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