Bosch Rexroth ID 40 Manual page 102

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
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9.9.1.1 Object 1600-1601: Receive PDO mapping parameters
These parameters are available in the 160x objects, whereby x + 1 stands for the
number of each RPDO channel.
Table 35: RPDO mapping 1
Index Subindex Description
1600 00 No. mapped objects
01 PDO valid
02 Commanded link state
03 Auto mode configuration
04 SLK operative flag
05 MDT counter - high byte (byte 3)
06 MDT counter - byte 2
07 MDT counter - byte 1
08 MDT counter - low byte (byte 0)
Table 36: RPDO mapping 2
Index Subindex Description
1601 00 No. mapped objects
01 PDO valid
02 MDT status
03 Byte at MDT address 0x0000
04 Byte at MDT address 0x0001
05 Byte at MDT address 0x0002
06 Byte at MDT address 0x0003
07 Byte at MDT address 0x0004
08 Byte at MDT address 0x0005
9.9.1.2 Object 1A00-1A03: Transmit PDO mapping parameters
These parameters are available in the 1A0x objects.
Table 37: TPDO mapping 1
Index Subindex Description
1A00 00 No. mapped objects
01 PDO valid
02 Actual link state
03 Auto mode configuration
04 SLK operative flag
05 MDT counter - high byte (byte 3)
06 MDT counter - byte 2
07 MDT counter - byte 1
08 MDT counter - low byte (byte 0)
Value (index)
8
2040/01
2600/02
2600/03
2600/04
2600/05
2600/06
2600/07
2600/08
Value (index)
8
2041/01
2800/01
2200/01
2200/02
2200/03
2200/04
2200/05
2200/06
Value (index)
8
2030/01
2600/01
2600/03
2600/04
2600/05
2600/06
2600/07
2600/08