In EtherCAT communication, synchronous data communication is worked through the Process Data Object (PDO). Process data includes TxPDO, which is sent from the inverter to the EtherCAT master, and RxPDO, which is sent from the EtherCAT master to the inverter.
And there are two kinds of profiles like CiA402 and LS device profile. With LS device profile(PDO3), the user can randomly map data defined in the object Dictionary of the inverter via COM31-COM38 and COM51-COM58. For CiA402 Profile, it is fixed with control word, target velocity, Status word, and velocity actual value.
Belows are examples.