Bosch Rexroth Rho 4.0, Описание системы

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6−22 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
If the drive telegram is reconfigured by the user, it must noticed, that the
ident numbers S−0−0051 (Position feedback 1 value motor encoder)
and S−0−0053 (Position feedback 2 value ext. encoder) are installed as
aforementioned. The remaining parts of the drive telegram are freely
usable by the user.
6.6.4 Parameter at the IndraDrive
Hardware requirements
A module for the connection of an external encoder (i.e. HFI02) must be
installed in the drive amplifier.
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 essential properties of the external enco-
der.