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Bosch Rexroth Rho 4.0 System Description

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Industrial
Hydraulics
Rexroth IndraControl VCP 20
Rexroth Rho 4.0
System description
Project planning
Electric Drives
Linear Motion and
and Controls
Assembly Technologies
Service
Mobile
Pneumatics
Automation
Hydraulics
1070072367
Edition 04

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Summary of Contents for Bosch Rexroth Rho 4.0

  • Page 1 Industrial Electric Drives Linear Motion and Service Mobile Hydraulics and Controls Assembly Technologies Pneumatics Automation Hydraulics Rexroth IndraControl VCP 20 Rexroth Rho 4.0 1070072367 Edition 04 System description Project planning...
  • Page 2 DOK-RHO*4*-RHO4.0*SYSB-PR04- 01.2005 Valid from VO08 EN-P E Bosch Rexroth AG, 1998 − 2005 Copyright Copying this document, giving it to others and the use or communication of the contents thereof without 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).
  • Page 3 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG and Controls Overview of all manuals Overview of all manuals Manual Contents System overview Connection conditions Rho 4.0 Connection conditions Rho 4.0 Installation Electrical connection Interfaces LED display Maintenance and replacement Order numbers System description Rho 4.0...
  • Page 4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Overview of all manuals Manual Contents Software File management Scope of the rho4.1 Software Manual Contents Control functions Control functions Survey of special functions Accurate position switching Setting the machine position...
  • Page 5 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG and Controls Overview of all manuals Manual Contents Measuring system parameters Belt parameters Drive parameters Servodyn-GC Drive parameter Servodyn-D Table of parameters Manual Contents BAPS3 Programming manual BAPS3 Programming manual Program structure...
  • Page 6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Overview of all manuals Manual Contents Function key assignment The marker box File ROPS4WIN.ini Selection of a file TCP/IP settings for ROPS4 Manual Contents DLL library DLL library Library functions Calling library functions in BAPS Block structure of the rho4.1...
  • Page 7 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG and Controls Overview of all manuals Manual Contents DDE-Server DDE-Server Introduction Hardware and Software Operation Items of Server 4 Scope of function...
  • Page 8 VIII Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Overview of all manuals Notes:...

  • Page 9: Table Of Contents

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG and Controls Contents Contents Page Safety Instructions ..... . . 1−1 Intended use .
  • Page 10 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Contents CAN-Bus peripheral equipment ... 5−1 CANopen-Interface ........
  • Page 11 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG and Controls Contents Belt input via external encoder at EcoDrive/IndraDrive . . . 6−19 6.6.1 General ......... .
  • Page 12 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Contents Notes:...
  • Page 13 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 1−1 and Controls Safety Instructions Safety Instructions Please read this manual before you startup the rho4. Store this manual in a place to which all users have access at any time.
  • Page 14 1−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Safety Instructions Qualified personnel The requirements as to qualified personnel depend on the qualification profiles described by ZVEI (central association of the electrical industry) and VDMA (association of German machine and plant builders) in:...
  • Page 15 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 1−3 and Controls Safety Instructions Safety markings on products Warning of dangerous electrical voltage! Warning of danger caused by batteries! Electrostatically sensitive components! Warning of hazardous light emissions (optical fiber cable emissions)!
  • Page 16 1−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Safety Instructions Safety instructions in this manual DANGEROUS ELECTRICAL VOLTAGE This symbol is used to warn of a dangerous electrical voltage. The failure to observe the instructions in this manual in whole or in part may result in personal injury.
  • Page 17 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 1−5 and Controls Safety Instructions Safety instructions for the described product DANGER Danger of life through inadequate EMERGENCY-STOP devices! EMERGENCY-STOP devices must be active and within reach in all system modes. Releasing an EMERGENCY-STOP device must not...
  • Page 18 1−6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Safety Instructions CAUTION Danger to the module! Do not insert or remove the module while the controller is switched ON! This may destroy the module. Prior to inserting or...
  • Page 19 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 1−7 and Controls Safety Instructions Documentation, software release and trademarks Documentation The present manual provides information on the structures and functio- nalities, as well as the programming of the rho4.0. Overview of available documentation Part no.
  • Page 20 1−8 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Safety Instructions Release This manual refers to the following versions: Hardware version: rho4 Software release: ROPS4 Trademarks All trademarks of software installed on Rexroth products upon delivery are the property of the respective manufacturer.
  • Page 21 8 axes and 8 kinematics 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.
  • Page 22 2−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls System overview Notes:...
  • Page 23 The rho4.0 incorporates a CAN interface to the digital drive amplifiers (Bosch Servodyn D, Servodyn GC). In addition, an interface for SERCOS drives is available. A CAN interface is also used for the coupling of digital I/O. The PCLrho4.0 gives the possibility of communicating by means of PROFI-...

  • Page 24: Structure Of The Rho4.0

    3−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.1.1 Outline structure Windows applications rho4.0 task management Ethernet file management TCP/IP record preparation interpolation transformation Standard-PC...

