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Initial commissioning

4–14

1070 066 037-101 (00.02) GB

4.3

Optimizing the drive controller

As a rule, the drive performance is satisfactory when the parameter settings
described above have been made, i.e. it is not necessary to make more ad-
justments at the control unit.
If necessary, however, the position controller, the speed controller and the
filter can be modified within the servo system.

In order to visualize the effects of optimization on the control loop, a storage
oscilloscope and the OM4 option module with suitably parameterized mea-
suring outputs (cf. section 4.2.12, page 4–13) are absolutely necessary.

CAUTION
Any interventions in the parameters of the control units are reserved
to persons with profound knowledge of the individual control unit
parameters and experience in the optimization of servo loops!

The following block diagram is designed to give you an overview of the pa-
rameters of the servo loop:

–

–

P-component of speed controller

S-0-0100

Integral-action component of speed controller

S-0-0101

Speed limit value

S-0-0091

Acceleration limit value

S-0-0138

Actual speed

S-0-0040

Selection of filter type

P-0-0120

Limit frequency of low pass filter

P-0-0121

Quality of band rejection filter

P-0-0122

Center frequency of band rejection filter P-0-0123

Actual value smoothing interval P-0-0013

–

from encoder evaluation

Feed-for-

ward con-

trol (S32,

P500)

Loop gain factor

S-0-0104

Position setpoint

S-0-0047

Position actual value S-0-0051
Following distance

S-0-0189

Position setpoint
change P-0-2552

Cyclic instructions to the
drive, such as
– setpoint condition of
OUT1
– type of interface
– power ON/OFF
– brake ON/OFF
are contained in P-0-2550
in bit code (bits 0, 5, 6 and
7). The drive is enabled
through the CAN bus.

In P-0-2551, the drive re-
turns its status to the rho.

rho:

linear

interpolation

Speed setpoint
S-0-0036

Torque setpoint
S-0-0080

P-component

S-0-0106, S-0-0119

Integral-action component

S-0-0107, S-0-0120

Torque limit value

S-0-0092

Actual

speed

value

Position

actual

value

Speed

controller

Rejection

filter/low-

pass filter

Current

controller

PWM

output

Actual

current

value

Position

controller

The parameters of the current controller are critical for the drive behav-
ior. They must not be changed without having consulted Bosch.

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Содержание Servodyn-D

Страница 1: ...Servodyn D with CANrho interface Commissioning with DSS Antriebs und Steuerungstechnik Servodyn D 101 Edition ...

Страница 2: ...ning with DSS 1070 066 037 101 00 02 GB 2000 by Robert Bosch GmbH Erbach Germany All rights reserved including applications for protective rights Reproduction or distribution by any means subject to our prior written permission Discretionary charge DM 10 ...

Страница 3: ...hases 3 8 3 5 2 Save main memory 3 9 3 5 3 Load main memory 3 10 3 5 4 Resetting errors class 1 3 10 4 Initial commissioning 4 1 4 1 Creating a template file 4 1 4 2 Parameterizing the drive 4 4 4 2 1 Operating frequency of the power output stage 4 5 4 2 2 Main operating mode 4 5 4 2 3 Limit values 4 6 4 2 4 Behavior after Drive off or a fault 4 7 4 2 5 Behavior after removal of the external drive...

Страница 4: ...ing cyclic telegrams 6 5 6 5 Separate window for cyclic display 6 6 6 6 Reading parameter values into the template file 6 7 A Appendix A 1 A 1 Pin assignment of the CAN interface at the drive X51 A 1 A 2 Pin and terminal assignment of the T adapters A 1 A 3 CAN bus wiring rho3 and 1 CAN bus A 2 A 4 CAN bus wiring rho3 and 2 CAN buses A 3 A 5 CAN bus wiring rho4 A 4 A 6 Index A 5 ...

