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CANopen Network Interface
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1606218 02 08/2006
Process Data Object (PDO) Transmission
Definition of PDO PDOs are objects which provide the communication interface with process data and
enable them to be exchanged in real time. A CANopen device's PDO set describes
the implicit exchanges between this device and its communication partners on the
network.
The exchange of PDOs is authorized when the device is in "Operational" mode.
Types of PDO There are two types of PDO:
PDOs transmitted by the device ("Transmit PDO", "TPDO")
PDOs received by the device ("Receive PDO", "RPDO")
PDO Consumer/
Producer
PDOs are based on the "Producer / consumer" model ("Producer" / "Consumer").
The device which sends out a PDO is called the producer, while the device receiving
it is known as the consumer.
PDO
Transmission
Modes
In addition to data to be transported, it is possible to configure the type of exchange
for each PDO.
The PDO transmission mode can be configured as described in the table below.
Transfer code Transmission mode Notes
Dec. Hex. Cyclic Acyclic Synchron
ous
Asynchro
nous
only RTR
0 0 x x Send PDO on first SYNC
message following an
event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB Reserved -
252 FC x x Receive SYNC message
and send PDO on
Remote Request
253 FD x x Update data and send
PDO on Remote Request
254 to 255 FE to FF x Send PDO on event
(Change of state mode)