  • Page 25: Rho4.0 Block Diagramm

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−3 and Controls Structure of the rho4.0 3.1.2 rho4.0 block diagramm External PC Driver V24/printer/power/ Hard disk/floppy/CD-ROM Static link Dynamic link ROPS4 Win.exe ROPS4fkt.dll ROPS4 Dynamic link Library Win.exe (Switcher) functions Dyna- Win.exe...

  • Page 26: Operating System Of The Rho4.0

    3−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.1.3 Operating system of the rho4.0 The operating system is saved and secured against voltage loss on a plug-in and an exchangeable compact flash disc (CF).
  • Page 27 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−5 and Controls Structure of the rho4.0 PHG2000-Display ’Memory management’ The PHG2000 display ’Memory management’ is switched on with mode 9.2, 9.3, 9.4, 9.9. Memory management GrdStell.ird 1864331 20.09.00 10:06 GrdStell.pkt 64322 18.09.00...
  • Page 28 3−6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 PHG2000-Display ’Floppy management’ With the PHG mode 9.8 (Floppy management) the following PHG2000 display is switched on: Floppy management GrdStel2.ird 2664331 20.09.00 10:06 GrdStel2.pkt 64322 18.09.00...
  • Page 29 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−7 and Controls Structure of the rho4.0 Key assignment for selection The following key combinations correspond to the cursor movements within the file list of the display: Standard keyboard assignment <up arrowl>...

  • Page 30: Digital I

    3−8 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Digital I/O On the rho4.0, (without additionally possible coupling of decentral I/O modules) 16 digital inputs and 8 digital outputs are available. 3.2.1 Digital inputs The digital inputs of the rho4.0 are multi-function inputs.
  • Page 31 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−9 and Controls Structure of the rho4.0 After the WAIT condition is met, the movement of the set 2) with a delay of 0.15 s (150 ms) is started. The precision resolution of the MAX_TIME is given through the interpo- lation cycle.
  • Page 32 3−10 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 WAIT UNTIL SL_INP_1=1 MOVE TO DEST_POS_1 ;PORTAL (Default-Kinematic) moves ;immediately if SL_INP_1=1 MOVE_REL SUPPLIER (0) ;ensures that WAIT-UNTIL instruction ;is working on SUPPLIER WAIT UNTIL SL_INP_2=0 MOVE SUPPLIER TO MAGAZIN ;SUPPLIER begins to move when SL_INP_2=0...
  • Page 33 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−11 and Controls Structure of the rho4.0 D IF STATE (’E801’) etc. Example for an input declaration: Input: 1 = Inp_1 ; Normal digital input 801 = SLInp_1 ; high-speed input from X21 1804 = Asyn_Inp_4 ;...

  • Page 34: Digital Outputs

    3−12 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.2.2 Digital outputs The digital outputs of the rho4.0 are multifunction outputs. They can be alternatively (not at the same time) used for several control functions:...
  • Page 35 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−13 and Controls Structure of the rho4.0 ADDR.MF2OUTPUT Signification/behavior Basic setting The available output addresses O52.0 to O52.7 are copied onto the digital outputs of the rho4.0 (X11) (MF2OUT01_RCI .. MF2OUT08_RCI).

  • Page 36: Operation With I/O-Gateway

    3−14 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Operation with I/O-Gateway PLC controls of different busses can be connected to each other with the B~I/O gateway and the modular bus connections B~I/O M-DP or B~I/O M-IBS and B~I/O M-CAN.

  • Page 37: Examples Of B~Io M-Can Bus Connections

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−15 and Controls Structure of the rho4.0 3.3.2 Examples of B~IO M-CAN bus connections Setting 8 Byte Example of the connection of a I/O-Gateway with 8 byte setting at the CAN Bus 2 (X52) of the rho4.0 with CANrho protocol.
  • Page 38 3−16 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Number of the output blocks Display PHG: MP SET P30 I/O-CONF. CAN Numb. of Out-BI.: 01 Baudrate CAN-Bus 2 Display PHG: MP SET P30 I/O-CONF. CAN 2...
  • Page 39 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−17 and Controls Structure of the rho4.0 P31 Address areas of the CAN inputs IOKind (0=digital, 1=analog) of the first block Display PHG: MP SET P31 ADR.CAN−I IOKind Block 1: Start address of the first block...
  • Page 40 3−18 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Bus number of the first block Display PHG: MP SET P31 ADR.CAN−I Bus−no.Block 1: Machine parameter Entry Machine parameter converter P31 Start address Block 1 P31.CANInpStAdr.Block1=208...
  • Page 41 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−19 and Controls Structure of the rho4.0 Length of the first block Display PHG: MP SET P32 ADR.CAN−O Length Block 1: Identifier of the first block Display PHG: MP SET P32 ADR.CAN−O Ident.
  • Page 42 3−20 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Setting S2, Node-ID = 2 Switch 8 Switch 7 Switch 6 Switch 5 Switch 4 Switch 3 Switch 2 Switch 1 reserved Node-ID Setting 20 Byte Example of the connection of a I/O-Gateway with 20 byte setting at the CAN Bus 2 (X52) of the rho4 with CANrho protocol.
  • Page 43 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−21 and Controls Structure of the rho4.0 Number of the output blocks Display PHG: MP SET P30 I/O-CONF. CAN Numb. of Out-BI.: 03 Baudrate CAN-Bus 2 Display PHG: MP SET P30 I/O-CONF. CAN 2...
  • Page 44 3−22 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 P31 Address areas of the CAN-inputs IOKind (0=digital, 1=analog) of the first block Display PHG: MP SET P31 ADR.CAN−I IOKind Block 1: Start address of the first block...
  • Page 45 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−23 and Controls Structure of the rho4.0 Bus number of the first block Display PHG: MP SET P31 ADR.CAN−I Bus−no. Block 1: IOKind (0=digital, 1=analog) of the second block Display PHG: MP SET P31 ADR.CAN−I...
  • Page 46 3−24 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Identifier of the second block Display PHG: MP SET P31 ADR.CAN−I Ident. Block 2: (Input identifier for Node-ID = 1, PDO2) Bus number of the second block...
  • Page 47 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−25 and Controls Structure of the rho4.0 Length of the third block Display PHG: MP SET P31 ADR.CAN−I Length Block 3: Block 3 has only a length of 4 bytes, since in the 20 byte setting at...
  • Page 48 3−26 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Machine parameter Entry Machine parameter converter P31 start address Block 1 P31.CANInpStAdr.Block1=208 P31 start address Block 2 P31.CANInpStAdr.Block2=216 P31 start address Block 3 P31.CANInpStAdr.Block3=224 P31 length Block 1 P31.CANInpLeng.Block1=8...
  • Page 49 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−27 and Controls Structure of the rho4.0 Display PHG: MP SET P32 ADR.CAN−O 1stAdr. Block 1: Length of the first block Display PHG: MP SET P32 ADR.CAN−O Length Block 1: Identifier of the first block...
  • Page 50 3−28 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Display PHG: MP SET P32 ADR.CAN−O IOKind Block 2: Start address of the second block Display PHG: MP SET P32 ADR.CAN−O 1stAdr.Block 2: Length of the second block...
  • Page 51 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−29 and Controls Structure of the rho4.0 Display PHG: MP SET P32 ADR.CAN−O Bus−no. Block 2: IOKind (0=digital, 1=analog) of the third block Display PHG: MP SET P32 ADR.CAN−O IOKind Block 3:...
  • Page 52 3−30 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 Display PHG: MP SET P32 ADR.CAN−O Ident. Block 3: (Output identifier for Node-ID = 1, PDO1 + 1) Bus number of the third block...
  • Page 53 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−31 and Controls Structure of the rho4.0 Machine parameter Entry Machine parameter converter P32 start address Block 1 P32.CANOutStAdr.Block1=208 P32 start address Block 2 P32.CANOutStAdr.Block2=216 P32 start address Block 3 P32.CANOutStAdr.Block3=224 P32 length Block 1 P32.CANOutLeng.Block1=8...
  • Page 54 3−32 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.3.3 rho4.0 with PCL field bus card In this variant, a rho4.0 with PCL field bus card (PCI_BM-DP, or PCI_BM- IBS, or PCI_BM-CAN) can exchange I/O information via the field busses Profibus DP or Interbus S or CANopen.

  • Page 55: Example Of A B~Io M-Dp Profibus Connection

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−33 and Controls Structure of the rho4.0 3.3.4 Example of a B~IO M-DP Profibus connection The I/O gateway for 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.

  • Page 56: Example Of A B~Io M-Ibs Bus Connection

    3−34 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.3.5 Example of a B~IO M-IBS bus connection No configuration of the PCI-BM-IBS is necessary for the connection of Interbus-S since the bus master configures itself on its own. The bus ma- ster allocates addresses to the modules with increasing addresses from address 0.
  • Page 57 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−35 and Controls 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...

  • Page 58: Fixed Ip Addresses

    3−36 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 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.

  • Page 59: Cabling

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−37 and Controls Structure of the rho4.0 Small linking with switches To combine several rho4.0 in a small network, switches can be used. 3.5.1 Cabling For the direct connection from a rho4.0 to a second rho4.0 (without net- work, without switch), it is possible to use e.g.

  • Page 60: Smallest Linking Of Up To 6 Rho4.1 With 8-Fold Switch

    3−38 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 3.5.3 Smallest linking of up to 6 rho4.1 with 8-fold switch With a 8-fold switch, up to 8 rho4.0 can be linked. To be able to extend the smallest network to a small network, 2 switch connections are kept free.

  • Page 61: Small Linking Of Several Rho4.0 With 8-Fold Switch

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 3−39 and Controls Structure of the rho4.0 3.5.4 Small linking of several rho4.0 with 8-fold switch Several rho4.0 can be linked with 8-fold switches through cascading of the switches. The maximum cascading number according to the manu- facturer indication is to be taken into account.
  • Page 62 3−40 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 rho40_6_sw1 rho40_5_sw1 rho40_4_sw1 rho40_3_sw1 rho40_2_sw1 rho40_1_sw1 switch1 rho40_12_sw2 rho40_11_sw2 rho40_10_sw2 rho40_9_sw2 rho40_8_sw2 rho40_7_sw2 switch2 rho40_18_sw3 rho40_17_sw3 rho40_16_sw3 rho40_15_sw3 rho40_14_sw3 rho40_13_sw3 switch3 to switch4 IP address and subnet mask have to be entered via PHG, mode 9.1.19.

