4 Control
4.1 PDO Communication
The real-time data transfer is performed by process data objects (PDO).
The PDOs correspond to entries in the device object dictionary and provide the interface to the application objects.
Illustration 4.1 PDO Types
NOTICE
Control word (CTW), status word (STW), reference (REF), and Main Actual Value (MAV) are fixed in PDO type 1–3. PDO
type 4 is free configurable.
All receive and transmit PDOs can be configured via the OD.
Map process data into receive and transmit PDOs via
parameter 10-50 Process Data Config Write.
and
parameter 10-51 Process
Data Config Read.
or via OD: 1600–1603 for receive PDOs and OD: 1A00–1A03 for transmit PDOs.
Control
VLT
®
CANopen MCA 105
14
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MG92G102
4
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