[etherlab-users] TxPDOs and RxPDOs for the D1-N by HIWIN

Ralf Roesch ethercat at cantastic.org
Wed Oct 26 15:13:28 CEST 2016

Hello Erik,

could you resolve your problems?

I'm working with an HIWIN D1-N-18-E0-0-00 which should be of the same
The PDO mapping objects 0x1600 and 0x1A00 are the only one mentioned in
the Handbook "D1-N CoE Drive User Guide".
But they are capable mapping seven PDO entries each (not six).

I could use the variable PDO map for my requirements without problems
(0x60F4 object is part of it):

[root at MCU:~]# ethercat pdos
SM0: PhysAddr 0x1800, DefaultSize   20, ControlRegister 0x26, Enable 1
SM1: PhysAddr 0x18f6, DefaultSize   20, ControlRegister 0x22, Enable 1
SM2: PhysAddr 0x1000, DefaultSize    6, ControlRegister 0x64, Enable 1
  RxPDO 0x1600 ""
    PDO entry 0x6040:00, 16 bit, ""
    PDO entry 0x607a:00, 32 bit, ""
    PDO entry 0x60ff:00, 32 bit, ""
    PDO entry 0x6071:00, 16 bit, ""
    PDO entry 0x60b8:00, 16 bit, ""
    PDO entry 0x607f:00, 32 bit, ""
SM3: PhysAddr 0x1100, DefaultSize   10, ControlRegister 0x20, Enable 1
  TxPDO 0x1a00 ""
    PDO entry 0x603f:00, 16 bit, ""
    PDO entry 0x6041:00, 16 bit, ""
    PDO entry 0x6064:00, 32 bit, ""
    PDO entry 0x606c:00, 32 bit, ""
    PDO entry 0x60b9:00, 16 bit, ""
    PDO entry 0x60ba:00, 32 bit, ""
    PDO entry 0x60f4:00, 32 bit, ""

I do not know your configuration methods using hex2dec. May be there is
going something wrong,
especially line "rv.SlaveConfig.sdo = { hex2dec('6060'),0,8,10; % set
Mode of Operation to Cyclic Synchronous Torque mode" looks to me buggy.


On Thu Sep 29 2016 15:17:38 GMT+0200 (CEST), Erik Euving
<e.j.euving at student.utwente.nl> wrote:
> Dear all,
> Another question regarding the D1-N-36-E0-2-1-00 drive by HIWIN. When
> using the EtherCAT configurator, it is normally possible to
> check/un-check TxPDO and RxPDO SDOs. For example, 0x1600, 0x1601 and
> 0x1602. Likewise, 0x1a00 through 0x1a02. However appears that for the
> D1-N only 0x1600 and 0x1a00 are available, there are no others listed.
> The manual does not mention them either, leading me to assume that
> they are not available. Is this a correct assumption?
> I proceeded to try and program using the two I have (1600 and 1a00).
> Both theoretically have space for 6 PDOs each, of which only 2 and 3
> entries are used by default, respectively for 0x1600 and 0x1a00. I
> decided to add a few more. Below the lines of code I used for this in
> the m-file:
> rv.SlaveConfig.sdo = { hex2dec('6060'),0,8,10; % set Mode of Operation
> to Cyclic Synchronous Torque mode
>             hex2dec('1600'),3,32,hex2dec('60710010'); % adding Target
> Torque to mapping entry 3 of RxPDOs 
>             hex2dec('1600'),4,32,hex2dec('60B20010')}; % adding Torque
> Offset to mapping entry 4 of RxPDOs 
> %         hex2dec('1a00'),4,32,hex2dec('60f40020'); % adding Following
> Error Actual Value to mapping entry 4 of TxPDOs
> %         hex2dec('1a00'),0,8,4}; % defining the number of objects in
> 0x1a00
> This conf. file loads and builds fine. No problem adding objects to
> the RxPDOs. But once I uncomment the same lines of code for the TxPDOs
> (for the Following Error, for example), I get 'Invalid Output
> configuration' errors. Does anyone have an idea why this could be? If
> needed, I can supply more lines of codes or from the terminal, but for
> now I won't make this email longer than needed.
> Thank you!
> Kind regards,
> Erik Euving
> _______________________________________________
> etherlab-users mailing list
> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users

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