SD710 Series Servo Drive User Manal Chapter 11 Communication
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11.2.4 Process Data Objects (PDO)
The Process Data Object (PDO) is used to transfer real-time data and is the dominant data transfer method in Canopen.
The transfer of PDO is fast because it does not require an answer and the length of the PDO must not exceed 8 bytes.
The mapping configuration process for PDO is as follows.
Start
Invalid PDO
Eliminate original mapping
content
Write to PDO mapping content
Total number of objects
written to this PDO map
Valid PDO
END
The highest bit of COB_ID of PDO is written "1"
Write "0" to the subindex 0 of the mapped object
Define the mapping object according to the
mapping object
The number of mappings is written to subindex 0
The highest bit of COB_ID of PDO is written "0"
Figure 11-5 PDO Mapping Configuration Flow
