CANopen 91/176
3 842 530 344/2014-05, MIT: ID 40,
Bosch Rexroth AG
9.5.3
SLK address table
The address information is start addresses for the data areas described in Chapter 5 “SLK storage” and are needed
for mapping the transfer buffer.
The ID 40 system supports the bytes data format (unsigned char or UNSIGNED8). The application can implement
more complex data formats.
Table 30: SLK address table
Segment
Addresses
Data format
Access*
Meaning
0x0000
MDT user data area
0x00000000
Area length (byte number) depending on MDT
type, see Chapter 4.1 “ID 40/MDT storage”
rd/wr
Area for user-specific data, not interpreted
by system
0x0001
- Reserved -
0x0002
MDT register area
0x00020000
High byte, low byte
rd/rst
MDT status
0x00020002
High byte, low byte
rd/wr
MDT pointer 1
0x00020004
High byte, low byte
rd/wr
MDT pointer 2
0x00020006
High byte, low byte
rd/wr
MDT pointer 3
0x00020008
Highest byte - lowest byte
rd only
MDT ID code, 4-digit
0x0002000C
High byte, 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 number
0x00020015
- Reserved -
0x0003
SLK register area
0x00030000
Byte
rd only
Actual link state
0x00030001
Byte
rd/wr
Commanded link state
0x00030002
Byte
rd/wr
Auto mode configuration
0x00030003
Byte
rd/wr
SLK operative flag
0x00030004
Highest byte - lowest byte
rd/wr
MDT counter, 4-digit
0x00030008
16 bytes ASCII
rd only
SLK device name
0x00030018
Highest byte - lowest byte
rd only
SLK software version, 4-digit version ID
0x0003001C
High byte, low byte
rd/wr
MDT pointer 1 Look Ahead Control register
0x0003001E
High byte, low byte
rd/wr
MDT pointer 2 Look Ahead Control register
0x00030020
High byte, low byte
rd/wr
MDT pointer 3 Look Ahead Control register
* rd only
Read only, no writing possible.
rd/wr
Read and write access.
rst
Register is reset by writing any value.
none
No access.
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