Bosch Rexroth ID 40/SLK-CAN - PDO Transmission Types; Transmit PDO Status (Objects 2030 - 2033); Receive PDO Status (Objects 2040 - 2041)

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
9.9.3 PDO transmission types
The SLK supports the noncyclical/asynchronous and asynchronous transmission
types defined in [C17]. This applies both for RPDO and TPDO. Remote transmission
requests (RTR) are not supported.
Asynchronous PDO communication is recommended (transmission types 254, 255).
This transmission type is suitable for very quick system reaction to an event.
9.9.4 Transmit PDO status (objects 2030 – 2033)
This object contains status information for each TPDO channel.
Table 42: Object description
INDEX 2030 - 2033
Name Transmit PDO status for TPDO 1–4
Object code RECORD
Data type PDO status
Category Optional
Table 43: Description of entries
Subindex 00
Description Largest subindex supported
Entry category Mandatory
Access Read only
PDO mapping Nein
Value range 1
Default value See table
Subindex 01
Description PDO valid
Entry category Mandatory
Access Read only
PDO mapping Ja
Value range 0 = content of all PDO entries is valid
0x80 = content of all PDO entries is invalid
Default value None
9.9.5 Receive PDO status (objects 2040 – 2041)
This object contains status information for each RPDO channel.
Table 44: Object description
INDEX 2040 - 2041
Name Receive PDO status for RPDO1–4
Object code RECORD
Data type PDO status
Category Optional
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