Required Objects

The following table summarizes the EtherCAT objects required to use certain WMX3 functions. These objects are applied to EtheCAT datagrams by EcPlatform’s application of ENI files generated by utility from ESI files to the slaves, and be mapped to WMX3 I/O space and CANopen space. Category [M] represents objects that are essential to the control, category [R] represents objects that are recommended for the control, and category [O] represents objects that are available. Motion parameters and the motion functions that use them may refer to the user unit to which the WXM3 gear ratios, etc. are applied. Platform parameters, the platform functions that use them, and profile mode functions refer to the encoder unit to which WXM3 gear ratios, etc. have not been applied.

EtherCAT Object	Address	Subaddr	Rx/Tx	Examples of relevant platform parameters	Examples of relevant motion parameters	CSP	CSV	CST	PP	PV	TQ	HM	Description
Controlword	0x6040	00	Rx	ecApi::EcSlavePdoInfo::controlWord	State control of CiA402 drive profile including CoreMotionAxisStatus::servoOn.	M	M	M	M	M	M	M	This object is a must for all control modes.
Modes of operation	0x6060	00	Rx	ecApi::EcSlavePdoInfo::modesOfOperation	CoreMotionAxisStatus::axisCommandMode PMMotionAxisStatus::operationMode	M	M	M	M	M	M	M	This object is a must for all control modes.
Target position	0x607A	00	Rx	ecApi::EcSlavePdoInfo::targetPosition	CoreMotionAxisStatus::posCmd PMAxisMotion::PosCommand::target	M	-	-	M	-	-	-	Command position.
Target velocity	0x60FF	00	Rx	ecApi::EcSlavePdoInfo::targetVelocity	CoreMotionAxisStatus::velocityCmd PMAxisVelocity::VelCommand::vel PMAxisControl::VelocityProfile::vel	-	M	-	-	M	-	-	Command velocity.
Target torque	0x6071	00	Rx	ecApi::EcSlavePdoInfo::targetTorque	CoreMotionAxisStatus::torqueCmd PMAxisTorque::TrqCommand::torque PMAxisControl::TorqueProfile::torque	-	-	M	-	-	M	-	Target Torque.
Touch probe function	0x60B8	00	Rx	ecApi::EcSlavePdoInfo::touchProbeFunction	EventControl::HardwareTouchProbeStatus::mode	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B9 and Touch probe value). EcPlatform supports three latch sources, Z-phase, hardware touch probe 1, and hardware touch probe 2, allowing up to two signals to be used simultaneously. Below are the input sources determined by the channel and triggerSource arguments of the SetHardwareTouchProbe function. channel = 0, triggerSource = Z-phase Z-phase is set to Touch probe position 1. channel = 0, triggerSource = Touch Probe Signal Touch probe signal 1 is set to Touch probe position 1. channel = 1, triggerSource = Z-phase Z-phase is set to Touch probe position 2. channel = 1, triggerSource = Touch Probe Signal Touch probe signal 2 is set to Touch probe position 2.
Velocity offset	0x60B1	00	Rx	ecApi::EcSlavePdoInfo::velocityOffset	Config::AxisParam::velocityFeedforwardGain	R	O	-	-	-	-	-	In CSP mode, this object is the input value of the velocity feedforward. In CSV mode, this object is the velocity added to the command velocity.
Max torque	0x6072	00	Rx	ecApi::EcSlavePdoInfo::maxTorque	Config::AxisParam::maxTrqLimit PMAxisControl::VelocityProfile::maxTrqLimit	O	O	O	-	M	-	-	Maximum Torque Limit.
Positive torque limit	0x60E0	00	Rx	ecApi::EcSlavePdoInfo::positiveTorqueLimit	Config::AxisParam::positiveTrqLimit	O	O	O	-	O	-	-	Positive torque limit.
