5−40 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
5.8 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. Moreover, a coupling of ser-
veral rho4 controls is possible via CAN-Bus.
To connect axes, digital I/O modules and SR-CAN-modules at the rho4,
a certain number of O- and I-blocks is required − depending on the con-
cerned configuration.
The required number of O- and I-blocks is calculated as follows:
Number of
O-blocks =
1 (SYNC-Telegramm) + Number of axes (P302)
+ Number of Digital output-blocks (P30)
Number of
I-blocks =
Number of axes (P302)
+ Number of Digital input -blocks (P30)
The number of the I- and O-blocks must be calculated separately for
each CAN-Bus. When using the digital inputs and outputs on the SR-
CAN-modules, they are to be taken into account for the number of the
digital input and output blocks (P30).
The following tables indicate the maximum assignment of both CAN-
Bus-interfaces (X51 and X52):
Screening time (P5) < 8 ms
CAN-Bus 1 (X51) CAN-Bus 2 (X52)
maximum 15 O-blocks in sum maximum 17 blocks
maximum 14 I-blocks in which maximum 15 O-blocks,
maximum 14 I-blocks
or:
in sum maximum 17 blocks maximum 15 O-blocks
in which maximum 15 O-blocks,
maximum 14 I-blocks
maximum 14 I-blocks
Screening time (P5) >= 8 ms
CAN-Bus 1 (X51) CAN-Bus 2 (X52)
maximum 29 O-blocks in sum maximum 17 I- bzw.
maximum 28 I-blocks O-blocks in any combination
or:
in sum maximum 17 I- bzw. maximum 29 O-blocks
O-blocks in any combination maximum 28 I-blocks
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