Pdo Communication Parameters - Bosch Rexroth ID 40 Manual

Table 38: TPDO mapping 2
Index Subindex Description
1A01 00 No. mapped objects
01 PDO valid
02 MDT status
03 Data byte at MDT address 0x0000
04 Data byte at MDT address 0x0001
05 Data byte at MDT address 0x0002
06 Data byte at MDT address 0x0003
07 Data byte at MDT address 0x0004
08 Data byte at MDT address 0x0005
Table 39: TPDO mapping 3
Index Subindex Description
1A02 00 No. mapped objects
01 MDT ID code - high byte (3)
02 MDT ID code - byte (2)
03 MDT ID code - byte (1)
04 MDT ID code - low byte (0)
05 MDT software version number
06 MDT work pointer - high byte
07 MDT work pointer - low byte
08 Dummy, returns 0
Table 40: TPDO mapping 4
Index Subindex Description
1A03 00 No. mapped objects
9.9.2

PDO communication parameters

The following COB IDs are set by the factory as the default identifiers. These settings
correspond to CANopen specifications and can be changed by the CANopen master
by accessing the appropriate objects, if necessary.
Table 41: PDO communication parameters
Object Index/ COB ID
subindex
RPDO1 1400/01 0x0200 + node ID
RPDO2 1401/01 0x0300 + node ID
TPDO1 1800/01 0x0180 + node ID
TPDO2 1801/01 0x0280 + node ID
TPDO3 1802/01 0x0380 + node ID
TPDO4 1803/01 0x0480 + node ID
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
CANopen 103/176
Value (index)
8
2031/01
2800/01
2200/01
2200/02
2200/03
2200/04
2200/05
2200/06
Value (index)
8
2032/01
2800/09
2800/0A
2800/0B
2800/0C
2800/13
2800/14
2060/00
Value (index)
0
Direction
Master  ID 40/SLK
Master  ID 40/SLK
ID 40/SLK  master
ID 40/SLK  master
ID 40/SLK  master
ID 40/SLK  master