Electric Drives
and Controls
6−3Bosch Rexroth AGRhoMotion1070072367 / 04
SERCOS interface
Drives => rho4 (AT)
The axis telegrams are fixed on a maximum of 22 bytes per axis in the
rho4. This corresponds to the maximum AT length for Bosch Rexroth
Servodyn-D drives. The number of the identifiers in the configurable AT
for Servodyn-D drives is limited to 5 at the maximum.
By considering the boundary conditions, the ATs are assigned by the
rho4 as a standard as follows:
S-0-0135 drive status 2 Byte
S-0-0051 position actual value (motor
encoder)
4 Byte
S-0-0189 hauling distance 4 Byte
S-0-0144 signal status word 2 Byte
S-0-0084 torque actual value [%] 2 Byte
S-0-0040 velocity actual value
reserve
4 Byte
4 Byte
The drive status is a fixed part of the axis telegram and always present.
The other data is preset by the rho4 during the startup via S-0-0016
(configuration list AT) in all drives.
For drives that support only short ATs, the list will be shortened corres-
pondingly.
Example:
Maximum length of the configurable AT = 10 Byte
S-0-0016 = (S-0-0051, S-0-0189,S-0-144)
+ 2 bytes drive status => Total length = 12 Byte
The configuration of the axis telegrams can be changed by the user in
the drive amplifier.
To overwrite the configuration preset by the rho4, the ident number
S-0-0016 must be taken over into the list of the parameters to be trans-
ferred by the rho4 (scs file).
To define the S-0-0016, the following is to be observed:
D Drive status is a fixed part of the AT
D Length of the configurable AT: 20 bytes or maximum length suppor-
ted by the drive (S-0-0185), if it is smaller than 20 bytes
D Maximum number of ident numbers in the AT of the corresponding
drive amplifier, e.g. 5 for Servodyn-D drives
D The first value in S-0-0016 must always be the position actual value
(S-0-0051 for motor encoder or S-0-0053 for external encoder).
D Only the ident numbers that are included in the list of the configura-
ble data set in the AT (S-0-0187) of the corresponding drive may be
entered.
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