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3 842 530 344/2014-05, MIT: ID 40,

Bosch Rexroth AG

9 CANopen

9.1 Overview

The ID 40/SLK-CAN is a CANopen slave. The SLK comes with nearly every data
transmission mechanism specified for CANopen and can be activated by any bus
master in compliance with CANopen.
All specifications and guidelines for CANopen can be found in the CiA (CAN in
Automation e.V.) specifications. Literature on CAN can be found under [C.] in
Chapter 16.3 “References".
Data is exchanged between CANopen users exclusively through

objects

addressed

by a 16-bit

index

and an 8-bit

subindex

. These objects are compiled into an

object

directory

. For example, the data areas described in Chapter 5 “SLK storage” are

also mapped by objects.
CANopen provides

communication services

(also known as communication

objects) for data exchange. Command-oriented SLK data exchange occurs via

SDO

services (

S

ervice

D

ata

O

bject), and event-oriented data exchange via

PDO

services

(

P

rocess

D

ata

O

bject).

9.2 Object directory

The object directory contains not only user data, but also CANopen communication
objects, device profiles and even data types. Default values and access rights to the
objects are also set there. See [C17] for reference.
[C17] determines objects that have to be in a CANopen slave and those that are
optional.

Table 26: Distribution of CANopen object directory index ranges as per [C17]

Index

CANopen objects

ID 40/SLK-CAN

0000

Not used

Not used

0001-001F

Static data types

All used

0020-003F

Complex data types

0020 - 0023

0040-005F

Manufacturer-specific complex data
types

0040 - 0043

0060-007F

Device profile-specific static data types

Not used

0080-009F

Device profile-specific complex data
types

Not used

00A0-0FFF

Reserved

Not used

1000-1FFF

Communication profile area

Used in part

2000-5FFF

Manufacturer-specific profile area

Used in part

6000-9FFF

Standardized device profile area

Not used

A000-FFFF

Reserved

Not used

PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy

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Summary of Contents for Rexroth ID 40

Page 1: ...PORTUGUESA ESPAÑOL ITALIANO FRANÇAIS ENGLISH DEUTSCH 3 842 530 344 2014 05 Replaces 2014 01 EN Manual ID 40 4 1 Edition ...

Page 2: ...e the user from the obligation of own judgment and verification It must be remembered that our products are subject to a natural process of wear and aging This document as well as the data specifications and other information set forth in it are the exclusive property of Bosch Rexroth AG It may not be reproduced or given to third parties without the consent of Bosch Rexroth AG This manual was orig...

Page 3: ... Installing MDT and SLK 23 3 1 Mounting the MDT on the workpiece pallet 23 3 2 Mounting the SLK on transfer section profiles 23 3 3 Antenna orientation 24 3 4 SLK electrical connection 25 3 4 1 Supply voltage 25 3 4 2 Connecting the fieldbus 26 3 4 3 Serial interface 27 3 4 4 Turning on the SLK 28 4 MDT memory structure 29 4 1 ID 40 MDT storage 29 4 2 Organization of MDT memory 30 4 2 1 MDT user d...

Page 4: ...Data array for event oriented data channel 55 7 4 SLK address table 56 7 5 Profibus error codes 57 7 6 Profibus Diagnostic Service 57 7 7 Addressing data in the ID 40 system 58 7 8 Profibus GSD file 59 7 8 1 Distribution of SLK module configuration 59 7 8 2 Sample I O module configuration 59 7 9 Sample applications 60 7 9 1 Manual workstation application 60 7 9 2 Outfeed application 62 7 9 3 Works...

Page 5: ...specific profile area 94 9 6 1 Saving objects saving parameters 97 9 6 2 MDT user memory objects 2200 220E 97 9 6 3 SLK register area object 2600 97 9 6 4 MDT register area object 2800 97 9 7 Standardized device profile 98 9 8 SDO communication 98 9 8 1 SDO 1 98 9 8 2 SDO 2 99 9 8 3 SDO timeout client object 2020 99 9 9 PDO communication 100 9 9 1 PDO mapping 101 9 9 2 PDO communication parameters...

Page 6: ...sing the ID 40 SLK website 136 10 5 2 ID 40 SLK homepage 139 10 5 3 MDT register page 140 10 5 4 SLK register page 141 10 5 5 MDT data page 142 10 5 6 Fieldbus settings page 143 10 5 7 Systems statistics page 143 10 5 8 System log and settings page 144 10 6 Tips and tricks 145 10 6 1 Bookmarks 145 10 6 2 Directly retrieving the syslog 145 10 7 Web access from application programs 146 10 7 1 Web in...

Page 7: ...SLK software upgrade via serial interface 162 13 Technical data 163 13 1 Cables connector pin assignments 164 13 2 SLK nameplate 165 13 3 Data transmission times between MDT and controller 166 13 3 1 Transmission times with Profibus 166 13 4 Compatibility 167 13 4 1 Compatibility with older software versions 167 13 4 2 Compatibility with ID 80 E and MTS 2 167 14 Overview for ordering ID 40 modules...

Page 8: ...8 176 Bosch Rexroth AG MIT ID 40 3 842 530 344 2014 05 Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 9: ...en 3 842 406 190 Operating instructions for ID 40 configura tion and diagnostic program en 3 842 406 119 Manual is part of the software CD ROM and is not available in print form 1 2 Layout of this manual This manual is structured so each chapter builds on the previous chapter It is recommended that readers who are unfamiliar with identification systems read through this entire manual Readers who h...

Page 10: ...sary of all technical terms and the link model for the ID 40 system 1 3 Display 1 3 1 Numbers Decimal numbers are written without a suffix e g 123 Hexadecimal numbers are written with the prefix 0x e g 0x0002001C Data blocks are written with their address and length in bytes as address length e g 0x00000815 25 1 3 2 Operating states The operating states of the read write head are written in upperc...

Page 11: ...regular intervals If there are any indications that the identification system is not working properly it must be taken out of operation and secured against unauthorized use Operating personnel should receive training from supervisors that includes safety precautions and operating the ID 40 in accordance with this manual The manufacturer does not accept any liability or warranty claims for damages ...

Page 12: ... and SLK read write head 2 1 ID 40 MDT mobile data tag The MDT mobile data tag contains re writable memory where data can be read and written without contact It is assigned to an individual workpiece by being mounted on the workpiece pallet and stores the production data for that workpiece By mounting the MDT on the workpiece pallet the flow of information is continuously synchronized with the flo...

Page 13: ... MDT without contact It is directly connected as part of a fieldbus system and allows a user controller to access the workpiece data The read write head comes in Profibus DP Interbus S and CANopen versions Fig 2 ID 40 on TS 2plus transfer system The SLK sends data from the fieldbus master to the MDT or when given a read command from the MDT to the fieldbus Parameters can also be set for data trans...

Page 14: ...s The SLK has multiple operating states known as link states The actual link state can be changed by a fieldbus command from the user program as well as by the ID 40 system itself The actual link state can be determined by the control system at any time using the fieldbus for coding see Chapter 5 3 1 Actual link state An MDT entering the HF field for example is signaled by a change in the actual l...

Page 15: ... the PRECONNECTED state leaves the HF field early the SLK switches to the ERROR state 2 2 1 4 Connected In the basic configuration the SLK switches from PRECONNECTED to CONNECTED The status display shows con The control system can now directly access the MDT data To do this read write commands are sent to the SLK through the fieldbus that are executed immediately Data read from the MDT is directly...

Page 16: ... following table occurs Operating state switches due to a command commanded link state from the control system PLC Table 2 Relationship between commanded link state and link state Commanded link state to SLK Only permitted in link state display Commanded link state results in link state display CONNECT DISCONNECTED OFF ERROR E00 CONNECTING WAI DISCONNECT CONNECTED CON CONNECTING WAI DISCONNECTED O...

Page 17: ...active see Chapter 5 3 3 Auto mode PRECONNECTED PRE CONNECTED CON Error during MDT sign on CONNECTING WAI ERROR E00 Error during direct data exchange with MDT CONNECTED CON Note The error is output through the bus in the form of an error message and does not alter the state CONNECTED CON Error during MDT sign off PRECONNECTED PRE CONNECTED CON Note Can occur during commanded link states DISCONNECT...

