Bosch Rexroth ID 40/SLK-CAN - Page 5

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3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
8.6 SLK address table 75
8.7 Interbus error codes 76
8.8 Sample applications 77
8.8.1 “Manual workstation” application 77
8.8.2 “Outfeed” application 79
8.8.3 “Workstation” application 80
8.8.4 “Resetting SLK” application 83
8.8.5 Handling “E00” errors 84
9 CANopen 85
9.1 Overview 85
9.2 Object directory 85
9.3 Command-oriented data exchange 86
9.4 Event-oriented data exchange 86
9.5 MDT data transmission with transfer buffers 87
9.5.1 Transfer buffer parameters (objects 2100–2103) 88
9.5.2 Object mapping in the transfer buffer (objects 2110–2113) 89
9.5.3 SLK address table 91
9.5.4 Transfer buffers (objects 2120–2123) 92
9.5.5 Direct data exchange 92
9.5.6 Prefetch data exchange 92
9.5.7 Pretransmit data exchange 93
9.6 ID 40 objects (manufacturer-specific profile area) 94
9.6.1 Saving objects (saving parameters) 97
9.6.2 MDT user memory (objects 2200–220E) 97
9.6.3 SLK register area (object 2600) 97
9.6.4 MDT register area (object 2800) 97
9.7 Standardized device profile 98
9.8 SDO communication 98
9.8.1 SDO 1 98
9.8.2 SDO 2 99
9.8.3 SDO timeout client (object 2020) 99
9.9 PDO communication 100
9.9.1 PDO mapping 101
9.9.2 PDO communication parameters 103
9.9.3 PDO transmission types 104
9.9.4 Transmit PDO status (objects 2030 – 2033) 104
9.9.5 Receive PDO status (objects 2040 – 2041) 104
9.9.6 SYNC synchronization protocol 105
9.10 CANopen error codes 106
9.11 Emergency object protocol (EMCY) 106
9.12 NMT protocols 106
9.13 Error control protocols 106
9.14 Node guarding protocol 106
9.15 Heartbeat protocol 107
9.16 Boot-up protocol 107
9.17 Communication profile area 107
9.17.1 Device type (object 1000) 107
9.17.2 Error register (object 1001) 107
9.17.3 Manufacturer status register (object 1002) 107
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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