Beckhoff CX1500-M510 Manual page 16

Product overview
Default identifier allocation: Master/Slave
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 example, easy construction of electronic drives in which several slave axes simultaneously listen
to the actual value in the master axis TxPDO.
PDO Communication Types: Outline
CANopen offers a number of possible ways to transmit process data (see also: Notes on PDO
Parameterization [} 104]).)
16 Version: 1.0 CX1500-M510, CX1500-B510