10.3.2 Software Introduction
10.3.1.1 EDS
EDS（Electronic Data Sheet）file is an identification documents or similar code of slave device,to identify what
kind of slave device is(Like 401,402 and 403,or which device type of 402).This file includes all information of
slaves,such as manufacturer,sequence No.,software version,supportable baudrate,mappable OD and
attributes of each OD and so on,similar to the GSD file for Profibus.Therefore,we need to import the EDS file
of slave into the software of master before we configure the hardware.
10.3.1.2 SDO
SDO is mainly used in the transmit the low priority object between the devices, typically used to configure
and mange the device,such as modifying PID parameters in current loop,velocity loop and position loop,and
PDO configuration parameters and so on.This data transmission mode is the same as Modbus,that is it
needs reponse from slave when master sends data to slave.This communication mode is suitable for
parameters setting,but not for data transmission frequently.
SDO includes upload and download.The host can use special SDO instructions to read and write the OD
of servo.
10.3.1.3 PDO
PDO can transport 8 bytes of data at one time,and no other protocol preset(Mean the content of the data
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