  • Page 63: Remote Control With Rops4 And Virtual Phg

    IP address. 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.
  • Page 64 3−42 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Structure of the rho4.0 If several rho4.0 are to be remote-controlled at the same time, ROPS4 can be started several times with alias names that are differently set.

  • Page 65: Pclrho4.0

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−1 and Controls PCLrho4.0 PCLrho4.0 The rho4.0 uses an integrated PCLrho4.0 which provides its own I/O map and access to rho4.0 I/O. The PCLrho4.0 is programmed with WinSPS (from version 3.1), a PLC programming tool.
  • Page 66 4−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 The following PCL field bus cards can be alternatively plugged into the rho4.0 hardware: D PCI_BM_DP D PCI_BM_CAN D PCI_BM_IBS Besides the PCL functionality, the corresponding field bus (PROFIBUS- DP, CAN or INTERBUS-S) is also available.
  • Page 67 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−3 and Controls PCLrho4.0 Data channel In addition to the transmission of signalling information (bit level), data which can be accessed from BAPS can be exchanged with the PLC. For this, there must be access to the data from BAPS.
  • Page 68 4−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 Programming the data channel to the PLC coupling Programming via the data channel does not depend on the type of cou- pling for the Ethernet/system bus. The OEM only programs the type of data to be transmitted.
  • Page 69 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−5 and Controls PCLrho4.0 REAL : DVAR POINT : PNTVAR RECORD_END: WRITE_RANGE ;Declaration of record variables REAL : X_DVAR ;Auxiliary variables INTEGER: Y_IVAR BEGIN ;Length for the PLC write-range WRITE_RANGE.LENGTH=SIZEOF (WRITE_RANGE) WRITE_RANGE.DM_NO=1...

  • Page 70: Pclrho4.0 Programming With Winsps From Version

    4−6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 PCLrho4.0 programming with WinSPS from version 3.1 (build 1406) Select WinSPS to get into the project settings. Select desired project. The rho4 makes R4EN_4B.PRJ available. If no project has been yet created with the control PCLrho4.0, select with the button ’New controller’...
  • Page 71 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−7 and Controls PCLrho4.0 Click on the checkbox next to ’Insert modules from other project’ to adopt a PCL program that is already existing. Via browser adjust the path of the already existing PCL program.
  • Page 72 4−8 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 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...

  • Page 73: Pclrho4.0 Configuration With Windp From Version 2.10

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−9 and Controls PCLrho4.0 PCLrho4.0 configuration with WinDP from version 2.10 (build 677) To configure the 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’...
  • Page 74 4−10 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 Possible configuration for two B~IO K-DP 16DI/16DO, appropriate to the PCLrho4.0 standard program R4En_4b.

  • Page 75: Pclrho4.0 Configuration With Wincan 1.1 (Build 92)

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−11 and Controls PCLrho4.0 PCLrho4.0 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.
  • Page 76 4−12 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 Configuration for 32 inputs and outputs, appropriate to the PCLrho4.0 standard program r4de_4b.

