Bosch Rexroth ID 40/SLK-CAN - Page 114

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
SLK preparation
A buffered prefetch is configured to transmit the control data (e.g., 16 bytes
starting at MDT address 0x0024) in transfer buffer 0. Transfer buffer 1 is prepared
for entering the measurement data (e.g., 800 bytes starting at MDT address
0x03C0). The SLK switches to auto disconnect mode and the link state switches to
CONNECTING.
The actual link state and the MDT status are transmitted by event with TPDO1 and
TPDO2. The status information for transfer buffers 0 and 1 are mapped to TPDO4.
No. Action COB rd/wr Index/
subindex
Data
1 Lock both transfer buffers, 0 and 1, so
buffer mapping can be configured
SDO
SDO
wr
wr
2100/01
2101/01
0x00
0x00
2 Delete mappings for buffers 0 and 1 SDO
SDO
wr
wr
2110/00
2111/00
0x00000000
0x00000000
4 Prepare second mapping for transfer
buffer 0 to read 16 bytes starting at
MDT address 0x0024
SDO wr 2110/02 0x00090010
5 Configure mapping for buffer 0 by enter-
ing the number of mappings in subin-
dex 0, in this case 1
SDO wr 2110/00 0x00000001
6 Prepare transfer buffer 1 mapping to
write 800 bytes starting at MDT address
0x03C0
SDO wr 2111/02 0x00F00320
7 Configure mapping for buffer 1 by enter-
ing the number of mappings in subin-
dex 0, in this case 1
SDO wr 2111/00 0x00000001
8 Activate transfer buffer 0 as prefetch
buffer. The mapped data blocks will be
read automatically from the next MDT
SDO wr 2100/01 0x03
9 Transfer buffer 1 is only activated in
Stage 2
10 Enter the status registers of transfer
buffers 0 and 1 in the mapping for
TPDO4, set the number of mapped
objects to 2
SDO
SDO
SDO
wr
wr
wr
1A03/01
1A03/02
1A03/00
0x21000208
0x21010208
0x02
11 Switch auto mode register to auto
disconnect
SDO wr 2600/03 0x02
12 Make SLK ready to receive
(CONNECTING)
SDO wr 2600/02 0x01
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY