Bosch Rexroth Rho 4.0, System Description

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Electric Drives
and Controls 6−21 Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
S−0−0117 must be calculated as follows:
S−0−0117 = enoder resolution x 360 x motor rotations n1
feedconstant output rotations n2
S−0−0391 Monitoring window feedback 2
This parameter value defines the maximal allowed deviation of the posi-
tion actual value between motor encoder and external encoder
(S−0−0051, position feedback value encoder 1, S−0−0053, position
feedback value encoder 2).
With use of the encoder as an independent belt input, the monitoring
must be disabled by setting this parameter to zero.
P−0−0075 Encoder type 2
The determination of the encoder interface where the optional encoder
is connected to, takes place by this parameter. The identification num-
ber of the according interface module must set as follows:
D
2 Incremental encoder with sine signals (1V signals) by the
company Heidenhain
D
5 Incremental encoder with rectangle signals by the company
Heidenhain
D
8 Encoder with EnDat interface
D
9 Cogwheel with 1Vpp signals
P−0−0185 Control word of encoder 2 (optional encoder)
This parameter offers the possibility to assign a determinated functiona-
lity to the optional encoder. If the optional encoder is used as belt enco-
der, a “4” must be entered (optional encoder as spindle encoder).
S−0−0016 Configuration list of AT
If the belt input via drive amplifier in the rho4 is activated, the drive tele-
gram of the corresponding axis deviating from the standard settings
(see manual system description rho4.1, resp. rho4.0) is as follows:
D
S−0−0135 Drive status word 2 Byte
D
S−0−0051 Position feedback 1 value (motor encoder) 4 Byte
D
S−0−0053 Position feedback 2 value (ext. encoder)4 Byte
D
S−0−0189 Following distance 4 Byte
D
S−0−0144 Signal status word 2 Byte
D
S−0−0084 Torque/force feedback [%] 2 Byte