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Bosch Rexroth ID 40 Manual
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Bosch Rexroth ID 40 Manual

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ID 40
3 842 530 344/2014-05
Replaces: 2014-01
EN
4.
1
Edition
Manual

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Summary of Contents for Bosch Rexroth ID 40

  • Page 1 ID 40 3 842 530 344/2014-05 Replaces: 2014-01 Edition Manual...

  • Page 2: Sdo

    Bosch Rexroth AG. This manual was originally written in German. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 3: Table Of Contents

    5.2.5 MDT formatting 5.2.6 Map of MDT software version SLK register area 5.3.1 Actual link state 5.3.2 Commanded link state 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 4 Data array for event-oriented data channel Commanded link state via process data channel 8.5.1 Output map structure 8.5.2 Sample sequence Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 5 9.17 Communication profile area 9.17.1 Device type (object 1000) 9.17.2 Error register (object 1001) 9.17.3 Manufacturer status register (object 1002) 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 6 Showing Interbus status on the display 11.3 Starting up CANopen 11.3.1 Configuring the bus parameters 11.3.2 ID 40/SLK-CAN boot-up behavior Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 7 15.1 Technical support 15.2 Internet 15.3 Site Appendix 16.1 ID 40 system link model 16.2 Abbreviations and terms 16.3 References 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • 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: About This Manual

    • Chapter 8 describes how data is exchanged via Interbus-S. • Chapter 9 describes how data is exchanged via CANopen. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 10: Display

    Individual, independent action Numbered instruction: The numbers indicate that the actions must be carried out one after the other. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 11: Safety Instructions

    MDT is now monitored. It is no longer possible to switch the MDT unnoticed, see Chapter 6.9 “MDT lifeguarding". 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 12: Introduction

    This data includes: • Workpiece type • Complete assembly plan • Production status • Next processing step Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 13: Id 40/Slk Read/Write Head

    MDT with inductive power. No-contact data transmission with the MDT also occurs through this HF field, which is generated using a ferrite antenna under the dark, plastic cover. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 14: Slk Operating States

    The operating states of the SLK are described below. Appendix 16.1 “ID 40 system link model” contains a detailed overview of the link state. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 15 MDT moves past the SLK too quickly, or when too much data was read or written. The ERROR state can be ended by switched to the DISCONNECTED or CONNECTING states. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 16 After every commanded link state, the system checks whether or not the actual link state corresponds to the expected state. Only then can the next step in the process be executed. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 17 Appendix 16.1 “ID 40 system link model” describes the states and state transitions in detail. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 18: Status Display

    Area 2 shows when the SLK is ready as well as the status of the fieldbus connection to the user controller. In the Interbus version, area 2 is divided differently, see Chapter 11.2.4 “Interbus status display”. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 19 Area 1 and Fatal error, See Chapter 12.1.2 area 2 flashing system stopped “Fatal system errors” for meaning 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 20: Data Transmission Between Slk And Mdt

    MDT alignment consists of frontal and lateral alignment. Fig. 6: Alignment of ID 40/MDT for frontal reading and writing Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 21: Static And Dynamic Data Transmission

    ID 40/MDTs. • Frontally. The MDT approaches the SLK from the front and must be stopped within the specified distance range. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 22: Direct And Parameterized Data Transmission

    (see Chapter 6.9 “MDT lifeguarding”). If no data on the MDT was altered, an error is not registered even though communication is interrupted unexpectedly. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 23: Installing Mdt And Slk

    3.2 Mounting the SLK on transfer section profiles Use the included mounting kit to mount the SLK on the Bosch section profiles ST 1, ST 2 and ST 4. This will ensure the specified distance between MDT and SLK. An illustrated assembly guide is also included.

  • Page 24: Antenna Orientation

    (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 antenna can be carefully removed and replaced 90°...

  • Page 25: Slk Electrical Connection

    The functional grounding connection is optional and has to be connected for conveyor sections that do not ensure electrical contact when mounting the SLK. Functional grounding is typically unnecessary in Bosch Rexroth transfer systems, as the mounting kits that come with the SLK provide enough grounding to the section profiles.

  • Page 26: Connecting The Fieldbus

    For Interbus, the bus connection can also be configured through a serial interface. In this instance, insert the included cap in the Bus Out socket to ensure the protection class. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 27: Serial Interface

    If the serial interface is not needed, screw the included cap onto the socket to ensure the protection class. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 28: Turning On The Slk

    Fig. 13: Display showing current node number on a Profibus SLK Fig. 14: Display showing ready Fig. 15: Approx. 15 seconds until ready after turning on Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 29: Mdt Memory Structure

    The functionality as well as electrical and mechanical properties are identical. Outwardly, the variants only differ in labeling and name plate. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 30: Organization Of Mdt Memory

    7664 bytes MDT8K System area Register area User data 1904 bytes MDT2K Fig. 16: Memory structure of the mobile data tag Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 31: Mdt User Data Area

    An error bit is also entered in the MDT status register. This causes the status display of the MDT to show red. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 32: Mdt Register Area

    Begin formatting on an address divisible by 16, e.g., 0x0130. Resetting the MDT status only deletes the error flags and does not re-establish memory integrity. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 33 The MDT ID code allows an MDT - and thereby a workpiece pallet - to be uniquely identified on a production line. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 34: Slk Memory Structure

    Register area System data 0x076F User data area MDT2K user data 0x0000 Fig. 18: Memory allocation between MDT and SLK Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 35: Map Of Mdt User Data Area

    The two other formatting parameters (start address and length of data block) have to be configured at this point. It is recommended to send all parameters in one command. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 36 The MDT memory area from address 0x0200 to address 0x0580 should be set to a Example 2 value of zero. Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 0x02 0x00 0x03 0x80 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 37: Map Of Mdt Software Version

    MDT was interrupted without the MDT signing off. PROGRAM Temporary state BUSY The SLK is processing the commanded link state. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 38: Commanded Link State

    Entering a value of two immediately activates auto disconnect. All MDTs signing on to the SLK will now run through the PRECONNECTED state and are then completed. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 39: Slk Operative Flag

    The SLK device information refers to the four-digit SLK software version and the SLK device name, for example: ID 40/SLK-PDP. This information is constant and cannot be modified. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 40: Accessing Data On The Id 40/Mdt

    Direct data exchange requires the MDT to be stationary in the HF field. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 41: Parameterized Data Exchange With Mdt

    Since the number of bytes in the event- oriented data channel is limited, unbuffered prefetch is suitable primarily for reading small amounts of data. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 42: Pretransmit

    Since there is no bus communication during pretransmit, errors cannot be reported through the fieldbus. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 43 There is the risk that accidentally either important data on the MDT is deleted or incorrect data is entered on the MDT. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 44: Default Process For Slk-Mdt Communication

    However, existing applications do not need to be adjusted, since an SLK running software version 3.11 or higher accepts the old transfer channel commands. However, no function is executed in the SLK. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 45: Auto Reconnect Function

    Not done the SLK Display: Done Phase 3 Link state Data PRECONNECTED transmission Fig. 20: Link states for auto reconnect 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 46: Auto Disconnect Function

    Not done the SLK Display: Done Phase 3 Link state Data PRECONNECTED transmission Fig. 21: Link states for auto disconnect Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 47: Mdt Lifeguarding

    Or the DISCONNECT or RECONNECT command was not sent to the SLK. • Proximity switches to detect a workpiece pallet are no longer needed if no additional redundancy is desired. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 48 PLC and MDT viaSLK MDT unexpectedly removed Display: Phase 1 Link state HF field off ERROR Fig. 22: Link states for MDT lifeguarding Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 49: Profibus Dp

    The SLK receives the command by inverting the toggle bit (bit 7 in byte 0). The SLK returns the same bit value once the command has been executed. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 50 SLK = 0 ? SLK has executed Error in command, command without error evaluate "result" Cycle end Fig. 23: Command-oriented data exchange sequence Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 51 (value = 0) or not (value > 0) Data1 Data bytes (if command was read access) … … Unassigned bytes in event-oriented data exchange transmit 0. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 52: Profibus Commands

