Bosch Rexroth Rho 4.0 - Page 97

Electric Drives
and Controls
5−19Bosch Rexroth AGRhoMotion1070072367 / 04
CAN-Bus peripheral equipment
IOKind Block 3 : 1
1stAdr Block 3 : 16
Length Block 3 : 8
Ident.Block 3 : 393
Bus-no.Block 3 : 2
Address areas of the CAN outputs (P32)
The image of the analog CAN outputs is deposited in the rho4 in a sepa-
rate RAM area. Machine parameter P32 configurates the CAN outputs.
For each analog output block, the following subparameters are to be as-
signed:
D I/O-type:
Analog modules get the code 1, digital modules the code 0.
D Start address:
This relative address indicates the position of the data block (8 bytes)
within the rho4 internal RAM area. For inputs and outputs there are 2
RAM areas physically separated.
The setting is to be performed as follows:
1stAdr Block 1 : 0
1stAdr.Block 2 : 8
1stAdr Block 3 : 16
1stAdr Block 4 : 24
1stAdr Block n : (n−1) * 8
In this RAM area, only analog input blocks are taken into account. For
digital output blocks, the start address relates to the rho interface.
D Block length:
The block length has for all analog modules that are available at the
moment 8 bytes (4 channels).
D Identifier:
A bus switching can supply a maximum of input blocks (32-I-byte) and
4 output blocks (32-O-Byte).
The CAN identifier for the corresponding input block results from the
node-ID set by means of the hardware of the B~IO M-CAN-module:
output block output byte CAN-Identifier
1 1 to 8 512 + Node-ID
2 9 to 16 768 + Node-ID
3 17 to 24 512 + Node-ID + 1
4 25 to 32 768 + Node-ID + 1