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Bosch Rexroth Rho 4.0, Описание системы

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Electric Drives
and Controls

5−29

Bosch Rexroth AG

RhoMotion

1070072367 / 04

CAN-Bus peripheral equipment

5.6

SR-CAN module

To make sure that the machine parameters always fit to the kinematic
(mechanics) the machine parameters concerning the mechanics are
stored on an SR-CAN module. This module is firmly connected with the
robot mechanics, and is maintained during the robot service life.

The communication with the SR-CAN module takes place by means of
the CAN protocol. To be able to read and write the machine parameters,
corresponding functions are available in BAPS and as rho4 library func-
tions. The library functions are contained in the system group. The func-
tions for reading the SR-CAN modules are named rSGSrCan() and
rSGSerialNb(), the functions for writing in the SR-CAN module are na-
med rSSSrCan() and rSSSerialNb(). The machine parameters and se-
rial numbers contained in the real time core of the rho4.1 are loaded into
the SR-CAN module  by means of these functions. Additionally, a rea-
ding and writing operation of the machine parameters and serial num-
bers to the SR-CAN module with PHG2000 are offered. The PHG menu
tree contains a mode protected by a password for this purpose. Mode
7.8.6.1 is assigned for reading and mode 7.8.6.2 for writing the serial
number onto the SR-CAN modules. Mode 7.8.6.3 is assigned for rea-
ding and mode 7.8.6.4 for writing the machine parameters onto the SR-
CAN modules.

Read/write functions

For the communication with the SR-CAN module, the before mentioned
read/write functions are available. As transfer parameters, the SR-CAN
module number and the kinematic (Kin1 to 16) have to be indicated in
any case, since a control can address several robots at the same time.

Machine parameter and serial number are separated on the SR-CAN
modules and have also to be written and read separately. During the run-
up phase of the control it is possible to quickly check which machine pa-
rameters are to be activated, since only the serial number of the SR-CAN
module has to be read.

When calling the write function rSSSrCan(), the complete machine para-
meters are loaded into the SR-CAN module. This is preferably be done
while measuring the robot kinematic of a new system or when changing
a defective SR-CAN module.

When calling the read function rSGSrCan(), at first also the complete
machine parameters are loaded from the SR-CAN module onto an inter-
mediate storage place in the control, yet are not active at this time. There
is a filter between this intermediate storage place and the valid machine
parameters that can be configured and only takes over selected ma-
chine parameters.

If all machine parameters are selected, the read function rSGSrCAN ()
acts as a machine parameter backup, i.e. the machine parameters are
all taken over from the SR-CAN module. To activate the machine para-
meters, the control must be run-up again.

Содержание Rexroth Rho 4.0

Страница 1: ...l VCP 20 Industrial Hydraulics Electric Drives and Controls Linear Motion and Assembly Technologies Pneumatics Service Automation Mobile Hydraulics Rexroth Rho 4 0 System description 1070072367 Edition 04 Project planning ...

Страница 2: ...ithout express authority are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract All rights are reserved with respect to the content...

Страница 3: ...anagement Connection conditions Rho4 1 Rho 4 1 IPC300 2 System overview Connection conditions Rho4 1 Rho 4 1 IPC300 3 Security functions 4 Installation 5 Electrical connection 6 Interfaces 7 LED display 8 Maintenance and replacement 9 Software 10 Order numbers Connection conditions Rho 4 1 BT155 Rho 2 System overview Connection conditions Rho 4 1 BT155 Rho 4 1 BT155T Rho 4 1 BT205 3 Security funct...

Страница 4: ...e 10 System date and time 11 System counter 12 WC main range 13 Setting the belt counter 14 Recording of reference path 15 Flying measurement rho4 1 only 16 MOVE_FILE 17 Setting the block preparation 18 Exception Handling 19 Belt counter current value 20 Automatic velocity adjustment for PTP movements 21 Belt synchronous working area belt kind 4 22 Current belt speed 23 Changing the belt simulatio...

Страница 5: ... Short description 2 Program structure BAPS3 Short description 3 Constants and variables 4 Program structure 5 Value assignments and combinations 6 Standard functions 7 Movements and speeds 8 Belt synchronous 9 Workspace limitation 10 Write read functions 11 Special functions 12 Library functions 13 Fix files 14 BAPS3 keywords Signal descriptions 2 rho4 interface description Signal descriptions 3 ...

Страница 6: ...000 2 Hand held programming unit PHG2000 3 PHG2000 system variables 4 Selection of PHG functions 5 Info function of the PHG 6 Controlling the PHG2000 output 7 Define Teach 8 SRCAN functions 9 File and User Memory Functions 10 File list 11 Process info 12 Restoring the PGH display 13 Variable assignment of PHG keys 14 Select point file and point name 15 BDT editor Connection conditions Rho 4 1 IPC ...

Страница 7: ...ves and Controls VII Bosch Rexroth AG RhoMotion 1070072367 04 Overview of all manuals Manual Contents DDE Server 2 Introduction DDE Server 3 Hardware and Software 4 Operation 5 Items of Server 4 6 Scope of function ...

Страница 8: ...VIII Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 Overview of all manuals Notes ...

Страница 9: ...O Gateway 3 14 3 3 1 rho4 0 without PCL field bus card 3 14 3 3 2 Examples of B IO M CAN bus connections 3 15 3 3 3 rho4 0 with PCL field bus card 3 32 3 3 4 Example of a B IO M DP Profibus connection 3 33 3 3 5 Example of a B IO M IBS bus connection 3 34 3 3 6 Example of a B IO M CAN bus connection 3 34 3 4 Fixed IP addresses 3 36 3 5 Small linking with switches 3 37 3 5 1 Cabling 3 37 3 5 2 Link...

Страница 10: ...ignments 5 43 5 10 Servodyn D rho4 interface 5 46 5 10 1 Control data rho4 Servodyn D 5 46 5 10 2 Status messages Servodyn D rho4 5 47 6 SERCOS interface 6 1 6 1 Data exchange via SERCOS bus 6 1 6 1 1 Service channel 6 1 6 1 2 Cyclic data exchange 6 1 6 1 3 Data size of position set values and actual values 6 4 6 2 Machine parameter 6 5 6 2 1 SERCOS specific control parameters 6 5 6 2 2 SERCOS spe...

Страница 11: ... 6 6 3 Parameter at the EcoDrive 6 19 6 6 4 Parameter at the IndraDrive 6 22 6 6 5 Machine parameter at rho4 6 25 6 6 6 Restrictions 6 26 7 Software 7 1 7 1 ROPS4 Online 7 1 7 2 Server Client functionality 7 3 8 File management 8 1 8 1 File management function 8 1 8 2 Options for accessing file management 8 3 8 3 File attributes 8 7 A Appendix A 1 A 1 Abbreviations A 1 A 2 Index A 2 ...

Страница 12: ...XII Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 Contents Notes ...

Страница 13: ...irective 73 23 EEC D the harmonized standards EN 50081 2 and EN 50082 2 D are designed for operation in industrial environments i e D no direct connection to public low voltage power supply D connection to the medium or high voltage system via a trans former The following applies for application within a personal residence in business areas on retail premises or in a small industry setting D Insta...

Страница 14: ...he components or non compliance with the warning notes given in this manual may result in serious bodily injury or damage to pro perty Only electrotechnicians as recognized under IEV 826 09 01 modified who are familiar with the contents of this manual may install and service the products described Such personnel are D those who being well trained and experienced in their field and famil iar with t...

Страница 15: ...ng of dangerous electrical voltage Warning of danger caused by batteries Electrostatically sensitive components Warning of hazardous light emissions optical fiber cable emissions Disconnect mains power before opening Lug for connecting PE conductor only Functional earthing or low noise earth only Connection of shield conductor only ...

Страница 16: ...ctions in this manual in whole or in part may result in personal injury DANGER This symbol is used wherever insufficient or lacking compliance with in structions may result in personal injury CAUTION This symbol is used wherever insufficient or lacking compliance with in structions may result in damage to equipment or data files This symbol is used to draw the user s attention to special circum st...

Страница 17: ...versely affect the safety of the products described The consequences may include severe injury damage to equip ment or environmental hazards Possible retrofits or modifica tions to the system using third party equipment therefore have to be approved by Rexroth DANGER Do not look directly into the LEDs in the optical fiber connection Due to their high output this may result in eye injuries When the...

