
2.10 EtherCAT related errors ................................................................................................................ 2-17
3. Object Dictionary.............................................................................................................................................. 3-1
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
3.2 Standardized device profile area .................................................................................................. 3-12
3.2.1 PDS (Power Drive System).................................................................................................. 3-19
3.2.2 Profile position mode (pp) .................................................................................................... 3-22

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 Profile torque mode (tq) ....................................................................................................... 3-39
3.2.8 Cyclic synchronous torque mode (cst)................................................................................. 3-41
3.2.9 Touch probe function............................................................................................................ 3-42
3.3 Manufacturer specific profile area ................................................................................................ 3-45
3.3.1 Absolute encoder initialization ............................................................................................. 3-45
3.4 Object dictionary list...................................................................................................................... 3-46

1. About this Manual
1. About this Manual ............................................................................................................................................ 1-1
1.1 Preface............................................................................................................................................ 1-2
1.2 Trademark....................................................................................................................................... 1-2
1.3 General precautions ....................................................................................................................... 1-3
1.4 Safety precautions .......................................................................................................................... 1-4

E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual About this Manual
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1.1 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 ® is a registered trademark and a patent technology, licensed by Beckhoff Automation GmbH,
Germany.

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1.3 General precautions
This manual is for E1-series CoE drive. Before using the product, please carefully read through this manual.
HIWIN Mikrosystem (HIWIN) is not responsible for any damage, accident or injury caused by failure in
following the installation instructions and operating instructions stated in this manual.
Do not disassemble or modify the product. The design of the product has been verified by structural
calculation, computer simulation and actual testing. HIWIN is not responsible for any damage,
accident or injury caused by disassembly or modification done by users.
Before installing or using the product, ensure there is no damage on its appearance. If any damage
is found after inspection, please contact HIWIN or local distributors.
Carefully read through the specification noted on product label or technical document. Install the
product according to its specification and installation instructions stated in this manual.
Ensure the product is used with power supply specified on product label or in product requirement.
HIWIN is not responsible for any damage, accident or injury caused by incorrect power supply.
Ensure the product is used with rated load. HIWIN is not responsible for any damage, accident or
injury caused by improper usage.
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.
Do not repair the product by yourself when it malfunctions. The product can only be repaired by
qualified technician from HIWIN.

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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
precautions before usage.
Safety precautions in this manual are classified into “Warning”, “Attention”, “Prohibited” and
“Required”.
Signal Word Description
It indicates if the precaution is not observed, it is likely to cause property
loss, serious injury or death.
It indicates the precaution must be observed.
It indicates prohibited activity.
It indicates mandatory activity.
DANGER
Ensure the drive is correctly grounded. Use PE bar in the control cabinet as reference potential.
Perform low-ohmic grounding for safety reason.
Do not remove motor power cable from the drive when it is still power-on, or there is a risk of electric shock
or damage to the contact.
Do not touch the live part (contact or bolt) within 5 minutes after disconnecting the drive from power supply.
For your own safety, we suggest measuring the voltage in the intermediate circuit and wait until it falls to
40Vdc before touching the live part.

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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
after power off, or the residual voltage may cause electric shock.
Do not modify wiring when power on, or it may cause electric shock.
Do not damage, apply excessive force to, place any heavy object on the cable
or put the cable between two objects, or it may cause electric shock or fire.
Do not use the product in location which is subject to humidity, corrosive
materials, flammable gas or flammable materials.
Storage
Do not store the product in location which is subject to water, water drop, direct
sunlight, harmful gas or liquid.
Transportation
Carefully move the product to avoid damage.
Do not apply excessive force to the product.
Do not stack the products to avoid collapse.
Installation site
Do not install the product in location with high ambient temperature and high
humidity or location which is subject to dust, iron powder or cutting powder.
Install the product in location with ambient temperature stated in the manual.
Use cooling fan if the ambient temperature is too high.
Do not install the product in location which is subject to direct sunlight.
The product is not drip-proof or waterproof, so do not install or operate the
product outdoor or in location which is subject to water or liquid.
Install the product in location with less vibration.
Motor generates heat when running for a period of time. Use cooling fan or
disable the motor when it is not in use, so the ambient temperature will not
exceed product specification.

