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Process Data Communication
7.1.3
In Process Data (PDO) communication, a slave exchanges the process data object (PDO) with a master every cycle.
The data to be exchanged is pre-determined by PDO Mapping in the communication initialization status. The
PDO communication of Ezi-IO EtherCAT AD is classified into a transmission PDO (Tx PDO) which transmits the
analog input data to the master and is used when the Ezi-IO EtherCAT AD is in Operational or Safe-Operational
status.
Figure 7-2. EtherCAT PDO Communication
7.2
PDO Mapping
Through the PDO Mapping, sets the application objects to be exchanged through the PDO communication.
PDO Mapping
7.2.1
The mapping information of TxPDO, which receives the master command, is set in Object 1A00h. In the mapping
table, it records the object IDs and sub-index values and data length (in bit) of exchanging data.
Figure 7-3. PDO Mapping
