Poll Response Chaining

The POWERLINK protocol also incorporates the "poll response chaining" feature.
Instead of querying CNs sequentially using PReq frames, the CNs are queries all at once by the PResMN frame, which is sent as a multicast. This increases performance if several nodes with only a small amount of process data are connected.
This feature is ideal for centralized control modes such as robot applications with a centrally closed velocity or current control loop.