The IODDTs are predefined by the manufacturer and contain inputs/outputs language objects belonging to a channel of a specific application module.
CANopen communication has one associated IODDT:
NOTE: the creation of an IODDT-type variable is performed in two ways:
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I/O object tab,
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Data editor.
Each IODDT contains a group of language objects which are used to control them and check their operation.
There are two types of language objects:
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implicit exchange objects automatically exchanged at each cycle of the task associated with the module,
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explicit exchange objects exchanged at the request of the application, using explicit exchange instructions.
Implicit exchanges concern the status of the modules, the communication signals, the slaves, etc.
Explicit exchanges allow module parametering and diagnostics.
NOTE: Each slave device has an IODDT (except FTB). For more information, please refer to the user manual of the concerned device.
