CAN-controlled Pilot Module CPM-1x

CAN-controlled pilot module
CPM-1x
Advanced safety | M4 applications | CANopen standard communication
Instruction manual
RE 64820-B/03.2019 English
© Bosch Rexroth AG 2019. All rights reserved,
also regarding any disposal, exploitation,
reproduction, editing, distribution, as well as in
the event of applications for industrial property
rights.
The data specified within only serves to describe
the product. No statements concerning a certain
condition or suitability for a certain application can
be derived from our information. The information
given does not release the user from the
obligation of own judgment and verification. It
must be remembered that our products are
subject to a natural process of wear and aging.
The cover shows an example application. The

product delivered may differ from the image on
the cover.
The original instruction manual was created in the

English language.
Contents 3/110
Contents
1 About this documentation 9
1.1 Validity of documentation 9
1.2 Required and supplementary documentation 9
1.3 Display of information 10
1.3.1 Safety instructions 10
1.3.2 Symbols 11
1.3.3 Abbreviations 11
2 Safety instructions 12
2.1 About this chapter 12
2.2 Intended use 12
2.3 Improper use 12
2.4 Personnel qualifications 13
2.5 General safety instructions 13
2.6 Product-specific safety instructions 14
2.7 Personal protective equipment 15
2.8 Safety devices 15
2.8.1 Emergency stop buttons 15
3 General instructions on damage to property and the product 16
4 About this product 17
4.1 Performance description 17
4.2 Product description 17
4.3 Product identification 17
4.4 Electrical specifications 18
4.5 Hydraulic data 19
4.6 Outside dimensions 20
5 Installation 21
5.1 Installing the CPM 21
5.1.1 Electrically connecting the CPM 21
6 Commissioning 24
6.1 Electrical and Software start-up of CPM-1x 24
6.2 Flashing of a new software version 24
6.3 Operating conditions 24
7 CANopen based protocols 25
7.1 CANopen protocol properties 25
7.1.1 Overview 25
7.1.2 Emergency Message 26
7.1.3 Error related objects 26
7.2 Configuration using CANopen tools 27
7.3 Read / write parameter using the CANopen protocol functions 28
7.3.1 Read parameter 28
7.3.2 Write parameter 29
7.4 State Machines 30
7.4.1 Communication state machine 30
7.4.2 Device state machine 32
7.5 CANopen start-up description 34
RE 64820-B/03.2019, CPM, Bosch Rexroth AG

4/110 Contents
7.5.1 Start of CAN communication (communication state machine) 34

7.5.2 Start of valve functions (device state machine) 34
7.5.3 Example for a start sequence 34
7.6 Process data object (PDOs) 36
7.7 Communication monitoring 39
7.7.1 Heartbeat 39
7.7.2 Receive PDO Timeout 39
7.8 LSS services (Layer Setting System) 40
7.8.1 General LLS behavior 40
7.8.2 Bus-Off recovery 40
7.8.3 Baud rate setting via LLS and SDO 41
7.8.4 Node-ID setting via LSS and SDO 42
7.8.5 Implemented LSS services 42
7.8.6 CAN interface for LSS 44
8 Error codes 45
8.1 Description of error codes and actions 46
8.1.1 Error code 0x1501: QSC invalid 2 point Q/S deltas on side A 46
8.1.2 Error code 0x1502: QSC invalid 2 point Q/S deltas on side B 46
8.1.3 Error code 0x1511: QSC steadiness violation Q[n] > Q[n+1] 47
8.1.4 Error code 0x1512: QSC steadiness violation S[n] > S[n+1] 47
8.1.5 Error code 0x1521: QSC lowest Q < minimum Q limit 47
8.1.6 Error code 0x1522: QSC highest Q > maximum Q limit 47
8.1.7 Error code 0x1523: QSC lowest S < minimum S limit 47
8.1.8 Error code 0x1524: QSC highest S > maximum S limit 48
8.1.9 Error code 0x1611: SCL invalid oil model properties 48
8.1.10 Error code 0x1612: SCL invalid oil model factors 48
8.1.11 Error code 0x2251: Unexpected current flow A/B 48
8.1.12 Error code 0x2252: Insufficient current flow A/B 48
8.1.13 Error code 0x2253: Short circuit current flow A/B 49
8.1.14 Error code 0x2261: Hi-side power stage A is open 49
8.1.15 Error code 0x2262: Hi-side power stage B is open 49
8.1.16 Error code 0x2263: Hi-side power stages are short 49
8.1.17 Error code 0x2271: Lo-side power stage is open 49
8.1.18 Error code 0x2272: Lo-side power stage is short 49
8.1.19 Error code 0x2281: Broken wire at coil on side A 50
8.1.20 Error code 0x2282: Broken wire at coil side B 50
8.1.21 Error code 0x2283: Disconnected pilot valve coils 50
8.1.22 Error code 0x2291: Coil voltages signals are invalid 50
8.1.23 Error code 0x3211: UBat < min. customer limit 50
8.1.24 Error code 0x3212: UBat > max. customer limit 50
8.1.25 Error code 0x3221: UBat < min. absolute limit 51
8.1.26 Error code 0x3222: UBat > max. absolute limit 51
8.1.27 Error code 0x3231: Oil temperature < min. limit 51
8.1.28 Error code 0x3232: Oil temperature > max. limit 51
8.1.29 Error code 0x3241: PCB temperature warning range 51
8.1.30 Error code 0x3242: PCB temperature overheating range 52
8.1.31 Error code 0x3243: PCB temperature < min. limit 52
8.1.32 Error code 0x3244: PCB temperature > max. limit 52
Bosch Rexroth AG, CPM, RE 64820-B/03.2019

Contents 5/110
8.1.33 Error code 0x3251: UCore voltage < min. limit 52

8.1.34 Error code 0x3252: UCore voltage > max. limit 52
8.1.35 Error code 0x3261: ADC test voltage < min. limit 53
8.1.36 Error code 0x3262: ADC test voltage > max. limit 53
8.1.37 Error code 0x3271: CY327 reference < min. limit 53
8.1.38 Error code 0x3272: CY327 reference > max. limit 53
8.1.39 Error code 0x3432: Pilot voltage is too low 53
8.1.40 Error code 0x3461: Reset of flip-flop failed 54
8.1.41 Error code 0x3462: Wrong test reaction for WDA low check 54
8.1.42 Error code 0x3463: Wrong test reaction for WDA high check 54
8.1.43 Error code 0x3471: VAP DFLASH history data is used 54
8.1.44 Error code 0x5041: Expression X^2 – A* X * Y + Y^2 < 0 54
8.1.45 Error code 0x5042: Diagnosis signal radius too small 54
8.1.46 Error code 0x5043: Diagnosis signal radius too large 55
8.1.47 Error code 0x5051: Lost synchronization of sensor signal 55
8.1.48 Error code 0x5061: Sensor signal level X < minimum limit 55
8.1.49 Error code 0x5062: Sensor signal level X > maximum limit 55
8.1.50 Error code 0x5071: Sensor signal level Y < minimum limit 55
8.1.51 Error code 0x5072: Sensor signal Y > maximum limit 55
8.1.52 Error code 0x5531: Parameter write access denied 56
8.1.53 Error code 0x5532: Parameter read access denied 56
8.1.54 Error code 0x5533: Parameter excess index 56
8.1.55 Error code 0x5534: Parameter excess length 56
8.1.56 Error code 0x5535: Address excess length 56
8.1.57 Error code 0x5536: DFLASH page out of range 57
8.1.58 Error code 0x5537: Unknown DFLASH parameter 57
8.1.59 Error code 0x5538: Unknown error in DFLASH order 57
8.1.60 Error code 0x5539: Address or length is out of range 57
8.1.61 Error code 0x553A: DFLASH global init failed 57
8.1.62 Error code 0x5545: Coil impedance is too low A/B 58
8.1.63 Error code 0x5546: Coil impedance is too high A/B 58
8.1.64 Error code 0x6081: Delta too far ahead 58
8.1.65 Error code 0x6082: Delta too far behind 58
8.1.66 Error code 0x6091: TC1724 within NDW not zero 58
8.1.67 Error code 0x6092: STM8A within NDW not zero 59
8.1.68 Error code 0x60A1: TC1724 > transition zone A high limit 59
8.1.69 Error code 0x60A2: TC1724 < transition zone A low limit 59
8.1.70 Error code 0x60A3: STM8A > transition zone A high limit 59
8.1.71 Error code 0x60A4: STM8A < transition zone A low limit 59
8.1.72 Error code 0x60B1: TC1724 > transition zone B high limit 60
8.1.73 Error code 0x60B2: TC1724 < transition zone B low limit 60
8.1.74 Error code 0x60B3: STM8A > transition zone B high limit 60
8.1.75 Error code 0x60B4: STM8A < transition zone B low limit 60
8.1.76 Error code 0x60C1: TC1724 has negative sign on side A 60
8.1.77 Error code 0x60C2: STM8A has negative sign on side A 61
8.1.78 Error code 0x60C3: TC1724 has positive sign on side B 61
8.1.79 Error code 0x60C4: STM8A has positive sign on side B 61
8.1.80 Error code 0x60D1: CV of ADC test voltage failed 61

6/110 Contents
8.1.81 Error code 0x6101: General error callback occurred 61

8.1.82 Error code 0x6102: Watchdog communication failed 61
8.1.83 Error code 0x6103: CY327 VDD5/VDD3 voltage error 62
8.1.84 Error code 0x6104: BU/UBstby/RST5_UV voltage error 62
8.1.85 Error code 0x6110: Unknown flow control trigger point 62
8.1.86 Error code 0x6111: Flow control GPTA time excess 62
8.1.87 Error code 0x8110: Receive queue overrun 62
8.1.88 Error code 0x8120: Error level bus passive 62
8.1.89 Error code 0x8130: Heartbeat message error 63
8.1.90 Error code 0x8131: RxPDO1 timeout error 63
8.1.91 Error code 0x8132: RxPDO2 timeout error 63
8.1.92 Error code 0x8140: Recovered from bus off state 63
8.1.93 Error code 0x8160: External EMCY message received 64
8.1.94 Error code 0x8170: CSM transition preoperational -> stopped 64
8.1.95 Error code 0x8180: CSM transition operational -> stopped 64
8.1.96 Error code 0x8191: Cross validation error 64
8.1.97 Error code 0x8192: Communication timing error 65
8.1.98 Error code 0x8193: Communication UART layer 2 error 65
8.1.99 Error ode 0x8194: Communication CAN layer 2 error 65
8.1.100 Error code 0x8195: ADC voltages monitoring error 65
8.1.101 Error code 0x8196: General operating system error 65
8.1.102 Error code 0x8210: RxPDO length error 66
8.1.103 Error code 0x8321: Main spool moved too short 66
8.1.104 Error code 0x8322: Main spool moved too far 66
8.1.105 Error code 0x8331: Manual operation of valve 66
8.1.106 Error code 0x8341: Valve did not extend to side A/B 67
8.1.107 Error code 0x8342: Valve did not retract to neutral 67
8.1.108 Error code 0x8351: Main spool moved to wrong side 67
8.1.109 Error code 0x8361: Valve not neutral during start 67
8.1.110 Error code 0x8711: PDB P'n'D load buffer overflow 67
8.1.111 Error code 0x8712: PDB P'n'D save buffer overflow 68
8.1.112 Error code 0x8713: PDB P'n'D data integrity 68
8.1.113 Error code 0x8714: PDB P'n'D data incompatible 68
9 CPM-1x Parameters: Object Dictionary 69
9.1 Overview 69
9.2 CANopen communication parameters according to CiA 301 70
9.2.1 Object 0x1000 Device Type 70
9.2.2 Object 0x1001 Error Register 70
9.2.3 Object 0x1002 Manufacturer Status Register 71
9.2.4 Object 0x1003 Pre-defined Error Field 71
9.2.5 Object 0x1005 Cob-Id Sync Message 71
9.2.6 Object 0x1008 Manufacturer Device Name 72
9.2.7 Object 0x1009 Manufacturer Hardware Version 72
9.2.8 Object 0x100A Manufacturer Software Version 72
9.2.9 Object 0x100B Node-ID 72
9.2.10 Object 0x1010 Store Parameters 73
9.2.11 Object 0x1011 Restore Default Parameters 73
9.2.12 Object 0x1014 COB-ID Emergency 74

Contents 7/110
9.2.13 Object 0x1015 Inhibit Time Emergency 74

9.2.14 Object 0x1016 Consumer Heartbeat Time 74
9.2.15 Object 0x1017 Producer Heartbeat Time 75
9.2.16 Object 0x1018 Identity Object 75
9.2.17 Object 0x1023 OS Command 76
9.2.18 Object 0x1028 Emergency Consumer 76
9.2.19 Object 0x1029 Error behavior 77
9.2.20 Object 0x1200 Server SDO Parameter 77
9.2.21 Object 0x1400 Receive PDO1 Parameter 78
9.2.22 Object 0x1401 Receive PDO2 Parameter 78
9.2.23 Object 0x1600 Receive PDO1 Mapping 79
9.2.24 Object 0x1601 Receive PDO2 Mapping 80
9.2.25 Object 0x1800 Transmit PDO Parameter 80
9.2.26 Object 0x1A00 Transmit PDO Mapping 81
9.3 Input / output data 82
9.3.1 Object 0x2000 Electronics Temperature (with offset) 82
9.3.2 Object 0x2001 Electronics Temperature 82
9.3.3 Object 0x2002 Supply Voltage 82
9.3.4 Object 0x2003 Estimated oil flow (unsigned8) 82
9.3.5 Object 0x2004 Pilot valve state 83
9.3.6 Object 0x2005 Estimated oil flow (signed8) 83
9.3.7 Object 0x2006 Estimated oil flow inverted (signed8) 83
9.3.8 Object 0x2007 spool position (signed16) 84
9.3.9 Object 0x2100 Valve set point [unsigned8] 84
9.3.10 Object 0x2101 Valve direction select 84
9.3.11 Object 0x2102 Valve set point [signed8] 84
9.4 Communication settings (Object Directory) 85
9.4.1 Object 0x2400 CAN Baud rate 85
9.4.2 Object 0x2403 Communication State Mode 86
9.4.3 Object 0x2410 Position control diagnosis time factors 86
9.4.4 Object 0x2440 Battery voltage diagnosis 87
9.5 General settings 88
9.5.1 Object 0x2501 Valve type 88
9.5.2 Object 0x2502 Neutral offset 88
9.6 Valve characteristic parameters 89
9.6.1 Object 0x2600 Curve parameters 89
9.6.2 Object 0x2601 Edge rounding on ramps 93
9.6.3 Object 0x2623 Calibration type (characteristic type) 94
9.6.4 Object 0x2624 Swap A-side/B-side in set point value 94
9.6.5 Object 0x2627 closed loop position dither 94
9.6.6 Object 0x2628 closed loop current dither 95
9.6.7 Object 0x262A position control gain scheduling 95
9.6.8 Object 0x262B position control hold current adaption 95
9.6.9 Object 0x2720 Customer calibration points A-side 95
9.6.10 Object 0x2721 Customer calibration points B-side 96
9.7 Auxiliary objects 97
9.7.1 Object 0x2801 CPM-1x product information 97
9.7.2 Object 0x2810 Valve block information 97

8/110 Contents
9.7.3 Object 0x28FE Tx mapping dummy byte 97

9.7.4 Object 0x28FF Rx mapping dummy byte 97
9.7.5 Object 0x2900 Plug ‘n’ Drive container 98
9.8 Parameters according to CANopen device profile CiA 408 99
9.8.1 Object 0x6040 Device Control Word 99
9.8.2 Object 0x6041 Device Status Word 99
9.8.3 Object 0x6042 Device mode 99
9.8.4 Object 0x604E Device error code 99
9.8.5 Object 0x604F Device Local 99
9.8.6 Object 0x6057 Device Vendor Name 100
9.8.7 Object 0x605F Device Capability 100
9.8.8 Object 0x6300 Vpoc set point 101
9.8.9 Object 0x6301 Vpoc actual value 101
9.8.10 Object 0x6350 Vpoc control deviation 101
9.8.11 Object 0x6360 Dither Type 102
9.8.12 Object 0x6361 Dither Amplitude 102
9.8.13 Object 0x6362 Dither Frequency 102
10 Ordering information 103
10.1 Identifier Systems 105
10.1.1 CANopen protocol identifiers 105
10.2 Notes 105
10.3 Block configuration – see ordering sheet RE 64820-01 106
10.3.1 Parameter sheet: CANopen parameters 107
10.3.2 PDO mapping (message content) 108

About this documentation 9/110
1 About this documentation

1.1 Validity of documentation
The CPM is a component of the control block M4-12 / M4-15 for safety applications. It is
only distributed in conjunction with this control block. The CPM controls the flow at the
control block M4-12 / M4-15 by a digital electrical signal.
This documentation is valid for the following product:

Software (Object 0x100A) CAN product code CPM-1x advanced safety
(Object 0x1018.2) device
1.0 Advanced Safety CANopen 0x00041011 R917009093
CiA 408 Standard Software
This documentation is intended for machine manufacturers. It contains important information

on the safe and proper installation, transport, commissioning, operation maintenance,
removal and simple troubleshooting of the product.
 Read this documentation completely and in particular chapter 2 “Safety instructions” and
chapter 3 “General instructions on damage to property and the product” before you start
work with the product.
1.2 Required and supplementary documentation

 Only commission the product if the documentation marked with the book symbol is
available to you for the Rexroth product and you have understood and taken it under
account.
Table 1: Required and supplementary documentation

Title Document number Document type
CPM-1x ordering form 64820-01 Ordering form
Control block M4-12 for safety-related 64276-01-B Instruction manual

applications
Control block M4-12/15 64276 / 64283 Data sheet
General documentation of CANopen standards See

CiA 301 V4.1, CiA 408 (Fluid Power Profile) www.can-
cia.org/
Related documents can be obtained from Rexroth via

www.boschrexroth.com/mobile-hydraulics-catalog

10/110 About this documentation
1.3 Display of information

Standardized safety instructions, symbols, terms and abbreviations are used throughout this
documentation so that you can work quickly and safely with your product. To give you a
better understanding, these are explained in the sections below.
1.3.1 Safety instructions

This documentation includes safety instructions in Chapter 2.6 “Product-specific safety
instructions” and in Chapter 3 “General instructions on damage to property and the product”.
Read these chapters carefully before you perform actions with risk of personal injury or
damage to equipment. The steps described to prevent danger must be followed.
Safety instructions are set out as follows:
SIGNAL WORD
Type and source of danger!
Consequences of non-compliance
 Measures to prevent danger
 Warning sign: draws attention to the danger

 Signal word: identifies the degree of danger
 Type and source of danger: identifies the type and source of the danger
 Consequences: describes what may happen if the safety instructions are not complied
with
 Precautions: states how the danger can be avoided
Table 2: Hazard classes as defined in ANSI Z535.6

Warning sign, signal word Meaning
Identifies a dangerous situation that will result in death or

DANGER serious injuries if it is not avoided.
Identifies a dangerous situation that may result in death or

WARNING serious injuries if it is not avoided.
Identifies a dangerous situation that may result in minor to

CAUTION moderate injuries if it is not avoided.
Property damage: The product or the environment may be

NOTICE damaged.

About this documentation 11/110
1.3.2 Symbols
The following symbols indicate information that is not directly relevant to safety but
increases understanding of the documentation.
Table 3: Meaning of the symbols

Symbol Meaning
If this information is disregarded, the product cannot be used or operated to

its optimum potential.
 Single, independent step
1. Numbered instruction:
2. The numbers indicate that the steps must be completed in a prescribed
3. sequence.
1.3.3 Abbreviations
This documentation uses the following abbreviations:
Table 4: Abbreviations
Abbreviation Meaning
CAN Controller Area Network
CCS Client Command Specifier
CiA CAN in Automation
CPM CAN-controlled Pilot Module (Pilot Module of new generation)
CiA 401, CiA 408 CANopen Device Standard Profile
CiA 301 CANopen Communication Standard
EEPROM Permanent memory
EMCY Emergency
LED Light emitting diode
LSS CANopen Layer settings service
M4 Control block of series M4
NMT CANopen Node management
PDO Process data object (process data message)
RO Read only
RW Read / Write
SDO Service data object (service data message)

12/110 Safety instructions
2 Safety instructions
2.1 About this chapter
The product has been manufactured in accordance with the generally accepted rules of the
state of the art. However, there is still a danger of personal injury or damage to equipment if
this chapter and the safety instructions in this documentation are not complied with.
 Read this documentation completely and thoroughly before working with the product.
 Keep this documentation in a location where it is accessible to all users at all times.
 Always include the required documentation when you pass the CPM on to third parties.
2.2 Intended use

The intended use of the control block M4 with the CPM is stated within the manuals
64276-01-B / 64025-B.
The product can be implemented as a safety-relevant part of a control system. However it

does not include a safety function for itself as it is unable to provide or realize such a
function independently. If the device should be used in safety applications, the CPM-1x
variant with product code 0x00041011 has to be used. If the product is implemented to
realize safety functions, additional measures have to be defined by the system manufacturer
or system planner and realized in the control system of the machine. Further details can be
found in standards governing functional safety such as ISO 13849, IEC 62061 or specific
technical guidelines.
 Observe the technical data, the application and operating conditions and the
performance limits as specified in data sheet 64276 / 64283 and in the order
confirmation. Information about approved hydraulic fluids can be found in data sheet
64276 / 64283.
2.3 Improper use

Any use other than that described as intended use shall be considered as improper and is
therefore impermissible.
Bosch Rexroth AG is not liable for damages resulting from improper use. The user bears all
risks from improper use.
The following foreseeable forms of misuse are also considered to be improper (this list does
not claim to be exhaustive):
 Use outside the operating parameters approved in the data sheet or in the order
confirmation
 Use of non-approved fluids, e.g., water or polyurethane components
 Changes to factory settings by unauthorized persons
 Use of add-ons (e.g. control unit, valves) not in combination with the specified Rexroth
components
 Using the control block in a potentially explosive environment without a declaration of
conformity according to ATEX directive 2014/34/EU

Safety instructions 13/110
2.4 Personnel qualifications

The activities described in this documentation require basic mechanical, electric and
hydraulic expertise, as well as knowledge of the associated technical terms.
Skilled persons are those who can recognize possible dangers and take the appropriate
safety measures due to their professional training, knowledge, and experience, as well as
their understanding of the relevant regulations pertaining to the work to be done. Skilled
personnel must follow the rules relevant to their field of operation and have the necessary
hydraulic expert knowledge.
Hydraulic expert knowledge includes:
 Reading and understanding of hydraulic circuit diagrams
 Specifically, fully understanding the relationships with regard to safety devices
 Understanding how hydraulic components work and are put together
Bosch Rexroth offers training support for specialized fields. An overview of the training
contents can be found online at: www.boschrexroth.com/training
2.5 General safety instructions

 Observe the applicable accident prevention and environmental protection regulations.
 Observe the safety regulations and provisions of the country in which the product is
used/operated.
 Use Rexroth products only when they are in proper working condition.
 Observe all notices on the product.
 Persons who install, operate, remove or maintain Rexroth products must not be under the
influence of alcohol, drugs or medication that may affect their reaction time.
 Only use original Rexroth accessories and spare parts.
 Observe the technical data and ambient conditions specified in this documentation.
 If unsuitable products are installed or used in applications that are relevant for safety,
unexpected operating conditions may occur in the application, which could result in injury
to personnel or damage to equipment. For this reason, only use the product in a safety-
related application if this use is explicitly specified and permitted in the product
documentation, for example as a safety-related part of a control system (functional safety).
 You may only commission the product if it has been ensured that the end product (e.g.,
machinery or system) in which the Rexroth products are installed complies with the
country-specific provisions, safety regulations and standards for the application.

14/110 Safety instructions
2.6 Product-specific safety instructions

The following safety instructions apply to chapters 5 to 9.
CAUTION
Hot surfaces on the CPM!
Risk of burns
 Allow the CPM to cool down sufficiently before touching it.
 Wear heat-resistant protective clothing, e.g., gloves.
 Make sure that all safety equipment belonging to the CPM-1x is present, has been
installed properly and is fully functional. Do not displace, bypass or disable the safety
equipment.
 The CPM-1x could block in an undefined position due to internal pollution - e.g. through
polluted hydraulic fluid, abrasion dust or residual dirt. As a result, the actuated consumer
may no longer be under the operator's control.
 Provide the appropriate emergency stop function to make sure that the actuated consumer
can be set to a safe position (e.g. by stopping it immediately).
 If it should be necessary to disable any safety equipment temporarily, for example for
commissioning or maintenance work, always take the appropriate measures to ensure that
no hazard to a person's life or health or to property may occur. Also consider the super-
ordinate instruction manual for the machine.
 To ensure that the device switches off in an emergency situation, a power supply interrupt
must be provided. The emergency stop button must be installed on the machine or system
in a position that is easily accessible to the operator. It is the responsibility of the machine
or system manufacturer to ensure the safe status of the machine or system in an
emergency stop situation.
 Functions for detection of a connection interruption for control (timeout intervals for CAN
protocol and Heartbeat / Node-Guarding for CANopen) must not be deactivated.
 Cables should not be routed close to other power-conducting cables, in order not to get
any negative influence on the CAN bus signal.
 Connectors must be sealed using single-wire seals. The pilot module is only watertight if
the connectors are plugged in and sealed.
 If the communication state mode (object 0x2403) is set to "Auto", the device will not react
on NMT state commands "enter pre-operation" or "stop remote node". Thus a shutdown of
the valve via NMT commands is not possible.
 If the device mode (object 0x604F) is set to "device local" (value ≠ 0), any access to the
device control word (object 0x6040) has no effect. Thus a shutdown of the valve via the
device control word is not possible.
 If the device is configured manually, verify if the CPM-1x and the M4 block are running
correctly in the machine.
 The CPM has been designed and developed for mobile applications. Hence it must not be
permanently supplied. Not permanently supplied means that the CPM is only connected to
a power supply, if it is in operation mode. The vehicle/ the machinery is in operation mode,
if terminal 15 (T15) or the main switch of the machinery is turned ON.
In case of no machine operator is controlling the vehicle or machine (e.g. during night) the
CPM must be disconnected from power supply.

Safety instructions 15/110
2.7 Personal protective equipment

The personal protective equipment is the responsibility of the user of the machine. Observe
the safety regulations and provisions in your country.
All pieces of personal protective equipment must be intact.
Bosch Rexroth recommends that personal protective equipment for users of the product
comprises:
 heat-resistant protective clothing, e.g. protective gloves
 safety shoes
 safety goggles
 appropriate work clothes
2.8 Safety devices
2.8.1 Emergency stop buttons

Only operate the CPM-1x with the necessary safety equipment (e. g. emergency stop,
pressure monitoring).
As CPM-1x does not have its own safety equipment, the customer must ensure an external
safety monitoring. This consists of e. g.:
 an emergency stop
 pressure monitoring

16/110 General instructions on damage to property and the product
3 General instructions on damage to

property and the product
The warranty only applies to the delivered configuration.
Entitlement to warranty claims becomes void due to:
 incorrect assembly, commissioning and operation
 improper use
 removal of safety caps and seals (e.g. with pressure settings)
 unauthorized adjustment of the factory settings provided on delivery
 modifications and extensions
 opening the valve
 improper handling
 using spare parts that are not original spare parts from Rexroth.
The following safety instructions apply to chapters 5 to 9.
NOTICE
Liquids and foreign particles enter due to missing seals and plugs!
Loss of protection class and danger of short circuit!
 Prior to installation, make sure that all seals and plug-in connections are tight.
Danger from improper handling!

Product can get damaged.
 Do not expose the product to excessive mechanical, hydraulic or electric load.
 Never grab or climb onto the product.
 Do not place/lay any objects on the product.

About this product 17/110
4 About this product

4.1 Performance description
The pilot module provides the flow control on M4 control blocks via a digital electric signal.
4.2 Product description

The electronics of the pilot module compares the digital (CAN bus) input signal with the
signal of the integrated position sensor and controls the main spool of the valve in the
defined position (closed-loop control).
With the CAN bus control, a looping of the electrical connection via the second plug-in
connection to the next pilot module is possible (daisy-chain wiring). The entire control block
is then connected via the 4-pin Bosch Compact 1 connector of the first pilot module to the
machine control.
It is possible to connect further CAN bus devices to the output of the last pilot module.
4.3 Product identification

The CPM can be identified from the name plate.
Fig. 1: Name plate
1 Word mark (manufacturer)

2 Material number
3 Manufacturing date
4 Bar code
5 Area/plant number
6 Designation of origin
7 Serial number

18/110 About this product
4.4 Electrical specifications

Table 5: Electrical specifications
General
Maximum operating voltage UBat 32 V in continuous operation (according to standard ISO 16750-2)
Minimum operating voltage UBat 9V
Electrical power consumption UBat = 12 V UBat = 24 V
(class E acc. to standard ISO 16750-2) (9 V to 16 V) (16 V to 32 V)
min. [W] max. [W]
in neutral position 2,2 3,72
at maximum output 16,3 19,7
Input signal types
Physical layer CAN, Physical Layer according to ISO 11898-1, -2
CAN-Baud rate 125 kBaud … 500 kBaud (1MBaud upon request)
Sampling Single sampling; sample point 85%
CAN termination resistor (120 Ω) On customer side by external wiring or special daisy chain cable with integrated termination
resistor.
Protocol CANOpen CiA 408
The CPM-1x device has been developed and tested by Rexroth for the following operating
conditions:
Table 6: Environment conditions

Feature Standard Details
Degree of Protection ISO 20653: 2013 IP6K6, IP6K7, IP6K9K (only if connectors are plugged in)
Vibration IEC 60068-2-6 Vibration, sinusoidal: f = 10 bis 300 Hz; 2.5 g
IEC 60068-2-36 Vibration, random: f = 10 bis 300 Hz; 0.055 g²/Hz (4 gRMS)
IEC 60068-2-27 Transport shock: half-sinus, 20 g, 11 ms, 3 times each direction
IEC 60068-2-29 Permanent shock: half-sinus, 25 g, 6 ms,
2000 times each axis (pos./neg. direction each 1000 times)
Electromagnetic compatibility EN 13309: 2010 Construction machinery
according to standards EN 50121-3-2: 2015 Railway applications
IEC 61000-6-2: 2005 Immunity standard for industrial environments
IEC 61000-6-4: 2006 Emission standard for industrial environments
Electrostatic discharge ISO 10605 Level 4:
Direct contact discharge: ±8 kV
Air discharge: ±15 kV
Conducted interference on ISO 7637-2 Level 3
supply lines
Conducted interference on ISO/DIS 7637-3 Level 4
signal lines
Temperature range Storage -40°C … +60°C
Ambient -40°C … +80°C
Hydraulic fluid -20°C … +80°C (-40°C…-20°C only for warm-up)
Remark: These temperature ranges are valid for the stated temperature profiles, see
below. In the temperature range: -40°C to -20°C the valve block has a worse
performance than in the permitted temperature range. Due to the high viscosity of
the oil the lower dynamic behavior of the valve block and an increased switch-off-
time have to be considered in the application.
ON time 100% (for the stated temperature profiles, see below)

About this product 19/110
Temperature profiles: Oil temperature profile, calculation basis 10000 h operational time:
Operational time: Temperature range:
100h -20°C - 0°C
300h 0°C - 20°C
600h 20°C - 40°C
4000h 40°C - 60°C
4000h 60°C - 70°C
1000h 70°C - 80°C
Further standards on request.
4.5 Hydraulic data
Table 7: Hydraulic specifications

Hydraulic fluid data
Hydraulic fluid Mineral oil (HL, HLP) according to DIN 51524, HEES (synthetic ester) according
to ISO 15380 and other hydraulic fluids on request.
Viscosity range (full performance) 10 mm²/s ... 380mm ²/s
Maximum admissible degree of contamination Class 20/18/15
Cleanliness level as per ISO 4406 © We recommend a filter with a minimum retention rate of β 10 ≥ 75
Pilot pressure range for CPM-1x for M4 18 bar … 35 bar
Pilot oil consumption in steady state condition < 1.0 l/min at 18 bar supply pressure

20/110 About this product
4.6 Outside dimensions
Fig. 2: Dimensions CPM-1X [mm]

Installation 21/110
5 Installation
5.1 Installing the CPM
For assembly of the CPM on the M4 directional valve see Repair instructions 64276-41-R.
5.1.1 Electrically connecting the CPM
WARNING
The quality of wiring has direct influence on water integrity and signal quality!
Therefore disturbance or changes in cabling can influence safety and performance.
 The use of a shielded, twisted cable is recommended for connecting the device to the
machine. Since the Bosch Compact connector has no provision for connection to the
shielding, contact should be established with the shield at the other end of the
connecting cable on the machine side.
NOTICE
Current supply too high!
Risk of burns by melting cables!
 When using daisy chain cabling, the maximum current on the connection cables must
not exceed Imax = 10 A.
The electrical connection is done through either the gray or the black Bosch Compact
connector.
1 Bosch compact, coding 1 (black)

2 Bosch compact, coding 2 (gray)
Fig. 3: Pin assignment on the Bosch compact connector

22/110 Installation
Table 8: Labeling used for the cables: wires are either labeled or color coded
Color Label
black GND – Ground
red/white UBat
yellow CAN high
green CAN low
 10 Amp fuse on the machine supply side is recommended.

 Ensure a sufficient connection of the valve block to ground (machine frame). Otherwise an
accidental connection of supply voltage to the CPM-1x housing may damage the CPM.
 The grey and the black Bosch Compact connectors are rotated by 180° to each other.
 For CAN communication a 120 Ω termination resistor is required at the end of the CAN
line.
 A 120 Ω termination resistor must be fitted at each end of the cable for CAN bus
connection. A cable with a built-in resistor is available for connection to the control block.
 In case of replacement of an EPM2 actuation unit in a M4 control block by CPM-1x use
the CPM-1x spare part kit! The plug-in connectors are 180° rotated for CPM-1x to EPM2.
Please consider the references to the cabling, use the right cables for wiring the CPM-1x
as a spare part. See spare parts list 64276-E.
On devices with a CAN interface, bear in mind that the orientation of code 1 and code 2 plug
connectors is reversed by 180°. The plugs have different code numbers to prevent
accidental polarity reversal.
Fig. 4: Electrical connection

Installation 23/110
1 Open connector for connection to the machine electronics

2 Daisy-chain wiring
3 Connector with termination resistor
Fig. 5: Daisy-Chain wiring, standard version
1 Open connector for connection to the machine electronics

2 Daisy-chain wiring
3 Connector with termination resistor
Fig. 6: Daisy-Chain wiring, compact version for low clearance above valve block

24/110 Commissioning
6 Commissioning
6.1 Electrical and Software start-up of CPM-1x
For start-up a minimum gradient of 1 V/s after power on is required. If the gradient is lower
or instable, the module will most likely not enter the operational mode.
The CAN communication is active at a minimum supply voltage of 8.0 V DC.
6.2 Flashing of a new software version

After flashing a new software on the CPM-1x it is absolutely necessary to sustain the supply
voltage after power-up or reset for a minimum of 10 seconds. This time is required to
complete the flashing process. The flashing process will be signaled by a fast flash light of
the LED at the CPM. A power off of the supply voltage during the flashing process could
lead to a damage of the pilot module.
6.3 Operating conditions

The CPM module has to be re-started after continuous 24 hours of operation.

CANopen based protocols 25/110
7 CANopen based protocols

7.1 CANopen protocol properties
7.1.1 Overview
Maximum average bus load to the CPM: up to 1000 frames / s
Maximum message burst capacity (LSS): up to 10 frames
 CANopen protocol according to CiA 301, version 4.2

 Device profile CiA 408 supported
 Special configuration to use only one PDO with 8 set point values to control up to 8 CPM’s
 One receive PDO with fixed mapping, one receive PDO with flexible mapping supported
 One transmit PDO with adjustable mapping supported
 CANopen CiA 301 pre-defined connection set
 One SDO for configuration purposes supported
 Heartbeat protocol supported
 Handling of sync messages supported for transmit PDO
 Emergency object supported
 Emergency consumer supported
 CANopen LSS services according to CANopen standard CiA 305 version 3.0.0 supported
 Only CANopen slave functionality
 Software Node ID only, no hardware switches
 Software baud rate settings only, no hardware switches

26/110 CANopen based protocols
7.1.2 Emergency Message

An error message is generated if a new error is detected by the diagnosis function of the
CPM or an error is resolved. For details see CANopen specification CiA 301.
Emergency messages are not transmitted, if the manufacturer status register (object
0x1002) is mapped into the TxPDO.
Error Code: 16 bit error code according to CiA 301 and CiA 408.
Value is equal to entries in objects 0x1003 and 0x604E.
Error Register: Error register (class) according to CiA 301.

Value is equal to object 0x1001.
Index: Device specific error information

(for internal use by Rexroth Support).
Blink Code: Device specific error information (8 bit).

Error code transmitted by LED (blink code).
Fig. 7: Emergency message
7.1.3 Error related objects
Object 0x1001 Error register
The object 0x1001 error register provides some basic information about the error state and
the error type. According to CiA 301 the following error codes are defined for CPM:
Table 9: Error register (classes) used by the CPM.

Bit Meaning
0 Generic error
1 Current error
2 Voltage error
3 Temperature error
4 Communication error
5 Device profile specific error
6 reserved
7 Manufacturer specific error
Object 0x1003 Predefined error field
The object 0x1003 predefined error field contains a list of the errors that have been detected
during the activation of the CPM.
The error list is RAM based, so the list will be reset every time the supply voltage of the
CPM is shut down.

The maximum size of the list is 7 entries. The error list works as a FIFO, so a new error
code will be stored at the top of the list and all other errors move down the list. The error
code at position 7 will be overwritten.
The list contains the 16 bit error code as defined by CiA 301 and CiA 408. The values
correspond with the value in object 0x604E.
The meaning of the error codes is given in chapter 8.
Object 0x604E Device error code
The object 0x604E contains the error code defined by CiA 301 and CiA 408. The value
corresponds with the most actual value in the error list in object 0x1003.
The meaning of the error codes is given in chapter 8.
Reset an error in the device state machine
A reactivation is only possible, if the error reason has been cleared. In case the device state
machine is set to “manual mode” (object 0x604F), the machine controller has to reset the
error state “Fault” or “Fault Hold”.
Exit from “Fault Hold”:

The control word (0x6040) must be set to the value 0x03 (clear reset flag) and then to the
value 0x0B (set reset flag). The device state machine will go to device state “Hold”. Now the
device can be set back to “device mode active” by setting the device control word to 0x0F.
Exit from “Fault”:

The control word (0x6040) must be set to the value 0x01 (clear reset flag) and then to the
value 0x09 (set reset flag). The device state machine will go to device state “Disabled”. Now
the device can be set back to “Hold” by setting the device control word to 0x0B. Afterwards
the device can be set back to “device mode active” by setting the device control word to
0x0F.
7.2 Configuration using CANopen tools

The CPM can be configured using standard CANopen tools working according to CANopen
standard CiA 301 version 4.2.
The device supports Service Data Objects (SDO) to read and write parameters. Chapter 0
describes all parameters (objects) supported by the CPM. The electronic data sheet (EDS-
file), which is used by most CANopen tools to enable easy access to device parameters,
can be obtained from your local Bosch Rexroth representative or by email to:
[email protected].

7.3 Read / write parameter using the CANopen protocol functions

When a CANopen configuration tool is used, the software will automatically generate the
necessary messages to read and write a parameter.
If no CANopen tool is available, a normal CAN tool can be used to generate the necessary
SDO telegrams manually.
7.3.1 Read parameter

The message with identifier 0x600 + Node ID can be used to read a parameter specified by
object index and subindex (see chapter 0):
Index low: low byte of object to read
Index high: high byte of object to read
Subindex: subindex of object to read
SCS: server command specifier (see CANopen CiA 301 for details)
Data 0: data byte, lsb
Data 1, 2: data bytes
Data 3: data byte, msb

Fig. 8: Read parameter
The CPM will respond with the message 0x580 + Node ID. The message contains 1…4
data bytes, depending on the type of parameter accessed.

7.3.2 Write parameter

To write a parameter to the CPM, in most cases two messages are necessary:
 Download of new parameter value
 Command to store new parameter value to permanent memory (EEPROM).
Details about storage conditions of each parameter are given in the description of each
object (see chapter 0).
The message with identifier 0x600 + Node ID can be used to write a parameter specified by
object index and subindex (see chapter 0):
Index low: low byte of object to read
Index high: high byte of object to read
Subindex: subindex of object to read
CCS: Bit 7...6 =0

Bit 5 =1
Bit 4 =0
Bit 3...2 = 4 – number of data bytes
Bit 1...0 = 1 (see CANopen CiA 301 for details)
Data 0: data byte, lsb
Data 1, 2: data bytes
Data 3: data byte, msb

Fig. 9: Message “Write parameter” and response from CPM
To permanently store the parameter, this message is used:
Section: 0x01: store all parameters

0x02: store communication parameters
0x03: store application parameters
Fig. 10: Message “Store parameter” and response from CPM

7.4 State Machines

The CPM is using two different state machines:
 Communication state machine: controls the communication activities.
 Device state machine: controls the valve activities.
Both state machines can be switched externally by CAN communication or can be set to
automatic mode.
 Communication state machine: Object 0x2403 selects between manual and
automatic mode.
 Device state machine: Object 0x604F selects between manual and
automatic mode.
For device state control commands (RMHD) see Table 11:.
Fig. 11: State machines according to CiA 301 (Communication) and CiA 408 (Device)
7.4.1 Communication state machine

The communication state machine (NMT state machine) defines the kind of communication
within the network. Depending on the communication state, the device is allowed/required to
send messages on the network, see Table 10:.
4 communication states are defined for a CANopen device. The different states and the
transitions between them are shown in Fig. 12:.
Changing the device from one state to another requires network management messages
(NMT control). For details about the NMT state machine see CANopen protocol specification
CiA 301.

1 At Power on the NMT state initialization is entered autonomously

2 NMT state initialization finished – enter NMT state pre-operational automatically
3 NMT service start remote node indication or by local control (self-starting)
4 NMT service enter pre-operational indication
5 NMT service stop remote node indication
6 NMT service start remote node indication
7 NMT service enter pre-operational indication
8 NMT service stop remote node indication
9 NMT service reset node indication
12 NMT service reset communication indication
Fig. 12: Communication (NMT) state diagram of a CANopen device according to
CANopen CiA 301
Table 10: Communication states and allowed messages.

Initialization Pre-operational Operational Stopped
PDO X
SDO X X
SYNC X X
EMCY X X
Boot-up message X
NMT X X X

7.4.2 Device state machine

The device state machine controls the availability of hydraulic functions of the valve. Only if
the device state machine is in state „device state active“, the power outputs can be activated
to run the valve.
Fig. 13: shows the different states of the device state machine.
The device status word contains the current state of the device state machine (object
0x6041). The device status word can be mapped into the transmit PDO.
To go from one state to another, certain conditions (e.g. no error) have to be fulfilled by the
device and a trigger (transition command) is necessary.
In manual mode the machine controller has to switch the device into active mode by setting
the value of the device control word (object 0x6040). The device control word can be set
directly by SDO communication or the control word can be mapped into one of the receive
PDOs.
In automatic mode, the device automatically generates the necessary transition commands.
The function of the device state machine is described in detail in the Fluid Power Profile.
Table 11: shows the command values for the device control word (object 0x6040) to switch
the device state machine to different states.
Table 11: Device state control commands (object 0x6040)

Transition State before State after Transition R M H D
number Transition (reset) (active) (hold) (disabled)
TR00 NOT READY NOT READY 0 0 0 0
TR01 NOT READY INITIALIZE 0→1 0 0 0
TR02 INITIALIZE DISABLED 1 0 0 0→1
TR03 DISABLED MODE HOLD 1 0 0→1 1
DEVICE MODE
TR04 MODE HOLD 1 0→1 1 1
ACTIVE
DEVICE MODE
TR05 MODE HOLD 1 1→0 1 1
ACTIVE
TR06 MODE HOLD DISABLED 1 0 1→0 1
TR07 DISABLED INITIALIZE 1 0 0 1→0
INITIALIZE FAULT REACTION 1→0 - - -
DISABLED FAULT REACTION 1→0 - - 1
TR08 MODE HOLD FAULT REACTION 1→0 - 1 1
DEVICE MODE
FAULT REACTION 1→0 1 1 1
ACTIVE
TR09 FAULT REACTION FAULT HOLD 0 1→0 1 1
TR10 FAULT DISABLED 0→1 0 0 1
TR11 FAULT HOLD MODE HOLD 0→1 0 1 1
TR12 FAULT REACTION FAULT 0 1→0 1→0 1
TR13 FAULT HOLD FAULT REACTION 0 0→1 1 1
TR13 FAULT FAULT REACTION 0 0→1 0→1 1
TR14 FAULT REACTION NOT READY not relevant

Fig. 13: Device state machine and transitions according to CiA 408

7.5 CANopen start-up description

This chapter describes a typical start-up procedure for a CANopen CiA 408 device.
Depending on the actual selected configuration, there can be differences to this example.
For detailed information about CANopen protocols and CANopen specific device behavior,
please refer to the CANopen standards CiA 301 V4.2, CiA 408.
7.5.1 Start of CAN communication (communication state machine)

When the physical connection between machine controller and CPM is established and the
power supply to the CPM is switched on, the CPM will go after a self-check sequence into
communication state „Pre-Operational“.
After boot-up sequence the CPM will generate a boot-up message to signal its presence to
the CAN network (CAN identifier 0x700 + node id).
If the communication state machine is set to “automatic mode” (object 0x2403), the CPM will
automatically proceed from “Pre-Operational” to communication state “Operational”.
If the communication state machine is in “manual mode”, the NMT master device (normally:
the machine controller / CANopen master) needs to send the “Start Remote Node” or “Start
All Nodes” messages, to set the device into communication state “Operational”.
As soon as the device is set to “Operational”, all process data objects (PDO) become active.
The device will send the transmit PDO according to the configured trigger. The CPM will
also start to monitor the receive PDOs coming from the machine controller (CANopen
master), if monitoring function is configured (object 0x1400.5 and 0x1401.5), see also
chapter 7.7.2 for details about RxPDO monitoring.
7.5.2 Start of valve functions (device state machine)

After start-up the device state machine is in state “Init”. The actual value of the device state
machine is shown in object 0x6041.
If the device mode is set to “automatic mode” (object 0x604F), the device will automatically
proceed to “Device State Active”, if no error code is active.
If the device mode is set to “manual mode”, the machine controller has to set the device
state to “Device State Active” by writing the appropriate command values to the device
control word (object 0x6040).
7.5.3 Example for a start sequence

Fig. 14: shows the start sequence of a CPM. All messages transmitted between the
machine controller (CANopen master / “system”) and the CPM (“valve”) are listed.
The example assumes that the CPM is already configured. For the valve number no value is
defined, instead the alias “Node-ID” (object 0x100B) is used.

Fig. 14: Example of a simple start-up communication with recommended default values
Description of messages
1. When the power to the CPM is switched on, the CPM initializes, then sets the
communication state to „operational“ and transmits the boot up message to signal its
presence to the network.
2. Then the CANopen Master is able to send the first receive PDO1 with the setpoint = 0 to
the CPM (valve slice). The setpoint = 0 is necessary in the first RxPDO1 message to
avoid an uncontrolled movement for the start-up.
3. In the second receive PDO1 from the CANopen Master the setpoint for the flow rate of
the valve can be sent.
On the CPM side the content of this message is defined in the RxPDO mapping (see
ordering information, chapter 10.3). The RxPDO1 has a time monitoring. Instead of the
RxPDO1 time monitoring on CPM side also the heartbeat protocol can be used (see
0x1016 Consumer Heartbeat Time). For time monitoring on the CANopen master side
see 0x1017 Producer Heartbeat Time (heartbeat can be sent from the CPM device).
4. The CPM answers with a TxPDO (=40ms TxPDO event time) containing the values
“Estimated Flow” (object 0x2005) and “Estimated Flow Inverted” (object 0x2006).
5. In case of the recommended default settings from Bosch Rexroth the TxPDO will be
send as a cyclic message with an event time of 40ms to the Master.

7.6 Process data object (PDOs)

Process data objects are messages used to cyclically transfer data (process data, process
input and output values) between two devices on the CAN bus.
The CPM supports two receive PDOs (RxPDO) for transmission of data from the machine
controller to the CPM (e.g. set point value, curve parameters).
One transmit PDO (TxPDO) is supported for the transmission of status information (e.g.
temperature, error code, valve position) from the CPM to the machine controller.
Fig. 15: Process data object (PDOs)
Each PDO may contain up to 8 data bytes. The content of the PDOs is defined by the
objects mapped into the PDO (see CANopen CiA 301 for details). The CPM supports the
CANopen mapping function.
For RxPDOs the parameter “event timer” (objects 0x1400.5 and 0x1401.5) defines the
timeout, which is used to monitor the continuous transmission of the message from the
system to the CPM.
The transmission of TxPDOs is triggered by sync messages.
Examples for receive PDO1 and PDO2 and transmit PDO
Fig. 16: shows an example of a receive PDO2 (sent by the machine controller to the CPM).
Fig. 17: shows two examples for receive PDO1 (sent by the machine controller to the CPM)
for valve No.2 and valve No.7.
Fig. 18: shows an example for a transmit PDO (sent by the CPM to the machine controller).
The identifiers of the PDOs depend on the CPM node IDs.

The content of the transmit PDO can be changed by the CANopen mapping function.
Mapping means that an object of the object dictionary, which is mappable, can be
configured to be in the TxPDO or RxPDOs. On delivery of a valve block the content of the
messages is defined in the ordering documents (see chapter 10.3).

Fig. 16: Example for a receive PDO2 (RxPDO2)
Fig. 17: Example of two receive PDO1 (RxPDO1) for valve 2 and valve 7

Fig. 18: Example for a transmit PDO (TxPDO)

7.7 Communication monitoring

There are two different functions to monitor the communication between the machine
controller and the valves:
 Heartbeat
 RxPDO Timeout
One of the two functions must be used and triggered actively, otherwise the CPM will not go
into active mode.
The reaction of the valve in case of a communication error can be set by configuring object
0x1029.1 (chapter 9.2.19).
7.7.1 Heartbeat
The heartbeat function consists of two parts: the heartbeat producer and the heartbeat
consumer.
Heartbeat Producer
The heartbeat producer generates a cyclic message with identifier 0x700 + node id to signal
to other devices on the CAN bus the device is still alive and the communication is working
properly.
The interval of the heartbeat message can be set by object 0x1017.
The cyclic message transmitted by the valve can be monitored by the machine controller to
detect a communication failure on the CPM.
Heartbeat Consumer
The heartbeat consumer reads (“consumes”) the heartbeat messages generated by a

specific device on the CAN network. Doing this the heartbeat consumer is able to monitor
the communication function of the heartbeat producer.
In case of the CPM, the heartbeat generating device would be the machine controller.
The identifier for the heartbeat message read by the CPM is 0x700 + Master Node-ID
(machine controller).
If the CPM does not receive a heartbeat message from the master within the defined time
window, the CPM will go into error state (guarding error).
The message time window and the master Node-ID can be set in object 0x1016:
Byte 3 Byte 2 Byte 1 Byte 0

00 Master Node-ID Interval [ms]
Example: 0x00 02 00C8 Master Node ID = 0x02

Timeout Interval= 0x00C8 (200ms)
7.7.2 Receive PDO Timeout

The receive PDO timeout is the most simple monitoring function available.
The machine controller sends a set point message (RxPDO1) to the CPM in cyclic intervals.
The CPM will monitor the interval of the message and trigger a fault, if the message was not
received within a defined time window.