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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.
Install the product in the specified orientation, or it may cause fire.
Avoid strong shock to the product, or it may cause malfunction or injury.
When installing the product, take the product weight into consideration.
Improper installation may cause damage.
Install the product on noncombustible objects, such as metal to avoid fire.
Wiring
Ensure wiring is correctly performed, or it may cause malfunction or burn.
There is a risk of injury or fire.
Operation and transportation
Use power supply specified in product specification, or it may cause injury or
fire.

The product may suddenly start to operate after power supply recovers.
Please do not get too close to the product.
Set external wiring for emergency stop to stop the motor at any time.
Maintenance
Do not disassemble or modify the product.
Do not repair the product by yourself when it malfunctions, please contact
HIWIN for help.

2. EtherCAT Communication
2. EtherCAT Communication................................................................................................................................ 2-1
2.1 System configuration ...................................................................................................................... 2-2
2.2 Specifications.................................................................................................................................. 2-2
2.3 EtherCAT frame structure ............................................................................................................... 2-4
2.3.1 EtherCAT commands ............................................................................................................. 2-5
2.3.2 WKC (Working Counter) ........................................................................................................ 2-6
2.4 EtherCAT State Machine ................................................................................................................ 2-7
2.5 Synchronous mode....................................................................................................................... 2-10
2.5.1 DC ........................................................................................................................................ 2-10
2.5.2 FreeRun ................................................................................................................................2-11
2.6 SDO abort code .............................................................................................................................2-11
2.7 Emergency message .................................................................................................................... 2-12
2.8 PDO (Process Data Object) ......................................................................................................... 2-13
2.8.1 PDO mapping object ............................................................................................................ 2-13
2.8.2 PDO assign object ............................................................................................................... 2-14
2.9 EtherCAT display and setting area ............................................................................................... 2-15
2.9.1 Node address setting ........................................................................................................... 2-15
2.9.2 EtherCAT indicators ............................................................................................................. 2-16
2.10 EtherCAT related errors ................................................................................................................ 2-17

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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. The master generates EtherCAT Network Information (ENI) by a configuration tool based on
EtherCAT Slave Information (ESI). The ESI file, which provides the peculiar information of the slaves, is
an XML-format file given by HIWIN.
2.2 Specifications
Table 2.2.1
Item Specification
Physical layer 100BASE-TX (IEEE 802.3)
Baud 100Mbps
Connecting cable Ethernet Category 5 or higher (A twisted-pair cable with double, aluminum tape
and braided shielding is recommended.)
Cable length Maximum 100m between nodes
Connectors RJ45 x2
CN9 IN: EtherCAT input
CN9 OUT: EtherCAT output
EtherCAT indicators L/A IN x1
L/A OUT x1
RUN x1
ERR x1
Station alias (ID) Setting 1: 8 bits from 2-digit rotary switch at front panel (Range: 0~255)
Setting 2: value saved in EEPROM (Range:0~65535)
Device profile CoE (CANopen over EtherCAT)
SyncManager 4
FMMU 3
CiA 402 drive profile Profile position mode
Profile velocity mode
Profile torque mode
Homing mode
Cyclic synchronous position mode
Cyclic synchronous velocity mode

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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)
PDO (process data object)
SDO message SDO request, SDO response, emergency message
PDO mapping Configurable
Maximum number of
PDO mapping objects
RxPDO: 8
TxPDO: 8
Maximum PDO data length RxPDO: 32 Bytes
TxPDO: 32 Bytes

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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. If frame checksum is invalid, the slave will set the data invalid for local application.
Figure 2.3.1

