D301087 0308 - BL20 CANopen 2-5
CANopen
2
PDO transmissions
PDO transmissions may be driven by an internal event, by an
internal timer, by remote requests and by the Sync message
received:
Event- or timer-driven:
An event (specified in the device profile) triggers message trans-
mission. An elapsed timer additionally triggers the periodically
transmitting nodes.
Remotely requested:
Another device may initiate the transmission of an asynchronous
PDO by sending a remote transmission request (remote frame).
Synchronous transmission:
In order to initiate simultaneous sampling of input values of all
nodes, a periodically transmitted Sync message is required.
Synchronous transmission of PDOs takes place in cyclic and
acyclic transmission mode. Cyclic transmission means that the
node waits for the Sync message, after which it sends its
measured values. Acyclically transmitted synchronous PDOs are
triggered by a defined application-specific event.
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