Страница 5: ...3 23 EEC the harmonized standards EN 50178 VDE 0160 and EN 60146 1 1 VDE 0558 11 are designed for operation in industrial environments emission class A i e no direct connection to public low voltage power supply connection to the medium or high voltage system via a transformer In residential environments in trade and commerce as well as small en terprises class A equipment may only be used if it d...

Страница 6: ... equip ment Interventions in the hardware and software of our products unless de scribed otherwise in this manual are reserved to our specialized personnel Tampering with the hardware or software ignoring warning signs attached to the components or non compliance with the warning notes given in this manual may result in serious bodily injury or material damage Only electrotechnicians as recognized...

Страница 7: ...ons 1 3 1070 066 037 101 00 02 GB 1 3 Safety markings on products Warning of dangerous electrical voltage Electrostatically sensitive components Lug for connecting PE conductor only Connection of shield conductor only ...

Страница 8: ... in whole or in part may result in personal injuries 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 circumstances This symbol is...

Страница 9: ...s damage to equip ment or environmental hazards Possible retrofits or modifications to the system using third party equipment therefore have to be ap proved by Bosch DANGER Health hazards through destroyed electrical components Do not destroy any built in components Dispose of destroyed com ponents in a proper manner DANGER Please note your local system specific regulations and require ments as we...

Страница 10: ...d for modules and com ponents sensitive to electrostatic discharge ESD Personnel responsible for storage transport and handling must have training in ESD protection ESD sensitive components must be stored and transported in the pre scribed protective packaging ESD sensitive components may only be handled at special ESD work places Personnel working surfaces as well as all equipment and tools which...

Страница 11: ...missioning manual 1070 066 014 1070 066 034 Servodyn D with CANrho interface Commissioning manual 1070 066 017 1070 066 037 Servodyn D with motion control Commissioning manual 1070 066 015 1070 066 035 Diagnostics maintenance 1070 066 012 1070 066 032 1070 066 062 1070 066 052 Redundant safety monitoring RSU 1070 066 006 1070 066 026 1070 066 081 1070 066 082 EMC manual 1070 066 072 1070 066 074 1...

Страница 12: ... yyyy software creation year Modifications Modifications in the present manual as compared to the previous edition are marked by black vertical bars in the margin This symbol is used in illustrations to call your attention to any modifi cations made Trademarks All trademarks of software installed on Bosch products upon delivery are the property of the respective manufacturer Upon delivery all inst...

Страница 13: ...requires general knowledge of the Windows user interface e g start exit programs open save files change program windows etc In the present manual we suppose that this knowledge is available CAUTION Commissioning by insufficiently qualified personnel may cause severe damages to the machine and drives or even personal injuries Commissioning is therefore reserved to appropriately trained technical pe...

Страница 14: ...ply on Measure the voltage of the 24V supply at the con nector It must be between 20 8 28 8 V Turn the power supply on and measure the voltage It must be between 342 510 V Turn the power supply and the 24 V supply off Do not proceed unless all connectors terminals are de energized Plug in all connectors terminals except the CAN connectors X51 to the in verters Check connectors for proper assignmen...

Страница 15: ... by output OUT4 of the inverter In order to avoid faults and overload a relay must be connected in series Holding brake Check holding brake for proper functioning if the motor is equipped with a holding brake The holding brake is released when 24VDC are connected The contactor is triggered by the OUT3 output of the inverter In order to avoid faults and overload a relay must be connected in series ...

Страница 16: ...ddress may appear only once on a CAN bus S2 S3 Address __ __ hex S2 S3 Address 02 hex Example The hexadecimal value set at these switches is entered as a decimal value under CAN input of rho machine parameter 401 thus defining the assignment between the inverter and the axes of the kinematics cf section 2 4 Baud rate Set the desired baud rate on rotary switch S4 rho3 1000 kBaud no other setting pe...

Страница 17: ...ill occur an annular core on the connection lead may be helpful Use the folding ferrite coil part no 1070 918 766 Connect COM1 or COM2 of the PC to X99 of the first inverter in the drive chain and record the PC port used Cannon connector 9 pole Type RS 232 Cable length max 15 m Cable type screened min core cross section 0 14 mm2 Transmission rate 9600 bps Parameters even parity 8 data bits 2 stop ...

Страница 18: ... basic image Selection in the Primary connection field 1 V 24 connection If no inverter is connected the DSS may also be operated offline In this case it will simulate an inverter Set the data in the Interface Preferences field 2 through one of the follow ing dialogs Click on OK to return to the Establish connection dialog Clicking on OK in this dialog will cause the DSS to try and establish the d...

Страница 19: ...d inverter you then have to re initialize the DSS This is the only way to ensure that the DSS does not work with invalid or outdated data CAUTION Uncontrolled motor movements are possible For as long as the drive is enabled you must neither press the Reset key nor disconnect the cable between the DSS and the drive First stop the movement and disable the drive Initiate the Initialize module type co...

Страница 20: ...OR or by clicking on in the icon bar or by clicking on the command button in the icon bar or the DSS basic image Enter the proper settings for S 0 0002 1 1 Enter the value 2 in the upper left field Then press the Enter key or click on the Get button In the Date field the DSS will now display the current cycle time setting of the drive 2 Enter the desired value for the CAN cycle time in the Date fi...

Страница 21: ...he axis addresses of the inverters rotary switches S2 and S3 page 2 4 must have been correctly assigned to the individual rho axes using the CAN input sub parameter The Drive type sub parameters must have been assigned the value 1 Servodyn D The Number rotations sub parameters must be assigned as follows for the applied axes when an SF motor with MTG is connected input 4096 when an SF motor with a...

Страница 22: ...alized by the rho and completely booted The 7 segment display at the inverters must then show 4 The CAN LED s are permanently on CAN LED green Meaning off CAN bus interrupted flashing only the synchronization message is received on CAN bus in operation If the CAN LED s are not lighted check the complete wiring of the CAN bus on the basis of the data in the annex from page A 1 It should now be poss...

Страница 23: ...1 Changes the DSS program window and exits the program 2 Changes a DSS specific window Please note that iconized window symbols may be covered by open win dows Covered windows can be displayed by selecting the Windows menu Icon bar The meaning of the command buttons is also displayed when the mouse pointer is on the command button Symbols for axis selection without function in this figure invokes ...

Страница 24: ...mand buttons and available functions Selecting command buttons that have several functions will open up a pull up menu Monitor edit parameter on line Load file edit parameter off line DSS expert DSS post office not with CANrho interface Parameterization Global information Oscilloscope no function with analog interface Setpoint generation only for user group of Service Level 2 Interface Axis x Modu...

Страница 25: ... of the parameters to dis play its information in the upper fields Current changeable parameter number Current changeable pa rameter value When the Data text appears dimmed the data cannot be changed Input limits of the current parameter Read current pa rameter from the drive Transfer current parameter to the drive Parameter change becomes immediately ac tive Save all parame ters in the list as sc...

Страница 26: ... to the Changeable field in the attributes bar shown in the Servodyn D parameter description manual for this information Otherwise you will receive a fault message of the type Date of parameter xy currently write protected Unable to change date of or ID number xy is unknown For phase switching refer to page 3 8 After transmission parameters will remain active until you switch the drive off or pres...

Страница 27: ...guage of the drive The language of the drive is defined in parameter S 0 0265 via the DSS monitor The languages listed in S 0 0266 may be selected 0 German 1 English This field contains all parameters including number name data value and unit if applicable that have been read or imported at least once since the last monitor call corresponds to English language Enter the numerical value of the desi...

Страница 28: ... parameters displayed in this field Therefore the parame ter names in this field are still shown in the previously selected language The new setting will only remain active until you switch off the drive or press the RESET button on the inverter To switch the drive permanently to the new language you have to perform the Save main memory command cf section 3 5 2 ...

Страница 29: ... special issues The Service user group is password protected The corresponding pass words are available on request For making changes select the menu sequence OPTIONS PREFERENCES USER current user group character inputs are dis played as CAUTION Unauthorized access to protected functions possible If you have changed the user group to Service you should com plete the necessary operations and restar...

