Bosch Rexroth Rho 4.0, Описание системы

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Electric Drives
and Controls 5−41 Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
When SR-CAN-modules are used, the maximum number of I/O blocks
reduces at the corresponding bus by 3 (independent on the number of
the SR-CAN-modules).
The indicated values refer to a baud rate of 1 MBaud (depending on the
cable length). If the baud rate is smaller, the maximum number of I/O
blocks reduces by the corresponding factor (e.g factor 2 at 500 kBaud).
Cable length max. Baud rate
up to 25 m 1 MBaud
up to 100 m 500 kBaud
up to 200 m 250 kBaud
over 200 m 125 kBaud
The screening time (P5) must be set at the minimum so that all I- and
O-blocks can be transferred within the screening time. The screening
time for one block is 1 MBaud CAN 110
µ
s. For smaller baud rates, the
transfer time increases by the corresponding factor (e.g. 220
µ
s at 500
kBaud).
Maximum whole number of components
Whole number of axes = maximum 16
Number of digital output blocks
+ Number of SR-CAN-modules =
maximum 40
Number of digital input blocks
+ Number of SR-CAN-modules =
maximum 40
. When rho4 control units are coupled via CAN-Bus, the CAN-Bus
used for this purpose must not be engaged with other components
The maximum possible number of axes with Servodyn-GC drive ampli-
fiers is 6 per CAN-Bus. The O- and I-blocks remaning free can be enga-
ged with any other components (also axes with Servodyn-D amplifiers).
. When B~IO-modules without inputs (pure output modules) are
connected, it is possible, that the red error-LED at the B~IO-modu-
les are blinking permanent. This has no effect to the function of the
B~IO-modules.
To avoid this effect, at least one input module should be connected
to each CAN-Bus.
This behaviour occurs only with CANrho protocol.