EtherCAT Communication
‑88‑
Figure 5‑4 Tree topology
5.5 PDO Data
Description of PDO Data
The PDO data is used for the master station to modify and read AC drive data in real
time and perform periodic data exchange. Data communication addresses are
directly configured by the AC drive. It is mainly used to:
1. Set AC drive control command and target frequency in real time
2. Read AC drive state and operation frequency in real time
3. Exchange function parameters and monitor data real‑time exchange between the
AC drive and the EtherCAT master station in real time
The PDO process data is used for periodic data exchange between the master station
and AC drive axes, as described in the following table.
Master‑Axis 1 Sending PDO (1601h) Corresponding Data PDO (1A01h) of AC Drive Axis 1
Fixed RPDO Variable RPDO
AC drive
command
AC drive target
frequency
Modifying function
parameters of AC
drive in real time
AC drive state AC drive operation
frequency
Reading function
parameters of AC
drive in real time
RPDO1 RPDO2 RPDO3 to RPDO16 TPDO1 TPDO2 TPDO3 to TPDO16
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