PDO

This view is used to configure the Process Data Objects (PDO).

PDOs are messages send without confirmation used for real time information transfer. PDOs are mapped to a single CAN frame and can contain multiple object dictionary entries with a maximum of 8 bytes of data. Each PDO has an identifier and is transmitted by only one node in the network, however it could be received by more than one node. PDOs must be configured previous to using them.

There are two types of PDO messages: Transmit PDO (TPDO) and Receive PDO (RPDO). It is possible to configure up to 4 TPDO and 4 RPDO.

For further information refer to Command Reference Manual.

Steps to configure a PDO

1-Select the desired PDO from the drop down list at the top of the window.

2-From the left table of mappable objects, drag and drop the ones desired to the right table.

3-A colored bar helps the user to see the mapping capacity of the current PDO. The size is measured in bytes. 

4-Define PDO parameters:

Parameter	Description
COB-ID	In CANopen messages the identifier part of the arbitration field is known as Communication Object Identifier (COB-ID). It is divided into a 4-bit part function code and a 7-bit node-ID as depicted:
Transmission type	Type of transmission for the PDO. Options are: Event driven: Message transmission is triggered when the value mapped into the PDO has changed (Event mode=value changed) or when the specified time (event mode =Timer) has elapsed. PDO transmission is controlled by producer. RTR (Remotely request): Message transmission is initiated on receipt of a RTR message. PDO transmission is driven by the PDO consumer. Synchronously cyclic: Message transmission is triggered by the reception of a certain number of SYNC objects. The PDO transmission is controlled by the SYNC producer. Synchronous acyclic: Message content is applied upon receipt of the RPDO. The PDO reception is controlled by the PDO producer.
Event mode	Trigger for the transmission: Value changed, timer or both
Min refresh rate (ms)	Minimum refresh rate in case of Event driven transmission type with event mode equal to value changed. If no changes occurs after the Min refresh rate time, the PDO will be sent.
Timer duration (ms)	Timer duration for the Event mode = timer

Refer to CANopen protocol documentation for further information on PDO