  • Page 77: Operation Of The Pclrho4.0 With Interbus-S

    1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 4−13 and Controls PCLrho4.0 Operation of the PCLrho4.0 with INTERBUS-S When using a PCI_BM-IBS 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.
  • Page 78 4−14 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls PCLrho4.0 Notes:...
  • Page 79 I/O modules (download of the I/O modules parameters). If a I/O module from Bosch is used, Default parameters are available, which make a description of the I/O modules in the ASCII file unneces- sary.
  • Page 80 The CANopen specific I/O modules parameters are loaded in the startup phase of the control into the I/O modules. A ASCII file (file extension “.scs” created with the Bosch Dss or a text editor is used as basis. For each peripheral unit (axis, encoder, I/O modules), an ASCII file must be created, in which the CANopen specific parameters are set.
  • Page 81 ; 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 parameters active, a 0 must be entered in the subparameter DssRef of the parameter 401.
  • Page 82 XMP converter (extended machine parameter converter). (See also Ma- chine parameter Software Manual, XMP converter.) If an encoder recommended by Bosch is used, Default parameters are available, which make a description of the encoder objects in the ASCII file unnecessary. To make these default parameters active, a “0” must be entered in the subparameter DssReference of the parameter 401.
  • Page 83 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−5 and Controls CAN-Bus peripheral equipment 5.2.2 Machine parameter The CANopen interface is activated via machine parameters. A distinc- tion is made between control parameters and encoder parameters, i.e. there are two different, separated machine parameter files that are loa- ded in the control during the startup.
  • Page 84 5−6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Example for Machine parameter 401 : 4 axes and a CANopen encoder Servo card CAN-plug number CAN-modules number CAN-axis number Drive type Encoder dist. per rotation 1.00...
  • Page 85 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−7 and Controls CAN-Bus peripheral equipment Servo card CAN-Plug number CAN-modules number CAN-axis number drive type Encoder dist. per rotation 1.00 Reference mode modulo value Measuring system factor 1000.0 Command value output...
  • Page 86 5−8 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment CANopen specific encoder parameters The encoder parameters are written in ASCII files and are to be filed un- der the following names: ...\Axis1.scs e.g. drive parameter axis 1 (DssRef = 1) ...\Axis(n).scs...
  • Page 87 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−9 and Controls CAN-Bus peripheral equipment CAN belts Physical belt inputs can be the measuring system inputs or the Actual− or Command values of the regulated CAN axes (Servodyn-G, Servodyn- D and CANopen) as well as CANopen encoders. All supported measu- ring systems can be occupied by several belts.
  • Page 88 5−10 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Example 1 for Machine parameter 401 4 axes and the measuring system input of the 3 axis (CANopen axis) as belt Servo card CAN-Plug number...
  • Page 89 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−11 and Controls CAN-Bus peripheral equipment Servo card CAN-Plug number CAN-modules number CAN-axis number drive type Encoder dist. per rotation 1.00 Reference mode modulo value Measuring system factor 1000.0 Command value output...
  • Page 90 5−12 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Servo card CAN-Plug number CAN-modules number CAN-axis number drive type Encoder dist. per rotation 1.00 Reference mode modulo value Measuring system factor 1000.0 Command value output...
  • Page 91 The interface can only be used as belt input. Admissible physical belt inputs are CANopen encoder, which meet the directives of the CiA (Can in Automation International Users and Manu- facturers Group e. V.). Enocers recommended by Bosch: FRABA: 5812-4096-FBA1C203PG Multiturn encoder with 4096 revolutions and...
  • Page 92 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.
  • Page 93 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−15 and Controls CAN-Bus peripheral equipment 5.5.2 Analog I/O modules Analog input modules The analog input modules are available (see also manual ‘Input/Output modules for CL150, B~IO’): 4AI_UI 4AI_UIT Each of these modules has 4 analog input channels with 2 bytes data each.
  • Page 94 5−16 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment For the voltage output modules 4AO_U it is possible to choose for a reso- lution of 12 bits between a representation in the 2-complement or Straight Binary and additionally between flush left and flush right repre- sentation in the 2 byte word.
  • Page 95 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−17 and Controls CAN-Bus peripheral equipment D Block length: The block length has for all analog modules that are available at the moment 8 bytes (4 channels). D Identifier: A bus switching can supply a maximum of input blocks (32-I-byte) and 4 output blocks (32-O-Byte).
  • Page 96 5−18 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment For the configuration, the following settings are to be entered under ma- chine parameter P31: IOKind Block 1 1stAdr.Block 1 Length Block 1 Ident. Block 1 Bus-no.Block 1...
  • Page 97 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−19 and Controls CAN-Bus peripheral equipment IOKind Block 3 1stAdr Block 3 Length Block 3 Ident.Block 3 Bus-no.Block 3 Address areas of the CAN outputs (P32) The image of the analog CAN outputs is deposited in the rho4 in a sepa- rate RAM area.
  • Page 98 5−20 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 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.
  • Page 99 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−21 and Controls CAN-Bus peripheral equipment Example2: A bus switching B~IO M-CAN is operated together with 3 analog input modules. The node ID of the B~IO M-CAN module is set via the DIP switch on the value 10.
  • Page 100 5−22 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 5.5.4 Analog I/O parameter The 400 group of machine parameters is used to define the number of analog I/O channels and their configuration. Number of der analog inputs (P406) P406 indicates the number of the analog input channels.
  • Page 101 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−23 and Controls CAN-Bus peripheral equipment D With right-aligned representation and a resolution of 12 bits (ex- ample: 4AI_UI module), the obtained maximum value will be only 1/16 of the nominal value. This means that for an applied voltage of 10 V, an input value of 62.5 will be read in the BAPS program.
  • Page 102 5−24 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment D Format: For the output configuration 2XX (BAPS output, the data format can be set to a numerical representation in 2’s complement (positive and negative decimal numbers: Format = 0 ) or a straight binary represen- tation (only positive decimal numbers: Format = 1 ).
  • Page 103 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−25 and Controls CAN-Bus peripheral equipment 4AO_U analog output module: ±10 V output voltage for channel 1 to 4 DIP-switch S1 = 1111 0000 4AI_UI analog input module: ±10 V, 2’s complement, left-aligned, no...
  • Page 104 5−26 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Machine parameter P404 Number of analog outputs Machine parameter P405 assignment Analog outputs Analog-output 1 D Meaning D RAM-BegAdr D Format D Nom.val. 1000 D Volt.off. (%)
  • Page 105 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−27 and Controls CAN-Bus peripheral equipment Machine parameter P407 Meaning Analog inputs Analog-input 1 D Meaning D RAM-BegAdr D Format D Nom.val. 1000 Analog-input 2 D Meaning D RAM-BegAdr D Format D Nom.val.
  • Page 106 5−28 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 5.5.6 BAPS-Program PROGRAM ANA_IO ;****************************************************************************** ;*Demo program CAN−Analog−I/O with B~IO ;*P405,P407: Nominal value = 1000 = 10 Volt ;****************************************************************************** input REAL: 201 = AI1, 202 = AI2, 203 = AI3, 204 = AI4 ;analog inputs...
  • Page 107 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−29 and Controls CAN-Bus peripheral equipment 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.
  • Page 108 5−30 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment With the write function rSSSerialNb(), the serial number, parameter P314, is loaded into the SR-CAN module. The read function rSGSe- rialNb() supplies as return parameter the serial number of the addressed SR-CAN module.
  • Page 109 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−31 and Controls CAN-Bus peripheral equipment Character number Content (Hex) 1000 Normally, only kinematic-specific machine parameters are taken over. The general system parameters remain unchanged in the real time core of the rho4. If all entries are unequal zero, a machine parameter backup is performed.
  • Page 110 5−32 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment MP−Download from VO05x From the version VO05x, the behavior of the SRCAN module regarding the machine parameter download (transfer of the machine parameters from the SRCAN module into the control) is changed.
  • Page 111 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−33 and Controls CAN-Bus peripheral equipment The number of the SR-CAN modules is indicated in the machine para- meter P30. The settings for the analog I/O are described in section 5.7 Analog In- puts/Outputs of the SR-CAN module.
  • Page 112 5−34 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Read/write MP Robi 1 write MP SR-CAN 1 valid ma- chine pa- rameter record Robi 2 write MP SR-CAN 2 MP filter srcan.bnr read MP...
  • Page 113 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−35 and Controls CAN-Bus peripheral equipment Analog In-/Outputs of the SR-CAN module The SR-CAN modules has also 4 analog inputs besides the 8 digital in- puts and 8 digital outputs. The analog inputs can be read by the rho4 and processed in BAPS programs.
  • Page 114 5−36 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 5.7.3 Machine parameter settings CAN-I/O parameters I/O configuration of the CAN bus (P30) In machine parameter P30, 2 input blocks and 1 output block are inten- ded for the SR-CAN module.
  • Page 115 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−37 and Controls CAN-Bus peripheral equipment D IOKind Block n D 1stAdr.Block n D Length Block n D Ident. Block n D Bus-no.Block n The block number n is obtained from the whole configuration of CAN mo- dules (n=1..40).
  • Page 116 5−38 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Address range of the CAN outputs (P32) The machine parameter P32 configures the CAN ínputs. For each input block, the subparameters I/O type, initial address, block length, identifier and CAN-Bus number are to be adjusted (see also Analog I/O with CAN B~IO-modules, section 5.5.2).
  • Page 117 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−39 and Controls CAN-Bus peripheral equipment D RAM initial address: This relative address gives the position of the 2-byte data word for the analog channel within the rho4.0 internal RAM area. The first RAM initial address must be set equal to the initial address adjusted in P31.
  • Page 118 5−40 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Assignment of the CAN-Bus interfaces The rho4.0 has two, resp. three separate CAN-Bus interfaces: D Plug-No. X51 D Plug-No. X52 D Plug-No. X53 (only rho4.0 L) only usable as belt input The interfaces X51 and X52 can be engaged in certain limits with axes, digital I/O modules and SR-CAN modules.
  • Page 119 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−41 and Controls CAN-Bus peripheral equipment When SR-CAN-modules are used, the maximum number of I/O blocks reduces at the corresponding bus by 3 (independent on the number of the SR-CAN-modules). The indicated values refer to a baud rate of 1 MBaud (depending on the cable length).
  • Page 120 5−42 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 5.8.1 Examples Example 1 to 3 can be operated with screening times < 8ms. In ex- ample 4, a screening time of 8 ms at least is required.
  • Page 121 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−43 and Controls CAN-Bus peripheral equipment CAN-ID assignments The following table indicates the ID assignment of the CAN protocoles. The grey marked IDs are reserved for the set value and actual value protocoles of the axes and must not be used for I/O IDs.
  • Page 122 5−44 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Servodyn-G Servodyn-D DESI65K-CAN RM65M-CO CANopen BIO-K-CAN I/O-modules encoder, axes Servodyn-G Servodyn-D DESI65K-CAN RM65M-CO CANopen BIO-K-CAN I/O-modules encoder, axes actual values actual values ID = 600 + 10 * i...
