Electric Drives
and Controls
6−13Bosch Rexroth AGRhoMotion1070072367 / 04
SERCOS interface
6.5 Transmission of cyclic drive data to the PCLrho4.0
The data which is transmitted via the SERCOS bus in the cyclic axis te-
legram from the drive to the rho4.0, are copied into the I/O area of the
PCL. The user can have access to drive data that can be chosen and
define himself the configuration of the cyclic axis telegrams within cer-
tain limits.
6.5.1 Definition of the cyclic axis telegrams (AT)
Within the rho4.0
As input buffer for axis telegrams, a maximum of 22 bytes per axis is
defined in the rho4.0. 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.
The input buffer in the rho4 is assigned as a standard as follows:
S-0-0135 2 Byte drive status
S-0-0051 4 Byte position actual value (motor encoder)
S-0-0189 4 Byte hauling distance
S-0-0144 2 Byte signal status word
S-0-0084 2 Byte torque actual value [%]
S-0-0040 4 Byte velocity actual value
4 Byte reserve
The drive status is a fixed part of the axis telegram and always present.
The other data is preset by the rho4.0 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 bytes
S-0-0016 = (S-0-0051, S-0-0189, S-0-144)
+ 2 bytes drive status => Total length = 12 bytes
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