Beckhoff CX1500-B310, Manual, Page: 99 / 182

Product overview
CX1500-M510, CX1500-B510 99 Version: 1.0
PDO linking: Peer to Peer
If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes
(without a master), the identifier allocation must be appropriately adapted, so that the TxPDO identifier of the
producer agrees with the RxPDO identifier of the consumer: This procedure is known as PDO linking. It
permits, for example, easy construction of electronic drives in which several slave axes simultaneously listen
to the actual value in the master axis TxPDO.
PDO Communication Types: Outline
PDO Communication Types: Outline
CANopen offers a number of possible ways to transmit process data (see also: Notes on PDO
Parameterization [
}
104] ).)
.
Event driven
Event driven
The ”event" is the alteration of an input value, the data being transmitted immediately after this change. The
event-driven flow can make optimal use of the bus bandwidth, since instead of the whole process image it is
only the changes in it that are transmitted. A short reaction time is achieved at the same time, since when an
input value changes it is not necessary to wait for the next interrogation from a master.