CANopen 115/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
SLK operation
Stage 1: Once an MDT enters the HF field, the MDT status (triggers TPDO2) and
the data in transfer buffer 0 mapping are read. If the data in the transfer buffer is
available, the SLK sends a TPDO4 with the appropriate status information.
Stage 2: The lift unit moves the workpiece pallet into processing position. The
measurement data obtained in the application is entered in transfer buffer 1, the
buffer is switched to pretransmit mode and auto mode is set to reconnect. Once the
lift unit returns the MDT to the position in front of the SLK, the system switches to
CONNECTING. The data in transfer buffer 1 is automatically entered after the MDT
signs on.
No. Action COB rd/wr Index/
subindex
Data
1 Wait until transfer buffer 0 status is
“Data exchange complete”.
TPDO4
2 MDT communication is terminated by
auto disconnect and the HF field is off.
The lift unit can move the workpiece
pallet into processing position
3 Transfer buffer 0 can be read at the
same time
SDO rd 2120/00
4 Once the measurement data from pro-
cessing is available, enter it into transfer
buffer 1.
SDO wr 2121/00 <data bytes>
5 Switch transfer buffer 1 to “single trans-
mit” pretransmit mode and activate
SDO wr 2101/01 0x05
6 Switch auto mode register to auto
reconnect
SDO wr 2600/03 0x01
7 Wait until lift unit is in lower position
8 Make SLK ready to receive
(CONNECTING)
SDO wr 2600/02 0x01
9 Wait until transfer buffer 1 status is
“Data exchange complete”.
TPDO4
10 Switch the auto mode register to auto
disconnect and allow the workpiece
pallet to continue
SDO wr 2600/03 0x02
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
ENGLISH
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