Pre-Defined Error Field (Object 1003); Electronic Data Sheet (Eds); Overview Of Id 40 Canopen Support - Bosch Rexroth ID 40 Manual

108/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
Table 48: Description of entries
Access
PDO mapping
Value range
Default value
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
CAN COB ID
11-bit (standard)
29-bit (extended)
Baud rates
Node address
DEFTYPE length support
Subindex FF support
Read only
Ja
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)
0
Availability
yes
no
10 kbps
20 kbps
50 kbps
100 kbps
125 kbps
250 kbps
500 kbps
800 kbps
1 Mbps
1 – 127, other values not
permitted
no
no
Comments
Configurable and readable via
RS232. Factory setting = 500
kbps
Configurable and readable via
RS232. Factory setting = 63
Read access to the index of
a standard data type returns
the length of the data type in
bytes