Страница 30: ...change over prior to the first phase change From this moment and until the drive is booted again only the DSS can change the phases of this drive instead of the rho control This condition is indicated in the module configuration display in the DSS master area by the checked phase field cf figure on page 6 1 Changing to the higher next phase menu sequence CONTROL PHASE INCREMENT or click on in the ...

Страница 31: ...M to the FEPROM The rho can also initiate the Save main memory function during a parameter download For this purpose the value 3 has to be entered in machine parameter P737 CAUTION FEPROM will be deleted All data contained in the FEPROM will be replaced with the data cur rently stored in the RAM by the Save main memory command This process cannot be reversed If you are not sure whether you still n...

Страница 32: ...versed If you are not sure whether you still need the old RAM data please contact your systems administrator before executing this command Change the drive to phase 0 1 2 or 3 Select the menu sequence CONTROL MAIN MEMORY LOAD 3 5 4 Resetting errors class 1 If errors of diagnostics class 1 have occurred the drive will be interlocked optimum shut down with subsequent torque removal To enable the dri...

Страница 33: ...te file The template file contains all parameters required for startup Especially the procedure for starting up several drives is facilitated by this file For every drive to be started up a parameter list containing all relevant parameters can be loaded into the DSS monitor The template file can be completed with the current parameter values of the drive at any time by selecting FILE FILL TEMPLATE...

Страница 34: ...20 p121 p122 p123 p125 p505 p2000 p2002 s91 s92 s 1 92 s 2 92 s 3 92 s104 s126 s138 s159 s206 s207 s260 p500 p2010 p2014 p2015 p489 s264 s204 Save the new parameter list by clicking on Export and close the DSS editor Identical parameters may have different default values in the rho and are al ways indicated as a decimal number there cf list on page 4 3 Therefore you should copy this list once for ...

Страница 35: ... Current setpoint filter selection of filter type all 4 0 716 P 0 0121 Current setpoint filter Limit frequency of low pass filter all 4 2000 717 P 0 0122 Current setpoint filter Quality of band rejection filter all 4 1 718 P 0 0123 Current setpoint filter Center frequency of band rejec tion filter all 4 2000 719 P 0 0125 Control word external enable 0 0 drive stops without setpoint control 1 acc t...

Страница 36: ...ues to your requirements in the course of the parameterization procedure for mode of functioning of the DSS monitor cf page 3 3 The following sections are not based on the parameter numbers but rather on the higher level function Please note that the current drive phase may have to be changed prior to a parameter change cf page 3 8 After having parameterized a function test it for the proper drive...

Страница 37: ...e the Save main memory command The new setting will not be active before the drive has been rebooted To boot the drive press the RESET key of the drive after booting activate the Init module type command 4 2 2 Main operating mode The main operating mode S 0 0032 defines the general behavior of the drive and the type of setpoint supplied Since the rho supplies cyclic position data changes to the dr...

Страница 38: ...ow changeable in phase 3 4 The monitoring window defines the maximum permissible speed setpoint of the drive by which differences between the position setpoint and the actual position can be corrected Exceeding this value will shut down the drive with the fault message output F13 excessive controller deviation Input as of the maximum speed specified in S 0 0091 S 0 0200 Amplifier warning temperatu...

Страница 39: ...lting without setpoint control option for P 0 0125 the drive torque will be removed as soon as the Drive on signal or the external enable signal become low 4 2 6 Holding brake S 0 0206 Waiting time drive on changeable in phase 3 4 S 0 0207 Waiting time drive off changeable in phase 3 4 Waiting time drive on accounts for the time required for releasing the brake thus preventing excessive wear The D...

Страница 40: ... The parameters which may be assigned to the OUT1 output are shown by the D M entry in the Real time bit column of the attributes bar in the Parameter description manual Parameters that may be changed via an input are marked by the M D entry in the Real time bit column of the attributes bar Furthermore the Reset class 1 error may be triggered via an input com mand starts with rising edge and stops...

