Electric Drives
and Controls
6−25Bosch Rexroth AGRhoMotion1070072367 / 04
SERCOS interface
S−0−0016 Configuration list of AT
If the belt input via drive amplifier in the rho4 is activated, the drive tele-
gram of the corresponding axis deviating from the standard settings
(see manual system description rho4.1, resp. rho4.0) is as follows:
D S−0−0135 Drive status word 2 Byte
D S−0−0051 Position feedback 1 value (motor encoder) 4 Byte
D S−0−0053 Position feedback 2 value (ext. encoder)4 Byte
D S−0−0189 Following distance 4 Byte
D S−0−0144 Signal status word 2 Byte
D S−0−0084 Torque/force feedback [%] 2 Byte
If the drive telegram is reconfigured by the user, it must be noticed, that
the ident numbers S−0−0051 (Position feedback 1 value motor enco-
der) and S−0−0053 (Position feedback 2 value ext. encoder) are instal-
led as aforementioned. The remaining parts of the drive telegram are
freely usable by the user.
6.6.5 Machine parameter at rho4
The required settings in the rho4 must be set in P401 Equipment of the
measuring system boards.
P401, 4. Subquery: (dependent on measuring system)
SERCOS axis number
Indication of the SERCOS-address of the corresponding drive amplifier
(corresponds to the setting in the firmware module of the EcoDrive,
resp. P−0−4025 with IndraDrive).
For activation of the additional external encoder as belt input, the axis
address must be entered negatived.
Example: external encoder on drive with address 15
Input: −15
Modulo value
Here the adjusted value of S−0−0103 at the drive must be accepted.
P401, 5. Subquery: Measuring system factor
Always the value 1000 must be entered here.
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