Bosch Rexroth Rho 4.0 - Page 132

6−6 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
A_1 Modulo value : 0 0 Absolute interface
> 0 Modulo interface with correspon-
ding modulo value in mm or deg
To be set for endless axes
When using the modulo interface,
the following settings must be
performed at the drive amplifier:
D S-0-0076 Weighting of the po-
sition data:
Bit 7 = 1 (processing format =
modulo format)
D P−0−0006 position encoder
type motor
Bit 0 = 1 (absolute value
encoder)
D S-X-0103 Modulo value
must match the rho4 module
value described here.
.The modulo value must be set at least
so high that at the most the half modulo
value is runper scanning time (P5) with
maximum axis velocity.
Example:
max. axis velocity (P103) = 50 deg/s
Clock start time (P5) = 6 ms
=> path run/Clock = 50/1000 * 6 = 0,3 deg
=> min. modulo value = 0,3 deg * 2= 0,6 deg
A_1 ms.fact : 1000.00 Measuring system factor
When using Bosch Rexroth drive ampli-
fiers always enter 1000.00.
A_1 Com.output : 1 Running numbering of the set value out-
puts (no double occupation admissible)