Electric Drives
and Controls
2−1Bosch Rexroth AGRhoMotion1070072365 / 04
System Overview
2 System Overview
The rho4.0 is a robot, handling and movement control in which the whole
processor is available for the real time part since it can run without Win-
dows. VxWorks is used as Task Scheduler.
The hardware core of the rho4.0 is PC-based and extended by the hard-
ware required for a real-time control.
8 axes and 8 kinematics can be controlled in the basis function scope.
The rho4.0 is composed of a power supply unit, a carrier board, a PC
board and a PCI plug point in which one of the 3 BOSCH field bus cards
(CAN, INTERBUS-S and PROFIBUS-DP) can be operated.
CAUTION
Damage to the PC or the application software can be caused
by using extension cards that are not released.
Install only released extension cards and have them only by
authorized qualified personnel installed.
Installation of extension cards, see section 7.1.
The PC Board is available optional with a 266- or a 400-MHz processor
and 64-MB-SO-DIMM. A Compact-Flash card is used as hard disk.
The rho4.0 is provided with an internal 3,6 V-Lithium battery of size AA
with a capacity of 1,75 Ah. It buffers the SRAM components and the RTC
on the ETX Board and should be changed every 3 years for security re-
asons. See section 7.2.
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