Bosch Rexroth ID 40 Manual page 81

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 Index
communication
1 Deactivate 0x5FF1 0x0000
unbuffered
prefetch so no
parameters are
set
2 Delete old 0x5FF1 0x0004
prefetch entries
3 Set parameters 0x5FF0
for first data
block in unbuf-
fered prefetch:
1-byte MDT
status
4 Set parameters 0x5FF0
for second data
block in unbuf-
fered prefetch:
8 bytes starting
from MDT ad-
dress 0x0024
5 Finished setting 0x5FF1 0x0001
parameters, acti-
vate unbuffered
prefetch
6 Switch SLK to 0x5FF5
auto disconnect
mode
7 Make SLK Via process data channel:
ready to receive
(CONNECT) 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.
Subindex 0 Subindex 1 Subindex 2
0x00020000 0x0001
0x00000024 0x0009
0x00030002 0x0001
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Subindex 3
0x02
Write data