Страница 18: ...ectrostatic discharge ESD D Personnel responsible for storage transport and handling must have training in ESD protection D ESD sensitive components must be stored and transported in the prescribed protective packaging D ESD sensitive components may only be handled at special ESD workplaces D Personnel working surfaces as well as all equipment and tools which may come into contact with ESD sensiti...

Страница 19: ...ion 1070 073 814 1070 073 824 Rho 4 1 System description 1070 072 434 1070 072 185 ROPS4 Online 1070 072 423 1070 072 180 BAPS plus 1070 072 422 1070 072 187 BAPS3 Short description 1070 072 412 1070 072 177 BAPS3 Programming manual 1070 072 413 1070 072 178 Control functions 1070 072 420 1070 072 179 Signal descriptions 1070 072 415 1070 072 182 Status messages and warnings 1070 072 417 1070 072 ...

Страница 20: ...al of Rexroth or in accordance with the license agreement of the respective manufacturer MS DOSr and Windowst are registered trademarks of Microsoft Corporation PROFIBUSr is a registered trademark of the PROFIBUS Nutzerorga nisation e V user organization MOBYr is a registered trademark of Siemens AG AS Ir is a registered trademark of AS International Association SERCOS interfacet is a registered t...

Страница 21: ... can be controlled in the base function scope The rho4 0 consists of a power pack unit a carrier board a PC board and a PCI plugging place in which one of the 3 BOSCH field bus cards CAN INTERBUS S and PROFIBUS DP can be operated The PC Board is equipped with a 266 or 400 MHz processor and 32 MB SO DIMM A compact flash card is used as hard disk There are 2 types of housing one in the form of a dri...

Страница 22: ...2 2 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 System overview Notes ...

Страница 23: ...y functions Coupling to a PCLrho4 0 PC programmable logic control which may run on the same computer is provided through an internal TCP IP con nection A data channel to the PCL is provided in the same way The PCL is programmed using the WIN SPS software The rho4 0 provides three serial channels The PHG2000 is the default operating device for the rho4 0 In addition to the default operating interfa...

Страница 24: ...rols Bosch Rexroth AG RhoMotion 1070072367 04 Structure of the rho4 0 3 1 1 Outline structure Windows applications Ethernet TCP IP Standard PC rho4 0 task management file management record preparation interpolation transformation ...

Страница 25: ... Drives V24 20mA C A N V 2 4 I O PHG data supply Driver Driver Dynamic link Dynamic link Dyna mic link OEM Win exe Switcher ROPS4 Win exe Static link ROPS4fkt dll ROPS4 Library functions rho4fkt dll rho4 Library functions rho4 0 Real time core Task administration File administration Record preparation Interpolation Transformation rho4fkt lib rho4 Library functions I n t e r f a c e DDE Server win ...

Страница 26: ...les have the attribute A rchiv allocated as default From the control side real time core the operation is made via the PHG2000 As default the following display selection is activated D with the PHG mode 9 2 list files 9 3 delete files 9 4 print files and 9 9 file attributes one comes into the PHG2000 display Memory management D with the PHG mode 9 8 floppy management one comes into the PHG2000 dis...

Страница 27: ...99 11 11 RWD Palpos05 pkt 5376 05 09 00 17 09 RWD Pal1 pkt 5376 05 09 00 17 09 RWD Pal2 pkt 6357 08 11 00 13 08 RWD Pal12 pkt 12356 12 10 99 16 16 RWD Pal22 pkt 23466 04 05 98 15 43 RWD MB total 4 000 occupied 3 052 free 0 044 Delete rho Print rho Attributes rho Copy rho FD If the PHG2000 display Memory management is active the uppermost key row of the PHG2000 is used as function keys in the stand...

Страница 28: ...76 05 09 00 17 09 Pal1 pkt 5376 05 09 00 17 09 Pal2 pkt 6357 08 11 00 13 08 Pal12 pkt 12356 12 10 99 16 16 Pal22 pkt 23466 04 05 98 15 43 MB total 1 406 occupied 1 354 free 0 002 Delete FD Copy MP FD Copy XMP FD Copy FD rho If the PHG2000 display Floppy management is active the uppermost key row of the PHG2000 is used as function keys in the standard key as signment The following functions are sta...

Страница 29: ...ge Alt 8 BEGIN position cursor at the beginning of the file list BEGIN END position cursor at the end of the file list END set mark beginning of an area Alt WENN WDH Update display Refresh list WDH left arrow Quit operating mode file management Shift 1 The inversely represented file s is are selected for the function key to be confirmed Any large coherent area over several pages can be selec ted T...

Страница 30: ...4 0 program High speed constant start For certain applications it is necessary to trigger a movement as High speed as possible and always with as constant idle time as possible on a condition By means of the WAIT UNTIL instruction by using the input channel numbers 611 to 618 it is possible to start high speedly and with constant delay time with quantization of an interpolation cycle P5 on a condi...

Страница 31: ...EAR 0 0 0 0 Dummy movement step 3 WAIT UNTIL condition_met 4 MOVE kin1 LINEAR TO P1 5 MOVE kin2 TO P2 If the kinematic commutation set 2 is not programmed the WAIT UNTIL instruction acts only for the next movement set of the kinematic kin2 i e only in block 4 and block 5 would be pro cessed without waiting Example high speed constant start CONTROL RHO4 KINEMATICS 1 PORTAL 2 SUPPLIER PORTAL JC_NAME...

Страница 32: ...E SUPPLIER TO MAGAZINE_3 SUPPLIER and PORTAL begin to move immediately if SL_INP_7 1 ALSO MOVE_REL 0 0 0 WAIT UNTIL SL_INP_7 1 MOVE TO DEST_POS_3 PARALLEL_END JUMP BEG PROGRAM_END high speed inputs in the BAPS program Under the input channel numbers 801 to 816 the digital inputs can be processed as high speed inputs in the BAPS program The high speed inputs can be used as normal user inputs in the...

Страница 33: ... program If the digital inputs of the rho4 0 are to be processed in the PCLrho4 0 program this is to be adjusted in the machine parameter P36 under ADDR MF2 INPUT ADDR MF2 INPUT Signification behavior 0 Basic setting The digital inputs of the rho4 0 X21 are copied onto the available input addresses I93 0 to I94 7 MF2IN PUT01_RCO MF2INPUT16_RCO 16 to 127 Start address from which the digital inputs ...

Страница 34: ...they are not in relation with PCL running times and do not depend on interpolation cycle machine parameter P5 During the start of the control unit or during the input signal Initial posi tion of RC the high speed outputs are set on 0 The signal state of the high speed outputs cannot be directly changed from the PCL they are only addressed in the BAPS program Example for an output declaration OUTPU...

Страница 35: ...ital outputs of the rho4 0 X11 in the PCL interface O16 0 to O127 7 1 Switch off multifunction outputs of the rho4 0 X11 The digital outputs are not used by the PCLrho4 0 This setting is required if the digital outputs of the rho4 0 are used in the BAPS programs high speed outputs Under the key word P36 AddrMultiFunc2Outputs this setting can also be performed via the machine parameter converter Di...

Страница 36: ...ware Version 1 3 for I O Gateway 3 3 1 rho4 0 without PCL field bus card The CAN bus of the rho4 0 is available for a B IO M bus connection B IO M CAN CAN Bus 1 or CAN Bus 2 of the rho4 0 I O Gateway B IO M Bus connection 8 or 20 Byte Field bus Possible combinations CAN Bus of the rho4 B IO M Bus connection I O Gateway B IO M Bus connection Field bus Can Bus 1 or 2 B IO M CAN I O Gateway 8 Byte B ...

Страница 37: ... O Gateway B IO M Bus connection 8 Byte Field bus from version 1 3 X52 of the rho4 0 In the 8 byte setting at the I O gateway only one block inputs and one block outputs are set for the machine parameters of the rho4 0 On the rho4 0 the following values are written in the machine parameters P30 to P32 for the connection of the CAN Bus They can be used for all B IO M bus connections with 8 Bytes P3...

Страница 38: ... 0 Baudrate 1 MBaud CANrho or CANopen CAN Bus 2 Display PHG MP SET P30 I O CONF CAN 2 CANRho 0 CANopen 1 0 The setting CANrho must be also selected accordingly at the B IO M CAN module switch S1 Machine parameter Entry Machine parameter converter P30 Number of the input blocks P30 CANInpNumb 1 P30 Number of the output blocks P30 CANOutNumb 1 P30 Baudrate CAN Bus 2 P30 Baudrate CANBUS2 0 P30 CANrho...