Negative torque limit	0x60E1	00	Rx	ecApi::EcSlavePdoInfo::negativeTorqueLimit	Config::AxisParam::negativeTrqLimit	O	O	O	-	O	-	-	Negative torque limit.
Max motor speed	0x6080	00	Rx	ecApi::EcSlavePdoInfo::maxMotorSpeed	Config::AxisParam::maxMotorSpeed PMAxisControl::TorqueProfile::maxMotorSpeed	-	O	O	-	-	M	-	Maximum motor speed.
Statusword	0x6041	00	Tx	ecApi::EcSlavePdoInfo::statusWord	State monitoring of CiA402 drive profile including CoreMotionAxisStatus::servoOn.	M	M	M	M	M	M	M	This object is a must for all control modes.
Modes of operation display	0x6061	00	Tx	ecApi::EcSlavePdoInfo::modesOfOperationDisplay	CoreMotionAxisStatus::axisCommandMode PMMotionAxisStatus::operationMode	M	M	M	M	M	M	M	This object is a must for all control modes.
Error code	0x603F	00	Tx	ecApi::EcSlavePdoInfo::errorCode	CoreMotionAxisStatus::ampAlarmCode PMMotionAxisStatus::ampAlarmCode	O	O	O	O	O	O	O	Amp alarm code.
Position actual value	0x6064	00	Tx	ecApi::EcSlavePdoInfo::positionActualValue	CoreMotionAxisStatus::actualPos PMMotionAxisStatus::actualPos	M	M	R	O	O	O	O	Actual position.
Velocity actual value	0x606C	00	Tx	ecApi::EcSlavePdoInfo::velocityActualValue	CoreMotionAxisStatus::actualVelocity PMMotionAxisStatus::actualVelocity	O	R	O	O	O	O	O	Actual velocity.
Torque actual value	0x6077	00	Tx	ecApi::EcSlavePdoInfo::torqueActualValue	CoreMotionAxisStatus::actualTorque PMMotionAxisStatus::actualTorque	R	R	M	O	O	O	O	Actual torque.
Following error actual value	0x60F4	00	Tx	ecApi::EcSlavePdoInfo::followingError	CoreMotionAxisStatus::actualFollowingError	R	-	-	O	-	-	O	Actual following error.
Digital inputs	0x60FD	00	Tx	ecApi::EcSlavePdoInfo::digitalInput	CoreMotionAxisStatus::positiveLS CoreMotionAxisStatus::negativeLS CoreMotionAxisStatus::homeSwitch PMMotionAxisStatus::positiveLS PMMotionAxisStatus::negativeLS PMMotionAxisStatus::homeSwitch	O	O	O	O	O	O	O	Home switch, positive limit switch, and negative limit switch status. This object is also implicitly mapped to the WMX3 I/O space, so 4 Bytes of IO input data are generated in the WMX3 I/O space.
Touch probe status	0x60B9	00	Tx	ecApi::EcSlavePdoInfo::touchProbeStatus	EventControl::HardwareTouchProbeStatus::latched	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B8 and Touch probe value).
Touch probe position 1 positive value	0x60BA	00	Tx	ecApi::EcSlavePdoInfo::touchProbePositionPos1	EventControl::HardwareTouchProbeStatus::latchedPos	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B9 and 0x60B8). Holds the value latched at the rising edge of touch probe input 1. If channel in the SetHardwareTouchProbe function is 0, the channel is tied to this object.
Profile velocity	0x6081	00	Rx	-	PMAxisMotion::PosCommand::vel	-	-	-	M	-	-	-	Command velocity of profile control mode.
Profile acceleration	0x6083	00	Rx	-	PMAxisMotion::PosCommand::acc PMAxisVelocity::VelCommand::acc PMAxisControl::VelocityProfile::acc	-	-	-	M	M	-	-	Acceleration of profile control mode.
