Outfeed" Application - Bosch Rexroth ID 40 Manual

8.8.2

"Outfeed" application

Outfeed points are where it is decided whether or not the workpiece pallet is
diverted. The workpiece pallets do not need to stop at the SLK before the junction,
since the amount of data needed for the decision is small. In this example, 8 bytes
should be read starting at MDT address 0x02F0. The MDT status is also transmitted
in order to allow any errors in the MDT to be addressed.
The data is read from the MDT through an unbuffered prefetch, then the link
immediately switches from PRECONNECTED to CONNECTING, since auto reconnect is
active.
SLK preparation
No. PCP Index
communication
1 Deactivate 0x5FF1 0x0000
unbuffered
prefetch so no
parameters are
set
2 Delete old 0x5FF1 0x0004
prefetch entries
3 Set parameters 0x5FF0
for first data
block in unbuf-
fered prefetch:
1-byte MDT
status
4 Set parameters 0x5FF0
for second data
block in unbuf-
fered prefetch:
8 bytes starting
from MDT ad-
dress 0x02F0
5 Finished setting 0x5FF1 0x0001
parameters, acti-
vate unbuffered
prefetch
6 Switch SLK to 0x5FF5
auto reconnect
mode
7 Make SLK Via process data channel:
ready to receive
(CONNECT) Byte 0: 0x81 (switch trigger bit: now 1, used to be 0)
8 SLK operation
Wait until event counter in event-oriented data channel (see Chapter 7.3.1 "Status informa-
tion in event-oriented data channel") to increase by 1. At this time, a workpiece pallet has
arrived, event-oriented data exchange has occurred with the MDT and the link for the next
MDT is back to CONNECTING. The MDT status and the application data can be checked
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.
Subindex 0 Subindex 1 Subindex 2
0x00020000 0x0001
0x000002F0 0x0008
0x00030002 0x0001
3 842 530 344/2014-05, MIT: ID 40, Bosch Rexroth AG
PROOF COPy 1 | 20.05.2014 | FOR INTERNAL USE ONLy
Interbus 79/176
Subindex 3
0x01
Write data