6−8 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
SERCOS interface
An ASCII ! Bin converter is available which generates a binary file from
the ASCII files. The call of the ASCII ! Bin converter occurs under
ROPS4 (comp. documentation XMP converter). The created binary file
is loaded into the control per ROPS4 coupling. It gets a fixed Ram area
allocated in the control in analogy to the classical machine parameters.
The rho4 control is the master in the configuration-dependent drive pa-
rameters.
The following interface parameters are determined automatically by the
control and transferred to the drives at every startup:
S-0-0001 NC cycle time (TNcyc)
S-0-0002 SERCOS cycle time (TScyc)
S-0-0006 Emission moment drive telegram (T1)
S-0-0008 Moment for set value-valid (T3)
S-0-0009 Initial address in the master data telegram
S-0-00010 Length Master data telegram
S-0-00015 Telegram type parameter
S-0-00016 Configuration list drive telegram (default)
S-0-00024 Configuration list master data telegram
S-0-00089 Emission moment master data telegram (T2)
If one of the listed parameters is set additionally in the DSS Ascii File,
the values, except S-0-0016, are ignored during the download.
If the parameter download is activated in the machine parameter P38, it
is performed automatically for all axes at the startup of the control.
. The download requires much time. For a RC cycle time (P2 clock
time) of 10 [msec], the loading of all essential parameters in the
drive requires approx. 12 seconds per axis. The whole startup of
the control will be accordingly delayed.
Recommendation: After completed optimization, the drive para-
meter download is performed once for all axes. The drive parame-
ters are saved in the Eeprom of the drive with SERCOS commando
’save memory command’ (S-0-0264 for Bosch Rexroth Servodyn-D
drives). The download is then switched off in the parameter P38.
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