Page 18: ... for a few seconds While running the display is divided into two areas Area 1 contains the first three segments on the left and area 2 the first segment on the right Area 1 Area 2 Fig 4 ID 40 SLK read write head status display Area 1 shows the operating state of the SLK or an error code in the event of an error Area 2 shows when the SLK is ready as well as the status of the fieldbus connection to ...

Page 19: ...ains symbols indicating the status of the fieldbus Their appearance and meaning depend on the fieldbus See Chapters 8 to 10 for more details Area 1 Actual link state See Chapter 2 2 1 SLK operating states Area 1 Error state with error number See Chapter 12 1 Troubleshooting guide for meaning Area 1 and area 2 Fieldbus node number Only shown during boot up and consists of the fieldbus code letter a...

Page 20: ...SLK s field Once a secure data transmission is possible between the MDT and SLK the color changes When the LED shows green the MDT is operating correctly When the LED shows red an error occurred during the last data exchange see Chapter 4 2 3 1 MDT status register When the data exchange between the SLK and the MDT ends the LED color changes to orange then turns off once the MDT leaves the HF field...

Page 21: ...SLK both statically and dynamically In static mode the MDT comes to a stop directly in front of the SLK In this instance the dwell time can be as long as desired i e data can be exchanged for an unlimited amount of time However the MDT must remain in range until communication is complete In dynamic mode the MDT moves past the SLK during communication In this instance the dwell time in the field is...

Page 22: ...d for dynamic reading and writing Direct and parameterized data transmissions can also be combined When an MDT enters the HF field all parameterized commands are executed first followed by the direct data transmission 2 3 4 Securing data transmission The data between the SLK and MDT is sent and received wirelessly via an HF field Checksums are used to monitor the transmission of data without error...

Page 23: ...an damage the fastener or the MDT itself The MDT can be mounted onto the workpiece pallet plate in various positions This flexibility arises from the fact that the MDT is readable from three sides front right and left However the vertical axes for both the SLK and the MDT have to run parallel to each other The gap dimensions or read write distance between the MDT and the SLK have to be observed fo...

Page 24: ...agnetic HF field for exchanging data with the MDT For data transmission without interruption the antenna and the MDT must be within a certain distance from one another see Fig 9 The antenna comes mounted such that the SLK can communicate with the MDT on the workpiece pallet given standard installation on the section profile of Bosch transfer systems To adjust to special mounting situations the ant...

Page 25: ...ection 3 4 1 Supply voltage Insulation displacement is used to provide the 24 V supply voltage as per EN 61131 2 This is also used for AS i bus systems so a black cable has to be used for the connection as per AS i specification Follow the ID 40 SLK assembly instructions Fig 10 ID 40 SLK read write head power connection Never connect the yellow AS i signal cable on the SLK as this can result in th...

Page 26: ...Bus terminal Connecting the ID 40 SLK to the fieldbus For nearly all fieldbus systems a bus connection has to be inserted in Bus Out when the SLK is the last bus user Do not forget the bus connection on the last user otherwise the entire bus will not function For Interbus the bus connection can also be configured through a serial interface In this instance insert the included cap in the Bus Out so...

Page 27: ...D 40 system and can be purchased from a retailer Note the PC s protective disconnector when connecting the RS232 to the PC otherwise current loops can occur through the grounding conductor GND The ID 40 system offers a web server with SLK software versions 4 00 and higher see Chapter 10 Web interface The browser on a connected computer can be used to configure critical parameters for the fieldbus ...

Page 28: ...the status display remains inactive After the self test the status display will first show the currently configured node number for a few seconds followed by the ready signal The light on the HF head then turns off The initial state after power on is always off i e the HF field is off and no communication is possible with the MDT Fig 13 Display showing current node number on a Profibus SLK Fig 14 ...

Page 29: ...variants ID 40 MDT2K with a user data volume of 1 904 bytes ID 40 MDT8K with a user data volume of 7 664 bytes ID 40 MDT32K with a user data volume of 30 800 bytes The functionality as well as electrical and mechanical properties are identical Outwardly the variants only differ in labeling and name plate Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 30: ...reas user data system data and registers User data and the registers can be accessed directly Fig 16 System area Register area User data 30800 bytes MDT32K System area Register area User data 7664 bytes MDT8K System area Register area User data 1904 bytes MDT2K Memory structure of the mobile data tag Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 31: ...l data stored on the MDT is secured with checksums The user data is secured in blocks i e each data block is assigned a checksum The block size is 16 bytes The advantage of this is that the checksums do not take up much memory and memory errors can be localized precisely Data not located in a block flagged with an error can continue to be used in the application The 16 byte blocks always begin on ...

Page 32: ... set for checksum errors in pointers 1 to 3 Bits 4 to 6 coding for the MDT type 000 8 kB memory ID 80 E first generation MDT 001 80 byte memory ID 80 E MDT80 011 2 kB memory ID 40 MDT2K 100 8 kB memory ID 40 MDT8K and ID 80 E MDT8k 101 32 kB memory ID 40 MDT32K Bit 7 set when at least one of bits 1 to 3 is set The second MDT status byte is reserved in the ID 40 and has a value of 0xF0 For ID 80 E ...

Page 33: ...ter 0 is used by the system This MDT address can be used in an application to determine the beginning of a data block on the MDT The pointer first has to be read in order to read or write the MDT data block The content of the pointer is then used to access the MDT data block 4 2 3 3 MDT ID code The MDT ID code contains a unique 32 bit number for each ID 40 MDT The MDT ID code cannot be edited and ...

Page 34: ...LK register area This area contains all system variables used to control how the SLK functions Data buffer for buffering commands and data for parameterized data exchange The individual areas are generally addressed with what is referred to as the SLK address and depends on the fieldbus system used Addressing the memory areas is described in detail in Chapters 7 Profibus DP 8 Interbus and 9 CANope...

Page 35: ...three pointers can be both read and written by accessing the pointer map once 5 2 3 Map of MDT ID code The MDT ID code Chapter 4 2 3 3 MDT ID code is read using the map Write access to this data block returns an error message since the MDT ID code cannot be edited 5 2 4 MDT counter The MDT counter can be used to count the workpiece pallets that pass by the SLK The SLK increases the MDT counter by ...

Page 36: ...5 2 5 1 Special functions If the entire memory range of the MDT should be formatted to the value in byte 5 the parameters byte 1 to byte 4 can be set to zero This function does not depend on the type of memory capacity of the MDT If the length of the data block parameter in byte 3 and byte 4 is set to zero the memory area from the MDT address in byte 1 and byte 2 to the end the available memory is...

Page 37: ...cation does not use prefetch for example the actual link state can also temporarily return the value PRECONNECTED The actual link state is available by default in the event oriented data channel of the fieldbus and does not have to be read from a command The application evaluates the states using the coding in the following table Table 9 Actual link state State Code Display Description DISCONNECTE...

Page 38: ... gone into the ERROR state the field is off No other MDTs can sign on to the SLK The current communication with the MDT is first terminated and the MDT signs off The term request means the actual link state does not always have to fulfill the request to switch immediately Example After the CONNECT request the SLK is only connected when an MDT enters the SLK field Only then will the actual link sta...

Page 39: ...eves the corresponding pointer value from the MDT but also data bytes addressed by the pointer value The number of the data bytes can be adjusted with an entry in the Look Ahead Control SLK register The value zero in the Look Ahead Control register deactivates the look ahead function In this case only the pointer is read from the MDT The data from the user data area is only saved in the SLK and no...

Page 40: ...rminated 6 1 Command oriented data transmission Command oriented data transmissions are always initiated by the fieldbus master e g a PLC During this the master sends a command to the SLK The SLK executes the command and sends a response to the master The response always contains the event code For read commands the SLK sends the read data to the master in the response Once the response has been s...

Page 41: ...ile data tag It is separated into the read data being transmitted immediately to the control system unbuffered prefetch or held in a special data buffer in the SLK buffered prefetch Setting the parameters of a prefetch means entering SLK addresses that should be read in the prefetch Multiple even overlapping data areas can be set up The prefetch function is only executed once the parameters have b...