  • Page 123 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−45 and Controls CAN-Bus peripheral equipment Servodyn-G Servodyn-D DESI65K-CAN RM65M-CO CANopen BIO-K-CAN I/O-modules encoder, axes area 1 ID = 1408 + i i = 1 to 127 1409 1536 area 2...
  • Page 124 5−46 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment 5.10 Servodyn-D-rho4 interface 5.10.1 Control data rho4 −> Servodyn-D Interface Signal rho4 Signification in the drive MF-output axisXOut1 Digital output Out1 (MF_OUTX_RCI) Free Free Activation limit switch logic in drive...
  • Page 125 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 5−47 and Controls CAN-Bus peripheral equipment 5.10.2 Status messages Servodyn-D −> rho4 Designation in the drive Error Effect in the rho4 Reset number Error messages, interface outputs Control voltage F 35...
  • Page 126 5−48 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls CAN-Bus peripheral equipment Reset condition in rho4: H = Control start-up G = Basic position (Interface-Signal) K = Reset not required...
  • Page 127 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−1 and Controls SERCOS interface SERCOS interface The SERCOS interface is realized in the rho4.0 as a digital drive inter- face. A SERCOS ring, at which up to 16 axes can be connected, is avai- lable on the pci−rho as a hardware.
  • Page 128 6−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface Telegramm rho4 => drive (MDT) The cyclic telegram has the following structure: S-0-0134 Master control word 2 Byte S-0-0047 Position set-value 4 Byte The master control word is operated by the rho4 as follows:...
  • Page 129 Drives => rho4 (AT) The axis telegrams are fixed on a maximum of 22 bytes per axis in the rho4. This corresponds to the maximum AT length 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.
  • Page 130 6−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface 6.1.3 Data size of position set-values and actual values The position set-values and actual values are transmitted in mm or de- grees: −4 Weighting translation : 1 LSB = 10 −4...
  • Page 131 SERCOS address of the corresponding drive amplifier (corresponds to the setting on the Personality module in the amplifier). A_1 drive type identification for Bosch Rexroth Servodyn-D- SERCOS drives A_1 enc.dist/rot: 1.0 Distance of the axis per encoder revolution in mm or deg (is only required with RC-lead refe- rencing) A_1 Ref.-Mode...
  • Page 132 => min. modulo value = 0,3 deg * 2= 0,6 deg A_1 ms.fact 1000.00 Measuring system factor When using Bosch Rexroth drive ampli- fiers always enter 1000.00. A_1 Com.output Running numbering of the set value out- puts (no double occupation admissible)
  • Page 133 They are else not required in the con- trol. An ASCII file created with the Bosch Rexroth DSS program is used as basis. The program DSS (Diagnosis and Service System) is used as startup help and diagnosis tool for the drive converter Servodyn-D.
  • Page 134 The drive parame- ters are saved in the Eeprom of the drive with SERCOS commando ’save memory command’ (S-0-0264 for Bosch Rexroth Servodyn-D drives). The download is then switched off in the parameter P38.
  • Page 135 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−9 and Controls SERCOS interface Referencing 6.3.1 RC-controlled referencing P401 Ref.-Mode = 0..3 The axes are referenced under rho4 control. Description of the different Ref modes, see software manual Control functions (No. 1070072420), chapter Reference point run at Servodyn-D with CAN interface.
  • Page 136 6−10 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface D during the attempt to start other axes, in the manual operation 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.
  • Page 137 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−11 and Controls SERCOS interface Status messages and warnings If an error at the SERCOS interface occurs during the startup phase, the startup of the control (without complete initialization of the SERCOS in- terface) will be finished.
  • Page 138 6−12 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface In incorrect parameter for parameter sets <> 0 (e.g. S−1−0104), the SERCOS−Ident number is displayed with 5 digits. The first digit indica- tes the number of the parameter set, the other four digits the parameter number.
  • Page 139 As input buffer for axis telegrams, a maximum of 22 bytes per axis is defined in the rho4.0. This corresponds to the maximum AT length 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.
  • Page 140 6−14 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls 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).
  • Page 141 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−15 and Controls SERCOS interface 6.5.3 Transmission of the axis telegrams to the PCLrho4.0 The ATs are defined in the rho4.0 with 22 bytes per axis. With a maxi- mumconfiguration with 16 axes, it follows a transmission length of 528 bytes.
  • Page 142 6−16 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface Setting with AT: The setting of the PLC start address remains unchanged. The setting of the PLC final address results from: PLC final address + 464 = 719 In case of a switching with field bus (PCI_BM-DP, PCI_BM-IBS or PCI_BM-CAN), an offset of 512 bytes must be set.
  • Page 143 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−17 and Controls SERCOS interface 6.5.5 Representation of the ATs in the PCLrho4.0 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.
  • Page 144 6−18 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface 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.
  • Page 145 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−19 and Controls SERCOS interface Belt input via external encoder at EcoDrive/IndraDrive 6.6.1 General As an alternative to the so far available measuring system interfaces for belt encoder (incremental interface at the rho4.1, CANopen interface at rho4.1 and rho4.0), from version VO08 it is possible to connect an exter-...
  • Page 146 6−20 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface Configuration of the parameter Bit 0: Feedback type 0: rotative 1: linear Bit 1: Distance coded measuring system 0: no distance coded reference marks 1: distance coded reference marks (S−0−0165,S−0−0166)
  • Page 147 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−21 and Controls SERCOS interface S−0−0117 must be calculated as follows: S−0−0117 = enoder resolution x 360 x motor rotations n1 feedconstant output rotations n2 S−0−0391 Monitoring window feedback 2 This parameter value defines the maximal allowed deviation of the posi- tion actual value between motor encoder and external encoder (S−0−0051, position feedback value encoder 1, S−0−0053, position...
  • Page 148 6−22 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface If the drive telegram is reconfigured by the user, it must noticed, that the ident numbers S−0−0051 (Position feedback 1 value motor encoder) and S−0−0053 (Position feedback 2 value ext. encoder) are installed as aforementioned.
  • Page 149 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−23 and Controls SERCOS interface Configuration of the parameter Bit 0: Feedback type 0: rotative 1: linear Bit 1: Distance coded measuring system 0: no distance coded reference marks 1: distance coded reference marks (S−0−0165,S−0−0166)
  • Page 150 The identification num- ber of the according interface module must set as follows: 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...
  • Page 151 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 6−25 and Controls SERCOS interface S−0−0016 Configuration list of AT If the belt input via drive amplifier in the rho4 is activated, the drive tele- gram of the corresponding axis deviating from the standard settings (see manual system description rho4.1, resp.
  • Page 152 6−26 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls SERCOS interface 6.6.6 Restrictions Both measuring systems on a drive amplifier work widely indepen- dently. Merely at 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-...
  • Page 153 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 7−1 and Controls Software Software ROPS4/Online ROPS4/Online permits the creation, testing and archiving of programs for the rho4.0 control system. The program runs under Windows 95 or Windows NT. It is not absolutely essential to use a mouse, however the use of one is recommended for the sake of improved operational com- fort.
  • Page 154 7−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Software Screenlayout All applications within ROPS4/Online store their size and position. A user, therefore, can always have the same screen display which he crea- ted and with which he is familiar , as shown, for example, in the following figure.
  • Page 155 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 7−3 and Controls Software Server/Client functionality The ’hosts’ file The ’hosts’ ASCII file contains the IP addresses and an associated host name. The corresponding server can be contacted under this host name.
  • Page 156 7−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls 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 Services number...
  • Page 157 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 8−1 and Controls File management File management The rho4.0 file system is used for user memory management. The visual appearance and the range of functions are similar to file management under DOS (FAT) or Windows 95 (VFAT).
  • Page 158 8−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls File management When a file is created, the file system attempts to store the file in contigu- ous (sequential) blocks. This presupposes that a free contiguous me- mory range exists that is big enough to accept the file. Where a range of this nature does not exist, the file is saved to memory in distributed form.
  • Page 159 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 8−3 and Controls File management Options for accessing file management The OEM is able to have direct access into the user memory. This ac- cess is implemented through C functions which are held in the function libraries.
  • Page 160 8−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls File management 4 servers are available in the controller (rho_Function_1 to rho_Func- tion_4) for these services. This means: 4 Windows programs can access the file system simultaneously. Using the rho file [rF] class from BAPS The internal rho4 library functions, which is an internal function library, is used to link the functions under BAPS.
  • Page 161 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 8−5 and Controls File management Function name Function Comment rFxCopy() 8015 copies a file (incl. remote PC and floppy) rFxRemove() 8025 deletes a file (incl. remote PC and floppy) rFxRename() 8026 renames a file (incl.
  • Page 162 8−6 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls File management The required C types and detailed documentation are found in the inc- lude file rA.h. Also possible through WIN DDE. See DDE Server 4 manual. The function names are composed of various abbreviations. With:...
  • Page 163 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG 8−7 and Controls File management File attributes The attributes (eg read, write) of the files specify which actions (eg rea- ding, writing) are permitted on the file concerned. Here a set attribute corresponds to the ”permission”...
  • Page 164 8−8 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls File management Process handling The hidden attribute is ’inherited’. Hidden proceses create hidden files. Only hidden processes may modify the attributes of hidden files. PHG2000 handling The rho4.0 has a supervisor mode. This supervisor mode is activated and deactivated through the PHG2000.
  • Page 165 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG A−1 and Controls Appendix Appendix Abbreviations Abbreviation Meaning BAPS3 Movement and sequence program- ming language, version 3 Drive designation, here drive C (hard disk drive) Controller Area Network Dynamic Data Exchange...
  • Page 166 A−2 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Appendix Index File management, 8−1 Analog I/O, 5−14, 5−15 Floppy disk drive, 1−7 SR−CAN modules, 5−33 Analog I/O Parameter (P404−P407), 5−22 Grounding bracelet, 1−6 Assignment of the CAN−Bus interfaces, 5−40 Axis telegram, 6−3...
  • Page 167 1070072367 / 04 RhoMotion Electric Drives Bosch Rexroth AG A−3 and Controls Appendix Safety instructions, 1−4 Safety markings, 1−3 Screening time (P5), 5−40 Screenlayout, 7−2 SERCOS interface, 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...
  • Page 168 A−4 Bosch Rexroth AG Electric Drives RhoMotion 1070072367 / 04 and Controls Appendix Notes:...
  • Page 169 Bosch Rexroth AG Electric Drives and Controls P.O. Box 13 57 97803 Lohr, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr, Germany Phone +49 (0)93 52-40-50 60 +49 (0)93 52-40-49 41 service.svc@boschrexroth.de www.boschrexroth.com Printed in Germany 1070072367 DOK-RHO*4*-RHO4.0*SYSB-PR04-EN-P...

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