Profile deceleration	0x6084	00	Rx	-	PMAxisMotion::PosCommand::dec PMAxisVelocity::dec PMAxisControl::VelocityProfile::dec	-	-	-	M	M	-	-	Deceleration of profile control mode.
Max profile velocity	0x607F	00	Rx	-	-	-	-	-	-	-	O	-	Maximum velocity of profile control mode. Although this object is supported in the ENI file, there are no parameters or functions associated with this object. It is recommended that this object be excluded from PDOs defined in the ENI file, as there is no way to set a value for Max profile velocity, except for the WMX3 I/O feature, which could cause an initial value of 0 to be sent and limit the profile velocity to 0.
Torque offset	0x60B2	00	Rx	ecApi::EcSlavePdoInfo::torqueOffset	-	R	R	O	-	-	-	-	In CSP and CSV modes, this object is the input value of the torque feedforward. In CST mode, this object is the torque added to the target torque.
Digital output	0x60FE	01	Rx	ecApi::EcSlavePdoInfo::digitalOutput	-	O	O	O	O	O	O	O	Digital output signal of the servo. This object is also implicitly mapped to the WMX3 I/O space, so 4 Bytes of IO output data are generated in the WMX3 I/O space.
Homing method	0x6098	00	Rx	-	PMAxisHome::HomeCommand::method PMAxisControl::HomeProfile::method	-	-	-	-	-	-	M	Homing method of profile control mode.
Speed during search for switch	0x6099	01	Rx	-	PMAxisHome::HomeCommand::speedForSwitch PMAxisControl::HomeProfile::speedForSwitch	-	-	-	-	-	-	M	Velocity during home switch search in homing of profile control mode.
Speed during search for zero	0x6099	02	Rx	-	PMAxisHome::HomeCommand::speedForZero PMAxisControl::HomeProfile::speedForZero	-	-	-	-	-	-	M	Velocity during Z-phase search in homing of profile control mode.
Homing acceleration	0x609A	00	Rx	-	PMAxisHome::HomeCommand::acc PMAxisControl::HomeProfile::acc	-	-	-	-	-	-	M	Acceleration/deceleration in homing in profile control mode.
Touch probe position 1 negative value	0x60BB	00	Tx	-	-	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B9 and 0x60B8). Holds the value latched on the falling edge of touch probe input 1. Although this object is supported in the ENI file, there are no parameters or functions tied to this object.
Touch probe position 2 positive value	0x60BC	00	Tx	ecApi::EcSlavePdoInfo::touchProbePositionPos2	EventControl::HardwareTouchProbeStatus::latchedPos	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B9 and 0x60B8). Holds the value latched at the rising edge of touch probe input 2. If channel in the SetHardwareTouchProbe function is 1, the channel is tied to this object.
Touch probe position 2 negative value	0x60BD	00	Tx	-	-	O	O	O	-	-	-	O	Hardware touch probe, Z-pulse homing (also requires 0x60B9 and 0x60B8). Holds the value latched on the falling edge of touch probe input 2. Although this object is supported in the ENI file, there are no parameters or functions tied to this object.
PDOs of the servos, not supported by WMX3	-	-	-	See the description column.	See the description column.	-	-	-	-	-	-	-	How to reference PDOs of the servos, not supported by WMX3 These can be mapped to the WMX3 I/O space by the ENI file being manually modified appropriately. I/O functions can refer to them. For a specific PDO to be mapped to WMX3 I/O space, for example, the ENI file must contain IoInputSeg or IoOutputSeg must be in the ENI file. PdoRead and TxPdoWrite can read/write them. To use these APIs, AllowPdoReadWrite must be in the ENI file.
PDOs of the I/O modules	-	-	-	See the description column.	See the description column.	-	-	-	-	-	-	-	How to reference PDOs of the I/O modules These can be mapped to the WMX3 I/O space when the ENI file is properly configured by the tool. I/O functions can refer to them. Specific addresses can also be assigned to Near and External Limit Switches.