Bosch Rexroth Rho 4.0, System Description

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Electric Drives
and Controls 6−23 Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
Configuration of the parameter
Bit 0: Feedback type
0: rotative
Bit 1: Distance coded measuring
0: no distance coded
1: distance coded
(S−0−0165,S−0−0166)
system
1: linear
reference marks
reference marks
Bit 3: Motion meaning
0: not inverted
1: inverted
Bit 5: Configuration distance coded
measuring system
0: Count direction positive
1: Count direction negative
Bit 7: Absolute value reporting
x0: no absolute value reporting
possible (bit 7 not relevant)
01: Absolute value reporting allowed
11: Absolute value reporting possible
(encoder is treated as an abso-
lute encoder)
but not allowed
If the external encoder is used as belt encoder, only feeedback type “ro-
tative” is permitted (Bit 0 = 0).
S−0−0117 Feedback 2 resolution
This parameter indicates the resolution of the external encoder. The va-
lue means with rotative encoders the number of deviding periods or cy-
cles per rotation of the encoder shaft (DP/rotations).
Because for paramerization of the external encoder no own parameter
for gearfactor and feedconstant are available, both values must be inc-
luded in the calculation of S−0−0117.
S−0−0117 must be calculated as follows:
S−0−0117 = enoder resolution x 360 x motor rotations n1
feed constant output rotations n2