Bosch Rexroth ID 40/SLK-CAN - Page 109

CANopen 109/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
Function Availability Comments
Permanently save parameters yes Selected values remain
unchanged after voltage
recovery
Triggering modes
Event-driven
Timer-driven
Remotely requested
yes
no
no
SDO (client)
no
SDO (server)
No. SDO channels
Upload/download
Expedited transfer
Segmented transfer
Block transfer
2
yes
yes
Yes (with CRC support)
1x master, 1x diagnostics
The second SDO channel can
be deactivated.
PDO
No. PDO channels
Transmission mode
Noncyclical/synchronous
Cyclical/synchronous
Synchronous/RTR
Asynchronous/RTR
Asynchronous
Dynamic mapping in
PRE-OPERATIONAL
OPERATIONAL
4 TPDO, 2 RPDO
yes
no
no
no
yes
yes
yes
The indicated transmission
modes apply both for TPDOs
and RPDOs.
Synchronization protocol
(SYNC)
Support as
Consumer
Producer
yes
no
No high resolution synchroni-
zation protocol required
Time protocol
Support as
Consumer
Producer
no
no
Emergency object protocol
Support as
Consumer
Producer
no
yes
NMT protocols
Start remote node
Stop remote node
Enter PRE-OPERATIONAL
Reset node
Reset communication
yes
yes
yes
yes
yes
Error control protocol
Node guarding protocol
Heartbeat protocol
Consumer
Producer
yes
no
yes
Boot-up protocol
yes
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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