Electric Drives
and Controls
5−41Bosch Rexroth AGRhoMotion1070072367 / 04
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). If the baud rate is smaller, the maximum number of I/O
blocks reduces by the corresponding factor (e.g factor 2 at 500 kBaud).
Cable length max. Baud rate
up to 25 m 1 MBaud
up to 100 m 500 kBaud
up to 200 m 250 kBaud
over 200 m 125 kBaud
The screening time (P5) must be set at the minimum so that all I- and
O-blocks can be transferred within the screening time. The screening
time for one block is 1 MBaud CAN 110 µs. For smaller baud rates, the
transfer time increases by the corresponding factor (e.g. 220 µs at 500
kBaud).
Maximum whole number of components
Whole number of axes = maximum 16
Number of digital output blocks
+ Number of SR-CAN-modules = maximum 40
Number of digital input blocks
+ Number of SR-CAN-modules = maximum 40
. When rho4 control units are coupled via CAN-Bus, the CAN-Bus
used for this purpose must not be engaged with other components
The maximum possible number of axes with Servodyn-GC drive ampli-
fiers is 6 per CAN-Bus. The O- and I-blocks remaning free can be enga-
ged with any other components (also axes with Servodyn-D amplifiers).
. When B~IO-modules without inputs (pure output modules) are
connected, it is possible, that the red error-LED at the B~IO-modu-
les are blinking permanent. This has no effect to the function of the
B~IO-modules.
To avoid this effect, at least one input module should be connected
to each CAN-Bus.
This behaviour occurs only with CANrho protocol.
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