    The indicated data block is written Data0–Data3: Data0: SLK address Result Data4–Data5: No. bytes, Data4 always 0 Data6.n: Data to be written Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 53 (MT). 2: Start ST Delete all parameterized data areas. Stop 3: Start MT pretransmit 4: Delete parameters 5: Stop pretransmit 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 54: Event-Oriented Data Exchange

    At this point, the user program can import prefetch data. The counter also increases when no prefetch is parameterized. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 55: Data Array For Event-Oriented Data Channel

    The SLK provides the data from the unbuffered prefetch starting with the third byte of the event-oriented data exchange. If no prefetch was executed, the value of each byte is zero. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 56: Slk Address Table

    Read only, no writing possible. rd/wr Read and write access. Register is reset by writing any value. none No access. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 57: Profibus Error Codes

    SLK software version Example: 4 bytes 2.10.04.12 Actual link state 1 byte Chapter 5.3.1 SLK operative flag 1 byte Chapter 5.3.4 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 58: Addressing Data In The Id 40 System

    Do not confuse the SLK address with the fieldbus node number. The SLK address ranges are listed in Chapter 7.4 “SLK address table”. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 59: Profibus Gsd File

    Third read command 0x000002E2 Individual data packets can now be provided in the PLC program as a single data block. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 60: Sample Applications

    Data2 Data3 Data4 Data5 Data6 exchange Make SLK ready to 0x06 0x00 0x03 0x00 0x01 0x00 0x01 0x01 receive (CONNECT) Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 61 0x01 0x00 0x01 0x03 Close MDT (RECONNECT) Wait until actual link state is CONNECTING. Read value through event-oriented data channel 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 62: Outfeed" Application

    The requested data bytes are sent to the fieldbus master through the event-oriented data exchange for every MDT. The data can be provided for additional evaluation using a controller function block. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 63: Workstation" Application

    DISCONNECTED. The MDT status and control data can be checked and the workpiece pallet can be raised. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 64 0x03 0x00 0x01 0x00 0x01 0x01 receive the next work- piece pallet only once the current workpiece pallet is gone Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 65: Resetting Slk" Application

    Wait until actual link state is DISCONNECTED The SLK is now in the initial DISCONNECTED state and the application can start over 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 66: Interbus

    The SLK data areas are addressed in the Interbus SLK in the same way as with Profibus. See Chapter 7.7 “Addressing data in the ID 40 system”. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 67: Command-Oriented Data Exchange

    MDT in the specified order. All functions are listed in the table in Chapter 8.3.2 “PCP channel objects”. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 68: Pcp Communication

    Interbus data type Payload amount in subindex 3 [bytes] 5FF4 0x0042 npdu - 7 5FF5 0x0041 npdu - 9 5FF6 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 69: Pcp Channel Objects

    No. bytes, high byte always 0 overlap Subindex 3: n bytes Data in pretransmit to be written 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 70 “No. bytes” subindex. Unassigned bytes in the process data channel transfer the value 0. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 71: Example: Writing Bytes To Mdt

    5FF5-01 0x00 0x00 0x12 0x34 Enter byte count 5FF5-02 0x06 Enter byte values 5FF5-03 0x01 0x02 0x03 0x04 0x05 0x06 0x00 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 72: Event-Oriented Data Exchange

    Table 22: Status byte 1 of event-oriented data exchange Byte 1 (bits 0–7) Actual link state Data Prefetch Prefetch Operative transfer param. param- flag status open eterized Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 73: Data Array For Event-Oriented Data Channel

    The SLK provides the data from the unbuffered prefetch starting with the third byte of the event-oriented data exchange. If no prefetch was executed, the value of each byte is zero. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 74: Commanded Link State Via Process Data Channel

    2. Enter the value for DISCONNECT in the lower half-byte and switch the trigger bit again. The new commanded link state DISCONNECT is implemented. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 75: Slk Address Table

    Read only, no writing possible. rd/wr Read and write access. Register is reset by writing any value. none No access. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 76: Interbus Error Codes

    (see Chapter 8.4.1 “Status information in process data channel”). Example: An incorrectly parameterized prefetch resulted in a break in communication during execution. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 77: Sample Applications

    Once this data has been evaluated and the workpiece processed, the result of the processing is written to the MDT (6). Communication with the MDT is then terminated (8). 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 78 Byte 0: 0x03 (switch trigger bit: now 0, used to be 1) Wait until actual link state in process data channel is CONNECTED Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 79: Outfeed" Application

    The requested data bytes are sent to the fieldbus master through the event-oriented data exchange for every MDT. The data can be provided for additional evaluation using a controller function block. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 80: Workstation" Application

    SLK from above. Stage 2: Entering measurement data obtained while the workpiece was being processed. Only the pretransmit function is used here. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 81 DISCONNECTED. The MDT status and control data can be checked and the workpiece pallet can be raised. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 82 Byte 0: 0x01 (switch trigger bit: now 0, used to be 1) next workpiece pallet only once the current workpiece pallet is gone (CONNECT) Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 83: Resetting Slk" Application

    DISCONNECT Byte 0: 0x02 (switch trigger bit: now 0, used to be 1) Wait until actual link state is DISCONNECTED 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 84: Handling "E00" Errors

    Wait until actual link state is DISCONNECTED The SLK is now in the initial DISCONNECTED state and the application can start over Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 85: Canopen

    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 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 86: Command-Oriented Data Exchange

    PDO services are available for event-oriented data exchange (see Chapter 9.9 “PDO communication”). Contrary to SDOs, PDOs are messages that are not confirmed by the recipient. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 87: Mdt Data Transmission With Transfer Buffers

    The functionality of each transfer buffer forms four objects, the buffer status object, the buffer mode object, the buffer mapping object and the transfer buffer itself. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 88: Transfer Buffer Parameters (Objects 2100-2103)

    Pretransmit: single transmit, see Chapter 6.4.2.1 “Single transmit” Pretransmit: multiple transmit, see Chapter 6.4.2.2 “Multiple transmit” 4–7 = Not used, ignored. Reserved, set to 0 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 89: Object Mapping In The Transfer Buffer (Objects 2110-2113)

    The SLK verifies the total length of the transfer buffer using the sum of the byte counts in the mapping object. Any deviations trigger a corresponding error message. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 90 Address zzzz yyyy zzzz Transfer Buffer Object xxxx yyyy zzzz xxxx Fig. 28: Mapping MDT data in the transfer buffer Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 91: Slk Address Table

    Read only, no writing possible. rd/wr Read and write access. Register is reset by writing any value. none No access. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 92: Transfer Buffers (Objects 2120-2123)

    (if the buffer status is mapped) and the application can then retrieve the transfer buffer by command (via SDO upload). Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 93: Pretransmit Data Exchange

    Up to four data blocks can be written in this manner. If the buffer status value is 0x02, the data was entered in the MDT. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 94: Id 40 Objects (Manufacturer-Specific Profile Area)

    DATA segment 16: Byte 3200–3399 Unsigned8 2211 ARRAY DATA segment 17: Byte 3400–3599 Unsigned8 2212 ARRAY DATA segment 18: Byte 3600–3799 Unsigned8 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 95 Look Ahead Control register Unsigned8 MDT pointer 2, high byte Look Ahead Control register Unsigned8 MDT pointer 2, low byte 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 96 RW = read and write RO = read only 3) S - save Y = apply change N = reload default value on restart Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 97: Saving Objects (Saving Parameters)

    MDT register area (object 2800) The MDT functions described in Chapter 5.2 “Map of MDT register area” are found here. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 98: Standardized Device Profile

    SDO 1 is the default SDO channel. The COB IDs are fixed in [C17] in the server SDO parameters object (index 1200) and cannot be edited. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 99: Sdo Timeout Client (Object 2020)

    Read write PDO mapping Value range 0 = disable timeout, > 0 = timeout value in ms Default value 1,000 ms 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 100: Pdo Communication

    PDO Communication PDO Status Parameters Applikation Useful data (CANopen Object PDO Object Master) Directory (virtual) PDO Mapping Fig. 30: PDO communication Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 101: Pdo Mapping

    The default mappings are arranged symmetrically, i.e., objects that can be read and written (R/W objects) are mapped to the same subindexes in TPDO and RPDO. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 102 MDT counter - byte 2 2600/06 MDT counter - byte 1 2600/07 MDT counter - low byte (byte 0) 2600/08 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 103: Pdo Communication Parameters

    TPDO3 1802/01 0x0380 + node ID ID 40/SLK  master TPDO4 1803/01 0x0480 + node ID ID 40/SLK  master 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 104: Pdo Transmission Types

    Table 44: Object description INDEX 2040 - 2041 Name Receive PDO status for RPDO1–4 Object code RECORD Data type PDO status Category Optional Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 105: Sync Synchronization Protocol

    CANopen specifications under [C17] and can be changed by the bus master (by accessing the appropriate objects), if necessary. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 106: Canopen Error Codes

    For device monitoring, the SLK also supports the node guarding protocol for connecting to older bus masters. If possible, the more modern heartbeat protocol is preferable to the node guarding protocol. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 107: Heartbeat Protocol

    Bit 7 (generic error) always has the same value as bit 0 in the error register. Table 47: Object description INDEX 1002 Name Manufacturer status register (MSR) Object code Data type Unsigned32 Category Optional 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 108: Pre-Defined Error Field (Object 1003)

    Read access to the index of a standard data type returns the length of the data type in bytes Subindex FF support Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 109 Stop remote node Enter PRE-OPERATIONAL Reset node Reset communication Error control protocol Node guarding protocol Heartbeat protocol Consumer Producer Boot-up protocol 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 110: Sample Applications

    The MDT then signs off with the commanded link state RECONNECT. The SLK switches to the CONNECTING state to wait for the next MDT. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 111 The mapped data blocks will be read automatically from the next MDT Make SLK ready to receive 2600/02 0x01 (CONNECTING) 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 112: Outfeed" Application

    (see Chapter 9.9.1.2 “Object 1A00–1A03: transmit PDO mapping parameters”). The link then switches immediately from the PRECONNECTED to the CONNECTING state, since auto reconnect is active. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 113: Workstation" Application

    Stage 2: Entering measurement data obtained while the workpiece was being processed. Only the pretransmit function is used via transfer buffer 1 here. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 114 2 1A03/00 0x02 Switch auto mode register to auto 2600/03 0x02 disconnect Make SLK ready to receive 2600/02 0x01 (CONNECTING) Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 115 “Data exchange complete”. Switch the auto mode register to auto 2600/03 0x02 disconnect and allow the workpiece pallet to continue 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 116: Resetting Slk" Application

    Wait until actual link state is DISCONNECTED The SLK is now in the initial DISCONNECTED state and the application can start over Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 117: Web Interface

    Other browsers may not display the websites correctly. • Account with administrator rights for installing SLK access. An account with user rights is sufficient for later use. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 118: Setting Up The Network Connection To The Id 40/Slk

    To install it, open the Control Panel and select the Phone and Modem entry Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 119 If requested by Windows 7, enter any Location Information – its only placeholder Add a modem, but don’t detect it, select it from a list 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 120 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. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 121 Change Default Preferences in the Advanced tab and set Port speed to 115200 and Flow control to None Confirm all the dialogs with OK Reboot the PC to keep these settings. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 122: Setting Up A Network Connection

    Set up a new connection or network in the Network and Sharing Center And choose Set up a dial-up connection Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 123 On Connect, it tries to dial the phone number, so Skip this - it’s not supported by the ID 40/SLK Close the Dial-up dialog. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 124 Uncheck / disable the Enable hardware flow control, verify the Maximum speed (bps) is set to 115200 Back to ID 40 Properties, remove the Phone number Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 125 In the Options tab, uncheck both Prompt for phone number and Prompt for name and password… Verify the Security tab, keep the Optional encryption… 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 126 Uncheck Use default gateway on remote network, so the IP traffic with other destinations than ID 40 will still go on. Confirm the dialogs. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 127: Establishing "Id 40" Network Connection

    ... opens a connection dialog box ..in which the ID 40 network connection can be started by selecting Connect. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 128 “Network” icon. “ID 40” should appear here once the connection is established. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 129: Terminating "Id 40" Network Connection

    ID 40/KONF program to diagnose the fatal system error; see Chapter 12.1.2 “Fatal system errors” on how to proceed. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 130 You can check these IP addresses in the Network Information window by opening the context menu (right click) for the ID 40 connection. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 131 “directly” on computer 192.168.66.1 192.168.66.2 Default setting, no change needed …192.168.67.1:192.168.67.2 192.168.67.1 192.168.67.2 …192.168.68.1:192.168.68.2 192.168.68.1 192.168.68.2 …192.168.69.1:192.168.69.2 192.168.69.1 192.168.69.2 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 132: Http Connection To Id 40/Slk

    Use default gateway on remote network. Terminate the connection (if active) and re-establish to apply the settings. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 133 Enter the IP address of the ID 40/SLK in the No Proxy for:, possibly separated by a comma, as shown in the example. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 134 • It improves the readability of the web address The name of the IP address is assigned in Windows XP and Windows 7 in the text file C:\Windows\system32\drivers\etc\hosts Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 135 Save the file and close the editor. Now enter the following web address in the browser according to our example: http://id40/index.html 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 136: The Id 40/Slk Website

    An address range consists of a value for the start address, two periods, then the end address. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 137 MDT sign-on. Press Send Request again once the PRECONNECTED phase is complete. The desired MDT data will now appear. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 138 If the system encounters a temporary access conflict, error codes appear in the data field in red. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 139: 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. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 140: Mdt Register Page

    The “Status” field shows the result of the write access. If no MDT is in the CONNECTED link state, the error message BAL_RV_COM_ERR appears. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 141: Slk Register Page

    As with the fieldbus, note the processes during “data access to the ID 40/MDT” described in Chapter 6 when switching the commanded link state. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 142: Mdt Data Page

    Chapter 10.5.1.2 “Syntax when entering values” also applies here. You can enter up to 92 bytes separated by commas or spaces. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 143: Fieldbus Settings Page

    Systems statistics page The statistics data is used to evaluate the quality of HF communication between the SLK and the MDT. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 144: System Log And Settings Page

    Save target as... (context menu depends on browser) allows you to save the syslog to your computer. The download can take some time. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 145: Tips And Tricks

    Select Save as from the context menu (right click in the text field) to save the log dump as a file: 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 146: Web Access From Application Programs

    URL for a write command. See Chapter 10.5.1.2 “Syntax when entering values” for supported number systems. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 147: Web Interface Write Commands

    A maximum of 72 bytes can be written in two-digit decimal format, with a maximum of 44 bytes in hexadecimal format. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 148: Web Interface Read Commands

    A maximum of 64 kB can be requested with a read command, i.e., an entire ID 40/ MDT32K can be read in one pass. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 149 <?xml version=”1.0” encoding=”ISO-8859-1”?> <?xml-stylesheet href=”/id40xml.css” type=”text/css”? <xid> <bal-mem> <bal-range> <offset>0x0000</offset> <data> <b>0x37</b> <b>0x36</b> <b>0x35</b> <b>0x34</b> <b>0x33</b> <data> </bal-range> </bal-mem> </xid> 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 150 The prefetch function is described in Chapter 6.4.1. The web interface prefetch is similar to the buffered prefetch in Chapter 6.4.2.1 “Single transmit”. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 151 • If the &prefetch parameter is omitted from the read command, the data is returned, but all prefetch settings are deleted. This also applies to the &prefetch=0 parameter. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 152: Start-Up And Parameterization

    The fieldbus indicators cannot appear on the SLK display (see Chapter 2.2.2 “Status display”). Fig. 33: The fieldbus activity indicator on the display is off Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 153: Configuring With Profibus Master

    Set. Enter the value 0 or 1 in the “Value” field. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 154: Configuring The Maximum Pdu Size Of The Pcp Channel

    The SLK has to be restarted and the Interbus reconfigured with the CMD tool in order to apply the new PDU size. The new settings are retained even after SLK voltage recovery. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 155: Configuring With The Ibs Cmd Swt G4 Software

    ID 40/KONF diagnostics and parameterization program (see Chapter 11.2.1 “Outgoing remote bus configuration”) Sign of Life (flashing) Fig. 36: Interbus fieldbus indicators 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 156: Starting Up Canopen

    The values are entered in decimal format and are applied after the SLK is restarted. The new settings are retained even after SLK voltage recovery. Fig. 37: Fieldbus page Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 157: Id 40/Slk-Can Boot-Up Behavior

    BUS OFF status. The display then shows “BUS”. The SLK has to be restarted to continue operating once the error is corrected in the bus. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 158: Configuring The Second Sdo Channel

    SLK using the upload function in ID 40/KONF. The ID 40/KONF manual describes how to upload software. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 159: Diagnostics

    • The HF field to the MDT is turned off for safety reasons. Here it is possible that a linked MDT has encountered a communication error 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 160 What to do when a fatal system error occurs 1. Save at least one line of the running text from the ID 40/KONF using a log file, a screen shot (Alt+Print Screen) or writing it down. Send it to Bosch Rexroth Service so they can analyze the error 2.

  • Page 161: Diagram Of Possible Causes Of Errors

    PLC. The displays on the MDT and SLK are visually checked afterward, if necessary. Fig. 39: Diagram of possible causes of errors 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 162: Diagnostics Using The Web Interface

    The ID 40/KONF online manual describes how to do this. Fig. 40: SLK software upgrade with ID 40 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 163: Technical Data

    Readability Readable from 3 sides Status LED 2 colors (red, green) Weight Approx. 50 g 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 164: Cables, Connector Pin Assignments

    6.4 A 2: A-line 5: Shield 1: VP 4: B-line 3: DGND Shield Fig. 41: RS232, M12, B-coded PDP, M12, B-coded Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 165: Slk Nameplate

    • Electrical values for power supply • “Hardware vers.”: Hardware version of the internal electronics. • “PD”: Coded production date, important for Service topics. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 166: Data Transmission Times Between Mdt And Controller

    Write [ms] 6280 The measured values in the following table were obtained by a Bosch PCL controller with a PLC cycle of 2 ms. The other test parameters are the same as above. Table 52: PDP data transfer times, 2 ms PLC cycle...

  • Page 167: Compatibility

    13.4.2 Compatibility with ID 80/E and MTS 2 The previous Bosch ID 80/E identification system has been replaced with the ID 40. The system components are compatible with one 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.

  • Page 168: Overview For Ordering Id 40 Modules

    Function blocks for Siemens S7 controllers 3 842 406 190 Function blocks for Bosch CL and PCL controllers 3 842 406 191 Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 169 0 842 903 607 ID 40/SLK mounting kit 3 842 527 634 ID 40/MDT mounting kit 3 842 529 237 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 170: Service And Support

    Linear Motion and Assembly Technologies Löwentorstraße 68-70 70376 Stuttgart Phone: +49 (0)7 11 8 11-3 06 98 Directions to the Löwentorstraße site Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 171: Appendix

    Dashed gray box This state is system internal only. The actual link state shows BUSY 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 172 ERROR Error during MDT sign-off DISCONNECTING (19) Auto CONNECTED ERROR MDT removed unexpectedly, MDT lifeguarding automatically switches to ERROR state Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 173: Abbreviations And Terms

    Data transmission option independent of the cyclical functioning data exchange of fieldbus systems. Console Shell Low byte Low byte of a 16-bit value. 3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...
  • Page 174 Web address URL, Uniform Resource Locator. Addresses the SLK website in the browser. Contains the network address for the SLK. Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05 PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy...

  • Page 175: References

    Order No.: 27 45 11 4 [C1] CiA/DS 102, CAN Physical Layer for Industrial Applications [C2] Robert Bosch GmbH, CAN Specification 2.0 Part B, September 1991 [C3] ISO 11898, November 1993, Road Vehicles, Interchange of Digital Information – Controller Area Network (CAN) for High-speed Communication.
  • Page 176 Bosch Rexroth 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...

This manual is also suitable for:

Rexroth id 40/mdt2kRexroth id 40/mdt8kRexroth id 40/mdt32kRexroth id 40/slk-pdpRexroth id 40/slk-ibsRexroth id 40/slk-can

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