Bosch Rexroth ID 40/SLK-CAN - Sample applications

110/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
9.20 Sample applications
The following examples show some typical applications of the ID 40 system using
CANopen.
9.20.1 “Manual workstation” application
Fig. 31:
Outfeed point
Workstation
Sample “manual workstation” application
The MDT should be read and written at a processing station. First, 32 bytes should
be read from the MDT address 0x0110, then 60 bytes should be written from the
MDT address 0x0100. The MDT status (see Chapter 4.2.3.1 “MDT status register”) is
also transmitted in order to allow any errors in the MDT to be addressed.
This example is oriented on CANopen masters that do not support PDO
communication. For this reason, the event-oriented data channel is not used. Even
the actual link state is read by command using SDO access.
The application data is exchanged with the MDT directly in the CONNECTED state.
The MDT then signs off with the commanded link state RECONNECT. The SLK
switches to the CONNECTING state to wait for the next MDT.
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY