Bosch Rexroth Rho 4.0 - Page 81

Electric Drives
and Controls
5−3Bosch Rexroth AGRhoMotion1070072367 / 04
CAN-Bus peripheral equipment
Example of a scs−file for an I/O−Module:
PHASE = 0
PHASE = 2
AXIS = 1
C−1400.2 = 1 ; [ ] Transmission Type 1. receive PDO
C−1401.2 = 1 ; [ ] Transmission Type 2. receive PDO
C−1800.2 = 1 ; [ ] Transmission Type 1. transmit PDO
C−1801.2 = 1 ; [ ] Transmission Type 2. transmit PDO
; Programming I/O module mode from
; asynchronous to synchronous.
; Relation between NodeId (Parameter
; ; 31,32) and DssRef => axis(x) x = DssRef
; for additional I/O modules at the bus the
; contents of the file (axis(x+1)) is the same
; All additional parameter for the module
; can be placed here.
PHASE = 4
If a I/O modules from Bosch is used, Default parameters are available,
which make a description of the encoder objects in the ASCII file unne-
cessary. To make these default parameters active, a 0 must be entered
in the subparameter DssRef of the parameter 401.
The I/O modules are operated synchronously.
A data exchange occurs for each connected modules in each SYNC te-
legram.