Страница 39: ... analog of the first block Display PHG MP SET P31 ADR CAN I IOKind Block 1 0 Start address of the first block Display PHG MP SET P31 ADR CAN I 1stAdr Block 1 208 Length of the first block Display PHG MP SET P31 ADR CAN I Length Block 1 8 Identifier of the first block Display PHG MP SET P31 ADR CAN I Ident Block 1 386 Input identifier for Node ID 2 PDO1 ...

Страница 40: ...ck1 208 P31 Length Block 1 P31 CANInpLeng Block1 8 P31 Identifier Block 1 P31 CANInpIdent Block1 386 P31 Bus number Block 1 P31 InputCANBUS Block1 2 P31 IO type Block 1 P31 InputEAType Block1 0 P32 Address areas of the CAN outputs The setting of the CAN outputs occurs accordingly to the CAN inputs IOKind 0 digital 1 analog of the first block Display PHG MP SET P32 ADR CAN O IOKind Block 1 0 Start ...

Страница 41: ...irst block Display PHG MP SET P32 ADR CAN O Bus no Block 1 2 Machine parameter Entry Machine parameter converter P32 start address Block 1 P32 CANOutStAdr Block1 208 P32 length Block 1 P32 CANOutLeng Block1 8 P32 Identifier Block 1 P32 CANOutIdent Block1 514 P32 bus number Block 1 P32 OutputCANBUS Block1 2 P32 EA type Block 1 P32 OutputEAType Block1 0 Setting S1 Bit rate Switch 8 Switch 7 Switch 6...

Страница 42: ...ANrho protocol B IO M CAN CAN Bus 2 I O Gateway B IO M Bus connection 20 Byte Field bus from Version 1 3 X52 of the rho4 0 In the 20 byte setting at the I O gateway only three block inputs and three block outputs are set since the maximum block length at CAN is fixed at eight bytes On the rho4 the following values are written in the machine parameters P30 to P32 for the connection of the CAN Bus T...

Страница 43: ... 0 Baudrate 1 MBaud CANrho or CANopen CAN Bus 2 Display PHG MP SET P30 I O CONF CAN 2 CANrho 0 CANopen 1 0 The setting CANrho must be also selected accordingly at the B IO M CAN module switch S1 Machine parameter Entry Machine parameter converter P30 Number of the input blocks P30 CANInpNumb 3 P30 Number of the output blocks P30 CANOutNumb 3 P30 Baudrate CAN Bus 2 P30 Baudrate CANBUS2 0 P30 CANrho...

Страница 44: ... analog of the first block Display PHG MP SET P31 ADR CAN I IOKind Block 1 0 Start address of the first block Display PHG MP SET P31 ADR CAN I 1stAdr Block 1 208 Length of the first block Display PHG MP SET P31 ADR CAN I Length Block 1 8 Identifier of the first block Display PHG MP SET P31 ADR CAN I Ident Block 1 385 Input identifier for Node ID 1 PDO1 ...

Страница 45: ...irst block Display PHG MP SET P31 ADR CAN I Bus no Block 1 2 IOKind 0 digital 1 analog of the second block Display PHG MP SET P31 ADR CAN I IOKind Block 2 0 Start address of the second block Display PHG MP SET P31 ADR CAN I 1stAdr Block 2 216 Length of the second block Display PHG MP SET P31 ADR CAN I Length Block 2 8 ...

Страница 46: ...PHG MP SET P31 ADR CAN I Ident Block 2 641 Input identifier for Node ID 1 PDO2 Bus number of the second block Display PHG MP SET P31 ADR CAN I Bus no Block 2 2 IOKind 0 digital 1 analog of the third block Display PHG MP SET P31 ADR CAN I IOKind Block 3 0 Start address of the third block Display PHG MP SET P31 ADR CAN I 1stAdr Block 3 224 ...

Страница 47: ...ADR CAN I Length Block 3 4 Block 3 has only a length of 4 bytes since in the 20 byte setting at the gateway already 16 bytes of blocks 1 and 2 are used Identifier of the third block Display PHG MP SET P31 ADR CAN I Ident Block 3 386 Input identifier for Node ID 1 PDO1 1 Bus number of the third block Display PHG MP SET P31 ADR CAN I Bus no Block 3 2 ...

Страница 48: ... P31 Identifier Block 3 P31 CANInpIdent Block3 386 P31 bus number Block 1 P31 InputCANBUS Block1 2 P31 bus number Block 2 P31 InputCANBUS Block2 2 P31 bus number Block 3 P31 InputCANBUS Block3 2 P31 EA type Block 1 P31 InputEAType Block1 0 P31 EA type Block 2 P31 InputEAType Block2 0 P31 EA type Block 3 P31 InputEAType Block3 0 P32 Address areas der CAN outputs This setting of the CAN outputs occu...

Страница 49: ...tAdr Block 1 208 Length of the first block Display PHG MP SET P32 ADR CAN O Length Block 1 8 Identifier of the first block Display PHG MP SET P32 ADR CAN O Ident Block 1 513 Output identifier for Node ID 1 PDO1 Bus number of the first block Display PHG MP SET P32 ADR CAN O Bus no Block 1 2 IOKind 0 digital 1 analog of the second block ...

Страница 50: ...O IOKind Block 2 0 Start address of the second block Display PHG MP SET P32 ADR CAN O 1stAdr Block 2 216 Length of the second block Display PHG MP SET P32 ADR CAN O Length Block 2 8 Identifier of the second block Display PHG MP SET P32 ADR CAN O Ident Block 2 769 Output identifier for Node ID 1 PDO2 Bus number of the second block ...

Страница 51: ...T P32 ADR CAN O Bus no Block 2 2 IOKind 0 digital 1 analog of the third block Display PHG MP SET P32 ADR CAN O IOKind Block 3 0 Start address of the third block Display PHG MP SET P32 ADR CAN O 1stAdr Block 3 224 Length of the third block Display PHG MP SET P32 ADR CAN O Length Block 3 4 Identifier of the third block ...

Страница 52: ... Bosch Rexroth AG RhoMotion 1070072367 04 Structure of the rho4 0 Display PHG MP SET P32 ADR CAN O Ident Block 3 514 Output identifier for Node ID 1 PDO1 1 Bus number of the third block Display PHG MP SET P32 ADR CAN O Bus no Block 3 2 ...

Страница 53: ...3 P32 Identifier Block 2 P32 CANOutIdent Block2 769 P32 Identifier Block 3 P32 CANOutIdent Block3 514 P32 bus number Block 1 P32 OutputCANBUS Block1 2 P32 bus number Block 2 P32 OutputCANBUS Block2 2 P32 bus number Block 3 P32 OutputCANBUS Block3 2 P32 EA type Block 1 P32 OutputEAType Block1 0 P32 EA type Block 2 P32 OutputEAType Block2 0 P32 EA type Block 3 P32 OutputEAType Block3 0 Setting S1 Bi...

Страница 54: ...in rho4 B IO M Bus connection I O Gateway B IO M Bus connection Field bus PCI_BM DP B IO M DP I O Gateway B IOM DP PROFIBUS DP PCI_BM DP B IO M DP I O Gateway B IO M IBS InterBus S PCI_BM DP B IO M DP I O Gateway B IO M CAN CANopen PCI_BM IBS B IO M IBS I O Gateway B IO M DP PROFIBUS DP PCI_BM IBS B IO M IBS I O Gateway B IO M IBS InterBus S PCI_BM IBS B IO M IBS I O Gateway B IO M CAN CANopen PCI...

Страница 55: ...r Profibus DP is configured with the Windows tool WinDP To be able to set there the I O gateway the current version of the device master file RB030133 GSD version 1 3 is required The gateway uses here the PCL byte addresses 0 19 The setting is performed according to the following figure A PCL L licence at the Winpanel is required for the transfer of the set 20 byte ...

Страница 56: ... bus ma ster allocates addresses to the modules with increasing addresses from address 0 If a gateway is connected the gateway uses the byte address 0 to 19 3 3 6 Example of a B IO M CAN bus connection The windows tool WinCAN is used for the PCL resp the bus master PCI_BM_CAN to configure the I O gateway with CAN To use the I O ga teway there for transfer one sets for the setting 20 bytes switch a...

Страница 57: ...hoMotion 1070072367 04 Structure of the rho4 0 If only 8 bytes are required for the transfer then the switch can be set at the gateway to 8 bytes The configuration is then considerably easier since only one input block and one output block have to be set ...