The time window can be set by the PDO communication objects:

RxPDO1: Object 0x1400.5 “event timer”
RxPDO2: Object 0x1401.5 “event timer”
The monitoring function is active as soon as the CPM internal communication state (NMT
state) is set to the status “Operational”.
7.8 LSS services (Layer Setting System)
7.8.1 General LLS behavior

The LSS services are implemented according to the specification CIA 305 V3.0.0.
The LSS services are only available in the STOPPED state of the CANopen communication
state machine. In the other communication states all LSS commands will be ignored.
If the device starts with a not configured node ID (0xFF) then the communication state
machine automatically switches into the state STOPPED. As long as the node ID has the
value 0xFF every NMT command will be ignored and the communication state machine
cannot be switched to another state like PRE-OPERATIONAL or OPERATIONAL. In this
state only LSS commands can be executed.
Since all LSS slave devices respond to the LSS services with the same CAN ID and several
responses may be sent exactly at the same time CAN bus errors within the data segment
may occur. These errors can lead to a bus off state of the sending CAN controller. To
prevent such a situation the CIA305 explicitly demands that only one device may be
requested by the LSS master to respond with a variable data field.
Nevertheless the CPM is able to recover autonomously from the bus off state and ensures
that no deadlock occurs in such a situation.
7.8.2 Bus-Off recovery

If a bus off occurred during sending a CAN message the device automatically recovers from
this state. The bus off state will be detected within a 1ms cycle.
To prevent a deadlock situation during sending the device will recover from bus off with a
short random time delay. After this delay time was expired the CAN controller will be
activated again.
The bus recovery time from bus off to the new re-activation of the CAN bus depends on the
following parts:
 Random delay time 0..7ms
 +1 / -0ms because of the CANopen execution in a 1ms task
 Bus off recovery time according to the CAN specification 5,6ms @ 250k baud rate
(128x11 bit)
All these parts together lead to a total bus off recovery time in the range from
5.6ms … 13.6ms @250k baud rate.

7.8.3 Baud rate setting via LLS and SDO

During startup the baud rate will be copied from the saved baud rate to the active baud rate
and to the pending baud rate. Furthermore the CAN bus will be initialized with this baud
rate.
The LSS services can change the baud rate only within the variable pending baud rate. The
pending baud rate is not yet active. It can be activated via the corresponding LSS
command. In this case the CAN bus will be re-Initialized with the pending baud rate. A new
pending baud rate will be not stored automatically within the EEPROM.
If a new pending baud rate was not yet activated then it can be stored only with the LSS
command store configuration. After the activation of a new pending baud rate it can be
stored either with the corresponding LSS command or with SDO write access to object
0x1010 (store parameters).
A baud rate change via object 0x2400 changes only the value within the variable active
baud rate. This baud rate does not become active until storage via object 0x1010 and
restart. The following figure shows that the can controller will be initialized with the
corresponding baud rate only within the transitions marked with *).
The following figure shows the interrelation between the 3 virtual LSS baud rate variables
(pending – active – saved):

7.8.4 Node-ID setting via LSS and SDO

During startup the node-ID will be copied from the saved node-ID to the pending node-ID
and to the active node-ID.
The LSS and SDO services can change the node-ID only within the variable pending node-
ID. The pending node-ID is not yet active. It can be stored into the EEPROM either via the
corresponding LSS command or via store parameters with object 0x1010. A new node-ID
can be activated only after storage and reset.
The following figure shows the interrelation between the 3 virtual LSS node-ID variables
(pending – active – saved):
7.8.5 Implemented LSS services

The following LSS services according to CIA-305 are supported:
Supported services only in LSS state WAITING:

 Commands = 0x40...0x43: Switch state selective service
‒ The command 0x40 sets the vendor ID according object 0x1018.1.
‒ The command 0x41 sets the product code according object 0x1018.2.
‒ The command 0x42 sets the revision number according object 0x1018.3.
‒ The command 0x43 sets the serial number according object 0x1018.4.
‒ For a successful completion of this service all these 4 commands must be sent in
ascending order.
‒ If all the given object identifiers match with these of the device then the device switches
from WAITING to CONFIGURATION state.
‒ The successful completion will be answered with command specifier 0x44.
Supported services only in LSS state CONFIGURATION:

 Command = 0x11: Configure node-ID service

‒ If the node-id is in the valid range (1…127 or 255) then the PENDING node-id will be set
to this value. The pending node-id is the RAM copy of the node-id object 0x100B.
‒ Invalid node-IDs lead to the error code 0x01 in the LSS response message.
 Command = 0x13: Configure bit timing service

‒ The second byte (= 0x00) of this message defines the bit timing table according CIA301.
‒ The third byte (= 0, 2, 3, 4) of this message defines the index within the bit timing table
according CIA301. The mapping index/baud rate is: 0=1000k, 2=500k, 3=250k, 4=125k.
‒ A valid new bit timing index will be converted into the baud rate value and will be stored
as pending baud rate.
‒ The pending baud rate cannot be read via CANopen. Object 0x2400 still contains the
(old) active baud rate until the bit timing has been activated with command 0x15.
‒ Invalid bit timings / baud rates lead to the error code 0x01 in the LSS response
message.
 Command = 0x15: Activate bit timing service

‒ The second (LSB) and third (MSB) byte of this message define the delay time after
which the pending (new) bit timing gets active. Only values with multiple of 8ms are
possible and the minimum delay time is 8ms.
‒ Only if the communication state machine is in state STOPPED the delay counter will be
decremented and after the delay time the pending baud rate will be copied into the active
baud rate.
‒ Afterwards the CAN will be re-initialized with the new bit timings for the pending baud
rate.
‒ During this re-initialization phase also the CAN controller of the second µC will be re-
initialized with the new baud rate.
‒ The new baud rate will be copied into the RAM copy of object 0x2400 and can be read
afterwards via SDO access.
‒ After the re-initialization of the CAN controller with the new baud rate the same delay
time will be used to lock the sending of any CAN TX messages.
‒ With this LSS command the new pending baud rate will be not saved automatically
within the EEPROM.
‒ There is no response for this service.
 Command = 0x17: Store configuration service

‒ This service stores the pending node-ID and the pending baud rate in the EEPROM
which were previously set with the commands 0x11 and/or 0x13.
‒ This command does not require the previous execution of the activate bit timing service.
 Command = 0x5A: Inquire LSS address (vendor ID) service

‒ This service reads the vendor ID (same data as in object 0x1018.1) and returns it in
uint8 format within the response message.
 Command = 0x5B: Inquire LSS address (product code) service

‒ This service reads the product code (same data as in object 0x1018.2) and returns it in

 Command = 0x5C: Inquire LSS address (revision number) service

‒ This service reads the CANopen revision number (same data as in object 0x1018.3) and
returns it in uint32 format within the response message.
 Command = 0x5D: Inquire LSS address (serial number) service

‒ This service reads the product code (same data as in object 0x1018.4) and returns it in
 Command = 0x5E: Inquire node ID service

‒ This service reads the currently ACTIVE node ID and returns it in uint8 format within the
response message. (Remark: From object 0x100B the pending node ID will be read.)
Supported services in both LSS states (WAITING and CONFIGURATION):

 Command = 0x04: Switch state global service
‒ This command switches dependent on the second data byte from WAITING to
CONFIGURATION (mode = 1) or from CONFIGURATION to WAITING (mode = 0).
‒ If the node-id was changed (with command 0x11) and the configuration was stored (with
command 0x17) before then this service also restarts the device during switching from
CONFIGURATION to WAITING. Before executing the reset, the device waits until the
storage process of the EEPROM was really finished.
‒ There is no response for this service.
 Commands = 0x46...0x4B: Identify remote slave service

‒ The command 0x46 sets the vendor ID according object 0x1018.1.
‒ The command 0x47 sets the product code according object 0x1018.2.
‒ The command 0x48 sets the revision number low according object 0x1018.3.
‒ The command 0x49 sets the revision number high according object 0x1018.3.
‒ The command 0x4A sets the serial number low according object 0x1018.4.
‒ The command 0x4B sets the serial number high according object 0x1018.4.
‒ For a successful completion of this service all these 6 commands must be sent in
ascending order.
‒ If the device identity (data of object 0x1018) is NOT within the given ranges of the
received data from the 6 commands above then no response will be sent.
‒ If the device identity is within the given ranges then the successful completion will be
answered with command specifier 0x4F.
• Command = 0x4C: Identify non configured remote slave service

‒ If the device is already configured the pending node-ID is not equal 0xFF. Then no
response will be sent.
‒ If the device is not yet configured and has still the pending node ID = 0xFF then a
response will be sent with command specifier 0x50.
7.8.6 CAN interface for LSS

For the LSS communication there are 2 additional CAN messages required:
1. Receive message:
The request from LSS master to the LSS slave uses CAN-ID = 0x7E5.
2. Transmit message:
The response from the LSS slave to the LSS master uses CAN-ID = 0x7E4.

Error codes 45/110
8 Error codes
If the CPM detects an error, an emergency message is transmitted via CAN to signal the
error to the machine controller. In addition the error LED shows a flash signal.
The flash signal and the emergency message contain an error code, which gives more
information about the type of error.
The error code is a two digit code. The two digits will be displayed by the error LED as a
green blink code. The blink code consists of a long pause, 1 st digit, small pause, 2nd digit.
After a long pause the two digit code is repeated.
The blink code is equal to the “Error Code 8” given in chapter 8.1. An error code of e. g.
0x23 has a blink code of “2” and “3”.
The blink code is an optic signal:
 First blink sequence (2)
 Short pause
 Second blink sequence (3)
 Long pause
Fig. 19: Example blink code 0x23

46/110 Error codes
8.1 Description of error codes and actions
Valve reaction
The valve reaction for error codes can be found in the field “severity level” (see below).
Value 0 “WARNING”: EMCY message is sent, module continues operation

Value 1 “FAULT HOLD”: EMCY message is sent, module goes into neutral position
Value 2 “FAULT”: EMCY message is sent, power stages are switched off
Value 3 “RESET”: no EMCY message, module is restarted immediately
Legend of the following error code tables:
8.1.1 Error code 0x1501: QSC invalid 2 point Q/S deltas on side A
CANopen Error internal Error
Message [Name of Error Code] Error description Proposed remedy
Code Code [hex / dez]
0x1501 0xB201 = 45569 QSC invalid 2 point Q/S deltas on side A Q/S characteristics: plausibility check SA Check for:
100% > SA 0% - CANopen object 0x2720.9 > CANopen object 0x2720.2
(QA 100% > QA 0%)
Otherwise please contact the Bosch Rexroth Service in case of this
error.
Module EMCY Msg: API Log: Severity: Blink Code
QSC yes no 2 0x0073
8.1.2 Error code 0x1502: QSC invalid 2 point Q/S deltas on side B
0x1502 0xB202 = 45570 QSC invalid 2 point Q/S deltas on side B Q/S characteristics: plausibility check SB Check for:
100% < SB 0% - CANopen object 0x2721.9 < CANopen object 0x2721.2
(QB 100% < QB 0%)
error.
QSC yes no 2 0x0073

Error codes 47/110
8.1.3 Error code 0x1511: QSC steadiness violation Q[n] > Q[n+1]
0x1511 0xB211 = 45585 QSC steadiness violation Q[n] > Q[n+1] Q/S characteristics: plausibility check Please contact the Bosch Rexroth Service in case of this error.
steadiness violation Q[n] > Q[n+1].
QSC yes no 2 0x0073
8.1.4 Error code 0x1512: QSC steadiness violation S[n] > S[n+1]
0x1512 0xB212 = 45586 QSC steadiness violation S[n] > S[n+1] Q/S characteristics: plausibility check Check for:
steadiness violation S[n] > S[n+1]. - CANopen object 0x2721.9 ...2 and 0x2720.2 ...9 must be in ascending
order
Information:
- CANopen object 0x2720.2 .. 0x2720.9 spool position S on side A
- CANopen object 0x2721.2 .. 0x2721.9 spool position S on side B
Convention:
- S[0] = spool position B8 (nominal flow B)
- S[1 .. 6] = spool position B7 .. B2
- S[7] = spool position B1 (opening point B)
- S[8] = spool position A1 (opening point A)
- S[9 .. 14] = spool position A2 .. A7
- S[15] = spool position A8 (nominal flow A)

error.
QSC yes no 2 0x0073
8.1.5 Error code 0x1521: QSC lowest Q < minimum Q limit

0x1521 0xB221 = 45601 QSC lowest Q < minimum Q limit Q/S characteristics: plausibility check QB Please contact the Bosch Rexroth Service in case of this error.
100% < minimum Q limit.
QSC yes no 2 0x0073
8.1.6 Error code 0x1522: QSC highest Q > maximum Q limit

0x1522 0xB222 = 45602 QSC highest Q > maximum Q limit Q/S characteristics: plausibility check QA Please contact the Bosch Rexroth Service in case of this error.
100% > maximum Q limit.
QSC yes no 2 0x0073
8.1.7 Error code 0x1523: QSC lowest S < minimum S limit

0x1523 0xB223 = 45603 QSC lowest S < minimum S limit Q/S characteristics: plausibility check SB Please contact the Bosch Rexroth Service in case of this error.
100% < minimum S limit.
QSC yes no 2 0x0073

48/110 Error codes
8.1.8 Error code 0x1524: QSC highest S > maximum S limit

0x1524 0xB224 = 45604 QSC highest S > maximum S limit Q/S characteristics: plausibility check SA Please contact the Bosch Rexroth Service in case of this error.
100% > maximum S limit.
QSC yes no 2 0x0073
8.1.9 Error code 0x1611: SCL invalid oil model properties

0x1611 0xB411 = 46097 SCL invalid oil model properties Spool position control: invalid oil model Check for:
properties, default oil model for HLP 46 VI - CANopen object 0x2724.1 viscosity grade must be in range 15 .. 220
96 is used. - CANopen object 0x2724.2 viscosity index must be in range 50 .. 400

error.
SCL yes yes 2 0x0073
8.1.10 Error code 0x1612: SCL invalid oil model factors

0x1612 0xB412 = 46098 SCL invalid oil model factors Spool position control: invalid oil model Check for:
factors, default factors for HLP 46 VI 96 are - CANopen object 0x2724.3 oil model factor m must be in range 0x0200
used. .. 0x2000 (0.50 .. 8.00)
- CANopen object 0x2724.4 oil model factor k must be in range 0x0F00 ..
0xF000 (3.75 .. 60.0)

error.
8.1.11 Error code 0x2251: Unexpected current flow A/B

0x2251 0xB651 = 46673 Unexpected current flow A/B Pilot current control: unexpected current Check for:
flow during operation discovered. - sufficient and stable DC supply voltage
- sufficient and stable control pressure
Consider software update or replace the module in case of persistent

error.
error.
ICL yes yes 2 0x0037
8.1.12 Error code 0x2252: Insufficient current flow A/B

0x2252 0xB652 = 46674 Insufficient current flow A/B Pilot current control: insufficient current flow Check for:
during operation discovered. - sufficient and stable DC supply voltage

error.
error.

Error codes 49/110
8.1.13 Error code 0x2253: Short circuit current flow A/B

0x2253 0xB653 = 46675 Short circuit current flow A/B Pilot current control: short circuit current Check for:
flow during operation discovered. - sufficient and stable DC supply voltage

error.
error.
8.1.14 Error code 0x2261: Hi-side power stage A is open

0x2261 0xB661 = 46689 Hi-side power stage A is open Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered hi-side power stage A to error.
be permanently open. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.15 Error code 0x2262: Hi-side power stage B is open

0x2262 0xB662 = 46690 Hi-side power stage B is open Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered hi-side power stage B to error.
be permanently open. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.16 Error code 0x2263: Hi-side power stages are short

0x2263 0xB663 = 46691 Hi-side power stages are short Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered either hi-side power error.
stage to be short to supply voltage. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.17 Error code 0x2271: Lo-side power stage is open

0x2271 0xB671 = 46705 Lo-side power stage is open Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered lo-side power stage to be error.
permanently open. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.18 Error code 0x2272: Lo-side power stage is short

0x2272 0xB672 = 46706 Lo-side power stage is short Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered lo-side power stage to be error.
short to ground. Otherwise please contact the Bosch Rexroth Service in case of this
error.

50/110 Error codes
8.1.19 Error code 0x2281: Broken wire at coil on side A

0x2281 0xB681 = 46721 Broken wire at coil on side A Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered broken wire at pilot coil error.
A. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.20 Error code 0x2282: Broken wire at coil side B

0x2282 0xB682 = 46722 Broken wire at coil side B Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered broken wire at pilot coil error.
B. Otherwise please contact the Bosch Rexroth Service in case of this
error.
8.1.21 Error code 0x2283: Disconnected pilot valve coils

0x2283 0xB683 = 46723 Disconnected pilot valve coils Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered disconnected pilot valve. error.
error.
8.1.22 Error code 0x2291: Coil voltages signals are invalid

0x2291 0xB691 = 46737 Coil voltages signals are invalid Pilot current control: start up test of power Consider software update or replace the module in case of persistent
stages discovered implausible test signals. error.
error.
8.1.23 Error code 0x3211: UBat < min. customer limit

0x3211 0x9211 = 37393 UBat < min. customer limit The battery voltage has fallen below Check for:
minimum customer limit. - loose or broken cables/connectors
- stable power supply without voltage drops
- matching error presence time to machine behavior
- matching error presence time to power off behavior

error.

SIG yes yes 1 0x0021
8.1.24 Error code 0x3212: UBat > max. customer limit

0x3212 0x9212 = 37394 UBat > max. customer limit The battery voltage has risen above maximumCheck
customer
for: limit.
- Load shedding during operation
- stable power supply without voltage spikes
- broken or damaged alternator

error.


Error codes 51/110
8.1.25 Error code 0x3221: UBat < min. absolute limit

0x3221 0x9221 = 37409 UBat < min. absolute limit The battery voltage has fallen below Check for:
minimum absolute limit. - loose or broken cables/connectors
- stable power supply without voltage drops
- matching error presence time to power off behavior

error.

8.1.26 Error code 0x3222: UBat > max. absolute limit

0x3222 0x9222 = 37410 UBat > max. absolute limit The battery voltage has risen above Check for:
maximum absolute limit. - load shedding during operation
- stable power supply without voltage spikes
- broken or damaged alternator

error.

8.1.27 Error code 0x3231: Oil temperature < min. limit

0x3231 0x9231 = 37425 Oil temperature < min. limit The oil related internal temperature has Try to warm up the machine by circulating the oil or move the machine in
fallen below minimum limit. a place with higher ambient temperature. In general this will only occur
during cold start of the machine.

error.

