Bosch Rexroth ID 40/SLK-CAN - Heartbeat protocol; Boot-up protocol; Communication profile area

CANopen 107/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
9.15 Heartbeat protocol
Protocol for device monitoring, similar to the node guarding protocol. A significant
advantage of the heartbeat protocol is that the bus master only has to define
the SLK's behavior once. Afterward, the SLK reports its current device status
automatically and cyclically as the heartbeat producer.
9.16 Boot-up protocol
The boot-up message indicates to the bus master that the SLK is in PRE-
OPERATIONAL mode and now no longer releases heartbeat telegrams.
9.17 Communication profile area
The objects in the communication profile area have the index range of 1000–1FFF
and are defined in [C17].
This chapter provides only an excerpt of the objects.
9.17.1 Device type (object 1000)
The content of the device type object is 0, see Chapter 9.7 “Standardized device
profile”.
9.17.2 Error register (object 1001)
If the ID 40 system detects an error, bit 0 (generic error) is set. The other bits in the
error register are not supported.
The error register can be mapped to a TPDO (see Chapter 9.9.1 “PDO mapping”).
When an error occurs, the bus master is notified by event.
9.17.3 Manufacturer status register (object 1002)
The bus states for the SLK are shown in the MSR:
• INITIALIZING
• PRE-OPERATIONAL
• OPERATIONAL
• STOPPED
Bit 7 (generic error) always has the same value as bit 0 in the error register.
Table 47: Object description
INDEX 1002
Name Manufacturer status register (MSR)
Object code VAR
Data type Unsigned32
Category Optional
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
ENGLISH