Страница 58: ...the rho4 0 3 4 Fixed IP addresses The rho4 0 is delivered with the set IP address 192 168 4 1 Via the PHG mode 9 1 19 the address can be changed by the user at any time The address of the PCLrho4 0 can be changed via mode 9 1 11 At the time of the delivery 127 0 0 1 is the default setting ...

Страница 59: ...sible to use e g the following cables D 2 5 m long Ethernet cable 10Base T uncrossed with the order num ber 1070918793 D 5 m long Ethernet cable 10Base T uncrossed with the order number 1070919258 D 10 m long Ethernet cable 10Base T uncrossed with the order number 1070921384 D 25 m long Ethernet cable 10Base T uncrossed with the order number 1070918796 3 5 2 Linking of two rho4 0 Connection diagra...

Страница 60: ...ho4 0 to the switch uncrossed 1 1 cables must be used rho40_1_sw1 IP address 192 168 4 1 Subnet Mask 255 255 255 0 rho40_2_sw1 IP address 192 168 4 2 Subnet Mask 255 255 255 0 rho40_3_sw1 IP address 192 168 4 3 Subnet Mask 255 255 255 0 rho40_4_sw1 IP address 192 168 4 4 Subnet Mask 255 255 255 0 rho40_5_sw1 IP address 192 168 4 5 Subnet Mask 255 255 255 0 rho40_6_sw1 IP address 192 168 4 6 Subnet...

Страница 61: ... according to IEEE 802 3 a maximum of 4 switches can be cascaded according to the following connection dia gram If more rho4 0 are to be linked than it is possible to connect to 4 switches maximum a Backbone Network Topology with coaxial Ethernet cable must be used Connection diagram For the connection of the rho4 0 to the switch uncrossed 1 1 cables are to be used For the connection from switch t...

Страница 62: ...rho40_12_sw2 1 2 3 4 5 6 7 8 switch2 rho40_11_sw2 rho40_10_sw2 rho40_9_sw2 rho40_8_sw2 rho40_7_sw2 rho40_18_sw3 1 2 3 4 5 6 7 8 switch3 rho40_17_sw3 rho40_16_sw3 rho40_15_sw3 rho40_14_sw3 rho40_13_sw3 to switch4 rho40_5_sw1 rho40_4_sw1 rho40_3_sw1 rho40_2_sw1 rho40_1_sw1 IP address and subnet mask have to be entered via PHG mode 9 1 19 ...

Страница 63: ...that are to be remote controlled with alias names and IP address L Edit the alias name of the rho4 0 which are to be remote controlled in the file C Bosch rho4 Office VirtPHG ini in section VirtPHG at the item ServerAlias e g rho40_1 At the item ServerPortNo the same port number which was edited be fore at the PHG under MODE 9 1 17 must be inserted here e g 6100 The file hosts is to be found in th...

Страница 64: ...al times with alias names that are differently set When ROPS4 Online is connected with a rho4 0 the alias name and the connection type are displayed in the header Via this display the ROPS4 started several times can be distinguished Here ROPS4 Online is connected via TCP IP with the rho4 0 with the alias name rho40_2 Header with indication of alias name rho40_2 and connection type TCP IP ...

Страница 65: ...er programs are programmed with WinSPS instruction lists IL ladder diagram LD or sequential function chart SFC Varia ble names of user inputs and outputs in BAPS programs should be pro cessed in the PLC symbol file under the same name The OEM can activate program modules in the PCLrho4 0 from BAPS There are various instructions for controlling these program modules from BAPS PLC user tasks with fi...

Страница 66: ...o4 0 can be adjusted there Program files of the PCL can be adopted from a rho4 1 project as an option For this the check box Bausteine aus anderem Projekt überneh men Adopt components from another project in the dialog Neue Steuerung anlegen Create new control is used rho4 0 with PCLrho4 0 Signal exchange In the rho4 0 the rho4 0 operating system and the PLCrho4 0 are imple mented on a dedicated h...

Страница 67: ...hannel which is able to transmit larger quantities of data from to the PLC READ WRITE PLC The TCP IP server used with the rho4 0 is also used at the Ethernet con nection to implement this data channel The server packages data into protocol blocks and sends them to the PLC destination station The follo wing figure shows the data flow between the rho4 and PLC over the TCP IP data channel rho4 0 BAPS...

Страница 68: ...E READ BAPS PLC Data Sequentializing and synchronization in blocks rho4 operating sy stem PCL OEM PLC Processing Synchronization into PLC data block Application PLC data channel reads or writes data from a data block BAPS example program for access to PLC data via PLC data channel RECORD Record declaration in declaration part INTEGER LENGTH Data length of data buffer to be transferred INTEGER DM_N...

Страница 69: ...for PLC write range WRITE_RANGE IVAR 128 Initialization of the components WRITE_RANGE RVAR 1234 23 of the PLC write range WRITE_RANGE PNTVAR STARTPOS Point from PNT file WRITE PLC WRITE_RANGE Transfer of write range to PLC READ_RANGE LENGTH SIZEOF READ_RANGE Length of PLC read range READ_RANGE DM_NO 2 Data module No 2 for PLC read range READ PLC READ_RANGE Transfer of read range from PLC X_RVAR RE...

Страница 70: ...d 1406 L Select WinSPS to get into the project settings L Select desired project The rho4 makes R4EN_4B PRJ available L If no project has been yet created with the control PCLrho4 0 select with the button New controller the control type PCLrho4 0 In the project R4EN_4B PRJ a program with the identification R4EN_4B R40 has been already created ...

Страница 71: ... program that is already existing L Via browser adjust the path of the already existing PCL program L Actuate the button Finish to get back into the project settings of WinSPS The control PCLrho4 0 is characterized through the identification R40 in the WinSPS project In the project R4EN_4B PRJ a program with the identification R4EN_4B R40 has been already created ...

Страница 72: ...exroth AG RhoMotion 1070072367 04 PCLrho4 0 L With the button Test adjust the TCP IP address of the rho4 0 to load the selected program via Editor Control Load into the PCLrho4 0 The TCP IP address can be read at the PHG2000 under mode 9 1 19 ...

Страница 73: ...he PCI BM DP the device master data Datei RB010104 GSD Version 1 1 vom 12 03 2001 is required The device master data must be deposited in the directory Device data base path in the pre settings WinDP see picture below As control r4en_4b r40 must be selected After setting the I O area 0 255 and the corresponding symbol file r4en_4bo sxs the bus master is configured ...

Страница 74: ...4 10 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 PCLrho4 0 Possible configuration for two B IO K DP 16DI 16DO appropriate to the PCLrho4 0 standard program R4En_4b ...

Страница 75: ...ho4 0 configuration with WinCAN 1 1 build 92 The configuration of the PCLrho4 0 with WinCAN is required for the use of a PCI BM CAN component As controller r4en_4b r40 must be selec ted After setting the I O area 0 255 and the corresponding symbol file r4de_4bo sxs the bus master is configured ...

Страница 76: ...4 12 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 PCLrho4 0 Configuration for 32 inputs and outputs appropriate to the PCLrho4 0 standard program r4de_4b ...

Страница 77: ...S component for the operation of the PCLrho4 0 with INTERBUS S there is the following possibility for the I O configuration D Physical addressing of the inputs and outputs i e all connected I O components are addressed in a free increasing order A data exchange is limited to the inputs I0 to I511 and the outputs O0 to O511 Higher addresses cannot be used ...

Страница 78: ...4 14 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 PCLrho4 0 Notes ...

Страница 79: ...the CANopen Sync Tele gramm Which objects from the Object Dictionary Machine parameters of the I O modules are supported by the single modules is to be read in the corresponding data sheets These objects are described in the same ASCII file as the drives and loa ded at the startup of the control in the I O modules download of the I O modules parameters If a I O module from Bosch is used Default pa...

Страница 80: ...is to be set D For each identifier of the local I O modules a reference to the entries in the Dss is required in the machine parameters P31 and P32 In the Bosch Dss program all CANopen nodes are designated as AXIS In dex The entries behind this designation apply for all CANopen no des e g axes local I O modules valves The index DssRef is introduced as subparameter of the machine parameters P31 and...

