Bosch Rexroth Rho 4.0, System Description

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Electric Drives
and Controls 5−5 Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
5.2.2 Machine parameter
The CANopen interface is activated via machine parameters. A distinc-
tion is made between control parameters and encoder parameters, i.e.
there are two different, separated machine parameter files that are loa-
ded in the control during the startup.
CANopen specific control parameters
The following rho4 machine parameters concern the CANopen inter-
face:
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. If CANopen
encoders are used, ’Protocol type = 1’ (CANopen) is to be set.
D
Settings of the machine parameter P401:
In the case of CANopen axes or encoders, as a reference of the Dss
(diagnosis & service system) the DssRef is to be taken as a further
subparameter of the machine parameter P401. For each axis and
each number, the corresponding number in the Dss must be indica-
ted. 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 must be indi-
cated in the rho4 parameter Dss Ref to create the relation between
the rho4 and the ASCII file (see also description XMP converter).
D
In the case of CANopen encoders, the subparameter of the machine
parameter P401 ’drive type’ = 5 must be set.
D
The identifiers for the actual values of the encoder to be read result by
setting the subparameter Node-Id. The procedure is analog to the
CAN axes:
Identifier (actual value) = 384 + Node-ID
.
It must be ensured that there are not several identifiers on one bus.
This applies to all CANopen modules involved in the bus.