Bosch Rexroth ID 40/SLK-CAN - Resetting SLK Application; Handling E00 Errors

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Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
9.20.4 “Resetting SLK” application
This example allows the SLK to be reset in the DISCONNECTED link state. The actual
link state here is not important.
No. Action COB rd/wr Index/
subindex
Data
1 Switch SLK to ERROR state SDO wr 2600/02 0x04
2 Wait until actual link state is ERROR
3 Switch SLK to DISCONNECTED state SDO wr 2600/02 0x02
4 Wait until actual link state is DISCONNECTED
9.20.5 Handling “E00” errors
This example terminates direct data exchange with the MDT. The commanded link
state DISCONNECT fails and the SLK switches to the ERROR state.
No. Action COB rd/wr Index/
subindex
Data
1 Switch SLK to DISCONNECTED
state
SDO wr 2600/02 0x02
2 Wait until actual link state is DISCONNECTED or ERROR
3 DISCONNECT unsuccessful, link state is now ERROR
4 Switch SLK to
DISCONNECTED state
SDO wr 2600/02 0x02
5 Wait until actual link state is DISCONNECTED
6 The SLK is now in the initial DISCONNECTED state and the application can
start over
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY