CAN Communication
CANopen Application Layer
EPOS4 Communication Guide
3-28 CCMC | 2019-11 | rel8759
The CANopen communication profile distinguishes three message triggering modes:
a) Event-driven
Message transmission is triggered by the occurrence of an object-specific event specified in the
device profile.
b) Polling by remote frames
The transmission of asynchronous PDOs may be initiated upon receipt of a remote request ini-
tiated by another device.
c) Synchronized
Synchronous PDOs are triggered by the expiration of a specified transmission period synchro-
nized by the reception of the SYNC object.
Figure 3-15 CAN communication – PDO communication modes
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