8.1.28 Error code 0x3232: Oil temperature > max. limit

0x3232 0x9232 = 37426 Oil temperature > max. limit The oil related internal temperature has Check for:
risen above maximum limit. - dirt or blocked venting at the valve block
- ambient heat input (i.e. by engine or exhaust)
- general oil temperature level in the machine
Remark : the internal temperature level in the module can be higher than
the surface.

error.

8.1.29 Error code 0x3241: PCB temperature warning range

0x3241 0x9241 = 37441 PCB temperature warning range The PCB related internal temperature has Check for:
risen above warning limit. - dirt or blocked venting at the valve block
the surface.

error.


52/110 Error codes
8.1.30 Error code 0x3242: PCB temperature overheating range

0x3242 0x9242 = 37442 PCB temperature overheating range The PCB related internal temperature has Check for:
risen above overheating limit. - dirt or blocked venting at the valve block
the surface.

error.

8.1.31 Error code 0x3243: PCB temperature < min. limit

0x3243 0x9243 = 37443 PCB temperature < min. limit The PCB related internal temperature has fallen
Trybelow
to warm
minimum
up the limit.
machine by circulating the oil or move the machine in
a place with higher ambient temperature. In general this will only occur
during cold start of the machine.

error.

8.1.32 Error code 0x3244: PCB temperature > max. limit

0x3244 0x9244 = 37444 PCB temperature > max. limit The PCB related internal temperature has Check for:
risen above maximum limit. - dirt or blocked venting at the valve block
the surface.

error.

8.1.33 Error code 0x3251: UCore voltage < min. limit

0x3251 0x9251 = 37457 UCore voltage < min. limit The core voltage has fallen below the Consider software update or replace the module in case of persistent
minimum limit. error.
Remark : on safety systems the core voltages are monitored mutually.

error.

8.1.34 Error code 0x3252: UCore voltage > max. limit

0x3252 0x9252 = 37458 UCore voltage > max. limit The core voltage has risen above the Consider software update or replace the module in case of persistent
maximum limit. error.
Remark : on safety systems the core voltages are monitored mutually.

error.


Error codes 53/110
8.1.35 Error code 0x3261: ADC test voltage < min. limit
0x3261 0x9261 = 37473 ADC test voltage < min. limit The ADC test voltage has fallen below the Consider software update or replace the module in case of persistent

error.

8.1.36 Error code 0x3262: ADC test voltage > max. limit
0x3262 0x9262 = 37474 ADC test voltage > max. limit The ADC test voltage has risen above the Consider software update or replace the module in case of persistent

error.

8.1.37 Error code 0x3271: CY327 reference < min. limit

0x3271 0x9271 = 37489 CY327 reference < min. limit The reference voltage has fallen below the Consider software update or replace the module in case of persistent

error.

8.1.38 Error code 0x3272: CY327 reference > max. limit

0x3272 0x9272 = 37490 CY327 reference > max. limit The reference voltage has risen above the Consider software update or replace the module in case of persistent

error.

8.1.39 Error code 0x3432: Pilot voltage is too low

0x3432 0xB631 = 46641 Pilot voltage is too low Pilot current control: internal pilot voltage is Check for:
too low to drive requested current. - sufficient and stable DC supply voltage

error.
error.


54/110 Error codes
8.1.40 Error code 0x3461: Reset of flip-flop failed

0x3461 0xA161 = 41313 Reset of flip-flop failed Error during voltage monitoring test, initial Consider software update or replace the module in case of persistent
reset of flip-flop failed. error.
error.

VAP yes yes 2 0x0035
8.1.41 Error code 0x3462: Wrong test reaction for WDA low check
0x3462 0xA162 = 41314 Wrong test reaction for WDA low check Error during voltage monitoring test, wrong Consider software update or replace the module in case of persistent
test reaction for watchdog line low check. error.
error.

8.1.42 Error code 0x3463: Wrong test reaction for WDA high check
0x3463 0xA163 = 41315 Wrong test reaction for WDA high check Error during voltage monitoring test, wrong Consider software update or replace the module in case of persistent
test reaction for watchdog line high check. error.
error.

8.1.43 Error code 0x3471: VAP DFLASH history data is used

0x3471 0xA171 = 41329 VAP DFLASH history data is used DFLASH history data has been used, Check for:
parameters might not be written as - loose or broken cables/connectors
intended. - stable power supply without voltage drops
- sufficient time to write parameters before powering off
- amount of parameters written at once

VAP yes no 2 0x0092
8.1.44 Error code 0x5041: Expression X^2 – A* X * Y + Y^2 < 0

0x5041 0x9341 = 37697 Expression X^2 – A* X * Y + Y^2 < 0 The expression X^2 - AXY + Y^2 for position Consider software update or replace the module in case of persistent
sensor taboo zone diagnosis is found to be error.
negative. The variable A denotes the Otherwise please contact the Bosch Rexroth Service in case of this
eccentricity factor to fit the X-Y plot within a error.
circular ring. This indicates a complex
failure or deviation of the position sensor
signal.

POS yes yes 2 0x0033
8.1.45 Error code 0x5042: Diagnosis signal radius too small

0x5042 0x9342 = 37698 Diagnosis signal radius too small The virtual radius in the X-Y plot of the Consider software update or replace the module in case of persistent
position sensor taboo zone diagnosis is too error.
small. This indicates an invalid or shifted Otherwise please contact the Bosch Rexroth Service in case of this
signal from the position sensor. error.


Error codes 55/110
8.1.46 Error code 0x5043: Diagnosis signal radius too large

0x5043 0x9343 = 37699 Diagnosis signal radius too large The virtual radius in the X-Y plot of the Consider software update or replace the module in case of persistent
position sensor taboo zone diagnosis is too error.
large. This indicates an invalid or shifted Otherwise please contact the Bosch Rexroth Service in case of this
signal from the position sensor. error.

8.1.47 Error code 0x5051: Lost synchronization of sensor signal

0x5051 0x9351 = 37713 Lost synchronization of sensor signal The synchronization to the position sensor Consider software update or replace the module in case of persistent
actuation failed or sensor actuation does error.
not work correctly. Otherwise please contact the Bosch Rexroth Service in case of this
error.

8.1.48 Error code 0x5061: Sensor signal level X < minimum limit
0x5061 0x9361 = 37729 Sensor signal level X < minimum limit The position sensor signal X has fallen Consider software update or replace the module in case of persistent
below minimum limit. This indicates an error.
invalid or shifted signal from the position Otherwise please contact the Bosch Rexroth Service in case of this
sensor. error.

8.1.49 Error code 0x5062: Sensor signal level X > maximum limit
0x5062 0x9362 = 37730 Sensor signal level X > maximum limit The position sensor signal X has risen Consider software update or replace the module in case of persistent
above maximum limit. This indicates an error.
sensor. error.

8.1.50 Error code 0x5071: Sensor signal level Y < minimum limit
0x5071 0x9371 = 37745 Sensor signal level Y < minimum limit The position sensor signal Y has fallen Consider software update or replace the module in case of persistent
below minimum limit. This indicates an error.
sensor. error.

8.1.51 Error code 0x5072: Sensor signal Y > maximum limit

0x5072 0x9372 = 37746 Sensor signal Y > maximum limit The position sensor signal Y has risen Consider software update or replace the module in case of persistent
above maximum limit. This indicates an error.
sensor. error.


56/110 Error codes
8.1.52 Error code 0x5531: Parameter write access denied

0x5531 0xB701 = 46849 Parameter write access denied DFLASH parameter database: write access Consider software update or replace the module in case of persistent
to parameter denied. error.
error.

PDB yes yes 1 0x0041
8.1.53 Error code 0x5532: Parameter read access denied

0x5532 0xB702 = 46850 Parameter read access denied DFLASH parameter database: read access Consider software update or replace the module in case of persistent
to parameter denied. error.
error.

8.1.54 Error code 0x5533: Parameter excess index

0x5533 0xB703 = 46851 Parameter excess index DFLASH parameter database: parameter Consider software update or replace the module in case of persistent
byte index > parameter size. error.
error.

8.1.55 Error code 0x5534: Parameter excess length

0x5534 0xB704 = 46852 Parameter excess length DFLASH parameter database: parameter Consider software update or replace the module in case of persistent
byte index + length > parameter size. error.
error.

8.1.56 Error code 0x5535: Address excess length

0x5535 0xB705 = 46853 Address excess length DFLASH parameter database: virtual Consider software update or replace the module in case of persistent
address out of range (0x0000 .. 0x1FFF). error.
error.


Error codes 57/110
8.1.57 Error code 0x5536: DFLASH page out of range

0x5536 0xB706 = 46854 DFLASH page out of range DFLASH parameter database: DFLASH Consider software update or replace the module in case of persistent
page out of range (0 .. 48). error.
error.

8.1.58 Error code 0x5537: Unknown DFLASH parameter

0x5537 0xB707 = 46855 Unknown DFLASH parameter DFLASH parameter database: access to Consider software update or replace the module in case of persistent
unknown parameter. error.
error.

8.1.59 Error code 0x5538: Unknown error in DFLASH order

0x5538 0xB708 = 46856 Unknown error in DFLASH order DFLASH parameter database: unknown/not Consider software update or replace the module in case of persistent
specified error. error.
error.

8.1.60 Error code 0x5539: Address or length is out of range

0x5539 0xB709 = 46857 Address or length is out of range DFLASH parameter database: virtual Consider software update or replace the module in case of persistent
address + length out of range (0x0000 .. error.
0x1FFF). Otherwise please contact the Bosch Rexroth Service in case of this
error.

8.1.61 Error code 0x553A: DFLASH global init failed

0x553A 0xB70A = 46858 DFLASH global init failed DFLASH parameter database: global Consider software update or replace the module in case of persistent
initialization failed. error.
error.


58/110 Error codes
8.1.62 Error code 0x5545: Coil impedance is too low A/B

0x5545 0xB645 = 46661 Coil impedance is too low A/B Pilot current control: coil impedance of pilot Check for:
coil A or B is too low. - sufficient and stable DC supply voltage

error.
error.

8.1.63 Error code 0x5546: Coil impedance is too high A/B

0x5546 0xB646 = 46662 Coil impedance is too high A/B Pilot current control: coil impedance of pilot Check for:
coil A or B is too high. - sufficient and stable DC supply voltage

error.
error.

8.1.64 Error code 0x6081: Delta too far ahead

0x6081 0x9281 = 37505 Delta too far ahead The difference of estimated flow between Please contact the Bosch Rexroth Service in case of this error.
main and safety controller exceeded the
maximum limit while being in the
proportional zone A/B. The value of the
main controller was too far ahead compared
to the value of the safety controller.

CVQ yes yes 2 0x0029
8.1.65 Error code 0x6082: Delta too far behind

0x6082 0x9282 = 37506 Delta too far behind The difference of estimated flow between Please contact the Bosch Rexroth Service in case of this error.
main and safety controller exceeded the
minimum limit while being in the
proportional zone A/B. The value of the
main controller was too far behind
compared to the value of the safety
controller.

8.1.66 Error code 0x6091: TC1724 within NDW not zero

0x6091 0x9291 = 37521 TC1724 within NDW not zero The estimated flow in the neutral diagnosis Please contact the Bosch Rexroth Service in case of this error.
window of the main controller was not 0%
(neutral).


Error codes 59/110
8.1.67 Error code 0x6092: STM8A within NDW not zero

0x6092 0x9292 = 37522 STM8A within NDW not zero The estimated flow in the neutral diagnosis Please contact the Bosch Rexroth Service in case of this error.
window of the safety controller was not 0%
(neutral).

8.1.68 Error code 0x60A1: TC1724 > transition zone A high limit
0x60A1 0x92A1 = 37537 TC1724 > transition zone A high limit The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is above transition zone A hi-limit even
though the synchronized position S of the
main controller is still found to be within
transition zone A.

8.1.69 Error code 0x60A2: TC1724 < transition zone A low limit
0x60A2 0x92A2 = 37538 TC1724 < transition zone A low limit The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is below transition zone A lo-limit even
transition zone A.

8.1.70 Error code 0x60A3: STM8A > transition zone A high limit
0x60A3 0x92A3 = 37539 STM8A > transition zone A high limit The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is above transition zone A hi-limit even
transition zone A.

8.1.71 Error code 0x60A4: STM8A < transition zone A low limit
0x60A4 0x92A4 = 37540 STM8A < transition zone A low limit The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is below transition zone A lo-limit even
transition zone A.


60/110 Error codes
8.1.72 Error code 0x60B1: TC1724 > transition zone B high limit
0x60B1 0x92B1 = 37553 TC1724 > transition zone B high limit The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is above transition zone B hi-limit even
transition zone B.

8.1.73 Error code 0x60B2: TC1724 < transition zone B low limit
0x60B2 0x92B2 = 37554 TC1724 < transition zone B low limit The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is below transition zone B lo-limit even
transition zone B.

8.1.74 Error code 0x60B3: STM8A > transition zone B high limit
0x60B3 0x92B3 = 37555 STM8A > transition zone B high limit The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is above transition zone B hi-limit even
transition zone B.

8.1.75 Error code 0x60B4: STM8A < transition zone B low limit
0x60B4 0x92B4 = 37556 STM8A < transition zone B low limit The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is below transition zone B lo-limit even
transition zone B.

8.1.76 Error code 0x60C1: TC1724 has negative sign on side A

0x60C1 0x92C1 = 37569 TC1724 has negative sign on side A The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is negative even though the synchronized
position S of the main controller is still
found to be within proportional zone A.


Error codes 61/110
8.1.77 Error code 0x60C2: STM8A has negative sign on side A

0x60C2 0x92C2 = 37570 STM8A has negative sign on side A The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is negative even though the synchronized
found to be within proportional zone A.

8.1.78 Error code 0x60C3: TC1724 has positive sign on side B

0x60C3 0x92C3 = 37571 TC1724 has positive sign on side B The estimated flow Q of the main controller Please contact the Bosch Rexroth Service in case of this error.
is positive even though the synchronized
found to be within proportional zone B.

8.1.79 Error code 0x60C4: STM8A has positive sign on side B

0x60C4 0x92C4 = 37572 STM8A has positive sign on side B The estimated flow Q of the safety controller Please contact the Bosch Rexroth Service in case of this error.
is positive even though the synchronized
found to be within proportional zone B.

8.1.80 Error code 0x60D1: CV of ADC test voltage failed

0x60D1 0x92D1 = 37585 CV of ADC test voltage failed Comparison of ADC test voltage between Consider software update or replace the module in case of persistent
main and safety controller failed, maximum error.
difference has been exceeded. Otherwise please contact the Bosch Rexroth Service in case of this
error.

STM yes yes 2 0x0029
8.1.81 Error code 0x6101: General error callback occurred

0x6101 0xD201 = 53761 General error callback occurred Application interface general error callback Consider software update or replace the module in case of persistent
occurred. error.
error.
API yes no 2 0x0051
8.1.82 Error code 0x6102: Watchdog communication failed

0x6102 0xD202 = 53762 Watchdog communication failed Application interface watchdog Consider software update or replace the module in case of persistent
communication failed. error.
Remark : Only a blink code will be sent in error.
this case of error (no message via CAN).
API no no 2 0x0051

62/110 Error codes
8.1.83 Error code 0x6103: CY327 VDD5/VDD3 voltage error

0x6103 0xD203 = 53763 CY327 VDD5/VDD3 voltage error Application interface monitoring of CY327 Consider software update or replace the module in case of persistent
VDD5/VDD3 voltage error. error.
error.
API yes no 2 0x0051
8.1.84 Error code 0x6104: BU/UBstby/RST5_UV voltage error

0x6104 0xD204 = 53764 BU/UBstby/RST5_UV voltage error Application interface monitoring of Consider software update or replace the module in case of persistent
UB/UBstby/RST5_UV voltage error. error.
error.
API yes no 2 0x0051
8.1.85 Error code 0x6110: Unknown flow control trigger point

0x6110 0xA181 = 41345 Unknown flow control trigger point Program flow error, unknown flow control Consider software update or replace the module in case of persistent
trigger point. error.
error.
VAP yes no 2 0x0063
8.1.86 Error code 0x6111: Flow control GPTA time excess

0x6111 0xA182 = 41346 Flow control GPTA time excess Program flow error, GPTA interrupt Consider software update or replace the module in case of persistent
execution time exceeded. error.
error.
8.1.87 Error code 0x8110: Receive queue overrun

0x8110 0xC651 = 50769 Receive queue overrun An overflow of the CAN receive queue Check the CAN bus load and the time periods of the cyclically sent
occured. A CAN receive message (e.g. PDOs.
RPDO1, RPDO2, Heartbeat) was lost.
Dependent on the configuration this error
could additionally cause another timeout
error.

COP yes yes 2 0x0015
8.1.88 Error code 0x8120: Error level bus passive

0x8120 0xC652 = 50770 Error level bus passive The CAN bus controller entered the error If this errors occurs quite often then check the physical CAN bus, like the
passive state. In this state only passive CAN bus cables, cable connectors and the bus termination.
error frames (consisting of recessive bits) This error state will be left automatically after sending/receiving CAN
will be sent. The CAN communication is messages without errors.
still possible.

