Electric Drives
and Controls
6−15
Bosch Rexroth AG
RhoMotion
1070072367 / 04
SERCOS interface
6.5.3
Transmission of the axis telegrams to the PCLrho4.0
The ATs are defined in the rho4.0 with 22 bytes per axis. With a maxi-
mumconfiguration with 16 axes, it follows a transmission length of 528
bytes.
.
Depending on the system stress, there can be delays in the trans-
mission, so that no clock synchronous transmission can be gua-
ranteed. Moreover, it cannot be guaranteed that there is a
transmission to the PCL at each clock (P5). If a transmission of
drive data to the PCL is not yet completed and there is new drive
data on the rho4.0 that is not transmitted yet, this data will be then
rejected. The data consistency of the ATs to the rho4.0 I/O interface
is guaranteed in this way.
Setting P21 PLC PARAMETER
For the setting of the parameter P21, the final address of the machine
parameter is increased by the number of the ATs to be transmitted.
22 Byte AT per axis * 16 axes
=
352 Byte
Reserve
=
108 Byte
rho4.0 system counter
=
4 Byte
=> Number of the bytes to be
transmitted
=
464 Byte
State of rho4.0 when delivered:
Summary of Contents for Rexroth Rho 4.0
Page 12: ...XII Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 Contents Notes ...
Page 78: ...4 14 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 PCLrho4 0 Notes ...
Page 168: ...A 4 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 Appendix Notes ...
