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Rexroth ID 40/SLK-CAN
Bosch Rexroth ID 40/SLK-CAN User Manual
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PORTUGUES
A
ESP
AÑOL
IT
ALIAN
O
FRAN
Ç
AIS
EN
GLISH
DEUT
SCH
3 842 530 344/2014-05
Replaces: 2014-01
EN
Manual
I
D 40
4.
1
Edition
2
Table of Contents
Default Chapter
2
Sdo
2
Table of Contents
3
1 About this Manual
9
Scope of Application
9
Layout of this Manual
9
Display
10
Numbers
10
Operating States
10
Information
10
Safety Instructions
11
New in the 4.X Versions of the ID 40/SLK Software
11
2 Introduction
12
ID 40/MDT Mobile Data Tag
12
ID 40/SLK Read/Write Head
13
SLK Operating States
14
Status Display
18
Data Transmission between SLK and MDT
20
Position of MDT and SLK During Data Transmission
20
Static and Dynamic Data Transmission
21
Direct and Parameterized Data Transmission
22
Securing Data Transmission
22
3 Installing MDT and SLK
23
Mounting the MDT on the Workpiece Pallet
23
Mounting the SLK on Transfer Section Profiles
23
Antenna Orientation
24
SLK Electrical Connection
25
Supply Voltage
25
Connecting the Fieldbus
26
Serial Interface
27
Turning on the SLK
28
4 MDT Memory Structure
29
ID 40/MDT Storage
29
Organization of MDT Memory
30
MDT User Data Area
31
MDT System Data Area
31
MDT Register Area
32
5 SLK Memory Structure
34
Map of MDT User Data Area
35
Map of MDT Register Area
35
Map of MDT Status Register
35
Map of MDT Pointer Registers
35
Map of MDT ID Code
35
MDT Counter
35
MDT Formatting
35
Map of MDT Software Version
37
SLK Register Area
37
Actual Link State
37
Commanded Link State
38
Auto Mode
38
SLK Operative Flag
39
Look Ahead Function
39
SLK Device Information
39
6 Accessing Data on the ID 40/MDT
40
Command-Oriented Data Transmission
40
Event-Oriented Data Transmission
40
Direct Data Exchange with MDT
40
Parameterized Data Exchange with MDT
41
Prefetch
41
Pretransmit
42
Default Process for SLK-MDT Communication
44
Open Transfer" and "Close Transfer" Functions
44
Auto Reconnect Function
45
Auto Disconnect Function
46
MDT Lifeguarding
47
7 Profibus DP
49
Overview
49
Command-Oriented Data Exchange
49
Profibus Commands
52
Event-Oriented Data Exchange
54
Status Information in Event-Oriented Data Channel
54
Data Array for Event-Oriented Data Channel
55
SLK Address Table
56
Profibus Error Codes
57
Profibus Diagnostic Service
57
Addressing Data in the ID 40 System
58
Profibus GSD File
59
Distribution of SLK Module Configuration
59
Sample I/O Module Configuration
59
Sample Applications
60
Manual Workstation" Application
60
Outfeed" Application
62
Workstation" Application
63
Resetting SLK" Application
65
Handling "E00" Errors
65
8 Interbus
66
Overview
66
Addressing Data in the ID 40 System
66
Command-Oriented Data Exchange
67
PCP Communication
68
PCP Channel Objects
69
Example: Writing Bytes to MDT
71
Event-Oriented Data Exchange
72
Status Information in the Process Data Channel
72
Data Array for Event-Oriented Data Channel
73
Commanded Link State Via Process Data Channel
74
Output Map Structure
74
Sample Sequence
74
SLK Address Table
75
Interbus Error Codes
76
Sample Applications
77
Manual Workstation" Application
77
Outfeed" Application
79
Workstation" Application
80
Resetting SLK" Application
83
Handling "E00" Errors
84
9 Canopen
85
Overview
85
Object Directory
85
Command-Oriented Data Exchange
86
Event-Oriented Data Exchange
86
MDT Data Transmission with Transfer Buffers
87
Transfer Buffer Parameters (Objects 2100-2103)
88
Object Mapping in the Transfer Buffer (Objects 2110-2113)
89
SLK Address Table
91
Transfer Buffers (Objects 2120-2123)
92
Direct Data Exchange
