For the PDOs, the initial configuration is specified via static structures that the user can adjust to his circumstances. The code supports variable mapping up to a granularity of 1 byte. All PDOs are also configurable via the object directory. On receipt of a PDO a callback is initiated in which the user can place additional handling code. The user can create up to 200 PDOs and then transmit these event-based through changed data contents, synchronously through the reception of a SYNC message or time-triggered.