Bosch Rexroth Rho 4.0, System Description

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3−8 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
Structure of the rho4.0
3.2 Digital I/O
On the rho4.0, (without additionally possible coupling of decentral I/O
modules) 16 digital inputs and 8 digital outputs are available.
3.2.1 Digital inputs
The digital inputs of the rho4.0 are multi-function inputs. They can be
used alternatively for several control functions:
Multifunction type can be addressed via channel
number
High-speed constant start 611 to 618
High-speed inputs in the BAPS pro-
gram 801 to 816
High-speed asynchronous inputs 1801 to 1816
Processing of the inputs in the
PCLrho4.0 program −−−
High-speed constant start
For certain applications, it is necessary to trigger a movement as High-
speed as possible and always with as constant idle time as possible on a
condition.
By means of the “WAIT UNTIL ...” instruction − by using the input channel
numbers 611 to 618 it is possible to start high-speedly and with constant
delay time (with quantization of an interpolation cycle P5) on a condition.
A movement is triggered as High-speed as possible through a condition
when the BAPS program contains the following instructione sequence:
WAIT UNTIL bedingung_erfuellt MOVE kin1 LINEAR TO P1
kin1: Name of the kinematic that is moved afterward
Condition_met: e.g. SL_INP_1=1
SL_INP_2=0
Any waiting time can be programmed before the next movement is ex-
ecuted:
.
.
1) WAIT UNTIL SL_INP_1=1 MAX_TIME=0.15
2) MOVE DEST_POS
.
.