COP yes no 0 0x0017

Error codes 63/110
8.1.89 Error code 0x8130: Heartbeat message error

0x8130 0xC621 = 50721 Heartbeat message error A heartbeat message error occured. The Check CAN network connection and the ECU which sends the heartbeat
expected heartbeat message was not message.
received during the defined time period. Check plausibility of configured time values concerning heartbeat:
- the configured time in the CANopen object 0x1016 Consumer Heartbeat

Time within the own device
- the configured time in the CANopen object 0x1017 Producer Heartbeat
Time within the heartbeat producer ECU
- the consumer heartbeat time must be always greater than the producer
heartbeat time (e.g. 200ms and 100ms)

8.1.90 Error code 0x8131: RxPDO1 timeout error

0x8131 0xC622 = 50722 RxPDO1 timeout error A RPDO1 timeout error occured. The Check CAN network connection and the ECU which sends the message.
RPDO1 was not received during the defined Check plausibility of configured time values concerning RPDO1:
time period.
- RPDO1 timeout within CANopen object 0x1400.5 of own device
- the corresponding TPDO cycle time within object 0x180X.5 of sending
device
- the timeout must be always greater than the corresponding TPDO cycle
time (e.g. 200ms and 100ms)

COP yes no 2 0x0011
8.1.91 Error code 0x8132: RxPDO2 timeout error

0x8132 0xC623 = 50723 RxPDO2 timeout error A RPDO2 timeout error occured. The Check CAN network connection and the ECU which sends the message.
RPDO2 was not received during the defined Check plausibility of configured time values concerning RPDO2:
time period.
- RPDO2 timeout within CANopen object 0x1401.5 of own device
- the corresponding TPDO cycle time within object 0x180X.5 of sending
device
- the timeout must be always greater than the corresponding TPDO cycle
time (e.g. 200ms and 100ms)

8.1.92 Error code 0x8140: Recovered from bus off state

0x8140 0xC653 = 50771 Recovered from bus off state The CAN bus controller automatically Check the physical CAN bus, like the CAN bus cables, cable connectors
recovered from bus off state. In the bus off and the bus termination.
state no CAN communication was possible.
Therefore CAN messages may be lost.

COP yes no 0 0x0018

64/110 Error codes
8.1.93 Error code 0x8160: External EMCY message received

0x8160 0xC631 = 50737 External EMCY message received An external EMCY message with error code Check the reason for this emergency message at the other device.
0x1000 was received. The other device must send an emergency off message to reset this error
again.
Check the configuration within CANopen object 0x1028 Emergency
Consumer .

8.1.94 Error code 0x8170: CSM transition preoperational -> stopped

0x8170 0xC641 = 50753 CSM transition preoperational -> stopped The CANoen state machine performed a For further CANopen communication the state can be changed via
transition from preoperational to stopped. network management command.
Remark : Error cannot be sent via

Emergency message, because of NMT
state stop.

COP no yes 2 0x0013
8.1.95 Error code 0x8180: CSM transition operational -> stopped

0x8180 0xC642 = 50754 CSM transition operational -> stopped The CANopen state machine performed a For further CANopen communication the state can be changed via
transition from operational to stopped. network management command.
Remark : Error cannot be sent via

Emergency message, because of NMT
state stop.

COP no yes 2 0x0014
8.1.96 Error code 0x8191: Cross validation error

0x8191 0xC110 = 49424 Cross validation error Safety controller cross validation error of Check plausibility of cross validation diagnosis:
estimated flow. Possible reasons: - timing quality of SYNC, limit jitter to -/+ 2 ms
- estimated flow message received but Otherwise please contact the Bosch Rexroth Service in case of this error
cross validation was not triggered
- trigger message received again but cross
validation was not finished
- the estimated flow of the transition zone
A/B is out of range
- the estimated flow of the proportional zone
A/B is out of range
- the estimated flow in the neutral diagnosis
window is not zero
- the estimated flow of has the wrong sign in
relation to position


Error codes 65/110
8.1.97 Error code 0x8192: Communication timing error

0x8192 0xC120 = 49440 Communication timing error Safety controller communication timing Check plausibility of cross validation diagnosis:
error of estimated flow. Possible reasons: - timing quality of SYNC, limit jitter to -/+ 2 ms
- flow setpoint message interval out of range Otherwise please contact the Bosch Rexroth Service in case of this error
or missing
- estimated flow message interval out of
range or missing
- UART trigger message interval out of
range or missing
- violation of hold off time between trigger
and estimated flow
- violation of latency time between trigger
and estimated flow
8.1.98 Error code 0x8193: Communication UART layer 2 error

0x8193 0xC130 = 49456 Communication UART layer 2 error Safety controller communication UART layer Consider
2 error. software update or replace the module in case of persistent
error.
error.

8.1.99 Error ode 0x8194: Communication CAN layer 2 error

0x8194 0xC140 = 49472 Communication CAN layer 2 error Safety controller communication CAN layer Consider software update or replace the module in case of persistent
2 error. error.
error.

8.1.100 Error code 0x8195: ADC voltages monitoring error

0x8195 0xC150 = 49488 ADC voltages monitoring error Safety controller ADC voltages monitoring Consider software update or replace the module in case of persistent
error. error.
error.

8.1.101 Error code 0x8196: General operating system error

0x8196 0xC160 = 49504 General operating system error Safety controller general operating system Consider software update or replace the module in case of persistent
error. error.
error.


66/110 Error codes
8.1.102 Error code 0x8210: RxPDO length error

0x8210 0xC661 = 50785 RxPDO length error A CANopen RXPDO with a wrong data Check the configuration of the RXPDO in the own device and/or the
length was received. The received CAN configuration of the corresponding TXPDO within the transmitting device.
message contains less data bytes than the
configured RXPDO.

8.1.103 Error code 0x8321: Main spool moved too short

0x8321 0xB321 = 45857 Main spool moved too short Spool position control: valve main spool did Check for:
not reach commanded position. - blocking of the valve (i.e. by hand lever)
- correct viscosity grade of used hydraulic oil
- correct operation temperature range
- compressible air bubbles in the system
- sufficient hydraulic pressure
- sufficient power supply
Remark : avoid parallel actuation of too many valves .

error.

8.1.104 Error code 0x8322: Main spool moved too far

0x8322 0xB322 = 45858 Main spool moved too far Spool position control: valve main spool Check for:
moved beyond commanded position. - overriding of the valve (i.e. by hand lever)
- compressible air bubbles in the system
- missing centering spring after replacement

error.

8.1.105 Error code 0x8331: Manual operation of valve

0x8331 0xB331 = 45873 Manual operation of valve Spool position control: valve was not in Check for:
manual mode but actuated via hand lever. - overriding of the valve (i.e. by hand lever)
- valve state machine mode vs. remote mode

error.


Error codes 67/110
8.1.106 Error code 0x8341: Valve did not extend to side A/B
0x8341 0xB341 = 45889 Valve did not extend to side A/B Spool position control: valve main spool did Check for:
not move out of neutral. - blocking of the valve (i.e. by hand lever)
- sufficient hydraulic pressure
- sufficient power supply

error.

8.1.107 Error code 0x8342: Valve did not retract to neutral

0x8342 0xB342 = 45890 Valve did not retract to neutral Spool position control: valve main spool did Check for:
not retract to neutral. - blocking of the valve (i.e. by hand lever)

error.

8.1.108 Error code 0x8351: Main spool moved to wrong side

0x8351 0xB351 = 45905 Main spool moved to wrong side Spool position control: valve main spool Check for:
moved moved to wrong side. - overriding of the valve (i.e. by hand lever)

error.

8.1.109 Error code 0x8361: Valve not neutral during start

0x8361 0xB361 = 45921 Valve not neutral during start Spool position control: valve main spool was Check for:
not in neutral during start. - blocking of the valve (i.e. by hand lever)
- correct valve type after replacement

error.

8.1.110 Error code 0x8711: PDB P'n'D load buffer overflow

0x8711 0xC711 = 50961 PDB P'n'D load buffer overflow DFLASH parameter database: Plug'n'Drive Check that sum of plug'n'drive relevant parameter in parameter list does
load buffer overflow not exceed the plug'n'drive transfer buffer size.


68/110 Error codes
8.1.111 Error code 0x8712: PDB P'n'D save buffer overflow

0x8712 0xC712 = 50962 PDB P'n'D save buffer overflow DFLASH parameter database: Plug'n'Drive Check that received plug'n'drive data container size does not exceed the
save buffer overflow plug'n'drive transfer buffer size.

8.1.112 Error code 0x8713: PDB P'n'D data integrity

0x8713 0xC713 = 50963 PDB P'n'D data integrity DFLASH parameter database: Plug'n'Drive Check for correct checksum of the received plug'n'drive data container.
data integrety invalid

8.1.113 Error code 0x8714: PDB P'n'D data incompatible

0x8714 0xC714 = 50964 PDB P'n'D data incompatible DFLASH parameter database: Plug'n'Drive Check that the data in the plug'n'drive transfer buffer is compatible with
data incompatible the current firmware version:
Compare data compatibility matrix for:

- software project name
- software major version
- software minor version
- SVN revision number


CPM-1x Parameters: Object Dictionary 69/110
9 CPM-1x Parameters: Object Dictionary

9.1 Overview
The object dictionary contains parameters of the CPM used to control and change the
operational behavior.
The object list includes parameters specified by the CANopen specifications CiA 301 and
CiA 408 as well as parameters specified by Bosch Rexroth for this device.
The CAN communication to read and write the parameters can be handled by using
standard CANopen tools.
The Electronic Data Sheet (EDS) is available up on demand. The EDS-file can be
processed by most available CANopen tools to generate an easy to use user interface.
The file to select, depends on the software version (object 0x100A) and the device type of
the CPM-1x (object 0x1018.2). Bosch Rexroth delivers a complete bundle of corresponding
EDS-files.
CAUTION!
The use of a wrong EDS files can cause a wrong configuration or a reduced access to the
interface!
All CPM-1x devices support the CANopen SDO communication used by standard CANopen
tools to read and write parameters.
The default values of the objects are typical, but can differ depending on the ordered
configuration.
Additional information about the parameters and descriptions used in the following chapters
can be found in the CANopen specifications CiA 301 and CiA 408.
The object dictionary is divided into three main chapters:
 CANopen communication parameters
0x1000 – 0x1FFF
(Chapter 9.2 “CANopen communication parameters according to CiA 301”)
 Bosch Rexroth device specific parameters:
0x2000 – 0x5FFF
(Chapter 9.3 “Input / output data”)
 Parameters according to CANopen device profile CiA 408:
0x6000 – 0x6FFF
(Chapter 9.8 “Parameters according to CANopen device profile CiA 408”)

70/110 CPM-1x Parameters: Object Dictionary
9.2 CANopen communication parameters according to CiA 301
9.2.1 Object 0x1000 Device Type

Subindex Description Type Access Default Min Max
0 device type UNSIGNED32 RO 408
Description: This object contains information about the device type and its functionality.
The low word contains the device profile number according to CANopen standard. For this
device the CANopen device profile is CiA 408 (0x198).
The high word is always 0x0000.
See also CiA Standard CiA 408.
9.2.2 Object 0x1001 Error Register

0 error register UNSIGNED8 RO
Description: This object provides general error information (error class) according to chapter 8 “Error
codes”.
Bit Meaning
0 Generic error
1 Current error
2 Voltage error
3 Temperature error
4 Communication error
5 Device profile specific error
6 reserved
7 Manufacturer specific error
PDO mapping Yes

9.2.3 Object 0x1002 Manufacturer Status Register

manufacturer UNSIGNED32 RO, PDO
0
status register
Description: This object provides information about the device status.

Byte 1 (LSB) Actual flow of valve
(see object 0x2005)
Byte 2 Temperature measured on the electronic board. The value has an offset
of 0x50 (see object 0x2000).
Byte 3 Error code equal to the blink code of the control LED of the device. See
chapter 8 „Error codes“ for details.
Byte 4 (MSB) Error state: 0 = no error
1 = error or state not operational
PDO mapping Yes
9.2.4 Object 0x1003 Pre-defined Error Field

0 number of errors UNSIGNED8 RW 0 0 7
1-7 standard error field UNSIGNED32 RO 0
Description: The object provides a list with the error codes generated by the device.
Subindex 0 Number of error codes stored in the list. Error codes are stored during operation in volatile
memory, after start-up the list is empty.
Writing of 0 to this object erases the list.
Subindex 1…7 List with error codes.
New error codes are always stored at position 1 and old error codes will move down the list.
The current error code can be found also in the object 0x604E.
9.2.5 Object 0x1005 Cob-Id Sync Message

0 cob-id sync UNSIGNED32 RW 0x80 0x80 0x80
message
Description: This device is able to process sync messages generated by another device. The sync
messages are used to generate synchronized communication behavior in the network.
The CAN identifier of the sync message is 0x80 and cannot be changed to any other value.
The device is not able to generate sync messages.

9.2.6 Object 0x1008 Manufacturer Device Name

0 manufacturer VISSTRING CONST CPM
device name
Description: This object provides the name of this device.
9.2.7 Object 0x1009 Manufacturer Hardware Version

0 manufacturer VISSTRING CONST
hardware version
Description: This object provides information about the hardware version of the PCB of CPM-1x.
9.2.8 Object 0x100A Manufacturer Software Version

0 manufacturer VISSTRING CONST
software version
Description: This object provides information about the firmware version on this CPM-1x. The CANopen
interface and the selection of the corresponding EDS file depend on the firmware version.
9.2.9 Object 0x100B Node-ID

0 Node-ID UNSIGNED8 RW Customer specific 1 127
(255 for LSS) (255 for LSS)
Storage: On “Save Communication Parameters”.

Valid: On storage and restart.
Description: Node-ID (valve number) of this device.
Value range: 1 … 127 (0x01 … 0x7F)
Values with special function: 255 (0xFF) = CANopen LSS configuration
It is not possible to set the node-ID to the value range from 128 … 254. In this case, the
original node-ID remains valid. The change of the Node-ID can cause a change of other
objects.

9.2.10 Object 0x1010 Store Parameters

0 largest subindex UNSIGNED8 RO 3
supported
1 save all parameters UNSIGNED32 RW
2 save communication UNSIGNED32 RW
parameters
3 save application UNSIGNED32 RW
parameters
Description: This object provides an interface for the storage of parameters from volatile memory (RAM)
into non-volatile memory (EEPROM).
Most of the parameter changes are only stored in volatile memory and have to be stored to
non-volatile memory with a special command.
A change of most parameters will only be effective after storage and restart of the device.
To store a set of parameters the key word “save” (0x65766173) has to be written to the
matching subindex of this object.
Subindex 1 Save all parameters.
Subindex 2 All communication settings are stored (including node ID and baud rate).
Subindex 3 All application parameters are stored.
A full storage process of all EEPROM based parameters can take up to 4,6 s. Don‘t
switch off the power supply after triggering the storing.
At high CAN bus traffic (small telegram intervals from and to the CPM), a storage
process can generate a flow control error.
9.2.11 Object 0x1011 Restore Default Parameters

supported
1 restore all default UNSIGNED32 RW
parameters
Description: Object to restore different settings of the device.

To trigger the function, the master must write “load” = 0x64616F6C” to this object.
Subindex 1 All parameters will be restored to the values on delivery of the valve block from Bosch
Rexroth to the customer. If the EEPROM mirror area of the CPM was already written with
another parameter set, then this parameter set will be used for the restore of the
parameters. The parameter set at the delivery from Bosch Rexroth to the customer is not
available for restore any more.
A full restore process of all EEPROM based parameters can take up to 4,5 s. At high
CAN bus traffic (small telegram intervals from and to the CPM), a restore process can
generate a flow control error.
With triggering of these data no automatic restart of the device is arranged. However, the
data are taken over only after the restart.

9.2.12 Object 0x1014 COB-ID Emergency

0 cob-id emergency UNSIGNED32 RO 0x80 + [Node-ID]
Description: The device generates emergency telegrams in case of an error. This object provides
information about the CAN identifier of this message. For the content of the emergency
telegram see chapter 7.1.2 Emergency Message.
The CAN identifier of the emergency message is specified by CANopen DS301, the value is
0x80 + [Node ID].
9.2.13 Object 0x1015 Inhibit Time Emergency

0 inhibit time UNSIGNED16 RW 0 0 20400
emergency
Storage: On “Save communication parameters”.

Description: This object defines the inhibit time for emergency messages generated by this device. If a
value is set, the device will not send emergency message with a smaller interval than this
value.
The unit of this value is 100 s, internally the device is using a unit of 8 ms to store the
value. The device will always round values down to the next multiple of 8 ms.
9.2.14 Object 0x1016 Consumer Heartbeat Time

0 number of entries UNSIGNED8 RO 1
1 consumer UNSIGNED32 RW 0 0x0 0x007F07F8
heartbeat time

Description: This object defines the expected heartbeat interval and the CAN identifier of the heartbeat
message to be received by the device.
The low word defines the expected heartbeat interval in units of 1 ms (internal unit is 8 ms,
device will always round down to the next multiple of 8 ms). The maximum value is 2040 ms
31 24 23 16 15 0
reserved Node-ID Heartbeat time
(00h)
MSB LSB
The high word defines the Node-ID of the device producing the heartbeat telegram.
Example: 0x000200C8 Interval must be < 200 ms
Node-ID of generating device is 0x02
(message ID is 0x702)
See also “Heartbeat” in chapter 7.7 Communication monitoring.

9.2.15 Object 0x1017 Producer Heartbeat Time

0 producer heartbeat UNSIGNED16 RW 0 0 2040
time

Valid: On change.
Description: This device is able to generate heartbeat messages for communication monitoring.
This object defines the interval which is used to generate a heartbeat message. The unit is
1 ms, the internal storage unit is 8 ms. A value of 0x00 de-activates this function.
See also “Heartbeat” in chapter 7.7 Communication monitoring.
It is not possible to disable all communication monitoring functions (Heartbeat and PDO-
timeout).
9.2.16 Object 0x1018 Identity Object

1 vendor id UNSIGNED32 RO 0x24
2 product code UNSIGNED32 RO 0x00041011
3 revision number UNSIGNED32 RO
4 serial number UNSIGNED32 RO 0x0 0xFFFFFFFF
Description: This object provides general identification information for this device. The information is
used by CANopen tools to select the correct EDS file.
Subindex 1 Vendor identification code (0x24 = Robert Bosch GmbH).
Subindex 2 Product code for this device.
0x00041011 R917009093 (CPM-1x Advanced Safety)
Subindex 3 The revision number is divided in Major Index and Minor Index:
31 16 15 0
Major revision number Minor revision number
MSB LSB
The major index will be increased if the CANopen functionality is changed to the previous
version. The minor index shows changes without impact on the CANopen functionality.
Subindex 4 Serial number of this device.

