Bosch Rexroth ID 40 Manual page 109

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