Страница 81: ...ronous Relation between NodeId Parameter 31 32 and DssRef axis x x DssRef for additional I O modules at the bus the contents of the file axis x 1 is the same All additional parameter for the module can be placed here PHASE 4 If a I O modules from Bosch is used Default parameters are available which make a description of the encoder objects in the ASCII file unne cessary To make these default param...

Страница 82: ...zed by means of the CANopen Sync Te legram After sending the Sync Telegram the encoders involved send each a position real value Which objects from the Standardized Enco der Profile Area supporting the encoders used can be read in the corres ponding data sheets These machine parameters are described in an ASCII file converted and loaded in the encoders in the startup of the control parameter down ...

Страница 83: ...chine parameter P401 In the case of CANopen axes or encoders as a reference of the Dss diagnosis service system the DssRef is to be taken as a further subparameter of the machine parameter P401 For each axis and each number the corresponding number in the Dss must be indica ted For each peripheral unit axis encoder I O modules an ASCII file must be created in which the CANopen specific parameters ...

Страница 84: ...000 0 A01 Command value output 1 A01 Dss reference 1 A02 Servo card 1 A02 CAN Plug number X51 A02 CAN modules number 1 A02 CAN axis number 2 A02 drive type 2 A02 Encoder dist per rotation 1 00 A02 Reference mode 0 A02 modulo Wert 100 A02 Measuring system factor 1000 0 A02 Command value output 2 A02 Dss reference 2 A03 Servo card 1 A03 CAN Plug number X51 A03 CAN modules number 1 A03 CAN axis numbe...

Страница 85: ...e type 2 A04 Encoder dist per rotation 1 00 A04 Reference mode 0 A04 modulo value 100 A04 Measuring system factor 1000 0 A04 Command value output 4 A04 Dss reference 4 B01 Servo card 1 B01 CAN Plug number X51 B01 CAN modules number 1 B01 CAN Node ID 7 B01 drive type 5 B01 Number of rotations 4096 B01 Position offset 0 0 B01 Pulse rotation 4096 B01 Measuring system factor 1000 0 B01 Dss reference 0...

Страница 86: ... mode Relation between NodeId Parameter 31 32 and DssRef axis x x DssRef for additional encoder at the bus the con tents of the file axis x 1 is the same All additional parameter for the encoder can be placed here PHASE 4 By calling the XMP converter in ROPS4 Online a machine parameter binary file is created which can then be transferred into the rho4 per cou pling function These parameters are tr...

Страница 87: ... axis see descrip tion Sercos interface chapter 6 D Measuring system input of the incremental measuring system D Measuring system input of a CANopen encoder 5 3 2 Machine parameters The setting of the machine parameter occurs via the parameters 401 and the group 500 In the subparameter of P401 CAN axis number the controlled axis indi cated is the axis from which the measuring system is used for th...

Страница 88: ...s number 1 A01 CAN axis number 1 A01 drive type 2 A01 Encoder dist per rotation 1 00 A01 Reference mode 0 A01 modulo value 100 A01 Measuring system factor 1000 0 A01 Command value output 1 A01 Dss reference 1 A02 Servo card 1 A02 CAN Plug number X51 A02 CAN modules number 1 A02 CAN axis number 2 A02 drive type 2 A02 Encoder dist per rotation 1 00 A02 Reference mode 0 A02 modulo Wert 100 A02 Measur...

Страница 89: ...reference 3 A04 Servo card 1 A04 CAN Plug number X51 A04 CAN modules number 1 A04 CAN axis number 4 A04 drive type 2 A04 Encoder dist per rotation 1 00 A04 Reference mode 0 A04 modulo value 100 A04 Measuring system factor 1000 0 A04 Command value output 4 A04 Dss reference 4 B01 Servo card 1 B01 CAN Plug number X51 B01 CAN modules number 1 B01 CAN axis number 3 B01 drive type 2 B01 modulo value 10...

Страница 90: ... 1000 0 A01 Command value output 1 A01 Dss reference 1 B01 Servo card 1 B01 CAN Plug number X51 B01 CAN modules number 1 B01 CAN Node ID 5 B01 drive type 5 B01 Number of rotations 4096 B01 Pos Offset 0 B01 Pulse per rotation 4096 B01 Measuring system factor 1000 0 B01 Dss reference 0 B02 Servo card 1 B02 CAN Plug number X51 B02 CAN modules number 1 B02 CAN Node ID 5 B02 drive type 5 B02 Number of ...

Страница 91: ...d 4096 steps per revolution T R TR ECE TI D 0035 V001 CE 65M 110 01990 Multiturn encoder with 4096 revolutions and 4096 steps per revolution Parameter P 30 I O Conf CAN The CAN chipspecific parameter baudrate kind of protocol of the 3rd CAN interface are prompted additionally P 31 P 32 Addr CAN I Addr CAN O With P 31 P 32 it is possible to enter a 3 for the bus number P 401 Equipment of the measur...

Страница 92: ...ere are two different analog output modules available for current and voltage output 5 5 1 Bus switching The modular field bus switching B IO M CAN can be driven by means of the CANopen protocol or also with the Bosch rho conformal CAN proto col The protocol is selected by the setting of the machine parameter P30 With a bus switching different analog I O modules can be combined and operated A comb...

Страница 93: ...ution in this modules is 12 bits including signs The input modules 4AI_UIT has a resolution of 14 bits including signs with flush left representation 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...

Страница 94: ...ration 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 p...

Страница 95: ...1 to 8 384 Node ID 2 9 to 16 640 Node ID 3 17 to 24 384 Node ID 1 4 25 to 32 640 Node ID 1 D CAN Bus Number The CAN Bus number indicates with which of the both CAN busses fo the rho4 the B IO modules are operated Only the numbers 1 and 2 are authorized They correspond to the CAN plug number X51 and X52 Examples CAN input parameter Example1 A bus switching B IO M CAN is operated together with an an...

Страница 96: ...witch on the value 8 The module is connected via the CAN plug X52 to the rho4 As CAN identifiers to be set it follows Block1 384 8 392 Block2 640 8 648 Block3 384 8 1 393 bus swit ching B IO M CAN NODE ID 8 Analog input module 1 Block 1 Identifier 392 Analog input module 4AI_U Block 2 Identifier 648 Analog input module 4AI_UI Block 3 Identifier 393 4AI_UIT 2 3 For the configuration the following s...

Страница 97: ...M area For inputs and outputs there are 2 RAM areas physically separated 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 output blocks the start address relates to the rho interface D Block length The block length has for all analog modul...

Страница 98: ...eter Example1 A bus switching B IO M CAN is operated together with an analog input module 4AO_U The node ID of the B IO M CAN module is set via the DIP switch on the value 9 The module is connected via the CAN plug X52 to the rho4 As CAN identifier to be set it follows 512 9 521 Bus switching Analog output module B IO M CAN NODE ID 9 4AO_U Block 1 Identifier 521 For the configuration the following...

Страница 99: ...2 Block2 768 10 778 Block3 512 10 1 523 Bus swit ching B IO M CAN NODE ID 10 Analog output module 1 Block 1 Identifier 522 Analog output module 4AO_U Block 2 Identifier 778 Analog output module 4AO_I Block 3 Identifier 523 4AO_U 2 3 For the configuration the following settings are to be entered under ma chine parameter P31 IOKind Block 1 1 1stAdr Block 1 0 Length Block 1 8 Ident Block 1 522 Bus no...

Страница 100: ...nalog channel within the rho4 internal RAM area For Inputs and Outputs there are 2 separate physical RAM Areas The setting is to be performed as follows RAM BegAdr ANA input 1 0 RAM BegAdr ANA input 2 2 RAM BegAdr ANA input 3 4 RAM BegAdr ANA input 4 6 RAM BegAdr ANA input n n 1 2 D Format For the data format a numerical representation in 2 s complement positive and negative decimal numbers Format...

Страница 101: ... be delivered to analog output channels 1XX Output actual position Axis XX or Belt XX XX 1 Number of axes Number of belts 2XX Decimal output in a BAPS program The speci fied channel number must be used to declare the analog output in the BAPS program 3XX Output reference position Axis XX 400 Kin No Output reference position Axis XX 450 Kin No Output actual path speed Kinematic X only for robot typ...

Страница 102: ...ltage or current output range is obtained provided that a left aligned representa tion has been selected With right aligned representation and a resolution of 12 bits ex ample 4AO_UI module the obtained maximum value will be only 1 16 of the nominal value D Offset A voltage offset can be specifed for analog outouts that is added to the output value The offset is specified as a percentage of the ma...

