Bosch Rexroth ID 40, Manual

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52/176 Profibus DP
Bosch Rexroth AG , MIT: ID 40, 3 842 530 344/2014-05
7.2.1 Profibus commands
Table 13: Profibus commands table
CMD
code Command Description Query Reply
0 Idle command Command has no effect
1 Set parameters
for unbuffered
prefetch The addressed data area is added to the
unbuffered prefetch. The data is included in
the event-oriented data exchange in order
of definition. This means the data defined
first are added to the low addresses in the
event-oriented data channel regardless of
its address in the data carrier Data0–Data3:
SLK address
Data4–Data5:
No. bytes
Data0:
Result
Data1–Data2:
Address in event-oriented
data channel ([Data 1]
high byte always zero). The
data block begins at this
address after the prefetch is
executed
11 Configure unbuf-
fered prefetch Parameters for the unbuffered prefetch can
set or all parameterized data areas can be
deleted. The unbuffered prefetch is only ex-
ecuted once the parameters have been set Data0
0: Begin setting parameters
for unbuffered prefetch
1: Finish setting parameters
for unbuffered prefetch
4: Delete unbuffered
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 command-orient-
ed data exchange
10 Configure buff-
ered prefetch Parameters for the buffered prefetch can
set or all parameterized data areas can be
deleted. The buffered prefetch is only ex-
ecuted once the parameters have been set Data0
0: Begin setting parameters
for buffered prefetch
1: Finish setting parameters
for buffered prefetch
4: Delete buffered prefetch
Data0:
Result
4 Read prefetch
buffer The data from the prefetch buffer is read
Data0–Data1:
Offset in command-oriented
data exchange
Data2–Data3:
No. bytes
Data0:
Result
Data1.n:
Read data
5 Read data The indicated data area is read
Data0–Data3:
SLK address
Data4–Data5:
No. bytes,
Data4 always 0
Data0:
Result
Data1.n:
Read data
6 Write data The indicated data block is written Data0–Data3:
SLK address
Data4–Data5:
No. bytes,
Data4 always 0
Data6.n:
Data to be written
Data0:
Result
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