Page 42: ... those executed only once and those executed for each additional MDT Setting the parameters of a pretransmit means entering SLK addresses together with the data that should be written starting with the addresses The pretransmit data block is entered in the SLK through a fieldbus command Other commands add data blocks and the address ranges of these data blocks can also overlap Configuring the pret...

Page 43: ... Multiple transmit MT commands are repeated for all subsequent MDTs This makes them particularly suitable for initializing data carriers e g at the first process station of an assembly line Multiple transmit automatically overwrites every MDT passing the SLK without prompt on the fieldbus There is the risk that accidentally either important data on the MDT is deleted or incorrect data is entered o...

Page 44: ... Start Not done Link state PRECONNECTED Link state CONNECTED Link request DISCONNECT Done Link state DISCONNECTED Done Not done Link request CONNECT Done Display Display Display Display Data exchange between PLC and MDT via SLK Not done Default process for SLK MDT communication 6 6 Open transfer and Close transfer functions Due to the new MDT lifeguarding function see Chapter 6 9 MDT lifeguarding ...

Page 45: ...he field does not turn off once communication with the MDT stops i e the SLK can immediately accept another MDT No bus communication is necessary to control these processes The data read in prefetch is transmitted to the application through an event oriented data exchange see Chapter 6 2 Event oriented data transmission Automatically terminating communication with the MDT is turned on and off thro...

Page 46: ...n application As with auto reconnect the data read in prefetch is transmitted to the application through an event oriented data exchange see Chapter 6 2 Event oriented data transmission Automatically terminating communication with the MDT is turned on and off through auto mode see Chapter 5 3 3 Auto mode It is not possible to access the MDT with the command oriented data exchange when auto disconn...

Page 47: ...40 system manual version 3 0 MDT lifeguarding ensures the consistency of the transmitted data packets MDT lifeguarding also prevents an MDT from signing on again unexpectedly since the HF field is off while in the ERROR state Tips for the application Only access the MDT when the link state is CONNECTED If ERROR appears between related data transfers the MDT data set is inconsistent No longer use c...

Page 48: ...ansmission MDT registers with the SLK System Start Not done Link state PRECONNECTED Link state CONNECTED Link state DISCONNECTED Done Not done Link request CONNECT Done Display Display Display Data transmission between PLC and MDT viaSLK MDT unexpectedly removed Link state ERROR Display Display Link states for MDT lifeguarding Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 49: ...ent oriented data exchange is mapped to different I O addresses in the controller 7 2 Command oriented data exchange Command oriented data exchange is bidirectional and allows parameters to be set for event oriented data exchange as well as the transmission of data from and to data carriers the SLK The following functions are supported Writing data MDT data only in CONNECTED state Reading data Con...

Page 50: ...r system start Command byte sequence with inverted toggle bit placed on outputs Does the input toggle bit match the sent toggle bit No SLK has accepted command Yes Read inputs Does the result byte from SLK 0 SLK has executed command without error Yes No Error in command evaluate result Cycle end Command oriented data exchange sequence Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 51: ...ration command The data area is organized such that the high byte is in the low address Motorola format e g the no data bytes is divided as follows Data4 low output address Data5 higher output address No data bytes high byte No data bytes low byte Input assignments for SLK reply to PDP master Table 12 Input assignments for command oriented data exchange Input address Bit Name Description 0 7 Tbit ...

Page 52: ...ed prefetch Data0 Result 3 Set parameters for buffered prefetch The addressed data area is added to the prefetch buffer The data is included in the prefetch buffer in order of definition This means the data defined first are added to the lowest address in the buffer regardless of its address in the data carrier Data0 Data3 SLK address Data4 Data5 No bytes Data0 Result Data1 Data2 Address in comman...

Page 53: ...Data0 Data3 SLK address Data4 Data5 No bytes Data4 always 0 Data6 n Data in pretransmit to be written Data0 Result 8 Configure pretransmit Begin or finish setting pretransmit param eters Start single transmit ST or multiple transmit MT Delete all parameterized data areas Stop pretransmit Data0 0 Begin setting parameters 1 Finish setting parameters 2 Start ST 3 Start MT 4 Delete parameters 5 Stop p...

Page 54: ... no unbuffered prefetch data is desired at least two bytes have to be reserved for the event oriented data channel since the ID 40 SLK PDP shows important system information here 7 3 1 Status information in event oriented data channel The first two bytes in the event oriented data exchange are status bytes with the following structure Table 14 Status byte 0 of event oriented data exchange Byte 0 b...

Page 55: ...prefetch parameterization The flags apply both to the unbuffered prefetch function and the buffered prefetch Bit 1 Prefetch is parameterized 0 no prefetch currently parameterized in system 1 at least one unbuffered prefetch or one buffered prefetch is parameterized Bit 2 Prefetch parameterization is open 0 prefetch parameterization is closed If prefetches have already been parameterized these are ...

Page 56: ...low byte start address rd wr MDT formatting The MDT memory is overwritten with the for matting value starting with the start address See Chapter 5 2 5 MDT formatting 0x0002000E High byte low byte length byte count 0x00020010 Byte formatting value 0x00020011 Reserved 0x00020012 High byte low byte rd only Internal MDT work pointer for diagnostic purposes only 0x00020014 rd only MDT software version ...

Page 57: ...rization was not started Prefetch buffer read although prefetch parameterization has started 8 Operand value outside permitted range e g for command 15 15 Internal system error e g memory shortage 7 6 Profibus Diagnostic Service The PDP Diagnostic Service has two sections Normal diagnostics and User diagnostics The SLK provides diagnostic information either when prompted by the PDP master or when ...

Page 58: ...nes the area length from the start address It is written as address byte count The SLK address is always shown in hexadecimal format whereas the byte count is always in decimal format Example Four bytes should be read starting from address 0x000002C0 so the data block is 0x000002C0 4 Fig 24 Start address 0x000002C0 Byte 1 Next free address 0x000002C4 Byte 2 Byte 3 Byte 4 No of bytes 4 Example of d...

Page 59: ...o the event oriented data exchange This is necessary for transmitting the system status which is always present The maximum volume of an event oriented data exchange is 208 bytes since at least 8 bytes always have to be allocated to the command oriented data exchange Only then can a configuration command with at least one data byte be sent to the SLK 7 8 2 Sample I O module configuration If there ...

Page 60: ...essed The actual link state is read in an event oriented manner to determine whether or not a new MDT is in the link The link state is contained in the event oriented data channel by default and is e g provided in the input map in PLC systems The remaining data is exchanged with the MDT directly in the CONNECTED state The MDT then signs off with the commanded link state RECONNECT The SLK switches ...

Page 61: ...hen terminated No Command oriented data exchange CMD Data0 Data1 Data2 Data3 Data4 Data5 Data6 2 Wait until actual link state is CONNECTED Read value through event oriented data channel 4 Read MDT status and check if error bits are present 0x05 0x00 0x02 0x00 0x00 0x00 0x01 5 Read data from MDT e g 32 bytes as of ad dress 0x0110 0x05 0x00 0x00 0x01 0x10 0x00 0x20 6 Write data to MDT e g 60 bytes a...

Page 62: ...ters for first data block in unbuffered prefetch 1 byte MDT status 0x01 0x00 0x02 0x00 0x00 0x00 0x01 4 Set parameters for second data block in unbuffered prefetch 32 bytes starting from MDT address 0x02F0 0x01 0x00 0x00 0x02 0xF0 0x00 0x20 5 Finish setting param eters for unbuffered prefetch Prefetch is now active 0x0B 0x01 6 Switch SLK to auto reconnect mode 0x06 0x00 0x03 0x00 0x02 0x00 0x01 0x...

Page 63: ...ress 0x0024 in the event oriented data channel The SLK switches to auto disconnect mode and the link state switches to CONNECTING No Command oriented data exchange CMD Data0 Data1 Data2 Data3 Data4 Data5 Data6 1 Begin setting parameters for unbuffered prefetch 0x0B 0x00 2 Delete unbuffered prefetch if any data blocks are entered 0x0B 0x04 3 Set parameters for first data block in unbuffered prefetc...

