Bosch Rexroth Rho 4.0, Описание системы

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6−14 Electric Drives
and Controls Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
In the drive
The axis telegrams can be configured 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 into the list of the parameters to be trans-
ferred by the rho4 (scs file).
To define the S-0-0016, the following is to be observed:
D
drive status is a fixed part of the AT
D
Length of the configurable AT: 20 bytes or maximum length suppor-
ted by the drive (S-0-0185), if it is smaller than 20 bytes
D
Maximum number of ident numbers in the AT of the corresponding
drive amplifier, e.g. 5 for Servodyn-D drives
D
The first value in S-0-0016 must always be the position 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 than 22 bytes
are sent by the drive, the free area is filled with zeros. The data is pas-
sed on 1:1, i.e. it is available in the PLC program accordingly to the
weight set in the drive.
Example:
S-0-0051 Position actual value
Data type : Integer32 (4Byte)
Display format : Decimal
Number of digits
after decimal point
: 4
Assessment factor : 1
=> 12500 corresponds to 1.25 [mm or degree]
The first both values in the AT (drive status and position actual value)
are used additionally within the rho4.0 for the error display and the posi-
tion display.