Страница 41: ...0 0217 Gaps in the signal configuration should be filled with S 0 0000 Example 1 If only IN4 is to be assigned program P 0 2000 as follows P 0 2000 0 0 0 Par Example 2 If only IN3 is to be assigned program P 0 2000 as follows P 0 2000 0 0 Par Execute the Save main memory command By entering P 0 2550 CANrho control word in P 0 2002 outputs the status of OUT1 is influenced by the rho By entering P 0...

Страница 42: ...LC S 0 0092 S 0 0084 S 0 0126 S 0 0334 torque actual value Mdlimit Md Torque limit values Message Md Mdlimit S 0 0333 torque threshold Mdx Message Md Mdx Md bipolar If one of the monitoring features responds contents of S 0 0333 or S 0 0334 becomes HIGH the drive internally responds by setting certain bits in parameter S 0 0013 diagnostics class 3 Further reactions such as reduction of torque or s...

Страница 43: ...e recommend assigning ascending torque limit values to S 0 0092 to S 3 0092 By this method you ensure that no excessive torque is acti vated in the event of a cable break Switch the drive to phase 2 Assign the value S 0 0217 to two unused list positions of parameter list P 0 2000 The first entry of S 0 0217 assigns input signal no 1 to the correspond ing input The second entry of S 0 0217 assigns ...

Страница 44: ... A 2 step torque reduction with the following maximum torques is to be imple mented via digital input IN1 alone No 1 IN1 24 V 0 V 10 of Mmax 100 of Mmax Input signal active torque limit value weighting in percent Required parameters S 0 0092 10 S 1 0092 100 P 0 2000 S 0 0217 1st entry for IN1 4 2 11 Torque reduction via rho4 automatic manual mode Changing over from automatic to manual mode on rho4...

Страница 45: ...0 2014 and P 0 2015 within the scope of the parameter download Select the menu sequence OPTIONS ANALOG I O ANALOG OUTPUTS Max value fields P 0 2012 to P 0 2015 define for which value 10 V are output IDN fields P 0 2010 determine the parameter value to be output at the corresponding output Offset fields P 0 2012 to P 0 2015 define for which value 0V are output Turns the related output on or off Adj...

Страница 46: ...t value S 0 0091 Acceleration limit value S 0 0138 Actual speed S 0 0040 Selection of filter type P 0 0120 Limit frequency of low pass filter P 0 0121 Quality of band rejection filter P 0 0122 Center frequency of band rejection filter P 0 0123 Actual value smoothing interval P 0 0013 from encoder evaluation Feed for ward con trol S32 P500 Loop gain factor S 0 0104 Position setpoint S 0 0047 Positi...

Страница 47: ... necessary for entering and testing parameters Start with the default value of S 0 0100 approx 50 You may use the following sequence chart for optimizing the speed control Start End no yes Motor vibrating Enter speed n 0 no yes Optimized actual value smoothing no yes no yes Motor vibrating no yes no yes S 0 0100 sufficient End Optimized low pass fil ter Optimized rejection circuit Increase P compo...

Страница 48: ...were specified in the course of optimiza tion the drive moves directly to the new position as soon as a Kv 0 becomes active Now readjust the loop gain factor S 0 0104 using the DSS Remove the drive enable signal and turn the power supply to the drive off Execute the Save main memory command ...

Страница 49: ...d data from drive Read data from file Write data to file Get The DSS reads all relevant parameters from the drive Import The DSS reads all relevant parameters from a file If the specified file does not contain all required parameters the DSS will first use the current parameter values or system de fault values In addition to the Block diagram text the path and name of the specified file will be di...

Страница 50: ...log is closed Detailed information band stop Up to 4 filters connected in series can be activated Depending on the se lected filter type input fields are displayed for configuration Click on the radio buttons in order to define the filter type or deactivate indi vidual filters Click on the input field to be modified and enter the desired values The Parameter info field now shows the parameter name...

