Pdo Transmission Types; Transmit Pdo Status (Objects 2030 - 2033); Receive Pdo Status (Objects 2040 - 2041) - Bosch Rexroth ID 40 Manual

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
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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
Name
Object code
Data type
Category
Table 43: Description of entries
Subindex
Description
Entry category
Access
PDO mapping
Value range
Default value
Subindex
Description
Entry category
Access
PDO mapping
Value range
Default value
9.9.5 Receive PDO status (objects 2040 – 2041)
This object contains status information for each RPDO channel.
Table 44: Object description
INDEX
Name
Object code
Data type
Category
2030 - 2033
Transmit PDO status for TPDO 1–4
RECORD
PDO status
Optional
00
Largest subindex supported
Mandatory
Read only
Nein
1
See table
01
PDO valid
Mandatory
Read only
Ja
0 = content of all PDO entries is valid
0x80 = content of all PDO entries is invalid
None
2040 - 2041
Receive PDO status for RPDO1–4
RECORD
PDO status
Optional