Bosch Rexroth ID 40/SLK-CAN - Page 50

50/176 Profibus DP
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
Accordingly, the PDP master controller handles the toggle bit as follows:
Fig. 23:
Start
Toggle bit is always 0 after
system start
Command byte
sequence with inverted
toggle bit placed on
outputs
Does the input toggle bit match
the sent toggle bit?
No
SLK has accepted
command.
Yes
Read inputs
Does the "result" byte
from SLK = 0 ?
SLK has executed
command without error
Yes
No
Error in command,
evaluate "result"
Cycle end
Command-oriented data exchange sequence
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY