Bosch Rexroth ID 40 Manual page 111

SLK preparation
The application data is read/written using the transfer buffers. The buffer mapping
has to be configured once for each buffer. Afterward, the SLK switches to the link
state CONNECTING with the command-oriented data exchange.
No. Action
1 Lock both transfer buffers, 0 and 1, so
buffer mapping can be configured
2 Delete mappings for buffers 0 and 1
3 Prepare first mapping for transfer buffer
0 to read MDT status
4 Prepare second mapping for transfer
buffer 0 to read 32 bytes starting at
MDT address 0x0110
5 Configure both mappings for buffer 0
by entering the number of mappings in
subindex 0.
6 Prepare transfer buffer 1 mapping to
write 60 bytes starting at MDT address
0x0100
7 Configure mapping for buffer 1 by enter-
ing the number of mappings in subindex
0, in this case 1
8 Activate transfer buffer 1 for direct data
exchange
9 Activate transfer buffer 0 as prefetch
buffer. The mapped data blocks will be
read automatically from the next MDT
10 Make SLK ready to receive
(CONNECTING)
COB rd/wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO wr
SDO 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 111/176
Index/ Data
subindex
2100/01 0x00
2101/01 0x00
2110/00 0x00000000
2111/00 0x00000000
2110/01 0x80000001
2110/02 0x00440020
2110/00 0x00000002
2111/02 0x0040003C
2111/00 0x00000001
2101/01 0x01
2100/01 0x03
2600/02 0x01