Bosch Rexroth ID 40/SLK-CAN - PDO Communication Parameters

CANopen 103/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
Table 38: TPDO mapping 2
Index Subindex Description Value (index)
1A01 00 No. mapped objects 8
01 PDO valid 2031/01
02 MDT status 2800/01
03 Data byte at MDT address 0x0000 2200/01
04 Data byte at MDT address 0x0001 2200/02
05 Data byte at MDT address 0x0002 2200/03
06 Data byte at MDT address 0x0003 2200/04
07 Data byte at MDT address 0x0004 2200/05
08 Data byte at MDT address 0x0005 2200/06
Table 39: TPDO mapping 3
Index Subindex Description Value (index)
1A02 00 No. mapped objects 8
01 MDT ID code - high byte (3) 2032/01
02 MDT ID code - byte (2) 2800/09
03 MDT ID code - byte (1) 2800/0A
04 MDT ID code - low byte (0) 2800/0B
05 MDT software version number 2800/0C
06 MDT work pointer - high byte 2800/13
07 MDT work pointer - low byte 2800/14
08 Dummy, returns 0 2060/00
Table 40: TPDO mapping 4
Index Subindex Description Value (index)
1A03 00 No. mapped objects 0
9.9.2 PDO communication parameters
The following COB IDs are set by the factory as the default identifiers. These settings
correspond to CANopen specifications and can be changed by the CANopen master
by accessing the appropriate objects, if necessary.
Table 41: PDO communication parameters
Object Index/
subindex
COB ID Direction
RPDO1 1400/01 0x0200 + node ID Master  ID 40/SLK
RPDO2 1401/01 0x0300 + node ID Master  ID 40/SLK
TPDO1 1800/01 0x0180 + node ID ID 40/SLK  master
TPDO2 1801/01 0x0280 + node ID ID 40/SLK  master
TPDO3 1802/01 0x0380 + node ID ID 40/SLK  master
TPDO4 1803/01 0x0480 + node ID ID 40/SLK  master
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
ENGLISH