108/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
Table 48: Description of entries
Access Read only
PDO mapping Ja
Value range Bits 0-2: 0 = INITIALIZING
1 = undefined
2 = undefined
3 = undefined
4 = undefined
5 = PRE-OPERATIONAL
6 = OPERATIONAL
7 = STOPPED
Bits 3-6: not used (content 0)
Bit 7: generic error
Bits 8-31: not used (content 0)
Default value 0
9.17.4 Pre-defined error field (object 1003)
The pre-defined error field is designated in [C17] for internal error entries. The
errors detected by the ID 40 system are entered in the pre-defined error field as
emergency error codes (see Chapter 9.11 “Emergency object protocol [EMCY]” and
Chapter 9.10 “CANopen error codes”).
Subindex 0 contains the number of entries. If this subindex is set to 0, the list is
deleted.
9.18 Electronic data sheet (EDS)
The EDS file describes the objects in a CANopen device.
The EDS file can be imported to controllers with CANopen bus master, as well as to
various CANopen configuration tools (e.g., node master, Vector configuration tool,
etc.). This gives the user a convenient project planning solution.
9.19 Overview of ID 40 CANopen support
Function Availability Comments
CAN COB ID
11-bit (standard)
29-bit (extended)
yes
no
Baud rates 10 kbps
20 kbps
50 kbps
100 kbps
125 kbps
250 kbps
500 kbps
800 kbps
1 Mbps
Configurable and readable via
RS232. Factory setting = 500
kbps
Node address 1 – 127, other values not
permitted
Configurable and readable via
RS232. Factory setting = 63
DEFTYPE length support no Read access to the index of
a standard data type returns
the length of the data type in
bytes
Subindex FF support no
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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