Bosch Rexroth ID 40 Manual page 50

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