Process data (PDO)
Application Manual POWERLINK Controlled Node
Document no. 5.13013.04 Baumüller Nürnberg GmbH
38
of 80
5.5
The structure of the PollResponse (PRes) frame is as follows:
Bit offset
Byte offset 7 6 5 4 3 2 1 0
0 Message Type = PRes (0x04)
1 Destination = Broadcast Address (0xFF)
2 Source = Node ID of the CN
3 NMT status
4 res res MS EN res res res RD
5 res res PR RS
6 PDOVersion
7 reserved
8 ... 9 Size (Size of the process data in byte)
10 ... n Payload
MS (Multiplexed Slot)
EN (Exception New)
RD (Ready)
PR (Priority)
RS (Request To Send)
5.5.2 PDO Mapping
Mapping is a method of assigning variables/objects to PDOS. With these PDOs these
variables/objects are transmitted via POWERLINK. Due to mapping the cyclic data ex-
change is configured. SDOs are used for the p
arameterization. The mapping is set via
addressable objects in the object library.
Two objects each exist for the TPDO and the RPDO (see also ZDir
ectory of objects for
communication control– fr
om page 28). One of these objects determines the contents of
the PDO, the second one determines the communication relation respec
tively triggering.
Process data object Object for content Object for the
communication relation
TPDO 0x1A00 0x1800
RPDO 0x1600 0x1400
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