Страница 103: ...tics Machine parameter P30 I O configuration CAN Number of input blocks 1 Number of output blocks 1 Number of SR CAN modules 0 CANopen Download 0 I O configuration CAN 1 D Baud rate 0 D CANrho 0 CANopen 1 0 I O configuration CAN 2 D Baud rate 0 D CANrho 0 CANopen 1 0 Machine parameter P31 ADR CAN I IOKind Block 1 1 1stAdr Block 1 0 Length Block 1 8 Ident Block 1 385 Bus no Block 1 2 Machine parame...

Страница 104: ...g outputs Analog output 1 D Meaning 201 D RAM BegAdr 0 D Format 0 D Nom val 1000 D Volt off 0 Analog output 2 D Meaning 202 D RAM BegAdr 2 D Format 0 D Nom val 1000 D Volt off 0 Analog output 3 D Meaning 203 D RAM BegAdr 4 D Format 0 D Nom val 1000 D Volt off 0 Analog output 4 D Meaning 204 D RAM BegAdr 6 D Format 0 D Nom val 1000 D Volt off 0 Machine parameter P406 Number of Analog inputs 4 ...

Страница 105: ...arameter P407 Meaning Analog inputs Analog input 1 D Meaning 201 D RAM BegAdr 0 D Format 0 D Nom val 1000 Analog input 2 D Meaning 202 D RAM BegAdr 2 D Format 0 D Nom val 1000 Analog input 3 D Meaning 203 D RAM BegAdr 4 D Format 0 D Nom val 1000 Analog input 4 D Meaning 204 D RAM BegAdr 6 D Format 0 D Nom val 1000 ...

Страница 106: ...ominal value 1000 10 Volt input REAL 201 AI1 202 AI2 203 AI3 204 AI4 analog inputs output REAL 201 AO1 202 AO2 203 AO3 204 AO4 analog outputs INTEGER INDEX REAL D1 D2 D3 D4 BEGIN Loop WRITE PHG cls D1 D4 WAIT 2 INDEX 10 REPEAT 20 TIMES AO1 100 INDEX AO2 100 AO3 700 AO4 900 WAIT 1 D1 AI1 D2 AI2 D3 AI3 D4 AI4 WRITE PHG cls D1 D2 D3 D4 WAIT 1 INDEX INDEX 1 REPEAT_END JUMP Loop PROGRAM_END ...

Страница 107: ...or rea ding and mode 7 8 6 4 for writing the machine parameters onto the SR CAN modules Read write functions For the communication with the SR CAN module the before mentioned read write functions are available As transfer parameters the SR CAN module number and the kinematic Kin1 to 16 have to be indicated in any case since a control can address several robots at the same time Machine parameter an...

Страница 108: ...ers are identical If a character has the value zero the machine parameter belonging to this character will not be taken over If the value unequals zero the machine parameter will be taken over If a file with the name srcan bnr exists in the user memory its contents will be used as filter for reading the machine parameters from the SR CAN module If this file is faulty or does not exist no machine p...

Страница 109: ...e also MP Download from VO05x in this chapter The serial number in the SR CAN module is not initialized at the time of shipment The serial number consists of an Ascii string with 64 charac ters which is initialized after a machine parameter back up In this case too the control will run up with the message serialnumber invalid see also MP Download from VO05x in this chapter When loading the machine...

Страница 110: ...l machine parameters Backup from SRCAN module will become effective at the automatically initialized control startup In the preceding versions VO01x VO04x the warning No MpFilter No 398848 is displayed and no machine parameter is adopted from the SRCAN module For the library functions the function rSGSrCAN in version VO05x changes in the same way If a filter file is present at the machine parame t...

Страница 111: ...th offset ad dress 1 at the module The Offset address is set at the SR CAN module It must be at least 1 All input or output addresses referring to a SR CAN module have to be adapted when changing the offset address The SR CAN module is equipped with a 8 position dip switch B8 B7 B6 B5 B4 B3 B2 B1 B1 to B5 Knot address B6 to B7 Baud rate B8 Bosch setting Remark B8 27 B7 26 B6 25 B5 24 B4 23 B3 22 B...

Страница 112: ...ntrols Bosch Rexroth AG RhoMotion 1070072367 04 CAN Bus peripheral equipment Read write MP PC Robi 1 SR CAN 1 Robi 2 SR CAN 2 valid ma chine pa rameter record MP filter srcan bnr Kin intermediate storage write MP write MP read MP ...

Страница 113: ...ho protocole The protocole is selected by the setting of the machine parameter P30 For the setting of the baud rate the CAN knot address and the protocole a 8fold DIP switch is integrated on the SR CAN module The analog ínputs of the SR CAN modules will then be transferred trouble free even if the digital outputs of the module are transferred from the rho4 See page 5 16 CAN I O parameter Machine p...

Страница 114: ...t on the rho4 side Is this not the case the transmission of the inputs will also be interrupted and the rho4 signals the status No transmission CAN In order to use the analog inputs of the SR CAN module it is not neces sary to set the subparameter Number of the SR CAN module But if it is set the parameter P37 Electrical type plate must then be adapted Siehe also section 5 6 After P30 has been ente...

Страница 115: ...which one of the two CAN busses the I O module is driven at It must be ensured that there is no overlap for the address assignment In the machine parameter P407 the 8 byte data block is assigned to the 4 input channels See also 5 38 assignment of the analog input chan nels P407 Identifier depends on the adjusted node ID Offset address of the SR CAN module Identifier 640 Node ID 2 Digital input blo...

Страница 116: ...he block number n is obtained from the whole configuration of CAN mo dules n 1 40 1stAddr gives the initial address in the rho4 interface and must be mat ched with other digital input channels Identifier depends on the adjusted Node ID Offset address of the SR CAN module Identifier 512 Node ID Analog I O parameters In the 400 group of the machine parameters the number of the analog I O inputs and ...

Страница 117: ...e has been connected with 4 analog ínputs the RAM initial ad dresses in P407 must be changed into 8 10 12 14 D Format The data format is to be set to the 2 complement positive and nega tive decimal numbers Format 0 D Nominal value The required nominal value to be doubled since the internal number representation of the SR CAN module is connected to the factor 0 5 The SR CAN module only yields the v...

Страница 118: ...f Digital output blocks P30 Number of I blocks Number of axes P302 Number of Digital input blocks P30 The number of the I and O blocks must be calculated separately for each CAN Bus When using the digital inputs and outputs on the SR CAN modules they are to be taken into account for the number of the digital input and output blocks P30 The following tables indicate the maximum assignment of both C...

Страница 119: ...ler baud rates the transfer time increases by the corresponding factor e g 220 µs 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 w...

Страница 120: ...I blocks 3 Digital input blocks 3 Example 2 D 4 axes D 2 DESI65 K CAN digital output modules with 1 byte each 1 O Block module D 3 DESI65 K_CAN digital input modules with 1 byte each 1 I Block module D Coupling to another rho4 CAN Bus 1 X51 CAN Bus 2 X52 4 axes all digital I O modules Coupling to the second rho4 control Number of O blocks 1 4 axes 2 Digital output blocks 7 Number of I blocks 4 axe...

Страница 121: ...give rise to overlaps between axis and digital I O modules Servodyn G Servodyn D DESI65K CAN RM65M CO BIO K CAN CANopen I O modules encoder axes SYNC ID 100 SYNC ID 100 SYNC ID 100 SYNC ID 100 SYNC ID 128 Set values maximum 6 axes ID 200 10 i i 1 to 6 Set values maximum 16 axes ID 200 10 i i 1 to 16 210 210 260 360 Inputs ID 384 i i 1 to 99 Inputs Area 1 ID 384 i i 1 to 127 Inputs Area 1 ID 384 i ...

Страница 122: ... D Servodyn G Servodyn D DESI65K CAN RM65M CO BIO K CAN CANopen I O modules encoder axes actual values ID 600 10 i i 1 to 6 actual values ID 600 10 i i 1 to 16 610 610 611 620 620 630 630 639 639 640 640 Inputs Area 2 ID 640 i i 1 to 127 Inputs Area 2 ID 640 i i 1 to 127 641 641 650 650 660 660 760 767 767 Outputs Area 2 ID 768 i i 1 to 127 Outputs Area 2 ID 768 i i 1 to 127 769 769 841 ...

