Bosch Rexroth Rho 4.0 - Page 128

6−2 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
Telegramm rho4 => drive (MDT)
The cyclic telegram has the following structure:
S-0-0134 Master control word 2 Byte
S-0-0047 Position set-value 4 Byte
The master control word is operated by the rho4 as follows:
Bit 0 bis 5: Signals for operating the service channels
(see SERCOS specification)
Bit 6/7 : Real-time control
bits:
are not used by the rho4
Bit 8/9 : Set operating mode: fixed on 00, corresponds to main
operating mode (S-0-0032)
Bit 10 : IPOSYNC, see SERCOS specification
Bit 13 : Drive break: is set fixed on 1 by the rho4
Bit 14 : Drive release: rho4 interface signal ‘Drive On all
axes’
or ‘Drive On axis x’
(DRIVE_x_RCI No. 320 bis 343,
O40.0 bis O42.7)
Bit 15 : Drive on: up to version VO05C:
rho4 interface signal ’EMERGENCY
STOP, not’
(EMERG_N_RCI, No. 128, O16.0)
or no rho4 internal Emergency-stop
condition
(grave error, e.g. Servo error)
from version VO05D:
rho4 interface signal ’Open brake
axes x’
BRAKE_x_RCI, No. 424..447,
O53.0..55.7)
. The MDT is fixed by the rho4 and cannot be modified by the user.