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(5) Mailbox
In EtherCAT protocol, Mailbox uses master-slave method to exchange data; the transmitter and
receiver need to continuously confirm if the data is successfully transmitted through handshaking.
Through several handshaking processes, it can make sure the data can be received by the receiver
accurately.
(6) PDO
In EtherCAT protocol, PDO transmission does not need to set up on any protocol; hence, it can
complete data transmission very rapidly and is used to real-time data transmission in EtherCAT
communication.
There are two PDO transmission directions: TxPDO & RxPDO. TxPDO direction is from the slave
driver to master controller; RxPDO direction is from the master controller to slave driver.
(7) PDO mapping
As PDO transmission does not include any protocol, it is necessary to place the data to be received
to the correct object through PDO mapping.
JSDG2S-E servo driver supports four sets of object address that can alter mapping object randomly
of RxPDO & TxPDO; when using PDO communication, the user can select one from RxPDO & TxPDO
respectively to set up the required object mapping.
RxPDO provides 1600h~0x1603h; TxPDO provides 1A00h~0x1A03h. The user can choose one
from each to use on PDO mapping.
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