Страница 51: ...d or accidental robot movements When entering setpoints via the DSS setpoint box or setpoint gener ator the safety relevant functions of the rho control unit are not active Furthermore with complicated mechanics it is difficult to estimate the effects of direct axis control on the complex robot mechanics and the resulting hazard area Therefore you should only use test programs for the rho which tr...

Страница 52: ... the menu sequence FILE IDN BACKUP Enter a new file name The drive is switched to phase 4 then reads all pa rameters stored in the FEPROM and saves them in the previously specified file An exception are driver files and the data of the electronic rating plate When all drive data has been backed up you may proceed to the parameter ization of the next drive 1 Remove the connection cable from X99 and...

Страница 53: ...rter for set ting and saving parameters in the rho For more information please refer to the rho machine parameter manual Enter all parameters of the completed download parameter lists to the rho machine parameter group 7xx Assign the value 1 to P701 of all axes to turn the parameter download to the drives on Make sure that all data is saved in the rho RESET all drives and reboot the rho Due to the...

Страница 54: ...as in a conven tional text editor For more information on the structure and syntax of scs files please refer to the DSS help system which you may call up with HELP CONTENTS in the DSS files paragraph of the Syntax chapter 3 Save any modifications with Export The previous file will be overwrit ten The modified file will not become active in the drive unless you transmit it to the drive by clicking ...

Страница 55: ... has not been enabled All drives are connected to the rho control via the CAN bus the green CAN LED s at the inverters are lit The 7 segment display of all inverters displays 4 The desired language has been set Transmit all parameters of the completed download parameter lists to the rho machine parameter group 7xx Use the PHG2000 or the ROPS4 machine parameter converter for set ting and saving par...

Страница 56: ...Series commissioning 5 2 1070 066 037 101 00 02 GB Notes ...

Страница 57: ...ors Select the menu sequence DIAGNOSES MODULE CONFIGURATION or click on the command button in the DSS basic image and then select Module configuration Do not perform any operations mouse click keyboard entry etc before the module configuration display appears The DSS will only read the necessary information from the drive when the module configuration display is called up this process may take a f...

Страница 58: ...ters S 0 0011 to S 0 0013 Displaying cyclic data Select the menu sequence DIAGNOSES MODULE STATUS DISPLAY or click on the command button in the DSS basic image and then select Module Status Display Drive status in plain text as per S 0 0095 Display of max 4 parameters For configuration cf page 6 3 For displaying parameters in sepa rate windows refer to section 6 5 page 6 6 Display of digital outpu...

Страница 59: ... rameters make sense whose value changes with time Click on the desired updating conditions Windows idle status fastest possible updating method Whenever the operating system is not busy performing other tasks the data will be updated Timer every xx seconds fixed time interval for updating default 3 seconds CAUTION The PC may respond very slowly to user activities The Windows idle status setting p...

Страница 60: ...SIGNALS or click on the command button in the DSS basic image and then select I O Signals Display of all input signals con figured in P 0 2000 The current status of the sig nals is derived from P 0 2001 Display of all output signals con figured in P 0 2002 The current status of the signals is derived from P 0 2003 The DSS indicates a HIGH level by the character in the checkbox Dimmed checkboxes in...

Страница 61: ...o the drive control word and position setpoint from the drive to the rho status word and actual position Select the menu sequence DIAGNOSES CYCLIC MESSAGE or click on the command button in the DSS basic image and then select Cyclic Message The data display is updated in the intervals set for the Module status dis play cf page 6 3 ...

Страница 62: ...y as value and as progress bar Enter the parameter to be displayed in the Ident no field Select Value or Progress bar as View type and the desired upper and lower limits for the Progress bar option Clicking on OK will close the DSS dialog and display the parameter cycli cally in a separate window The data display is updated in the intervals set for the Module status dis play cf page 6 3 Parameter ...

Страница 63: ...input the rho machine parameter group 7xx find out the differences between parameters of different drives Select the menu sequence FILE FILL TEMPLATE 1 2 Click on 1 in order to select the template file Only the parameters contained in this file will be read from the drive Click on 2 to enter the path and name of the target file Click on OK to generate the target file Click on OK to start the funct...