9.2.17 Object 0x1023 OS Command

1 command OCTET_STRING WO
Description: Internal use
9.2.18 Object 0x1028 Emergency Consumer

1 identifier UNSIGNED32 RW 0x80000000 0x00 0x800007FF
emergency
consumer 1

Subindex 1: Valid bit: 0 - Emergency consumer active, ID is valid.
Valid bit: 1 - Emergency consumer not active, entry not valid.
CAN-ID: Valid range: 0x00 … 0x7FF.
Description: The device is able to receive and process emergency messages of another device.
If a value is specified in this object, the device will process emergency messages with this
ID and in case of an error message (error code 0x1000 (generic error)), the device will go
into fault state (error code 0x8160). Other error codes will be ignored by the CPM.
The device will clear the error when an emergency message with error code 0x0000 is
received.
31 30 11 10 0
Valid bit 0 11-bit CAN-ID
MSB LSB

9.2.19 Object 0x1029 Error behavior

1 communication UNSIGNED32 RW 0x1 0x0 0x1
error

Valid: On change.
Description: Object: Sets the reaction of the device for some specific errors.
Value Action
Subindex 1 0x00 Device will go to NMT state Pre-Operational in case of a communication
error
0x01 Device will stay in the current NMT state in case of a communication error
9.2.20 Object 0x1200 Server SDO Parameter

1 cob-id client → UNSIGNED32 RO 0x600 + [Node-ID] 0x601 0x67F
server (rx)
2 cob-id server → UNSIGNED32 RO 0x580 + [Node-ID] 0x581 0x5FF
client (tx)
Description: Identifier for the Service Data Objects (SDO). Service data objects are telegrams used to
read and write parameters of the device.
Subindex 1 CAN identifier for the SDO telegram from the SDO client (machine control or configuration
tool) to the SDO server (CPM).
Value is defined by the pre-defined connection set according to CANopen DS301 standard.
Subindex 2 CAN identifier for the SDO telegram from the SDO server (CPM) to SDO client (machine
control or configuration tool).
Value is defined by the pre-defined connection set according to CANopen DS301

standard.

9.2.21 Object 0x1400 Receive PDO1 Parameter

supported
1 cob-id used by pdo UNSIGNED32 RW 0x200 1)
2 transmission type UNSIGNED8 RO 0xFE 0xFE 0xFE
5 event timer UNSIGNED16 RW Customer specific 0 2040

Description: Communication parameters for the first Receive Process Data Object (RPDO). The process
data object is the CAN message to transfer process data like oil flow set point from the
machine controller to the CPM.
Subindex 1 CAN identifier of this message.
1) The identifier is set by the device according to the identifier tables (see 10.1.1 CANopen
– identifier tables).
If the highest bit of the identifier is set, this will disable the message.
Message disabled: 0x80 XX XX XX(X = any value)
Subindex 2 Defines the mode for handling this message by the CPM.
The CPM will process the data of this message on reception. Values become valid on
reception.
Subindex 5 Message timeout value. If the value is not 0, the device will monitor the reception of this
message and generates a communication fault if the message was not received within this
time window (see also chapter 7.7 Communication monitoring).
Can be used alternatively or in addition to heartbeat function.
9.2.22 Object 0x1401 Receive PDO2 Parameter

supported
1 cob-id used by pdo UNSIGNED32 RW 0x300 1)
2 transmission type UNSIGNED8 RO 0xFE 0xFE 0xFE
5 event timer UNSIGNED16 RW Customer specific 0 2040
Description: See Object 0x1400

9.2.23 Object 0x1600 Receive PDO1 Mapping

0 number of UNSIGNED8 RO 8
mapped objects
1)
1 1st object to be UNSIGNED32 RO
mapped
1)
2 2nd object to be UNSIGNED32 RO
mapped
1)
3 3rd object to be UNSIGNED32 RO
mapped
1)
4 4th object to be UNSIGNED32 RO
mapped
1)
mapped
1)
mapped
1)
mapped
1)
mapped
Storage: On access.
Description: This object defines the content of the PDO1 message. The message can contain up to 8
data bytes.
1) The mapping is set by the device according to the identifier tables (see 10.3.2 “PDO
mapping”).
The value of a mapping entry consists of 4 bytes:

MSB Index, high byte
Index, low byte
Subindex
LSB Length in bit
Examples for mapping of node ID 0x12:
Rx Dummy Byte Object 0x28FF.0 0x28FF0008

Rx Dummy Byte Object 0x28FF.0 0x28FF0008
Valve set point Object 0x2102.0 0x21020008

9.2.24 Object 0x1601 Receive PDO2 Mapping

0 number of mapped UNSIGNED8 RW 8
objects
1 1st object to be UNSIGNED32 RW
mapped
2 2nd object to be UNSIGNED32 RW
mapped
3 3rd object to be UNSIGNED32 RW
mapped
4 4th object to be UNSIGNED32 RW
mapped
mapped
mapped
mapped
mapped
Storage: On access.
Description: This object defines the content of the PDO2 message. The message can contain up to 8
data bytes. Some objects of the object dictionary can be mapped into the PDO and thus
transmitted constantly between the machine controller and the device.
Index, low byte
Subindex
LSB Length in bit
Examples for mapping entries:
Time ramp B-side off Object 0x2600.7 0x26000708

Device control word Object 0x6040.0 0x60400010
Not all objects are mapable, consider the documentation of each object.
9.2.25 Object 0x1800 Transmit PDO Parameter

0 largest subindex UNSIGNED8 RW 5
supported
1 cob-id used by pdo UNSIGNED32 RW 0x40000180 +
[Node-ID]
2 transmission type UNSIGNED8 RW 0x00 0x00 0xFF
3 inhibit time UNSIGNED16 RW 0 0 2040
5 event timer UNSIGNED16 RW 0 0 2040

Valid: On access.

Description: Communication parameters for the Transmit Process Data Object (TPDO). The process
data object is the CAN message to transfer process data like oil flow actual value from the
CPM to the machine controller.
Subindex 1 CAN identifier of this message. The identifier is set by the device according to the identifier
tables.
If the highest bit of the identifier is set, this will disable the message.
Message disabled: 0x80 XX XX XX(X = any value)
Subindex 2 Defines the trigger for the transmission of this message.
0x00 Message will be sent with the next sync message, if data has changed.
0x01…0xF0 Message will be sent every nth sync. n = value.
0xFE Message will be sent cyclically with time interval according to 0x1800.5
0xFF Message will be sent if data has changed.
Subindex 3 Defines the smallest transmission interval [ms]. The maximum value is 2040 ms.
Subindex 5 Defines a time trigger for the transmission of this message [ms]. The maximum value is
2040 ms.
9.2.26 Object 0x1A00 Transmit PDO Mapping

0 number of mapped UNSIGNED8 RO 2
objects in pdo
1 1st object to be UNSIGNED32 RO 0x2005
mapped
2 2nd object to be UNSIGNED32 RO 0x2006
mapped
Storage: On access.
Description: This object defines the content of the PDO message. Each message can contain up to 8
data bytes. Some objects of the object dictionary can be mapped into the PDO and thus
transmitted constantly between the machine controller and the device.
Index, low byte
Subindex
LSB Length in bit
Examples for mapping entries:
Estimated oil flow Object 0x2005.00x20050008

Estimated oil flow inverted Object 0x2006.00x20060008
The device will add the objects 0x2005 and 0x2006 automatically.

9.3 Input / output data
9.3.1 Object 0x2000 Electronics Temperature (with offset)

0 electronics UNSIGNED8 RO 0x0 0xFF
temperature
Description: Value is equal to the temperature measured on the electronic board of the device.
Temperature [°C] = value – 50hex
PDO mapping: Yes
9.3.2 Object 0x2001 Electronics Temperature

0 electronics SIGNED8 RO 0x0 0xFF
temperature
Description: Value is equal to the temperature measured on the electronic board of the device.
Temperature [°C] = value
PDO mapping: Yes
9.3.3 Object 0x2002 Supply Voltage

0 supply voltage UNSIGNED8 RO 0x0 0xFF
Description: Supply voltage measured by the device.

Supply voltage [V] = value * 0.142
PDO mapping: Yes
9.3.4 Object 0x2003 Estimated oil flow (unsigned8)

0 Estimated oil flow UNSIGNED8 RO 0x0 0xFF
Description: Relative oil flow in A or B port, value range 0…255 equals 0% … 100%.
This object is in 8bit format without the direction of the oil flow. Recommended in
combination with object 0x2004 to indicate the oil flow direction in port A or B.
PDO mapping: Yes

9.3.5 Object 0x2004 Pilot valve state

0 pilot valve state UNSIGNED8 RO
Description: Shows the status of the internal pilot valve.

Value Status
0xA0 Pilot valve „side a“ X  A selected, no electrical current
0xA1 Pilot valve „side a“ X  A selected, electrical current > 50 mA
0xB0 Pilot valve „side b“ X  B selected, no electrical current
0xB1 Pilot valve „side b“ X  B selected, electrical current > 50 mA
0xF0 no pilot valve active, no electrical current
PDO mapping: Yes
The object 0x2624 can swap the A/B side.
9.3.6 Object 0x2005 Estimated oil flow (signed8)

0 Estimated oil flow SIGNED8 RO
Description: Relative oil flow, value range

0x01 … 0x7F 1% … 100% A-side
0xFF … 0x81 1% … 100% B-side
0x00 0% Neutral
0x80 Not valid or float
The interpretation of the value 0x80 depends on valve design whether a three or four
position main spool is used.
PDO mapping: Yes
9.3.7 Object 0x2006 Estimated oil flow inverted (signed8)

0 Estimated oil flow SIGNED8 RO
inverted
Description: This object value is bit inverse to estimated oil flow (0x2005).
PDO mapping: Yes

9.3.8 Object 0x2007 spool position (signed16)

0 Spool position SIGNED16 RO
Description: This object describes the spool position in µm

(No change of the sign +/-, if the swap flag is set.)
PDO mapping: Yes
9.3.9 Object 0x2100 Valve set point [unsigned8]

0 valve set point UNSIGNED8 RW 0x0 0xFF
Description: Set point to actuate the valve.

The valve direction is set separately with object 0x2101.
Value range Setting
0x00 … 0xFF 0…100%
(0 … 255)
PDO mapping: Yes
9.3.10 Object 0x2101 Valve direction select

0 valve direction select UNSIGNED8 RW
Description: Selects the direction of valve actuation. Only valid in connection with object 0x2100 (valve
set point, format unsigned 8).
Value Setting
0x01 Neutral
0x10 B-side
0x40 A-side
0x04 Float (if valve supports float position)
other Not valid.
PDO mapping: Yes
9.3.11 Object 0x2102 Valve set point [signed8]

0 valve set point SIGNED8 RW –127 127

Value range Setting
0x81… 0x7F B-side 100%…A-side 100%
(-127… 127)
0x80 not valid
PDO mapping: Yes

9.4 Communication settings (Object Directory)
9.4.1 Object 0x2400 CAN Baud rate

0 CAN baud rate UNSIGNED16 RW 0x250 0x125 0x1000

Description: Sets the CAN communication interface baud rate.
New value becomes valid after storage and restart of CPM-1x.
If the EEPROM value is not valid, the default setting 250kBaud will be used.
Supported values are:
Value Baud rate

0x125 125kBaud
0x250 250kBaud (Default)
0x500 500kBaud
0x1000 1MBaud (only upon request)
The maximum possible baud rate and number of nodes in a CAN network depends on
different parameters:
 quality of shielding of CAN cables
 wire type (twisted pair, resistance, capacity)
 bus structure (topology)
 leakage current of each CAN transceiver chip
(on CPM-1x and other devices)
 EMI filtering pattern used on the devices (CPM-1x and other devices)
To reach a maximum stability and availability of the CAN communication, Bosch Rexroth
recommends to run the CAN network at baud rates of 125kBaud or 250kBaud.
Baud rate Maximum number of nodes qualified

(shielded cable, 20m length, 2 branches of 1m)
125kBaud  30
250kBaud (Default)  20
500kBaud  15
1MBaud 5 (only upon request)
A higher number of nodes than stated above is possible, but may lead to error frames on
the network depending on environment conditions.
The CANopen LSS service “LSS change baud rate” can only be used if the
communication state mode (object 0x2403) is set to 0x00 (external trigger of NMT
states).

9.4.2 Object 0x2403 Communication State Mode
CAUTION
No reaction of device possible in communication state mode “Auto”!
If the communication state mode is set to “Auto”, the device will not react on NMT state
commands.
 “Enter pre-operation” or “stop remote node”.

0 Communication UNSIGNED8 RW 0x00 0x00 0x01
State Mode
Storage: On “Save Communication Parameters”.

Valid: On access.
Description: Controls the handling of the CANopen NMT state machine.
Value Action
0x00 (Manual) Transitions of the NMT state machine have to be triggered externally
using NMT telegrams (e.g. Start Remote Node, Stop Remote Node)
0x01 (Auto) Transitions of the NMT state machine are done automatically by the
device (e.g. device goes into communication state “Operational” if no
communication error is active).
9.4.3 Object 0x2410 Position control diagnosis time factors

0 Number of entries UNSIGNED8 RO 0x06
1 Manual operation UNSIGNED8 RW 16 0 255
2 Retract to neutral UNSIGNED8 RW 16 0 255
3 Extend to A / B UNSIGNED8 RW 16 0 255
4 Move too short UNSIGNED8 RW 16 0 255
5 Move too far UNSIGNED8 RW 16 0 255
6 Wrong side UNSIGNED8 RW 16 0 255
Storage: On “Save Application Parameters”.

Valid: On access.
Description: The diagnosis times are calculated internally based on viscosity multiplied by an application
factor. This object controls the application factors only. The viscosity dependent base time
cannot be modified.
Value Action
0x00 (off) Specific diagnosis deactivated
>0 Internal base diagnosis time will be multiplied by value/16 (value/16
means factor =1)

9.4.4 Object 0x2440 Battery voltage diagnosis

0 Number of entries UNSIGNED8 RO 0x05
1 Hysteresis [mV] UNSIGNED16 RW 500 0 255
2 Lower limit [mV] UNSIGNED16 RW 9000 0 8500
3 Upper limit [mV] UNSIGNED16 RW 32000 0 33500
4 Error presence UNSIGNED16 RW 200 0 65535
time lower limit
[ms]
5 Error presence UNSIGNED16 RW 200 0 65535
time upper limit
[ms]

Valid: On access.
Description: Controls the limits of the battery voltage diagnosis.

9.5 General settings
9.5.1 Object 0x2501 Valve type

0 Valve type UNSIGNED8 RO * 0x00
* RO in product of advanced safety applications (0x00041011)
Storage: On “Save application parameters”.

Description: Selects the correct valve type on which the CPM-1x is used.
Value Valve type

0x00 not defined (equal to M4-12, 3 position)
0x01 not defined (equal to M4-15, 3 position)
0x02 M4-15, 3 position
0x06 reserved
0x07 reserved
0x08 reserved
0x09 reserved
Other not defined (equal to M4-12, 3 position)
9.5.2 Object 0x2502 Neutral offset

0 Neutral offset SIGNED16 RW 0

Description: Adapts the position sensor offset to the used valve type.
Value Valve type

0 M4-15
-1000 M4-12

9.6 Valve characteristic parameters
9.6.1 Object 0x2600 Curve parameters

supported
1 characteristic curve UNSIGNED8 RO 0x00
shape A/B side
2 curve gradient UNSIGNED8 RW 0xFF 0x00 0xFF
A-side
3 curve gradient UNSIGNED8 RW 0xFF 0x00 0xFF
B-side
4 ramp time opening UNSIGNED8 RW 0x00 0x00 0xFF
A-side
5 ramp time closing UNSIGNED8 RW 0x00 0x00 0xFF
A-side
6 ramp time opening UNSIGNED8 RW 0x00 0x00 0xFF
B-side
7 ramp time closing UNSIGNED8 RW 0x00 0x00 0xFF
B-side

Valid: On access.
Description: This object can be used to change the curve characteristic of the valve. The CPM will
handle the received oil flow set point using three types of curve manipulation:
 curve shape
 curve gradient
 time ramps
Values for all parameters can be changed online. If the values are stored, they are used as
default settings after start-up.
PDO mapping Yes
Subindex 1 Using the parameter curve shape, the relation of the valve towards the flow set point can be
changed from a linear relation (default) to a progressive behavior.
A progressive behavior will improve the machine handling for small movements especially
on joystick controlled machines.
The curve shape can be changed from a linear characteristic (value = 0x0) to a progressive
characteristic (value = 0xF). For the Advanced Safety version of the CPM, this parameter is
RO (read only) and cannot be changed by the customer.
Fig. 20: shows the relation between input signal (Input [%]) and oil flow of the valve (Output
[%]).
The high nibble of the byte (0x00) sets the value for A-side, the low nibble (0x00) works on
the B-side.