Page 64: ... setting pretrans mit parameters 0x08 0x00 3 Set parameters for 80 byte measurement data block as pretransmit 0x07 0x00 0x00 0x01 0xC0 0x00 0x50 Mea sure ment data 4 Finish setting pretrans mit parameters 0x08 0x01 5 Activate single trans mit 0x08 0x02 6 Wait until lift positioning unit in lower position 7 Make SLK ready to receive CONNECT 0x06 0x00 0x03 0x00 0x01 0x00 0x01 0x01 8 Wait until event...

Page 65: ...0x01 4 Delete unbuffered prefetch 0x0B 0x04 5 Finish setting param eters for buffered prefetch 0x0A 0x01 5 Delete buffered prefetch 0x0A 0x04 6 Wait until actual link state is DISCONNECTED 7 9 5 Handling E00 errors This example terminates direct data exchange with the MDT The commanded link state DISCONNECT fails and the SLK switches to the ERROR state No Command oriented data exchange CMD Data0 D...

Page 66: ...Bus length 400 m between two remote bus users total length 13 km Typical applications general sensor actuating systems mechanical and systems engineering process technology The ID 40 SLK IBS is a remote bus user as opposed to local bus users The term remote bus is also abbreviated as RB ID 40 uses the PCP channel and process data channel Interbus standard communication services to exchange data Th...

Page 67: ... Example The object 5FF5 direct reading and writing has three subindexes Subindex 1 contains the SLK address 4 bytes subindex 2 the desired number of bytes 2 bytes and subindex 3 the octet string of the bytes in the payload If subindex 3 is read the SLK first takes the data block indicated in subindexes 2 and 2 from the MDT and returns it as the octet string in subindex 3 If the Interbus master se...

Page 68: ...individual devices via PCP communication Both the CRL and the CR are Interbus standard and are established when Interbus is started up see Chapter 11 2 Starting up Interbus One CRL parameter the maximum possible PDU length can be modified on the SLK see Chapter 11 2 2 Configuring the maximum PDU size for the PCP channel The PDU Protocol Data Unit determines the maximum size of the SLK s transmit a...

Page 69: ... Subindex 1 SLK address 4 bytes Subindex 2 No bytes high byte always 0 2 bytes 5FF3 Configure buffered prefetch Parameters for the buffered prefetch can set or all parameterized data areas can be deleted The buffered prefetch is only executed once the parameters have been set Subindex 0 0 Begin setting parameters for buffered prefetch 1 Finish setting parameters for buffered prefetch 4 Delete buff...

Page 70: ...as Stop pretransmit Subindex 0 0 Begin setting parameters 1 Finish setting parameters 2 Start ST 3 Start MT 4 Delete parameters 5 Stop pretransmit 2 bytes Subindexes of objects that should transmit user data to the SLK have to be completely filled with data The number of bytes that should be entered in the system can be lower and has to be entered in each No bytes subindex Unassigned bytes in the ...

Page 71: ...ered in the MDT once subindex 3 has been sent If the PDU size is set to 240 bytes 231 bytes have to be assigned in subindex 3 No Command oriented data exchange Index Subin dex Data1 Data2 Data3 Data4 Data5 Data55 1 Enter MDT address 5FF5 01 0x00 0x00 0x12 0x34 2 Enter byte count 5FF5 02 0x06 3 Enter byte values 5FF5 03 0x01 0x02 0x03 0x04 0x05 0x06 0x00 Proof Copy 1 20 05 2014 FOR INTERNAL USE ONL...

Page 72: ... code The coding for the error code is the same as for command oriented data exchange see Chapter 8 7 Interbus error codes Bits 4 to 7 comprise the event counter The counter runs cyclically from 0 to 15 and is increased by 1 when the current PRECONNECTED link state is ended This signals to the control system that the data from the prefetch parameterization is updated At this point the user program...

Page 73: ...n is open No prefetches are executed in this state Bit 3 Data transfer status see Chapter 6 6 Open transfer and Close transfer functions 1 Open transfer command executed 0 Close transfer command executed The value of bit 3 does not return the accessibility of MDT data since the transfer channel function is no longer active The bit remains for the sake of compatibility with old applications Bit 3 r...

Page 74: ... state A signal handshake via the trigger bit is therefore unnecessary 8 5 1 Output map structure Table 23 Output byte 0 of output map Byte 0 bits 0 7 7 6 5 4 3 2 1 0 Trigger bit 7 bits 4 6 reserved Commanded link state When switching bit 7 from 0 to 1 or 1 to 0 the value of bits 0 3 is entered in the SLK commanded link state and executed SLK ignores bits 4 6 The SLK also ignores the remaining 11 ...

Page 75: ...MDT memory is overwritten with the for matting value starting with the start address See Chapter 5 2 5 MDT formatting 0x0002000E High byte low byte length byte count 0x00020010 Byte formatting value 0x00020011 Reserved 0x00020012 High byte low byte rd only Internal MDT work pointer for diagnostic purposes only 0x00020014 rd only MDT software version number 0x00020015 Reserved 0x0003 SLK register a...

Page 76: ...of an SLK address segment Access to nonexistent SLK address segment 4 Data length in index subindex too long 5 Data length in index subindex too short 6 Reserved 7 Attempt to set parameters for prefetch although parameterization was not started Attempt to set parameters for pretransmit although parameterization was not started Prefetch buffer read although buffered prefetch parameterization has st...

Page 77: ... exchange the SLK does not need an additional configuration command The remaining data is exchanged with the MDT by command in the CONNECTED state The MDT then signs off with the commanded link state RECONNECT At the same time the SLK switches to the CONNECTING state to wait for the next MDT Command oriented data exchange occurs in Interbus through PCP communication SLK preparation The link CONNEC...

Page 78: ...e present 0x5FF5 0x00020000 0x0001 Read data 5 Read data from MDT e g 32 bytes as of ad dress 0x0110 0x5FF5 0x00000110 0x0020 Read data 6 Write data to MDT e g 50 bytes as of ad dress 0x0100 0x5FF5 0x00000100 0x0032 Byte1 Byte2 Write data 8 Close MDT RECONNECT Via process data channel Byte 0 0x03 switch trigger bit now 0 used to be 1 9 Wait until actual link state in process data channel is CONNEC...

Page 79: ...n unbuf fered prefetch 1 byte MDT status 0x5FF0 0x00020000 0x0001 4 Set parameters for second data block in unbuf fered prefetch 8 bytes starting from MDT ad dress 0x02F0 0x5FF0 0x000002F0 0x0008 5 Finished setting parameters acti vate unbuffered prefetch 0x5FF1 0x0001 6 Switch SLK to auto reconnect mode 0x5FF5 0x00030002 0x0001 0x01 Write data 7 Make SLK ready to receive CONNECT Via process data ...

Page 80: ...hether or not this workpiece can be processed at this station The data is read from the MDT in an event oriented manner 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 measureme...

Page 81: ... status 0x5FF0 0x00020000 0x0001 4 Set parameters for second data block in unbuf fered prefetch 8 bytes starting from MDT ad dress 0x0024 0x5FF0 0x00000024 0x0009 5 Finished setting parameters acti vate unbuffered prefetch 0x5FF1 0x0001 6 Switch SLK to auto disconnect mode 0x5FF5 0x00030002 0x0001 0x02 Write data 7 Make SLK ready to receive CONNECT Via process data channel Byte 0 0x01 switch trigg...

Page 82: ...x0004 3 Set param eters for 80 byte measurement data block as pretransmit 0x5FF0 0x00020000 0x0001 1 Finish setting pretransmit parameters 0x5FF1 0x0001 1 Activate single transmit 0x5FF1 0x0002 4 Wait until lift positioning unit in lower position 5 Make SLK ready to receive CONNECT Via process data channel Byte 0 0x81 switch trigger bit now 1 used to be 0 6 Wait until event counter in event orient...

Page 83: ... pretransmit 0x5FF1 0x0005 2 Delete pretrans mit data 0x5FF1 0x0004 2 Finish setting parameters for buffered prefetch 0x5FF2 0x0001 2 Delete buffered prefetch 0x5FF2 0x0004 2 Finish setting parameters for unbuffered prefetch 0x5FF1 0x0001 2 Delete unbuf fered prefetch 0x5FF1 0x0004 6 Turn off auto reconnect mode 0x5FF5 0x00030002 0x0001 0x00 3 Send command ed link state DISCONNECT Via process data...

