BECKHOFF FC5101 - Manual (Page 43)

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Default identifier assignment: Master/Slave
If the consumer-producer model of CANopen PDOs is to be used for direct data exchange between nodes
(without a master), the distribution of identifiers 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 Parameterisati-
on)