Bosch Rexroth Rho 4.0, System Description

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5−24 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
D
Format:
For the output configuration 2XX (BAPS output, the data format can
be set to a numerical representation in 2’s complement (positive and
negative decimal numbers: Format = 0 ) or a straight binary represen-
tation (only positive decimal numbers: Format = 1 ).
For all other configurations (1XX, 3XX, 4XX, 5XX, 6XX, 7XX), the
data format 2’s complement (positive and negative decimal numbers:
Format = 0 ) is mandatory! The path speed output (4XX) yields only
positive values with the data format 2’s complement.
D
Nominal value:
The nominal value is the number that corresponds to the highest out-
put value that can be represented with 2 bytes for an offset of 0.
If the nominal value is delivered to an analog output in the BAPS
program, the maximim value of the specified voltage (or current)
output range is obtained, provided that a left-aligned representa-
tion has been selected.
With right-aligned representation and a resolution of 12 bits (ex-
ample: 4AO_UI module), the obtained maximum value will be only
1/16 of the nominal value.
D
Offset:
A voltage offset can be specifed for analog outouts that is added to the
output value. The offset is specified as a percentage of the maximum
voltage (or current).
5.5.5 Example
A bus interface with 2 analog I/O modules is connected to a rho4. A rho
process requires that 4 analog outputs with an output voltage range of
±
10 V be driven. In the same BAPS program, the output voltages are
read via 4 analog input channels and displayed on the PHG.
The following I/O modules are used:
B~IO M-CAN bus switching
4AO_U
Analog-output module (4 outputs)
4AI_UI Analog input modules (4 inputs)
The 4 outputs of the 4AO_U module are connected to the inputs of the
4AI_UI module.
Hardware settings
B~IO M-CAN-bus switching:
Baud rate: DIP-switch S1 = 1000 0111 CANrho, 1 MBaud
Node-ID : DIP-switch S2 = 1000 0001 Node-ID = 1