Page 84: ...bindex 2 Subindex 3 1 Send command ed link state DISCONNECT Via process data channel Byte 0 0x82 switch trigger bit now 1 used to be 0 2 Wait until actual link state is DISCONNECTED or ERROR 3 DISCONNECT unsuccessful link state is now ERROR 4 Send command ed link state DISCONNECT Via process data channel Byte 0 0x02 switch trigger bit now 0 used to be 1 5 Wait until actual link state is DISCONNECT...

Page 85: ... Data Object and event oriented data exchange via PDO services Process Data Object 9 2 Object directory The object directory contains not only user data but also CANopen communication objects device profiles and even data types Default values and access rights to the objects are also set there See C17 for reference C17 determines objects that have to be in a CANopen slave and those that are option...

Page 86: ...ransmit see Chapter 9 5 MDT data transmission with transfer buffers Configuring event oriented data exchange Configuring and running diagnostics for the SLK on CAN e g communication parameters To use the SDO service a PLC with a CANopen master module provides SDO function blocks This allows the data to be read and written by command The application and parameters of such function blocks depend on ...

Page 87: ...PDO transmission types 9 5 MDT data transmission with transfer buffers The ID 40 SLK CAN provides four transfer buffers for flexible data exchange The payload areas in the transfer buffers can be used both for direct data exchange with the MDT as well as for parameterized data exchange The content of an entire MDT can be saved in each buffer Multiple payload blocks of any size can be transferred d...

Page 88: ...ster is UNSIGNED8 The buffer status register subindex 02 provides information on e g whether data transmission is in progress or has completed This register can be included in TPDO mapping in order to transmit the information by event The data type of the buffer status register is UNSIGNED8 Table 27 Buffer mode register 210x 01 Bit 7 6 5 4 3 2 1 0 X M V V Buffer valid 0 Transfer buffer locked no S...

Page 89: ... ID 40 system However since the address byte count are coded together with a 32 bit value the SLK data is reduced to 18 bits bit 14 to bit 31 and the byte count to 14 bit 0 13 Despite this restriction to the value ranges all areas described in Chapter 5 SLK storage can be accessed Address and byte count are combined and entered into the 32 bit value of the mapping object by multiplying the address...

Page 90: ...0 344 2014 05 Fig 28 Buffer Mapping Object yyyy 80 zzzz 160 xxxx 25 1 2 3 0 3 Length Address Subindex MDT Storage yyyy zzzz xxxx xxxx yyyy zzzz Transfer Buffer Object Mapping MDT data in the transfer buffer Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 91: ... MDT memory is overwritten with the for matting value starting with the start address See Chapter 5 2 5 MDT formatting 0x0002000E High byte low byte length byte count 0x00020010 Byte formatting value 0x00020011 Reserved 0x00020012 High byte low byte rd only Internal MDT work pointer for diagnostic purposes only 0x00020014 rd only MDT software version number 0x00020015 Reserved 0x0003 SLK register ...

Page 92: ...nload of the selected transfer buffer the SLK enters the transmitted data in the MDT according to the data areas indicated in the buffer mapping During the data exchange the buffer status register shows the value 0x01 then 0x02 once the exchange is complete If the buffer status register is mapped in a TPDO channel TPDOs are also sent during direct data exchange when the buffer status changes 9 5 6...

Page 93: ...smit buffer mode 3 should be executed The data blocks designated for the MDT are entered consecutively in the corresponding transfer buffer The MDT addresses to which and length with which the individual data blocks should be transferred is indicated in the buffer mapping It is also possible to only transmit one MDT data block with a transfer buffer for better clarity Up to four data blocks can be...

Page 94: ...ect 1A00 1A03 transmit PDO mapping parameter Unsigned8 RO N 2110 Transfer buffer mapping RW N 2110 Transfer buffer status RW N 2110 Transfer buffer RW N MDT user memory SLK addresses 0x00000000 0x0000FFFF see Chapter 9 6 2 MDT user memory objects 2200 220E 2200 ARRAY DATA segment 0 Byte 0 199 Unsigned8 RW N 2201 ARRAY DATA segment 1 Byte 200 399 Unsigned8 RW N 2202 ARRAY DATA segment 2 Byte 400 59...

Page 95: ...d8 RW N 2223 ARRAY DATA segment 35 Byte 7000 7199 Unsigned8 RW N 2224 ARRAY DATA segment 36 Byte 7200 7399 Unsigned8 RW N 2225 ARRAY DATA segment 37 Byte 7400 7599 Unsigned8 RW N 2226 ARRAY DATA segment 38 Byte 7600 7799 Unsigned8 RW N 2299 ARRAY DATA segment 153 Byte 30600 30799 Unsigned8 RW N Reserved area SLK address 0x00010000 0x0001FFFF 2400 25FF reserved SLK register area SLK address 0x00030...

Page 96: ... MDT pointer 3 low byte Unsigned8 RW N 09 MDT ID code highest byte 3 Unsigned8 RO N 0A MDT ID code byte 2 Unsigned8 RO N 0B MDT ID code byte 1 Unsigned8 RO N 0C MDT ID code lowest byte 0 Unsigned8 RO N 0D MDT formatting start address high byte Unsigned8 RW N 0E MDT formatting start address low byte Unsigned8 RW N 0F MDT formatting area length byte count high byte Unsigned8 RW N 10 MDT formatting a...

Page 97: ...a 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 ...

Page 98: ...hed by corresponding COB IDs Communication Object Identifiers The SLK does not support client SDO channels only server SDOs The following SDO protocols defined in C17 are supported SDO download SDO upload Block SDO download Block SDO upload Abort SDO transfer for selected protocol Fig 29 SDO Object virtual Useful data Application CANopen Master Object Directory MDT SDO Timeout Client Server SDO Pa...

Page 99: ... second IF the bus master needs more time to process more data from the SDO upload this parameter can be adjusted The time counts down until the SLK receives packet confirmation Table 33 Object description INDEX 2020 Name SDO timeout client Object code ARRAY Data type Unsigned32 Category Optional Table 34 Description of entries Subindex 00 Description Number of implemented SDO channels Entry categ...

Page 100: ...m with CANopen masters that do not support command oriented data exchange via SDOs However be sure to observe the following restrictions 1 The PDO default mappings in the SLK only provide access to the first six MDT data bytes the MDT status register and the actual link state and commanded link state SLK register see PDO default mapping in Chapter 9 9 1 PDO mapping 2 The recipient will not respond...

Page 101: ...r 9 18 Electronic data sheet EDS 2 If both objects from the SLK register area e g actual link state and objects from the MDT user data area are mapped in a TPDO changing the link state executes the TPDO However if no MDT is linked at this time the MDT data cannot be read This TPDO is marked as invalid in the PDO status It is recommended to not map MDT data or registers to a PDO with SLK registers ...

Page 102: ...cription Value index 1601 00 No mapped objects 8 01 PDO valid 2041 01 02 MDT status 2800 01 03 Byte at MDT address 0x0000 2200 01 04 Byte at MDT address 0x0001 2200 02 05 Byte at MDT address 0x0002 2200 03 06 Byte at MDT address 0x0003 2200 04 07 Byte at MDT address 0x0004 2200 05 08 Byte at MDT address 0x0005 2200 06 9 9 1 2 Object 1A00 1A03 Transmit PDO mapping parameters These parameters are av...

Page 103: ...T software version number 2800 0C 06 MDT work pointer high byte 2800 13 07 MDT work pointer low byte 2800 14 08 Dummy returns 0 2060 00 Table 40 TPDO mapping 4 Index Subindex Description Value index 1A03 00 No mapped objects 0 9 9 2 PDO communication parameters The following COB IDs are set by the factory as the default identifiers These settings correspond to CANopen specifications and can be cha...

Page 104: ...0 2033 Name Transmit PDO status for TPDO 1 4 Object code RECORD Data type PDO status Category Optional Table 43 Description of entries Subindex 00 Description Largest subindex supported Entry category Mandatory Access Read only PDO mapping Nein Value range 1 Default value See table Subindex 01 Description PDO valid Entry category Mandatory Access Read only PDO mapping Ja Value range 0 content of a...

