5−8 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
CAN-Bus peripheral equipment
CANopen specific encoder parameters
The encoder parameters are written in ASCII files and are to be filed un-
der the following names:
...\Axis1.scs e.g. drive parameter axis 1
(DssRef = 1)
...\Axis(n).scs
e.g. encoder parameters
(DssRef = n)
. The path can be selected freely.
Example of a scs−file for an encoder:
PHASE = 0
PHASE = 2
AXIS = 1
C−1005.0 = 0x80000080 ; enable sync-Message
C−6200.0 = 0 ; transmission period for all asynchronous
; PDO’s disabled
; Programminng of an encoder
; to synchronous mode
; Relation between NodeId (Parameter
; ; 31,32) and DssRef => axis(x) x = DssRef
; for additional encoder at the bus the con−
; tents of the file (axis(x+1)) is the same
; All additional parameter for the encoder
; can be placed here.
PHASE = 4
By calling the XMP converter (in ROPS4 Online), a machine parameter
binary file is created, which can then be transferred into the rho4 per cou-
pling function. These parameters are transferred only in the initialization
phase per download to the peripheral units (axes, encoders, I/O modu-
les), they are otherwise not required in the control.
The relation between CANopen specific encoder or drive parameters
and control parameters is established by the DssRef in the machine pa-
rameter P401. The adjusted DssRef indicates the corresponding
...\Axis(n).scs file.
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