CANopen Master Source Code

The PDO handler has the task of accepting received PDOs from the slaves and forwarding them to the process map of the data interface. In the other direction, it transmits values from the application to the slaves. This can take place cyclically (by SYNC) or it can be event-driven (by change).

The assignment between PDO and storage of data takes place exclusively via the local object directory. The application is thus completely uncoupled from concrete communication tasks.