Bosch Rexroth Rho 4.0, Описание системы

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5−16 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
For the voltage output modules 4AO_U it is possible to choose for a reso-
lution of 12 bits between a representation in the 2-complement or
Straight Binary and additionally between flush left and flush right repre-
sentation in the 2 byte word.
.
To make during the operation the handling of several different I/O
modules, it is recommended to set all data sizes of all modules on
flush left representation.
The data sizes set by means of the hardware must be adjusted in the
rho4 in the machine parameter P405 (‘Assignment of analog inputs’,
subparameter ‘Format’ and ‘Nominal value’). See page 5−23, Assign-
ment of the analog input channels.
5.5.3 Machine parameter settings
I/O-Configuration of the CAN-Bus (P30)
In machine parameter P30, a block is to be planned for each analog
B~IO-modules. A CAN block consists of 8-Byte data, which corresponds
to 4 analog channels. After the entry of P30, the address areas of the I/O
blocks in P31 and P32 must be adjusted.
Address areas of the CAN inputs (P31)
The image of the analog CAN inputs is deposited in the rho4 in a sepa-
rate RAM area. Machine parameter P31 configurates the CAN inputs.
For each analog input block, the following subparameters are to be assi-
gned:
D
I/O-type:
Analog modules get the code 1, digital modules the code 0.
D
Start address:
This relative address indicates the position of the data block (8 bytes)
within the rho4 internal RAM area.
The setting is to be performed as follows:
1stAdr.Block 1: 0
1stAdr.Block 2: 8
1stAdr.Block 3: 16
1stAdr.Block 4: 24
1stAdr.Block n: (n−1) * 8
In this RAM area, only analog input blocks are taken into account. For
digital input blocks, the start address relates to the rho interface.