CANopen 97/176
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
9.6.1 Saving objects (saving parameters)
Objects with “Y” in the “S” column are applied to the SLK. Parameters saved in this
manner are loaded every time the SLK restarts.
The currently configured values of the parameters marked “N” are lost after voltage
recovery. The default values are reloaded in the objects.
Any SDO response telegram may be delayed depending on how long the initiated
write or read process on the nonvolatile memory takes. Ensure the master has
sufficient timeout specifically for these kinds of access.
9.6.2 MDT user memory (objects 2200–220E)
For access via CANopen, the memory of the data carrier is divided into 200-byte
segments.
When accessing a specific MDT byte, both the segment number and the resulting
position of the desired data byte within the segment have to be determined. The
segment number is represented here by the index, and the relative position of the
data byte in the segment by the subindex.
Example: The data byte with the MDT address 0x183C is in segment 31 and is
mapped in the object with index 221F/05.
If a data object outside the addressable MDT area is accessed, the SLK reports a
corresponding error (see Chapter 9.10 “CANopen error codes”).
Table 32: Maximum possible addressing of MDT types
MDT type MDT
start address
Object index
start address
MDT
end address
Object index end
address
ID 40/MDT2K 0x0000 2200/01 0x076F 2209/68
ID 40/MDT8K,
ID 80/E-MDT8K
0x0000 2200/01 0x1DEF 2226/40
ID 40/MDT32K 0x0000 2200/01 0x784F 2299/C8
9.6.3 SLK register area (object 2600)
The ID 40 system is checked with this object as described in Chapter 5.3 “SLK
register area”.
9.6.4 MDT register area (object 2800)
The MDT functions described in Chapter 5.2 “Map of MDT register area” are found
here.
PROOF COPY 1 | 20.05.2014 | FOR INTERNAL USE ONLY
ENGLISH
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