92
Prefetch Data Exchange
92
Pretransmit Data Exchange
93
ID 40 Objects (Manufacturer-Specific Profile Area)
94
Saving Objects (Saving Parameters)
97
MDT User Memory (Objects 2200-220E)
97
SLK Register Area (Object 2600)
97
MDT Register Area (Object 2800)
97
Standardized Device Profile
98
SDO Communication
98
Sdo 1
98
SDO Timeout Client (Object 2020)
99
PDO Communication
100
PDO Mapping
101
PDO Communication Parameters
103
PDO Transmission Types
104
Transmit PDO Status (Objects 2030 - 2033)
104
Receive PDO Status (Objects 2040 - 2041)
104
SYNC Synchronization Protocol
105
Canopen Error Codes
106
Emergency Object Protocol (EMCY)
106
NMT Protocols
106
Error Control Protocols
106
Node Guarding Protocol
106
Heartbeat Protocol
107
Boot-Up Protocol
107
Communication Profile Area
107
Device Type (Object 1000)
107
Error Register (Object 1001)
107
Manufacturer Status Register (Object 1002)
107
Pre-Defined Error Field (Object 1003)
108
Electronic Data Sheet (EDS)
108
Overview of ID 40 Canopen Support
108
Sample Applications
110
Manual Workstation" Application
110
Outfeed" Application
112
Workstation" Application
113
Resetting SLK" Application
116
Handling "E00" Errors
116
10 Web Interface
117
Overview
117
Requirements
117
Setting up the Network Connection to the ID 40/SLK
118
Setting up the Connection Via Serial Cable
118
Setting up a Network Connection
122
Establishing "ID 40" Network Connection
127
Terminating "ID 40" Network Connection
129
Troubleshooting PPP Connection to ID 40/SLK
129
HTTP Connection to ID 40/SLK
132
Troubleshooting the ID 40/SLK Network Connection
132
The ID 40/SLK Website
136
Navigating and Using the ID 40/SLK Website
136
ID 40/SLK Homepage
139
MDT Register Page
140
SLK Register Page
141
MDT Data Page
142
Fieldbus Settings Page
143
System Log and Settings Page
144
Tips and Tricks
145
Bookmarks
145
Directly Retrieving the Syslog
145
Web Access from Application Programs
146
Web Interface Data Formats
146
Web Interface Write Commands
147
Web Interface Read Commands
148
11 Start-Up and Parameterization
152
Starting up Profibus DP
152
Configuring through the Web Interface
152
Configuring with Profibus Master
153
Starting the Profibus Master
153
Starting up Interbus
153
Outgoing Remote Bus Configuration
153
Configuring the Maximum PDU Size of the PCP Channel
154
Configuring with the IBS CMD SWT G4 Software
155
Showing Interbus Status on the Display
155
Starting up Canopen
156
Configuring the Bus Parameters
156
ID 40/SLK-CAN Boot-Up Behavior
157
Showing Canopen Status on the Display
157
Configuring the Second SDO Channel
158
Adjusting the Baud Rate of the Serial Interface
158
12 Diagnostics
159
Troubleshooting Guide
159
Important Information that Can Indicate Errors
159
Fatal System Errors
159
Diagram of Possible Causes of Errors
161
Diagnostics Using the Web Interface
162
SLK Software Upgrade Via Serial Interface
162
13 Technical Data
163
Cables, Connector Pin Assignments
164
SLK Nameplate
165
Data Transmission Times between MDT and Controller
166
Transmission Times with Profibus
166
Compatibility
167
Compatibility with Older Software Versions
167
Compatibility with ID 80/E and MTS 2
167
14 Overview for Ordering ID 40 Modules
168
15 Service and Support
170
Technical Support
170
Internet
170
Site
170
16 Appendix
171
ID 40 System Link Model
171
Abbreviations and Terms
173
References
175
4
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Bosch Rexroth ID 40/SLK-CAN Specifications
General
Brand
Bosch
Model
Rexroth ID 40/SLK-CAN
Category
Data Loggers
Language
English
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