Страница 123: ...Rexroth AG RhoMotion 1070072367 04 CAN Bus peripheral equipment Servodyn G CANopen I O modules encoder axes RM65M CO BIO K CAN DESI65K CAN Servodyn D 895 895 SDO area 1 ID 1408 i i 1 to 127 1409 1536 SDO area 2 ID 1536 i i 1 to 127 1537 1663 ...

Страница 124: ...t switch logic in drive 0 Limit switch monitoring inactive 1 Limit switch monitoring active for Servodyn G 0 Manual 1 Automatic Active torque limit value 1 S 0 0092 R 109 P 724 0 0 S 1 0092 R 110 P 724 1 Drive On axisX DRIVE_X_RCI No 320 to 343 O40 0 to O42 7 for Servodyn G Drive On axisX DRIVE_X_RCI No 320 to 343 O40 0 to O42 7 0 power final stage Out 1 power final stage In only possible when the...

Страница 125: ...n1 MF_INPUTx_RCO x axis No 1 4 1 K CPU calculation time F 06 Output at RC Outputs I2t limitation K Timeout Temperature trigger F 69 Output at RC Outputs I2t limitation No 232 to 255 Address O29 0 to O31 7 K ZSK2 Warning No 232 to 255 Address O29 0 to O31 7 reserved for gear monitoring Status message CAN Current fault Code 25216 axis No 1 H ZSK2 interface Status message CAN communic fault H ZSK2 Wa...

Страница 126: ...5 48 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 CAN Bus peripheral equipment Reset condition in rho4 H Control start up G Basic position Interface Signal K Reset not required ...

Страница 127: ...vice channel The required parameters are transmitted to the drives via the service channels are used in the startup phases phases 2 and 3 In the running time commands e g S 0 0099 Zsk1 Reset are trans mitted to the drives via the service channels 6 1 2 Cyclic data exchange The rho4 0 supports the operating mode Position interface with cyclic set value indication Setting S 0 0032 b 0000 0000 0000 x...

Страница 128: ...o4 Bit 8 9 Set operating mode fixed on 00 corresponds to main operating mode S 0 0032 Bit 10 IPOSYNC see SERCOS specification Bit 13 Drive break is set fixed on 1 by the rho4 Bit 14 Drive release rho4 interface signal Drive On all axes or Drive On axis x DRIVE_x_RCI No 320 bis 343 O40 0 bis O42 7 Bit 15 Drive on up to version VO05C rho4 interface signal EMERGENCY STOP not EMERG_N_RCI No 128 O16 0 ...

Страница 129: ...s For drives that support only short ATs the list will be shortened corres pondingly Example Maximum length of the configurable AT 10 Byte S 0 0016 S 0 0051 S 0 0189 S 0 144 2 bytes drive status Total length 12 Byte The configuration of the axis telegrams can be changed by the user in the drive amplifier To overwrite the configuration preset by the rho4 the ident number S 0 0016 must be taken over...

Страница 130: ...are transmitted in mm or de grees Weighting translation 1 LSB 10 4 mm Weighting rotation 1 LSB 10 4 The axes can be operated as D SERCOS absolute interface which enables a two channel limit switch monitoring in the rho4 0 and in the drive amplifier D Modulo interface which enablesa two channel limit switch monito ring in the rho4 0 The axes can be operated as endless axes e g as round axis ...

Страница 131: ...ettings declares an axis as a SERCOS axis A_1 Servo B 1 number of the servo board at present always 1 A_1 SCS Plug X71 plug No of the SERCOS interface A_1 SCS Ring No 1 running number of the SERCOS ring at present always 1 A_1 SCS Axis No 1 SERCOS address of the corresponding drive amplifier corresponds to the setting on the Personality module in the amplifier A_1 drive type 10 identification for ...

Страница 132: ... 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...

Страница 133: ...ch Rexroth drive ampli fiers always enter 1000 00 Machine parameter P38 The baud rate and the download of the drive parameters are set via P38 SERCOS INTERFACE Baud rate MBaud 2 Transfer rate of the interface Par download 0 1 1 Perform download of drive parameters 6 2 2 SERCOS specific drive parameters The SERCOS specific drive parameters are called in the following ex tended Machine parameter XMP...

Страница 134: ...ram S 0 00010 Length Master data telegram S 0 00015 Telegram type parameter S 0 00016 Configuration list drive telegram default S 0 00024 Configuration list master data telegram S 0 00089 Emission moment master data telegram T2 If one of the listed parameters is set additionally in the DSS Ascii File the values except S 0 0016 are ignored during the download If the parameter download is activated ...

Страница 135: ...e controlled referencing P401 Ref Mode 10 Referencing is started by the rho4 via command Drive controlled refe rencing S 0 0148 The drive performs on its own the reference run according to the set pa rameters see Servodyn D parameter manual No 1070066018 After the reference run is completed the reference position determined by the drive is adopted by the rho4 as actual value Activation in the rho4...

Страница 136: ...n the warning Separate referenc axis x code No 268416 axis number 1 arises D in the automatic operation the program with status message Se parate referenc axis x code No 268416 axis No 1 is inter rupted D if the reference run is interrupted owing to an error by the drive in the rho4 the status message Ref point error axis x code No 268288 axis No 1 arises ...

Страница 137: ... axis x code 169472 x 1 The indicated axis could not be identified x axis number e g x 3 means 3rd axis Check axis addresses in rho4 and drive ampli fier Check baud rate Sercos error Phase2 axis x Y zzz code 169600 Sercos error Phase3 axis x Y zzz code 169728 Sercos error Phase4 axis x Y zzz code 169728 The indicated drive parameter cannot be trans mitted owing to an error x axis number Y SERCOS p...

Страница 138: ...xis No Read error code at the seven segment display of the drive amplifier or read via DSS State class 1 S 0 0011 separate referenc axis x code 268416 x 1 In the automatic operation the attempt was made to start drive lead referencing for more than 8 SERCOS axes at the same time x axis number of the axes that cannot be started Ref point error axis x code 268288 x 1 Drive lead referencing has been ...

Страница 139: ... for Bosch Rexroth Servodyn D drives The number of the identifiers in the configurable AT for Servodyn D drives is limited to 5 at the maximum The input buffer in the rho4 is assigned as a standard as follows S 0 0135 2 Byte drive status S 0 0051 4 Byte position actual value motor encoder S 0 0189 4 Byte hauling distance S 0 0144 2 Byte signal status word S 0 0084 2 Byte torque actual value S 0 00...

Страница 140: ...osition actual value S 0 0051 for motor encoder or S 0 0053 for external encoder D Only ident numbers may be entered which are contained in the list of the configurable data set in the AT S 0 0187 of the corresponding drive 6 5 2 Treating of the axis telegrams in the rho4 0 From the rho4 0 the ATs of all axes are read in each scanning cycle Always 22 bytes per axis are reached to the PLC If less t...

Страница 141: ...t be guaranteed that there is a transmission to the PCL at each clock P5 If a transmission of drive data to the PCL is not yet completed and there is new drive data on the rho4 0 that is not transmitted yet this data will be then rejected The data consistency of the ATs to the rho4 0 I O interface is guaranteed in this way Setting P21 PLC PARAMETER For the setting of the parameter P21 the final ad...

Страница 142: ... Transmission of the rho4 0 system counter Additionally to the ATs the internal rho4 0 system counter is supplied at each transmission to the PCL The counter is increased by the clock start time set in the machine parameter P5 at each clock of the rho4 0 The rho4 0 system counter occupies 4 bytes and has the value range 2 147 483 648 to 2 147 483 647 The rho4 0 system counter is an allround counte...

Страница 143: ...ho4 0 The following pictures show an example of the SERCOS axis telegrams on the PCL In the symbol file of the PCL program 640 bytes in the I O area of the PCL are reserved The number 640 bytes results from 22 Byte AT per axis 24 axes 528 Byte Reserve 108 Byte rho4 0 system counter 4 Byte Number of the bytes to be transmitted 640 Byte ...

Страница 144: ...e The address situation of the ATs is not set for all values on 32 bit limits The values with 4 byte characterization must be copied be fore the evaluation in the PCL on 32 bit limits The values are to be weighted as described in section 6 5 2 This also applies to the other values of the ATs ...

Страница 145: ...f 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 o...

Страница 146: ...e reporting allowed 11 Absolute value reporting possible encoder is treated as an abso lute encoder but not allowed S 0 0117 Feedback 2 resolution This parameter indicates the resolution of the external encoder This value means D With rotative encoders the number of divide periods or cycles per ro tation of the encoder shaft DP rotations D With linear motors the resolution in mm mm bar division D ...