Fig. 20: Curve shapes
Subindex 2, 3 Subindex 2 defines the curve gradient for A-side, subindex 3 for B-side.
The curve gradient is used for a linear reduction of the maximum flow of the valve. This
feature can be used to reduce the speed of a machine movement online during work cycle.
The value will reduce the maximum flow using 255 steps:
 0xFF (255) full flow
 0x00 (0) no flow
Default value is full flow (0xFF).

Fig. 21: Curve gradient
Fig. 21: shows the relation between input signal (Input [%]) and oil flow of the valve (Output
[%]).
Subindex 4, 5, 6, 7 The dynamic behaviour of the valve can be changed using time ramps. This feature can be
used to generate a soft start or stop of motions on a machine.
Four time ramps can be used to control the dynamics of the valve:
 A side, 0% to 100% (open), subindex 4
 A side, 100% to 0% (close), subindex 5
 B side, 0% to 100% (open), subindex 6
 B side, 100% to 0% (close), subindex 7
The defined ramp time relates to the time used for a 0% to 100% stroke.
The ramp times can be defined in multiple of 16 ms, the range is 0 ms … 4080 ms.

Fig. 22: Time ramps examples
Fig. 22: shows the relation between the ramp time (Time [ms]) and the oil flow of the valve
(Output [%]).

9.6.2 Object 0x2601 Edge rounding on ramps

0 edge rounding UNSIGNED8 RW 0x00 0x00 0xFF

Valid: On write access.
Description:
1 without rounding
2 with rounding
2 bits 2 bits 2 bits 2 bits

B-side B-side A-side A-side
ramp start ramp end ramp start ramp end
MSB LSB
Defines a rounding for the ramp function (see object 0x2600.4 … 0x2600.7) at the beginning
and the end of a ramp.
Two bits are used to define the rounding for each of the four points.
Values: 00 no rounding
01 low
10 medium
11 high rounding

9.6.3 Object 0x2623 Calibration type (characteristic type)

0 Calibration type UNSIGNED8 RW 0x00 0x00 0x01
Description: Switching between 2-point and 8-point characteristic for the hydraulic flow behavior.
0 = 8-point characteristic (use all calibration points)
1 = 2-point characteristic (linear interpolation between start and end point)
With the 8-point characteristic, the progressive hydraulic characteristic curve is

compensated so that the relative flow rate corresponds to the setpoint value - Linearization
of the characteristic curve.
In the case of 2-point characteristics, linear interpolation is performed between the start and
end point, resulting in the corresponding progressive flow characteristic due to the physical
spool geometry.
Switching to 8 point calibration via the CANopen object only makes sense, if the 8 point
calibration has been carried out at the test bench in the production plant. Otherwise no
linearization of the volume flow characteristic is possible.
9.6.4 Object 0x2624 Swap A-side/B-side in set point value

0 Swap A-side / B-side UNSIGNED8 RO 0x00 0x00 0xFF
Description: Swaps the side information for the set point value:
0 = Standard setting, set point values work according to chapters 9.3.10, 9.3.11 and 9.8.8.
1 = Swapped setting, all set point values work with swapped sides (A-side and B-side
swapped).
Other values are handled equal to 1.
9.6.5 Object 0x2627 closed loop position dither

0 closed loop position UNSIGNED8 RW 0x00 0x00 0x01
dither
Description: Switching between standard position dither and closed loop position dither.
0 = open loop position dither
1 = closed loop position dither

9.6.6 Object 0x2628 closed loop current dither

0 closed loop current UNSIGNED8 RW 0x00 0x00 0x01
dither
Description: Switching between standard current dither and closed loop position dither.
0 = open loop current dither
1 = closed loop current dither
9.6.7 Object 0x262A position control gain scheduling

0 position control gain UNSIGNED8 RW 0x00 0x00 0x01
scheduling
Description: Switching between static control parameters and temperature dependent control parameters
0 = static control parameters
1 = temperature dependent control parameters
9.6.8 Object 0x262B position control hold current adaption

0 position control hold UNSIGNED8 RW 0x00 0x00 0x01
current adaption
Description: Activation of position control hold current adaption. The adapted hold current improves the
control loop stability after several activations.
0 = static hold current
1 = adapted hold current
9.6.9 Object 0x2720 Customer calibration points A-side

0 Number of entries UNSIGNED8 RO 9
1 Maximal nominal UNSIGNED16 RO Customer
flow A-side specific
[l/min]
2 Stroke for calibration SIGNED16 RW - 0 [µm] Object 2720.3
point 1
3 Stroke for calibration SIGNED16 RW - Object 2720.2 Object 2720.4
point 2
point 3
point 4
point 5
point 6
point 7
9 Stroke for calibration SIGNED16 RW - Object 2720.8 8500 [µm]
point 8
Access: Access is only possible via SDOs. Object cannot be mapped into PDOs.
Storage: With “save application parameters”.

Valid: After storage and restart.

Description: This object can be used to adjust the relation between set point command and oil flow. Each
calibration point shows the absolute stroke of the spool for the defined set point value.
Values may vary depending on the spool type of the valve. The maximum value cannot be
increased to more than 8500 µm (subindex 9). All points and stroke values must be in
consecutive order. The corresponding set points from 1 to 8 are equally distributed over the
range (0 – 100%).
Subindex 1: The nominal (maximum) flow of the valve according to ordering code. For spare parts the
default value is 100 l/min.
Subindex 2 … 9: Absolute stroke of valve spool [µm].
9.6.10 Object 0x2721 Customer calibration points B-side

1 Maximal nominal UNSIGNED16 RO Customer
flow A-side specific
[l/min]
2 Stroke for SIGNED16 RW - 0 [µm] Object 2721.3
calibration point 1
3 Stroke for SIGNED16 RW - Object 2721.2 Object 2721.4
calibration point 2
calibration point 3
calibration point 4
calibration point 5
calibration point 6
calibration point 7
9 Stroke for SIGNED16 RW - Object 2721.8 8500 [µm]
calibration point 8
Access: Access is only possible via SDOs. Object cannot mapped into PDOs.
Storage: With “save application parameters”.
Valid: After storage and restart.
Description: According to object 0x2720.

9.7 Auxiliary objects
9.7.1 Object 0x2801 CPM-1x product information

1 SAP code UNSIGNED32 RO
2 Product version VISSTRING RO Ref. 0x1009
3 Software version VISSTRING RO Ref. 0x100A
Description: This object contains information about the CPM.

Value Range
Subindex 1 0x00 … 0x99999999 SAP code of the CPM.
The complete Bosch Rexroth ordering code is
“R9” + valueBCD
(example: value = 17009093  R917009093  CPM-1x
Advanced Safety).
Subindex 2 0000 … 9999 Product version information.
Subindex 3 0000 … 9999 Firmware version information.
9.7.2 Object 0x2810 Valve block information

1 SAP code valve UNSIGNED32 RO
block
2 SAP valve block VISSTRING RO
change index
Description: This object contains information about the valve block.
Value Range
Subindex 1 0x00 … 0x99999999 SAP code of the valve block.
The complete Bosch Rexroth ordering code is
“R9” + valueBCD
(example: value = 01021344  R901021344).
Subindex 2 AA … ZZ Change index of the valve block.
9.7.3 Object 0x28FE Tx mapping dummy byte

0 Tx mapping dummy UNSIGNED8 RO 0x00
byte
Description: This object can be used to add an empty byte to the TxPDO (mapping) of the device
PDO mapping: Yes
9.7.4 Object 0x28FF Rx mapping dummy byte

0 Rx mapping dummy UNSIGNED8 RW
byte
Description: This object can be used to add an empty byte to the RxPDOs (mapping) of the device.
PDO mapping: Yes

9.7.5 Object 0x2900 Plug ‘n’ Drive container

0 to 250 Plug ‘n’ Drive RW
container
Description: This CANopen object can be used to read all relevant CPM data to restore the
parameterization (as well as the Q/s parameters) on a new device in case of replacement.
In this case, the data is transmitted in an encrypted data container via the CANopen object.
The data size is a total of 1,000 bytes, which will cause 250 CAN-messages to write and
save (for example stored externally or directly in the customer control unit). When restoring
the data, the messages must be written back to the new CPM module in the same order
(subindex for subindex, each containing 4 bytes).
Advantage:
A CPM in an existing M4 control block can be replaced quickly and almost without
performance losses, as communication and the Q/s characteristic parameters are
transferred.
Recommendation:
During commissioning, we recommend to back up the data from the above object for the
first time in order to ensure rapid use of the spare part in case of service.
PDO mapping: No

9.8 Parameters according to CANopen device profile CiA 408
9.8.1 Object 0x6040 Device Control Word

0 device control word UNSIGNED16 RW
Storage: No storage supported.

Description: This entry is used to control the device state machine. For details on the device state
machine see “7.4.2 Device state machine” or refer to CiA 408.
PDO mapping: Yes
CAUTION!
If the object 0x604F “device local” is set to value 1, any access to the device control word
(object 0x6040) has no effect. Thus a shutdown of the valve via the device control word is
not possible.
9.8.2 Object 0x6041 Device Status Word

0 device status word UNSIGNED26 RO
Description: This object contains the status of the device state machine. For details on the device state
machine see section “Device state machine” in chapter 7.4 “State machines” or refer CiA
408.
PDO mapping: Yes
9.8.3 Object 0x6042 Device mode

0 device mode SIGNED8 RW 0x01 0x01 0x02
Storage: No storage supported.

Description: Controls the source of the set point value.
Value Action
0x01 CAN remote mode
0x02 Manual local mode
PDO mapping: Yes
9.8.4 Object 0x604E Device error code

0 device error code UNSIGNED16 RO 0x0 0xFFFF
Description: Device error code. A description of each error code is given in chapter 8 “Error codes”.
PDO mapping: Yes
9.8.5 Object 0x604F Device Local

0 device local UNSIGNED8 RW 0x00


Description: Object: Controls the handling of the device state machine.
Value Action
0x00 Transitions of the device state machine have to be triggered externally by
writing to object 0x6040 (Device control word).
Object can be written via SDO service or via PDO service, if object is
mapped into a PDO.
0x01 Transitions of the device state machine are done automatically by the
device depending on the internal error state, the actual value and the set
point value.
To set the device into device state active, all errors must be cleared,
actual value and set point must be neutral.
Other Not supported
CAUTION!
If the object 0x604F “device local” is set to value 1, any access to the device control word
(object 0x6040) has no effect. Thus a shutdown of the valve via the device control word is
not possible.
If the object 0x6040 “device control word” is mapped into one of the RxPDOs, a device local
value 1 (automatic mode) has no effect.
 The device state has to be controlled via the mapped control word.
9.8.6 Object 0x6057 Device Vendor Name

0 device vendor name VISSTRING RO „BRH“
Description: Contains the name of the device vendor, for CPM this is „BRH“, Bosch Rexroth Hydraulics.
9.8.7 Object 0x605F Device Capability

0 device capability UNSIGNED32 RO 0x05000000
Description: Contains information about the device features according to CANopen CiA 408:
0x05000000 Hydraulic valve, closed loop spool position control

9.8.8 Object 0x6300 Vpoc set point

0 number of elements UNSIGNED8 RO 0x01
1 value INTEGER16 RW -32767 32767
(0x8001) (0x7FFF)

Value range Setting
-32767 … 32767 B-side 100% … A-side 100%
PDO mapping: Yes
9.8.9 Object 0x6301 Vpoc actual value

1 actual value INTEGER16 RO -32767 32767
(0x8001) (0x7FFF)
Description: Estimated flow of the valve section.

Value range Setting
-32767 … 32767 B-side 100% … A-side 100%
PDO mapping: Yes
9.8.10 Object 0x6350 Vpoc control deviation

1 control deviation INTEGER16 RO -16384 16384
Description: Difference between set point value and actual value.

Value = Object 0x6300.1 – 0x6301.1
PDO mapping: Yes

9.8.11 Object 0x6360 Dither Type

0 Valve position INTEGER8 RO 0x03
control dither type
Description: Dither type according to CANopen CiA 408.
9.8.12 Object 0x6361 Dither Amplitude

1 Dither amplitude UNSIGNED16 RO 120
A-side
2 Dither amplitude UNSIGNED16 RO 120
B-side
Description: This entry contains the actual dither amplitude of the CPM on A- and B-side. Values are
given in [mA].
9.8.13 Object 0x6362 Dither Frequency

1 Dither frequency UNSIGNED16 RO 140
A-side
2 Dither frequency UNSIGNED16 RO 140
B-side
Description: This entry contains the actual dither frequency used by the CPM on A- and on B-side.
Values are given in [Hz].

Ordering information 103/110
10 Ordering information
To order a valve block with CPM-1x, three ordering sheets are necessary.
Block configuration
sheet:
This page specifies
the addresses for
each CPM in the valve
block.
The sheet is found in

chapter 10.3.
Protocol parameter
sheet:
This page specifies
the CPM
configuration, which
will be downloaded to
each CPM prior to
delivery.
You are able to adjust
or select the
recommended default
parameters for the
CAN communication.

104/110 Ordering information
Message content
sheet:
Describes the PDO
mapping.
The customer can
define the data, which
is transmitted in the
CAN messages.
Use this page to
specify the message
contents.
This page gives an
overview on how to
control the CPM via
CAN bus.

10.1 Identifier Systems

The necessary information when filling in the form sheets concerning the CANopen identifier
are subject to some limitations. In this chapter the information on CANopen identifiers can
be found.
CAUTION
All CPM’s (CANopen protocol) use the CAN identifiers:
 0x600 + Node ID(SDO Rx)
 0x580 + Node ID(SDO Tx)
which must not be used by other devices in the CAN network.
10.1.1 CANopen protocol identifiers
Table 12: CANopen protocol identifiers

Message Identifier
RxPDO1 0x200 + Node-ID
RxPDO2 0x300 + Node-ID
TxPDO 0x180 + Node-ID
RxSDO 0x600 + Node-ID
TxSDO 0x580 + Node-ID
Emergency 0x80 + Node-ID
NMT 0x00
Standard COB-IDs according CiA301
10.2 Notes
 TxPDO
‒ Optional objects
Values (objects 0x2005, 0x2006) are placed automatically at the beginning of the
telegram. The remaining space of the message can be used without limitation.
 Dummy mapping
If a byte at the beginning or in the middle of a telegram is not used, the dummy mapping
entries 0x28FE or 0x28FF must be used.
If a byte at the end of a telegram is not used, do not add a mapping entry (mapping value
= 0x00).

10.3 Block configuration – see ordering sheet RE 64820-01

10.3.1 Parameter sheet: CANopen parameters

10.3.2 PDO mapping (message content)

Optional bytes are automatically added to the normal telegram length.

If they are not used, the telegram length is smaller.

Bosch Rexroth AG
Zum Eisengießer 1
97816 Lohr am Main
Germany
Tel. +49 9352 18-0
[email protected]
www.boschrexroth.com
Änderungen vorbehalten
Printed in Germany
RE 64820-B/03.2019

CAN-controlled Pilot Module CPM-1x

Uploaded by

Copyright:

Available Formats

CAN-controlled Pilot Module CPM-1x

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CAN-controlled Pilot Module CPM-1x

Uploaded by

Copyright:

Available Formats

CAN-controlled pilot module

The cover shows an example application. The

The original instruction manual was created in the

RE 64820-B/03.2019, CPM, Bosch Rexroth AG

7.5.1 Start of CAN communication (communication state machine) 34

Bosch Rexroth AG, CPM, RE 64820-B/03.2019

8.1.33 Error code 0x3251: UCore voltage < min. limit 52

RE 64820-B/03.2019, CPM, Bosch Rexroth AG

8.1.81 Error code 0x6101: General error callback occurred 61

Bosch Rexroth AG, CPM, RE 64820-B/03.2019

9.2.13 Object 0x1015 Inhibit Time Emergency 74

RE 64820-B/03.2019, CPM, Bosch Rexroth AG

9.7.3 Object 0x28FE Tx mapping dummy byte 97

Bosch Rexroth AG, CPM, RE 64820-B/03.2019

1 About this documentation

This documentation is valid for the following product:

This documentation is intended for machine manufacturers. It contains important information

1.2 Required and supplementary documentation

Table 1: Required and supplementary documentation

CPM-1x ordering form 64820-01 Ordering form

Control block M4-12 for safety-related 64276-01-B Instruction manual

Control block M4-12/15 64276 / 64283 Data sheet

General documentation of CANopen standards See

Related documents can be obtained from Rexroth via

RE 64820-B/03.2019, CPM, Bosch Rexroth AG

1.3 Display of information

1.3.1 Safety instructions

Safety instructions are set out as follows:

 Warning sign: draws attention to the danger

Table 2: Hazard classes as defined in ANSI Z535.6

Identifies a dangerous situation that will result in death or

Identifies a dangerous situation that may result in death or

Identifies a dangerous situation that may result in minor to

Property damage: The product or the environment may be

Bosch Rexroth AG, CPM, RE 64820-B/03.2019

Table 3: Meaning of the symbols

If this information is disregarded, the product cannot be used or operated to

 Single, independent step

CAN Controller Area Network

CCS Client Command Specifier

CiA CAN in Automation

CPM CAN-controlled Pilot Module (Pilot Module of new generation)

CiA 401, CiA 408 CANopen Device Standard Profile

CiA 301 CANopen Communication Standard

EEPROM Permanent memory

LED Light emitting diode

LSS CANopen Layer settings service

M4 Control block of series M4

NMT CANopen Node management

PDO Process data object (process data message)

SDO Service data object (service data message)

RE 64820-B/03.2019, CPM, Bosch Rexroth AG

2.2 Intended use

The product can be implemented as a safety-relevant part of a control system. However it

2.3 Improper use

Bosch Rexroth AG, CPM, RE 64820-B/03.2019

2.4 Personnel qualifications

2.5 General safety instructions

RE 64820-B/03.2019, CPM, Bosch Rexroth AG