Pdo; Data Flow - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.4

PDO

The PDO function transfers data in real time between multiple CANopen nodes.
There are two types of PDO: TPDO and RPDO. TPDOs send data and RPDOs receive data from any TPDO.

Data flow

The following figure shows the flow of sending/receiving buffer memory data using PDOs.
Any CAN-ID can be set to each TPDO and each RPDO, and RPDO receives data from the TPDO whose CAN-ID is the same
as its CAN-ID.
TPDOs send data of any object in the object dictionary. RPDOs store received data in any object.
Map TPDOs and RPDOs to areas 'TPDO' (Un\G13000 to Un\G14023) and 'RPDO' (Un\G10000 to Un\G11023) to send/
receive buffer memory data.
RCPU
Device
1 FUNCTIONS
40
1.4 PDO
Node ID = 1
RJ71CN91
Buffer memory
RPDOn
CAN-ID = 283
'RPDO'
(Un\G10000 to
Un\G11023)
TPDO1
'TPDO'
CAN-ID = 181
(Un\G13000 to
Un\G14023)
Node ID = 2 Node ID = 3
TPDO1 TPDO2
CAN-ID = 182 CAN-ID = 283
RPDOn RPDOn
CAN-ID = 181 CAN-ID = 181