Page 105: ...g Ja Value range 0 content of all PDO entries is valid 0x80 content of all PDO entries is invalid Default value None 9 9 6 SYNC synchronization protocol The SLK can process bus master SYNC telegrams it is a consumer but it cannot generate SYNC telegrams producer The COB ID is set by the factory as the default identifier These default settings correspond to CANopen specifications under C17 and can ...

Page 106: ...CYs producer when an emergency error code is entered in the internal error list pre defined error field index 1003 see Chapter CANopen error codes The error codes and EMCY are described in the Chapter Emergency object in C17 The SLK ignores EMCY objects send by the bus master i e they are not entered in the pre defined error field and do not trigger any additional EMCY The COB ID is set by the fac...

Page 107: ...in C17 This chapter provides only an excerpt of the objects 9 17 1 Device type object 1000 The content of the device type object is 0 see Chapter 9 7 Standardized device profile 9 17 2 Error register object 1001 If the ID 40 system detects an error bit 0 generic error is set The other bits in the error register are not supported The error register can be mapped to a TPDO see Chapter 9 9 1 PDO mapp...

Page 108: ...s subindex is set to 0 the list is deleted 9 18 Electronic data sheet EDS The EDS file describes the objects in a CANopen device The EDS file can be imported to controllers with CANopen bus master as well as to various CANopen configuration tools e g node master Vector configuration tool etc This gives the user a convenient project planning solution 9 19 Overview of ID 40 CANopen support Function ...

Page 109: ...cal synchronous Synchronous RTR Asynchronous RTR Asynchronous Dynamic mapping in PRE OPERATIONAL OPERATIONAL 4 TPDO 2 RPDO yes no no no yes yes yes The indicated transmission modes apply both for TPDOs and RPDOs Synchronization protocol SYNC Support as Consumer Producer yes no No high resolution synchroni zation protocol required Time protocol Support as Consumer Producer no no Emergency object pr...

Page 110: ...e written from the MDT address 0x0100 The MDT status see Chapter 4 2 3 1 MDT status register is also transmitted in order to allow any errors in the MDT to be addressed This example is oriented on CANopen masters that do not support PDO communication For this reason the event oriented data channel is not used Even the actual link state is read by command using SDO access The application data is ex...

Page 111: ...wr 2110 01 0x80000001 4 Prepare second mapping for transfer buffer 0 to read 32 bytes starting at MDT address 0x0110 SDO wr 2110 02 0x00440020 5 Configure both mappings for buffer 0 by entering the number of mappings in subindex 0 SDO wr 2110 00 0x00000002 6 Prepare transfer buffer 1 mapping to write 60 bytes starting at MDT address 0x0100 SDO wr 2111 02 0x0040003C 7 Configure mapping for buffer 1...

Page 112: ... SDO rd 2120 00 Enter user data in transfer buffer 1 so the bytes are immediately written to the MDT SDO wr 2121 00 data bytes Close MDT with RECONNECT The next MDT can automatically sign on without another command SDO wr 2600 02 0x03 2 Read the actual link state until the value CONNECTING appears SDO rd 2600 01 9 20 2 Outfeed application Outfeed points are where it is decided whether or not the w...

Page 113: ...ion 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 auto...

Page 114: ...d mapping for transfer buffer 0 to read 16 bytes starting at MDT address 0x0024 SDO wr 2110 02 0x00090010 5 Configure mapping for buffer 0 by enter ing the number of mappings in subin dex 0 in this case 1 SDO wr 2110 00 0x00000001 6 Prepare transfer buffer 1 mapping to write 800 bytes starting at MDT address 0x03C0 SDO wr 2111 02 0x00F00320 7 Configure mapping for buffer 1 by enter ing the number ...

Page 115: ...on COB rd wr Index subindex Data 1 Wait until transfer buffer 0 status is Data exchange complete TPDO4 2 MDT communication is terminated by auto disconnect and the HF field is off The lift unit can move the workpiece pallet into processing position 3 Transfer buffer 0 can be read at the same time SDO rd 2120 00 4 Once the measurement data from pro cessing is available enter it into transfer buffer...

Page 116: ...state is DISCONNECTED 9 20 5 Handling E00 errors This example terminates direct data exchange with the MDT The commanded link state DISCONNECT fails and the SLK switches to the ERROR state No Action COB rd wr Index subindex Data 1 Switch SLK to DISCONNECTED state SDO wr 2600 02 0x02 2 Wait until actual link state is DISCONNECTED or ERROR 3 DISCONNECT unsuccessful link state is now ERROR 4 Switch S...

Page 117: ...ing production All fieldbus variants of the ID 40 SLK with software version 4 0 or higher support the web interface The SLK is connected to the computer using the diagnostics cable see Chapter 3 4 3 Serial interface The web interface replaces the ID 40 KONF diagnostics and configuration program This program can still be used since the SLK command shell is still supported 10 2 Requirements Computer...

Page 118: ...ce on the computer similar to installing a modem 10 3 Setting up the network connection to the ID 40 SLK To set up the connection to the SLK first use the Phone and Modem options then the Network and Sharing Center in the Windows 7 Control Panel If you are using Windows XP use the New Connection Wizard If you are using Windows 2000 use the Network Connection Wizard Both tools have similar function...

Page 119: ... 344 2014 05 MIT ID 40 Bosch Rexroth AG f f If requested by Windows 7 enter any Location Information its only placeholder f f Add a modem but don t detect it select it from a list Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 120: ...etween two computers f f Select one of the COM ports displayed the ID 40 SLK must have connected to this COM port f f Set the default baud rate of the COM port to the ID 40 SLK baud rate otherwise the baud rate set in the network adapter properties was not saved Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 121: ...ngs in the Properties of the selected Communications Cable f f Change Default Preferences in the Advanced tab and set Port speed to 115200 and Flow control to None f f Confirm all the dialogs with OK f f Reboot the PC to keep these settings Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 122: ... AG MIT ID 40 3 842 530 344 2014 05 10 3 2 Setting up a network connection f f Set up a new connection or network in the Network and Sharing Center f f And choose Set up a dial up connection Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 123: ...the Communications cable modem enter a phone number only a placeholder and enter a Connection name e g ID40 f f On Connect it tries to dial the phone number so Skip this it s not supported by the ID 40 SLK f f Close the Dial up dialog Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 124: ...Change adapter settings f f Right click the adapter entry ID 40 choose Properties and Configure the Communications cable f f Uncheck disable the Enable hardware flow control verify the Maximum speed bps is set to 115200 f f Back to ID 40 Properties remove the Phone number Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 125: ...2014 05 MIT ID 40 Bosch Rexroth AG f f In the Options tab uncheck both Prompt for phone number and Prompt for name and password f f Verify the Security tab keep the Optional encryption Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 126: ...y the Internet Protocol Version 4 TCP IPv4 f f In the Internet Protocol Version 4 TCP IPv4 Properties choose Advanced f f Uncheck Use default gateway on remote network so the IP traffic with other destinations than ID 40 will still go on f f Confirm the dialogs Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 127: ...40 Bosch Rexroth AG 10 3 3 Establishing ID 40 network connection The start menu item Connect To opens a connection dialog box in which the ID 40 network connection can be started by selecting Connect Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 128: ...anging status messages the connection is established The notification area of the Windows task bar shows the active network connections when the mouse pointer is moved over the Network icon ID 40 should appear here once the connection is established Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 129: ...ut a communication cable The assigned COM port is already being used by another program or connection The baud rate is not configured properly Hardware flow control is active 10 3 5 2 Behavior during fatal system errors In exceptional instances the SLK can experience a fatal system error This is indicated by all display segments flashing and all functions ceasing see Chapter 12 1 2 Fatal system er...

Page 130: ...nection entry on the computer also has an IP address Both IP addresses are specified by the SLK by default and are 192 168 66 1 server ID 40 SLK and 192 168 66 2 client Windows 7 PC You can check these IP addresses in the Network Information window by opening the context menu right click for the ID 40 connection Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 131: ...ddress of the computer Example ID 40 SLK pppoption 10 66 82 8 10 66 32 12 Once the network connection is established check the IP addresses as described above the SLK server is now at 10 66 82 8 and the computer client is now at 10 66 32 12 Enter an IP address instead of Automatically find IP address in the TCP IP network properties of the ID 40 network connection to replace the SLK default for th...

