Beckhoff EL6751 Documentation page 103

Parameterization and commissioning
Fig. 114: Default identifier allocation: Master/Slave
Fig. 115: PDO linking: Peer to Peer
If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes
(without a master), the identifier allocation must be appropriately adapted, so that the TxPDO identifier of the
producer agrees with the RxPDO identifier of the consumer: This procedure is known as PDO linking. It
permits, for sample, easy construction of electronic drives in which several slave axes simultaneously listen
to the actual value in the master axis TxPDO.
PDO Communication Types: Overview
CANopen offers a number of possible ways to transmit process data (see also: Notes on PDO
Parameterization [} 109]).
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