5−2
Electric Drives
and Controls
Bosch Rexroth AG
RhoMotion
1070072367 / 04
CAN-Bus peripheral equipment
5.1.2
Machine parameters
The CANopen interface is activated via machine parameter. A distinc-
tion is made between control parameters and IO parameters, i.e. there
are two different, separated machine parameter files that are loaded in
the control during the startup and automatically saved during the swit-
choff of the control. Both files are loaded by the user via the ROPS4 cou-
pling into the control. The handling of both files does not differ.
CANopen specific control parameters
The following rho4 machine parameters concern the CANopen interface
D
The transfer protocole is to be named as subparameter of the ma-
chine parameter P30. If a CAN bus is to be operated with a CANopen
protocole, ’Protocol type = 1’ is to be set. If a CanRho Protocole is to
be used, the subparameter ’Protocol type = 0’ is to be set.
D
For each identifier of the local I/O modules, a reference to the entries
in the Dss is required in the machine parameters P31 and P32. In the
Bosch Dss program, all CANopen nodes are designated as ’AXIS(In-
dex)’. The entries behind this designation apply for all CANopen no-
des (e.g axes, local I/O modules, valves, ...). The index (DssRef) is
introduced as subparameter of the machine parameters P31 and
P32. Each index is allowed to appear only once per CAN-Bus.
CANopen specific I/O modules parameters
The CANopen specific I/O modules parameters are loaded in the startup
phase of the control into the I/O modules. A ASCII file (file extension
“.scs” created with the Bosch Dss or a text editor is used as basis.
For each peripheral unit (axis, encoder, I/O modules), an ASCII file must
be created, in which the CANopen specific parameters are set. The
number contained in the name of the ASCII file corresponds to the Dss-
Ref (see also description XMP converter). The I/O-Parameter files are to
be filed under the following names on the remote pc:
C:\Bosch\rho4\CANopen\Axis1.scs
.
.
C:\Bosch\rho4\CANopen\Axisn.scs
Summary of Contents for Rexroth Rho 4.0
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Page 78: ...4 14 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 PCLrho4 0 Notes ...
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