Bosch Rexroth ID 40/SLK-CAN - Outfeed Application

112/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
SLK operation
Check the actual link state until the value CONNECTED appears (2). At this point,
the SLK has already read the MDT status and the user data starting at MDT address
0x0110 from the new MDT. The data is in transfer buffer 0 and can be retrieved using
SDO.
Once this data has been evaluated and the workpiece processed, the result of the
processing is written to the MDT. The data from the application is entered in transfer
buffer 1 using SDO. Communication with the MDT is then terminated.
No. Action COB rd/wr Index/
subindex
Data
2 Read the actual link state until the value
CONNECTED appears
SDO rd 2600/01
Use the status register of transfer buffer
0 to check whether or not the data was
retrieved from the MDT (see Chap-
ter 9.5.1 “Transfer buffer parameters
[objects 2100–2103]”)
SDO rd
Read transfer buffer 0 once MDT data
is copied
SDO rd 2120/00
Enter user data in transfer buffer 1 so
the bytes are immediately written to the
MDT
SDO wr 2121/00 <data bytes>
Close MDT with RECONNECT. The next
MDT can automatically sign on without
another command
SDO wr 2600/02 0x03
2 Read the actual link state until the value
CONNECTING appears
SDO rd 2600/01
9.20.2 “Outfeed” application
Outfeed points are where it is decided whether or not the workpiece pallet is
diverted. The workpiece pallets do not need to stop at the SLK before the junction,
since the amount of data needed for the decision is small. In this example, 6 bytes
should be read starting at MDT address 0x0000. The MDT status is also transmitted
in order to allow any errors in the MDT to be addressed.
The data is read from the MDT using an unbuffered prefetch and sent to the
CANopen master using TPDO. The default mapping for TPDO1 and TPDO2 can be
used (see Chapter 9.9.1.2 “Object 1A00–1A03: transmit PDO mapping parameters”).
The link then switches immediately from the PRECONNECTED to the CONNECTING
state, since auto reconnect is active.
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY