Resetting Slk" Application; Handling "E00" Errors - Bosch Rexroth ID 40 Manual

116/176 CANopen
Bosch Rexroth AG, MIT: ID 40, 3 842 530 344/2014-05
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
9.20.4

"Resetting SLK" application

This example allows the SLK to be reset in the DISCONNECTED link state. The actual
link state here is not important.
No. Action
1 Switch SLK to ERROR state
2 Wait until actual link state is ERROR
3 Switch SLK to DISCONNECTED state
4 Wait until actual link 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
1 Switch SLK to DISCONNECTED
state
2 Wait until actual link state is DISCONNECTED or ERROR
3 DISCONNECT unsuccessful, link state is now ERROR
4 Switch SLK to
DISCONNECTED state
5 Wait until actual link state is DISCONNECTED
6 The SLK is now in the initial DISCONNECTED state and the application can
start over
COB rd/wr Index/
subindex
SDO wr 2600/02
SDO wr 2600/02
COB rd/wr Index/
subindex
SDO wr 2600/02
SDO wr 2600/02
Data
0x04
0x02
Data
0x02
0x02