Страница 64: ...Diagnoses 6 8 1070 066 037 101 00 02 GB Notes ...

Страница 65: ...lready in clude all necessary jumpers and terminating resistors A 2 Pin and terminal assignment of the T adapters CAN_Low CAN_High CAN_GND CAN_GND 1 5 4 3 2 1 120R CAN_Low CAN_High CAN_GND CAN_GND 1 5 4 3 2 1 9 8 7 6 5 4 3 2 9 8 7 6 5 4 3 2 CAN_Low CAN_High CAN_GND CAN_GND 6 0 9 8 7 Transit connector black Part no 1070 919 029 Terminating connector green Part no 1070 919 030 for connecting an inve...

Страница 66: ...nding on baud rate rho3 rho4 or CANopen A 3 CAN bus wiring rho3 and 1 CAN bus 15 8 6 15 8 6 rho3 5 CAN_Low CAN_High 1 2 3 4 8 6 7 2 3 6 7 Inverter X51 5 9 CAN_Low CAN_GND CAN_High 1 2 3 4 8 6 7 2 7 Inverter X51 5 9 2 3 6 7 5 X51 Cannon 15 pin max length of the complete CAN bus 20 m max 6 inverters can be connected when using T adapters note the pin assignment of the adapters cf page A 1 ...

Страница 67: ...3 4 8 6 7 2 7 Inverter X51 5 9 2 3 6 7 5 X51 Cannon 15 pin max length of every single CAN bus 20 m max 6 inverters can be connected to each CAN bus when using T adapters note the pin assignment of the adapters cf page A 1 14 7 13 14 7 13 12 CAN_Low CAN_High 1 2 3 4 8 6 7 2 3 6 7 Inverter X51 5 9 CAN_Low CAN_GND CAN_High 1 2 3 4 8 6 7 2 7 Inverter X51 5 9 2 3 6 7 12 CAN bus 1 CAN bus 2 ...

Страница 68: ...nd X52 each The max length of every single CAN bus depends on the baud rate used cf page 2 4 The rho4 control is capable of managing a maximum of 24 axes and 16 kinematics Although in theory all axes can be addressed by 1 CAN bus it is better to distribute all axes over both CAN buses The maximum number of axes may be limited by the required clock frequency rho parameter P5 and other equipment lin...

Страница 69: ...ocumentation 1 7 Documenting the parameters of a drive 6 7 Download parameter list 4 3 Drive Display configuration 6 1 Displaying the status 6 2 ON Enable Start 6 2 DSS initialize 2 7 DSS monitor 3 3 Load file 3 3 Save file 3 4 E EMC Directive 1 1 EMC product standard 1 1 EMERGENCY STOP circuit Check functioning 2 3 EMERGENCY STOP devices 1 5 Enable signal external 4 7 Errors resetting 3 10 ESD El...

Страница 70: ...in assignment X99 2 5 Plug brake Controlling via OUT4 4 8 Plug brake enable delay 4 8 Plug braking 4 8 Plug braking resistor Check control logic 2 3 Positioning acceleration 4 6 Power output stage Operating frequency 4 5 Proper use 1 1 Protection against unauthorized interventions 3 7 Q Qualified personnel 1 2 R Release 1 7 Reset 2 7 rho parameter list 4 3 RS232 2 5 S S 0 0002 2 8 Safety instructi...

Страница 71: ...Automationstechnik Antriebs und Steuerungstechnik Postfach 11 62 D 64701 Erbach Fax 49 0 60 62 78 4 28 1070 066 037 101 00 02 GB HB AN AT PLS Printed in Germany USA Robert Bosch Corporation Automation Technology Division Fluid Power Products 7505 Durand Avenue USA Racine Wisconsin 53406 Fax 414 5 54 81 03 Robert Bosch Corporation Automation Technology Division Factory Automation Products 816 East ...

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