Bosch Rexroth Rho 4.0, Описание системы

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Electric Drives
and Controls 6−19 Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
6.6 Belt input via external encoder at EcoDrive/IndraDrive
6.6.1 General
As an alternative to the so far available measuring system interfaces for
belt encoder (incremental interface at the rho4.1, CANopen interface at
rho4.1 and rho4.0), from version VO08 it is possible to connect an exter-
nal incremental encoder to the drive amplifier as belt input.
6.6.2 Function
The external encoder input of a drive amplifier is usable as belt input
independent of the defined controlled axis on the amplifier. To activate
the external encoder, the following described parameter in the drive,
resp. rho4, must be set.
6.6.3 Parameter at the EcoDrive
S−0−0076 Type of weighting for position data weighting
The type of weighting of the position data weighting determines, in
which format the position data between drive and control, resp. user in-
terface is exchanged. If the external encoder is used as belt encoder,
especially for endless belt, the modulo format (Bit 7 = 1) must be adju-
sted.
S−0−0103 Modulo value position
At adjusted modulo format (parameter S−0−0076, type of weighting of
the position data weighting bit 7), the modulo value determines, at
which numerical value the position data overflow to zero. If encoder1 is
an absolute encoder, the modulo value must be adjusted greater then
the traversing range of the controlled axis. The adjusted modulo value
must agree with the corresponding parameter in the rho4 (P401 4. sub-
query ’modulo value’). The maximum value is 214748.3647 (max. tra-
versing range).
S−0−0115 Position feedback 2 type
This parameter determines the essential properties of the external en-
coder.