Страница 147: ...t set as follows D 2 Incremental encoder with sine signals 1V signals by the company Heidenhain D 5 Incremental encoder with rectangle signals by the company Heidenhain D 8 Encoder with EnDat interface D 9 Cogwheel with 1Vpp signals P 0 0185 Control word of encoder 2 optional encoder This parameter offers the possibility to assign a determinated functiona lity to the optional encoder If the option...

Страница 148: ...ting 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 nu...

Страница 149: ...value reporting allowed 11 Absolute value reporting possible encoder is treated as an abso lute encoder but not allowed If the external encoder is used as belt encoder only feeedback type ro tative is permitted Bit 0 0 S 0 0117 Feedback 2 resolution This parameter indicates the resolution of the external encoder The va lue means with rotative encoders the number of deviding periods or cy cles per ...

Страница 150: ...s D 0 No encoder D 1 GDS GDM encoder from Bosch Rexroth D 2 Incremental encoder with sine signals 1V signals by the company Heidenhain D 3 Resolver with data memory D 4 Encoder with Hiperface interface D 5 Incremental encoder with rectangle signals by the company Heidenhain D 6 Motor encoder of motors MSK Motor type keyfield Encoder S2 resp M2 D 8 Encoder with EnDat2 1 interface by the company Hei...

Страница 151: ... S 0 0051 Position feedback 1 value motor enco der and S 0 0053 Position feedback 2 value ext encoder are instal led as aforementioned The remaining parts of the drive telegram are freely usable by the user 6 6 5 Machine parameter at rho4 The required settings in the rho4 must be set in P401 Equipment of the measuring system boards P401 4 Subquery dependent on measuring system SERCOS axis number I...

Страница 152: ... switch on of the drive amplifier resp restart of the rho4 and with drive controlled referencing the position value of the ex ternal encoder S 0 0053 is equated to the position value of the inter nal encoder S 0 0051 Therefore it must be ensured that after a restart or referencing the belt encoder value is always set to the desired value by the belt synchroni sation logic reset belt encoder ...

Страница 153: ...and the option of being able to monitor the process The program sequence is compiled from icons in the form of a program sequence plan D Machine parameter converter Using a converter readable and edita ble ASCII amp files can on the one hand be created from bin ma chine parameter files The other part of the converter converts ASCII files into machine parameter files which can then be loaded into t...

Страница 154: ...the same screen display which he crea ted and with which he is familiar as shown for example in the following figure All applications which run under ROPS4 Online can be called up directly via the Start menu The applications have in their menu bar a special menu item called Tools under which the other programs can be acces sed This menu item can be expanded and modified by the user as requi red ...

Страница 155: ... Winnt system32 dri vers etc rho4 0 server The rho4 0 has several servers which each have their own port number but which have the same IP address Server name Port number Services Coupling 6010 ROPS link Printer 6020 print SER_1 6031 V24_1 SER_2 6032 V24_2 SER_3 6033 V24_3 SER_4 6034 V24_4 WIN_1 6051 Read write in BAPS WIN_2 6052 Read write in BAPS WIN_3 6053 Read write in BAPS WIN_4 6054 Read wri...

Страница 156: ...67 04 Software rho4 0 clients The following clients are contained in the operating system of the rho4 0 The relevant servers are located in the PCL Client name Port number Services PLC_Interface 5100 Cyclical transmission of the interface data PLC 5110 Write PLC in BAPS ...

Страница 157: ... rho4 0 file system is block oriented i e a file is distributed over a number of data blocks The data blocks are 512 bytes in size Block 1 Adr 00512 Text dat This is a sequential file The blocks are located at Block 2 Adr 01024 contiguous addresses Block 3 Adr 01536 Free block Block 3 Adr 02048 Free block Block n Adr XXXXX Last block File is sequential in memory Block 1 Adr 00512 Text dat This is ...

Страница 158: ... many times maximum 255 times i e various processes can read from the same file However a file can only be opened for writing once Closing files and backup copy When an existing file is opened for writing the file management system first creates a copy of the original This copy is only available to the pro cess which opened it until it is closed down Until then the old file remains unchanged After...

Страница 159: ...o4FktSvr Remote PC IP Address 192 168 5 1 User memory rho4 0 real time Hostname rho40_1 BAPS1 BAPS2 rho40 FDS 6091 6094 rho file rF class The rho file class functions allow access to the rho4 file system as well as Windows file management hard disk network This access is possible from a BAPS program and a Windows program A detailed description can be found in the manual DLL library Using the rho f...

Страница 160: ... dll are required This program and the corresponding INI and DLL file are also installed during the ROPS4 installation The files are then in the following directories C Bosch rho4 winexe rho4FktSvr exe C Bosch origin rho4FktSvr ini C Bosch rho4fkt rho4fkt dll Server and INI file can be filed on the remote PC in any directory but both in the same one The DLL must be copied into the direc tory C WIN...

Страница 161: ...Floppy Disc rFxMpFloppy 8071 copies the extended machine parameter file of the rho4 0 to the rho4 0 Fds Floppy Disc rhoArchive rA class Can only be called as a Windows DLL The ROPS4Fkt dll function library is used to link the functions The requi red link types as well as detailed documentation are found in the include file rA h Only one server is available in the controller rho Online functions fo...

Страница 162: ...n name rA Function no Comment rAComInit 14000 Initializes the serial port rAComExit 14001 Closes the serial port rATCPCon 14002 Establishes a connection to the IP Port Ad dress specified rATCPDis 14003 Closes the TCP connection rAUpload 14010 Copies a file from working memory to the hard disk rADownload 14020 Copies a file from the hard disk into working memory rAList 14030 Lists the files in the ...

Страница 163: ... multiple attributes When it is created a file has all attribu tes RWD i e everything is permitted The table below lists which actions demand which attribute read write delete list X read X write X delete X X X rename X copy X execute X X X attribute required no effect The system and hidden attributes are a special case Files with one of these attributes are not displayed by the controller i e the...

Страница 164: ...f hidden files PHG2000 handling The rho4 0 has a supervisor mode This supervisor mode is activated and deactivated through the PHG2000 The relevant PHG2000 menu item is password protected Hidden files are only displayed and may only be modified in this mode The supervisor mode is deactivated when the rho4 0 is started Accor dingly hidden files will not be displayed and the hidden attribute cannot ...

Страница 165: ...k from electro static discharge ESD Electrostatic discharge Abbreviation for all terms concerning electrostatic discharges eg ESD pro tection ESD hazard I O Input Output LCD Liquid Crystal Display LED Light Emitting Diode MMI Man Machine Interface OEM Original Equipment Manufacturer PCL PC programmable logic control PE Protective Earth PHG Hand held programmer Programmier Handgerät PLC Programmabl...

Страница 166: ...Y STOP devices 1 5 ESD Electrostatic discharge 1 6 grounding 1 6 workplace 1 6 ESD sensitive components 1 6 Example of a B IO M CAN bus connection 3 34 Example of a B IO M IBS bus connection 3 34 F File hosts 7 3 File attributes 8 7 File management 8 1 Floppy disk drive 1 7 G Grounding bracelet 1 6 H Hard disk drive 1 7 Hub 3 37 I I O modules 5 1 I O Gateway 3 14 3 32 Interbus S 3 32 IP addresses ...

Страница 167: ...face 6 1 SERCOS machine parameter 6 5 Servodyn D rho4 Interface 5 46 Small linking 3 37 Spare parts 1 6 SR CAN Machine parameter P314 5 32 SR CAN module 5 29 read 5 29 write 5 29 SR CAN MP Download 5 32 SR CAN serial number 5 31 SR CAN module 5 1 Standard operation 1 1 Status messages Servodyn D rho4 5 47 System overview 2 1 T Test activities 1 5 Trademarks 1 8 V Virtual PHG 3 41 ...

Страница 168: ...A 4 Electric Drives and Controls Bosch Rexroth AG RhoMotion 1070072367 04 Appendix Notes ...

Страница 169: ...ontrols P O Box 13 57 97803 Lohr Germany Bgm Dr Nebel Str 2 97816 Lohr Germany Phone 49 0 93 52 40 50 60 Fax 49 0 93 52 40 49 41 service svc boschrexroth de www boschrexroth com Printed in Germany DOK RHO 4 RHO4 0 SYSB PR04 EN P 1070072367 ...

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