Workstation" Application - Bosch Rexroth ID 40 Manual

SLK preparation
Auto reconnect mode is activated (see Chapter 5.3.3 "Auto mode") and the SLK
switches to the CONNECTING link state.
No. Action
1 Switch auto mode register to auto
reconnect
10 Make SLK ready to receive
(CONNECTING)
SLK operation
The CANopen master of the PLC receives two PDOs for every MDT that passes the
outfeed SLK: TPDO1 and TPDO2. The MDT status and the six payload bytes are sent
in TPDO2 according to the mapping. The outfeed decision can now be made with
this information.
9.20.3

"Workstation" application

This example is for a workstation with a lift positioning unit. Since a link cannot be
established between the SLK and the MDT when the workpiece pallet is raised, data
is exchanged in two stages.
Stage 1: Reading the workpiece-specific data to check whether or not this workpiece
can be processed at this station. This data is read from the MDT in an unbuffered
prefetch. The SLK then automatically switches to DISCONNECTED. Only when the
lift positioning device lowers after processing does the SLK switch to CONNECTING.
This eliminates the risk of an unexpected break in communication as the MDT
approaches the SLK from above.
Stage 2: Entering measurement data obtained while the workpiece was being
processed. Only the pretransmit function is used via transfer buffer 1 here.
COB rd/wr
SDO wr
SDO wr
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
CANopen 113/176
Index/ Data
subindex
2600/03 0x01
2600/02 0x01