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2.3.1 EtherCAT commands
Table 2.3.1.1
CMD Abbr. Name Description
0
NOP
No operation
Slave ignores command.
1 APRD Auto increment read Slave increases address. Slave puts read data into
EtherCAT datagram if received address is zero.
2 APWR Auto increment write Slave increase
s address. Slave writes data into
memory location if received address is zero.
3 APRW Auto increment read write
Slave increases address. Slave puts read data into
EtherCAT datagram and writes data into the same
memory location if received address is zero.
4 FPRD Configured address read Slave puts read data into EtherCAT datagram if
address matches one of its configured addresses.
5 FPWR Configured address write Slave writes data into memory location if address
matches one of its configured addresses.
6 FPRW Configured address read write
Slave puts read data into EtherCAT datagram and
writes data into the same memory l
ocation if
address matches one of its configured addresses.
7 BRD Broadcast read
All slaves put logical OR of data of memory area
and data of EtherCAT datagram into EtherCAT
datagram. All slaves increase position field.
8 BWR Broadcast write All slaves write data into memor
y location. All
slaves increase position field.
9 BRW Broadcast read write
All slaves put logical OR of data of memory area
and data of EtherCAT datagram into EtherCAT
datagram, and write data into memory location. All
slaves increase position field. BRW is typically not
used.
10 LRD Logical memory read
Slave puts read data into EtherCAT datagram if
received address matches one of the configured
FMMU areas for reading.
11 LW R Logical memory write
Slaves writes data to into memory location if
received address matches one of the configured
FMMU areas for writing.
12 LRW Logical memory read write
Slave puts read data into EtherCAT datagram if
received address matches one of the configured
FMMU areas for reading. Slaves writes data into
memory location if received address matches one
of the configured FMMU areas for writing.
13 ARMW Auto increment read multiple write
Slave increases address. Slave puts read data into
EtherCAT datagram if received address is zero,
otherwise slave
writes the data into memory
location.
14 FRMW Configured address read multiple write
Slave puts read data into EtherCAT datagram if
address matches one of its configured addresses,
otherwise slave writes the data into memory
location.

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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.
Table 2.3.2.1
Command Data type Increment
Read
Fail
0
Succeed
+1
Write
Fail
0
Succeed
+1
Read write
Fail
0
Read succeed +1
Write succeed
+2
Read write succeed
+3

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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.
They are acknowledged by the local application after the associated operations have been executed.
Unsolicited state changes of the local application are also possible.
E1-series drive supports the following four states.
Init
Pre-Operational
Safe-Operational
Operational
The states and the allowed state changes are shown in Figure 2.4.1.
Figure 2.4.1
Note: Not all state changes are possible. For example, the transition from ‘Init’ to ‘Operational’ requires
the following sequence: Init → Pre-Operational → Save-Operational → Operational.

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Table 2.4.1
State / State change Description
Init No communication on Application Layer (AL)
Master accesses to Data Link (DL)-Information registers
Init to PreOp
(IP)
Master configures registers
- DL address register
- SyncManager channels for Mailbox communication
Master requests ‘Pre-Operational’ state
- Master sets AL Control register
Wait for AL Status register confirmation
Pre-Operational
(PreOp)
Mailbox communication on AL
No Process Data communication
PreOp to SafeOp
(PS)
Master configures parameters via Mailbox
- e.g., Process Data Mapping
Master configures DL Register
- SyncManager channels for Process Data communication
- FMMU channels
Master initializes DC clock synchronization
Master requests ‘Safe-Operational’ state
Wait for AL Status register confirmation
Safe-Operational
(SafeOp)
Mailbox communication on AL
Process Data communication (Only Inputs are valid)
Drive remains in Safe state (Outputs are blocked)
SafeOp to Op
(SO)
Master sends valid Outputs
Master requests ‘Operational’ state (AL Control / Status)
Wait for AL Status register confirmation
Operational
(Op)
Inputs and Outputs are valid
Table 2.4.2
ESM state Communication operation
send / receive SDO (Mailbox) TxPDO RxPDO
Init - - -
PreOp
O
-
-
SafeOp
O
O
-
Op O O O

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Table 2.4.3 shows the relationship between PDS (Power Drive System) and ESM states.
Table 2.4.3
ESM
PDS
Init PreOp SafeOp Op
Not ready to switch on
O
-
-
O
Switch on disabled
O
O
O
O
Ready to switch on
-
O
O
O
Switched on
-
O
O
O
Operation enabled - O O O
Fault reaction active
O
O
O
O
Fault
O
O
O
O
Note:
1. When ESM state receives a transition command from PreOp, SafeOp and Op to Init, PDS state
changes to Switched on disabled.
2. When PDS is at Operation enabled state but ESM changes to other states except Op, an error
occurs and PDS state changes to Fault.
3. Change of PDS state has no effect on ESM state.

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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.
Figure 2.5.1.1