Page 132: ...te is described in Chapter 10 5 The ID 40 SLK website 10 4 1 Troubleshooting the ID 40 SLK network connection If your computer is connected to a local network LAN Intranet or there are other network connections e g DSL modem it may not be possible to access the ID 40 website or if the SLK connection is active the network resources due to your computer s network settings The following chapters reco...

Page 133: ...is to use a suitable connection configuration in the browser to allow access to the local ID 40 website There are many proxy configurations whose description would exceed the scope of this manual Consult your network administrator if you are unsure how to proceed If you are directly connected to the Internet the following recommended settings do not apply Example using Firefox Enter the IP address...

Page 134: ...is configuration assign the name of the network address see Chapter 10 4 1 3 Assigning a name to the network address and try to access the website again 10 4 1 3 Assigning a name to the network address The IP address of the SLK can be assigned a name for the following reasons It can allow access to the SLK homepage if your browser will not load the SLK website because the proxy settings are config...

Page 135: ... e g Notepad and add a new line with the IP address and name at the end of the file Example 192 168 66 1 id40 f f Save the file and close the editor f f Now enter the following web address in the browser according to our example http id40 index html Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 136: ...ad and written see Chapter 4 2 1 MDT user data area Fieldbus specific settings and information such as the Profibus node number System statistics and system information System logging and shell supports system diagnostics as described in Chapter 12 Diagnostics 10 5 1 1 Switching the number format of displayed values The default format of the SLK registers and fieldbus parameters is decimal while M...

Page 137: ... reads the data areas indicated in the address range from the MDT during the PRECONNECTED phase see also Chapter 2 2 1 3 Preconnected The prefetch function is available on the MDT data page Chapter 10 5 5 The desired data is displayed as expected once the prefetch has completed The web server only provides the prefetch data through the Request button or auto reload not automatically like with the ...

Page 138: ...nfigured via the fieldbus The web server s prefetch access is deactivated when you deactivate the prefetch on the MDT data page Fieldbus prefetches remain active and cannot be manipulated using the web interface 10 5 1 5 Error on the MDT data page As with the fieldbus the MDT has to be in the CONNECTED state to receive valid MDT data when accessing the MDT through the web interface If no MDT is pr...

Page 139: ... read any values from the MDT when accessing MDT registers an error code appears in red instead of the content of the registers 10 5 2 ID 40 SLK homepage Product code device name firmware version and other information appear here Select the pages described below from the left navigation menu Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ENGLISH ...

Page 140: ... MDT by selecting Set MDT Register The following MDT registers can be modified MDT status entering any value resets the MDT MDT counter the MDT counter is set to the entered value SLK operative flag Auto mode All Look Ahead Control registers The value ranges and how the SLK registers function are described in Chapter 4 2 3 MDT register area The MDT register values are automatically updated after t...

Page 141: ...g SLK registers can be modified Commanded link state MDT counter SLK operative flag Auto mode All Look Ahead Control registers The register values are automatically updated after being configured The value ranges and how the SLK registers function are described in Chapter 5 3 SLK register area As with the fieldbus note the processes during data access to the ID 40 MDT described in Chapter 6 when s...

Page 142: ...indow of the MDT data section Note that either the MDT has to be located in front of the SLK in the CONNECTED state or the data areas matching the request are from the previous MDT If this is not the case the web interface designates the bytes that cannot be read from the MDT with two red question marks see Chapter 10 5 1 5 Error on MDT data page Transmitting the MDT data can take some time depend...

Page 143: ...ears when the link state is not CONNECTED In this instance data cannot be written 10 5 6 Fieldbus settings page Configure the fieldbus parameters such as the Profibus node number here Enter the desired value in the input field then submit with Set Fieldbus Param The fieldbus dependent parameters themselves are described in Chapter 11 Start up and parameterization 10 5 7 Systems statistics page The...

Page 144: ...em behavior you can use the log dump 50 log dump 100 etc buttons to download the system log or syslog The number indicates the number of syslog lines Right clicking in the log text and selecting the context menu item Save target as context menu depends on browser allows you to save the syslog to your computer The download can take some time Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

Page 145: ...want to export the syslog multiple times during troubleshooting and save it to a file to analyze later on it can be beneficial to directly retrieve the syslog using a web address instead of in the frame of the website Background Versions of Microsoft Internet Explorer do not support saving frame contents The following web address can be used to display the last 80 lines of the syslog as text in yo...

Page 146: ...address of the ID 40 SLK the URL string contains the identifier of the read or write command as well as the SLK address ranges from Chapter 7 7 Addressing data in the ID 40 system and the data being written Data read by the ID 40 is returned in XML format in a structured manner The ID 40 web interface only returns data after a request It is not possible to transmit data by event The pretransmit fu...

Page 147: ...ess and data bytes in the XML string hex dec data Byte array being written bytes separated by or 0 255 10 7 2 Web interface write commands These commands write data to the MDT and also switch the link state A completed write access of n bytes is confirmed with the string bal write n bytes successfully written Other confirmations refer to invalid URL syntax or access during an invalid link state A ...

Page 148: ... node number Number 54 in this example http id40 slk xid set path xid univar pdp node id value 54 Successful entry is confirmed with the string Set OK pdp node id to 54 Attention The value entered for the Profibus node number is not checked It is recommended to read back the Profibus node number after entry in order to confirm it is correct Another way is to check the display after restarting the ...

Page 149: ...range One of the requested data areas offset The start address of this data area The data bytes themselves Every data byte is designated by its own error flag and executed as an XML tag with the byte b byte no error ec error connection error transmitting between MDT and SLK these locations are displayed as follows ec ec ed error device byte read from flagged MDT data area Example of an XML string ...

Page 150: ...de number The Profibus node number is read using a special system command The URL http id40 slk xid univar pdp returns the following XML string xml version 1 0 encoding ISO 8859 1 xml stylesheet href id40xml css type text css xid pdp node id var desc pdp node id desc value 100 value var node id pdp xid The node number is in the range value value in this example 100 10 7 3 3 Web interface prefetch ...

Page 151: ... 1 The prefetch read command can only be sent in the CONNECTED state otherwise the prefetch adrset is not entered The data from the current MDT is returned The prefetch is only activated for the adrset specified in the command string Any deviating prefetch settings from a previous command are automatically deleted If the prefetch parameter is omitted from the read command the data is returned but ...

Page 152: ... dry erase marker If the node number is later changed the label also has to be changed to avoid misinterpretation The PDP node number is briefly displayed after turning on the SLK Example A node number of 4 is configured Fig 32 Display of configured node number 11 1 1 Configuring through the web interface The Fieldbus Settings link on the ID 40 SLK homepage allows the PDP node number to be read an...

Page 153: ...nating bridge can be used as described in that same chapter Configure the desired maximum possible PDU size if the default value of 240 is not desired Start up the Interbus with the IBS CMD SWT G4 software by Phoenix Contact See Phoenix Contact for information on this program 11 2 1 Outgoing remote bus configuration If there are no other bus users on an ID 40 SLK IBS the outgoing remote us cannot ...

Page 154: ...d is screwed onto the Bus Out contact X72 This bridges the outgoing remote bus to the incoming remote bus to close the IBS loop This renders configuring via RS232 ineffective and unnecessary 11 2 2 Configuring the maximum PDU size of the PCP channel The PDU size determines the number of bytes that can be provided in the PCP channel The size configured here is applied with the CMD software for PCP ...

Page 155: ...bus disable the Interbus master has not yet initialized the bus Transition state after turning on voltage CC cable check the bus cable is connected TR transmit receive data is being exchanged via PCP communication The duration of this symbol depends on the data transmission With sporadic PCP communication the symbol only flashes briefly and may not always be visible ORB outgoing remote bus active ...

