Bosch Rexroth ID 40/SLK-CAN - Page 102

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
9.9.1.1 Object 1600-1601: Receive PDO mapping parameters
These parameters are available in the 160x objects, whereby x + 1 stands for the
number of each RPDO channel.
Table 35: RPDO mapping 1
Index Subindex Description Value (index)
1600 00 No. mapped objects 8
01 PDO valid 2040/01
02 Commanded link state 2600/02
03 Auto mode configuration 2600/03
04 SLK operative flag 2600/04
05 MDT counter - high byte (byte 3) 2600/05
06 MDT counter - byte 2 2600/06
07 MDT counter - byte 1 2600/07
08 MDT counter - low byte (byte 0) 2600/08
Table 36: RPDO mapping 2
Index Subindex Description Value (index)
1601 00 No. mapped objects 8
01 PDO valid 2041/01
02 MDT status 2800/01
03 Byte at MDT address 0x0000 2200/01
04 Byte at MDT address 0x0001 2200/02
05 Byte at MDT address 0x0002 2200/03
06 Byte at MDT address 0x0003 2200/04
07 Byte at MDT address 0x0004 2200/05
08 Byte at MDT address 0x0005 2200/06
9.9.1.2 Object 1A00-1A03: Transmit PDO mapping parameters
These parameters are available in the 1A0x objects.
Table 37: TPDO mapping 1
Index Subindex Description Value (index)
1A00 00 No. mapped objects 8
01 PDO valid 2030/01
02 Actual link state 2600/01
03 Auto mode configuration 2600/03
04 SLK operative flag 2600/04
05 MDT counter - high byte (byte 3) 2600/05
06 MDT counter - byte 2 2600/06
07 MDT counter - byte 1 2600/07
08 MDT counter - low byte (byte 0) 2600/08
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY