Bosch Rexroth Rho 4.0 - Page 101

Electric Drives
and Controls
5−23Bosch Rexroth AGRhoMotion1070072367 / 04
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.
Number of der analogen Outputs (P404)
P404 gives the number of the analog output channels. Per output block,
4 analog output channels are to be set.
Assignment of the analog output channels (P405)
In P405 the following is to be entered:
D meaning:
The first digit of the 3-digit configuration subdivides the output confi-
guration in different catagories. The following output signals can 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 type= 0 , machine parameter P306)
5XX : Output lag Axis XX
6XX : Output reference speed Axis XX
7XX : Output actual speed Axis XX or Belt XX (XX = 1
to axis number + belt number)
D RAM start address:
This relative address gives the position of the 2 byte data word for the
analog channel within the rho4 internal RAM area. There are 2 RAM
areas physically separated for inputs and outputs.
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