Bosch Rexroth Rho 4.0 - SERCOS interface; 6.1 Data exchange via SERCOS bus

Electric Drives
and Controls
6−1Bosch Rexroth AGRhoMotion1070072367 / 04
SERCOS interface
6 SERCOS interface
The SERCOS interface is realized in the rho4.0 as a digital drive inter-
face. A SERCOS ring, at which up to 16 axes can be connected, is avai-
lable on the pci−rho as a hardware. The interface is realized as a
position interface. It corresponds to the European norm IEC 61491.
6.1 Data exchange via SERCOS bus
6.1.1 Service channel
The required parameters are transmitted to the drives via the service
channels are used in the startup phases (phases 2 and 3).
In the running time, commands, e.g. S-0-0099, Zsk1-Reset are trans-
mitted to the drives via the service channels.
6.1.2 Cyclic data exchange
The rho4.0 supports the operating mode ‘Position interface with cyclic
set-value indication’.
Setting S-0-0032: b’0000 0000 0000 x011 for position controlling
with motor encoder
b’0000 0000 0000 x100 for position controlling
with external encoder
x=0:
x=1:
Position controlling with haul distance
Position controlling without haul di-
stance (pre-controlling)