Page 156: ...0 800 1000 Configure the CANopen master using the EDS file see Chapter 9 18 Electronic data sheet EDS SDO and or PDO communication services are used depending on the planned application These services also have to be configured Example Assigning the PDO channels to the PLC I O modules 11 3 1 Configuring the bus parameters The CAN node ID and the CAN baud rate are configured on the Fieldbus page se...

Page 157: ...g operation as this will result in BUS OFF The system then has to be restarted 11 3 3 Showing CANopen status on the display The configured CAN node ID node number and the transfer rate are briefly displayed on system start Example 1 Node ID 32 and baud rate 1 000 kbps 1 0 Mpbs C032 1 0M Example 2 Node ID 4 and baud rate 500 kbps C004 500k The display shows the character as a ticker During PRE OPER...

Page 158: ... using the SDO2 only node numbers 1 63 are permitted The second SDO channel can be turned on and off on the Fieldbus page of the web interface 11 4 Adjusting the baud rate of the serial interface The baud rate of the serial interface is converted from 9600 bps to 115200 bps in SLK software version 4 0 and higher in order to accelerate page loading times on browsers see Chapter 10 Web interface If ...

Page 159: ...ashes E00 for a fault during MDT sign on or sign off after the DISCONNECT or RECONNECT commanded link state No fieldbus indicators SLK is not online on the bus The entire display flashes regardless of content See Chapter 12 1 2 Fatal system errors for what this means Sign of life stops rotating system error Error indications on MDT and SLK HF antenna cover does not light up when the MDT enters the...

Page 160: ...ication may also have to be reinitialized and restarted It is no longer possible to operate the ID 40 website after a fatal system error Possible causes of errors 1 Defective equipment 2 Pretransmit function being on constantly without being deactivated occasionally This can result in memory overflow in the SLK 3 Access to invalid SLK address ranges with older SLK software versions 3 00 or lower s...

Page 161: ...f this error occurs repeatedly and call the service department Incorrect node number set on SLK Two identical node numbers on bus Bus cable connection in the system is disrupted I O module of the SLK incorrectly configured Other field bus participants are blocking the bus e g by a defect or an incorrect node number Bus IN accidently connected to RS232 No bus terminator at the last SLK If freely co...

Page 162: ... syslog when the ID 40 experiences a system error and the actual cause for a specific error indication is unclear The syslog file has to be sent to Service for further diagnostics and cannot be interpreted by the user 12 3 SLK software upgrade via serial interface ID 40 KONF can be used to upgrade the SLK software by transferring a file with the new software version to the SLK through the serial i...

Page 163: ...ed Communication LED 1 color Antenna position 90 forward 0 upward Connection type Insertable M12 connections for fieldbus IDC connector for 24 V power supply black AS i flat cable Connectable to Profibus DP CANopen Interbus S RS232 pa rameterization diagnostics Power supply 24 V DC as per EN 61131 2 Current consumption Max 350 mA Weight of SLK Approx 250 g Mounting plate Approx 150 g ID 40 MDT mob...

Page 164: ...coded M12 B coded 9 pin D sub No pins 5 5 5 M12 5 D sub 9 Wires Data lines A green pin 2 B red pin 4 Shielding Drain wire pin 5 Mesh Housing Data lines CAN H pin 4 CAN L pin 5 Voltage 24 V pin 2 0 V pin 3 Shielding Drain wire pin 1 Mesh Housing Data lines DO pin 1 DO pin 2 DI pin 3 DI pin 4 GND pin 5 Shielding Mesh Housing Data lines RxD pin 1 TxD pin 5 GND pin 3 Shielding Housing Material PUR PUR...

Page 165: ...r the device Software vers SLK software version The version indicated refers to the version when the device was shipped Since the system supports downloading operating system releases the version printed does not necessarily reflect the current version of the operating system However it is ensured that it is the version when shipped from the factory The current software version of the device can b...

Page 166: ...ransmission times with Profibus Additional factors affecting the data transmission time with Profibus I O module configuration from the GSD file A 128 byte I O module for command oriented data exchange has a higher data rate than e g a 16 byte module for large amounts of data In the latter case significantly more bus cycles are required Number of users on the bus The lower the number the higher th...

Page 167: ...ne another to ensure a seamless transition in the applications i e both ID 40 MDTs and ID 80 E MDTs can be run with the ID 40 SLK Even the ID 80 E SLS can communicate with all MDTs Nevertheless replacing an ID 80 E SLS with an ID 40 SLK requires the following Availability of a fieldbus system supported by the ID 40 The ID 80 E SLS cannot be connected to a fieldbus Existing SLS Programs have to be ...

Page 168: ...ection cable for SLK Profibus DP ver sion M12 plug straight open end l 3 m 3 842 406 131 M12 socket straight open end l 3 m 3 842 406 132 M12 plug angled open end l 3 m 3 842 406 133 M12 socket angled open end l 3 m 3 842 406 135 M12 plug angled M12 socket angled l 3 m 3 842 406 153 Fieldbus connection cable for SLK Interbus version M12 plug straight open end l 3 m 3 842 406 141 M12 socket straigh...

Page 169: ...n blocks for Bosch CL and PCL controllers included in 3842406191 ID 40 KONF manual included in 3842406119 Spare parts Protective cap for HF antenna incl screws 0 842 903 604 HF antenna 0 842 903 606 Clamping plate for power supply incl screws 0 842 903 605 M12 cap for RS232 interface 0 842 903 607 ID 40 SLK mounting kit 3 842 527 634 ID 40 MDT mounting kit 3 842 529 237 Proof Copy 1 20 05 2014 FOR...

Page 170: ...h Linear Motion and Assembly Technologies as well as details on the ID 40 system on the Internet 15 3 Site Stuttgart Administration and Factory Administration for Assembly Technology Production of Basic Mechanical Elements Manual Work Systems Material and Information Flow Technology Bosch Rexroth AG Administration and Plant Linear Motion and Assembly Technologies Löwentorstraße 68 70 70376 Stuttga...

Page 171: ...2 5 17 18 18 4 System Start HF ON 16 2 11 3 4 16 19 Notes Link state Transition conditions Solid line Stable state only changed upon commanded link state Command for commanded link state Dashed line SLK can remain in this state for an unspecified time SLK automatically switches to another state Dashed gray box This state is system internal only The actual link state shows BUSY Proof Copy 1 20 05 2...

Page 172: ...ink state ERROR executed 5 Auto CONNECTING PRECONNECTED MDT signed on 6 Auto PRECONNECTED PRECONNECTED Pretransmit Prefetch Pretransmits are always executed before prefetches If neither are parameterized PRECONNECTED contains no action 7 Auto PRECONNECTED PROGRAM PRECONNECTED phase completed without error 8 9 10 11 Auto PROGRAM CONNECTED CONNECTED active by default when no user program loaded or a...

Page 173: ...n as address byte count Unbuffered prefetch Data is read and transmitted without buffers via event oriented data exchange Event oriented data exchange Cyclical data transmission from the SLK to the PLC Emergency shell Active shell after fatal system error Fieldbus master User on a bus system with command authority over subordinate users slaves Fieldbus slave User on a bus system without command au...

Page 174: ...s the MDT is linked and always before prefetch RS232 interface Serial interface for the SLK for parameterization and extended diagnostics as per RS232 specification RPDO Receive Process Data Object event oriented CANopen communi cation service that transmits data from the bus master to the SLK Segment Division of the SLK memory area into individual segments that are 64 kB in size Shell Command lin...

Page 175: ...ller Area Network CAN for High speed Communication C4 CiA DS 201 CAN Reference Model February 1996 C5 CiA DS 202 1 CMS Service Specification February 1996 C6 CiA DS 202 2 CMS Protocol Specification February 1996 C7 CiA DS 202 3 CMS Encoding Rules February 1996 C8 CiA DS 203 1 NMT Service Specification February 1996 C9 CiA DS 203 2 NMT Protocol Specification February 1996 C10 CiA DS 204 1 DBT Servi...

Page 176: ...h AG Postfach 30 02 07 D 70442 Stuttgart Germany Fax 49 0 711 811 7777 info boschrexroth de www boschrexroth com Subject to change without notice 3 842 530 344 2014 05 Proof Copy 1 20 05 2014 FOR INTERNAL USE ONLY ...

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