5−38 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
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).
Example
For the configuration of a SR-CAN module at the CAN bus 2 and adju-
sted node-ID=3, the following settings are to be entered under machine
parameter P32:
Digital output block
D IOKind Block n : 0
D 1stAdr. Block n : (212)
D Length Block n : 1
D Ident. Block n : 515
D Bus-no.Block n : 2
The block number n is obtained from the whole configuration of CAN mo-
dules (n = 1..40).
1stAddr gives the initial address in the rho4 interface and must be mat-
ched with other digital input channels.
Identifier depends on the adjusted Node-ID (Offset address) of the SR-
CAN module:
Identifier = 512 + Node-ID
Analog I/O parameters
In the 400 group of the machine parameters, the number of the analog
I/O inputs and their assignment is set up.
Number of analog Inputs (P406)
This parameter P406 gives the number of the analog input channels. 4
analog input channels are to be adjusted per input block.
assignment of the analog input channels (P407)
In P407 is to be entered:
D meaning:
The BAPS channel numbers from 201 to 299 are allowed. The adju-
sted channel number must be used in the BAPS program for decla-
ring the analog input of the REAL type.
Example
input REAL: 201 = ANA_In_1
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