Bosch Rexroth Rho 4.0, Описание системы

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6−6 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
A_1 Modulo value : 0 0 Absolute interface
> 0 Modulo interface with correspon-
ding modulo value in mm or deg
To be set for endless axes
When using the modulo interface,
the following settings must be
performed at the drive amplifier:
D
S-0-0076 Weighting of the po-
sition data:
Bit 7 = 1 (processing format =
modulo format)
D
P−0−0006 position encoder
type motor
Bit 0 = 1 (absolute value
encoder)
D
S-X-0103 Modulo value
must match the rho4 module
value described here.
.
The modulo value must be set at least
so high that at the most the half modulo
value is runper scanning time (P5) with
maximum axis velocity.
Example:
max. axis velocity (P103) = 50 deg/s
Clock start time (P5) = 6 ms
=> path run/Clock = 50/1000 * 6 = 0,3 deg
=> min. modulo value = 0,3 deg * 2= 0,6 deg
A_1 ms.fact : 1000.00 Measuring system factor
When using Bosch Rexroth drive ampli-
fiers always enter 1000.00.
A_1 Com.output : 1 Running numbering of the set value out-
puts (no double occupation admissible)