EtherCAT Communication
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6.4 Topology
After enabling communication between the ECAT card and the AC drive, connecting
the ECAT card to the ECAT master correctly and completing relevant communication
configuration can enable the communication between the ECAT card and ECAT
master and the AC drive networking function.
The ECAT card supports various topological structures including star, bus, and tree
topologies and their combinations. This enables flexible and convenient equipment
connection and wiring. The following figure shows the bus topology.
Figure 6‑4 EtherCAT bus topology
6.5 PDO Data
PDO Data Description
The PDO data enables the master to modify and read AC drive data in real time and
perform periodic data exchange. The data communication addresses are directly
configured by the AC drive. The functions of PDO data are as follows:
1. Setting the AC drive control command and target frequency in real time
2. Reading the current state and running frequency of the AC drive in real time
3. Exchanging function parameter and monitoring parameter data between the AC
drive and EtherCAT master in real time
The PDO process data is used for periodic data exchange between the master and AC
drive axes, as described in the following table.
Transmit PDO from the Master to Axis 1 (1601h) Response PDO of AC Drive Axis 1 (1A01h)
Fixed RPDO Variable RPDO
AC Drive
Command
AC Drive Target
Frequency
AC Drive
Parameters
Modified in Real
Time
AC Drive State AC Drive Running
Frequency
AC Drive
Parameters Read
in Real Time
RPDO1 RPDO2 RPDO3 to RPDO12 TPDO1 TPDO2 TPDO3 to TPDO12
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