Process Data Objects (PDO)

Process Data Objects (PDO) transmit any process data for the process control.

The PDOs are transmitted in broadcast without any confirmation back to the transmitting device.

There are two types of PDOs:

• Receive PDOs (RX_PDO, from master to slave)

• Transmit PDOs (TX_PDO, from slave to master)

All PDOs can be asynchronous or synchronous:

• Asynchronous receive PDOs are handled as soon as possible after their receipt.

• Asynchronous transmit PDOs have TX_PDOx_Event_Timer (180x.5H) objects that can specify a transmission frequency for asynchronous PDOs. For more information, see the standard CiA DS 301 V4.01.

The static mapping also defines the preset configuration for dynamic mapping.

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• • Static mapping is available only for drives with firmware V00r73 or lower.
  • Dynamic mapping and static mapping are available for drives with firmware V00r74 or superior.