из:

For CAN-nodes, 4 asynchronous receive-PDOs for switching valves and the like

For analyzers and CAN-nodes, 1 synchronous transmit-PDO for all process variables (TPDO 2). These are transmitted one after the other, with each SYNC of the next channel each time. The channel number is determined on the basis of the object directory: Starting with object 2020, subindex 1 = channel 1, subindex 2 = channel 2 ... subindex n = channel n, object 2021, subindex 1 = channel n+1 etc.

Спасибо!