Bosch Rexroth ID 40/SLK-CAN - Page 81

Interbus 81/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
SLK preparation
An unbuffered prefetch is configured that transmits both the MDT status (see
Chapter 4.3.2.1 “MDT status register”) and the control data (e.g., 9 bytes as of
MDT address 0x0024) in the event-oriented data channel. The SLK switches to auto
disconnect mode and the link state switches to CONNECTING.
No. PCP
communication
Index Subindex 0 Subindex 1 Subindex 2 Subindex 3
1 Deactivate
unbuffered
prefetch so no
parameters are
set
0x5FF1 0x0000
2 Delete old
prefetch entries
0x5FF1 0x0004
3 Set parameters
for first data
block in unbuf-
fered prefetch:
1-byte MDT
status
0x5FF0 0x00020000 0x0001
4 Set parameters
for second data
block in unbuf-
fered prefetch:
8 bytes starting
from MDT ad-
dress 0x0024
0x5FF0 0x00000024 0x0009
5 Finished setting
parameters, acti-
vate unbuffered
prefetch
0x5FF1 0x0001
6 Switch SLK to
auto disconnect
mode
0x5FF5 0x00030002 0x0001 0x02
Write data
7 Make SLK
ready to receive
(CONNECT)
Via process data channel:
Byte 0: 0x01 (switch trigger bit: now 0, used to be 1)
8 SLK operation
Wait until event counter in event-oriented data channel (see Chapter 7.3.1 “Status informa-
tion in event-oriented data channel”) to increase by 1. At this point, a workpiece pallet has
arrived, the event-oriented data is valid and the link is DISCONNECTED. The MDT status and
control data can be checked and the workpiece pallet can be raised.
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
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