Electric Drives
and Controls
5−1Bosch Rexroth AGRhoMotion1070072367 / 04
CAN-Bus peripheral equipment
5 CAN-Bus peripheral equipment
5.1 CANopen-Interface
The CANopen interface is realized according to the guide lines of the CiA
(CAN in Automation International Users and Manufacturers Group e. V.).
Besides the operation of CANopen encoders, the coupling is supported
by local I/O modules. The CANopen protocol cannot be operated paral-
lel to the existing CanRho protocol at the same bus.
5.1.1 Functions
I/O modules
The I/O modules are operated according to the guide lines of the CIA
Draft Standard Proposal DSP401. The data exchange of the I/O modu-
les with the control occurs synchronously to the CANopen Sync Tele-
gramm. Which objects from the Object Dictionary (Machine parameters
of the I/O modules) are supported by the single modules, is to be read in
the corresponding data sheets.
These objects are described in the same ASCII file as the drives and loa-
ded at the startup of the control in the I/O modules (download of the I/O
modules parameters).
If a I/O module from Bosch is used, Default parameters are available,
which make a description of the I/O modules in the ASCII file unneces-
sary. To make these default parameters active, a “0” must be entered in
the subparameter DssReference of the parameter 401.
SR-CAN-module
The accesses to the machine parameters and to the serial number in the
SrCan module (SDO services i.e. Service Data Objects) are performed
by means of the CANopen protocol. There are no additional settings re-
quired.
CANopen encoder
Detailed information, see paragraph 5.2.
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