Sercos Interface; Brief Description - Bosch Rexroth IndraDrive MPH-02 Functional Description

4-32
Master Communication
4.4

SERCOS interface

Brief Description

General Features
Firmware-Specific Features
• cyclical data exchange of command and actual values in equal time
intervals
• data transfer via fiber optic cables
(except for converter in motor, in this case copper conductor)
• service channel for parameterization and diagnosis
• free configuration of telegram contents
• synchronization between time command value takes effect and
measurement starting time of all actual values for all drives on a ring
• overall synchronization of all connected drives to the control unit
• cycle time: min. 250/500 µs, max. 65 ms, granularity 2
(multiples of position clock 250 µs or 500 µs can be set)
• SERCOS compatibility class C
• baud rate: optionally 2, 4, 8 or 16 MBaud
• automatic baud rate detection; active baud rate displayed in a
parameter
• adjustable transmitting power (set via control panel)
• max. number of configurable data in the MDT: 32 byte
• max. number of configurable data in the AT:
Note: The number of configurable byte in the MDT/AT depends on
the relation of the position cycle time (P-0-0556, bit 2) to the
SERCOS cycle time.
SERCOS cycle time = pos. cycle time
SERCOS cycle time > pos. cycle time
For more detailed information please see the SERCOS
specification.
Pertinent Parameters
• S-0-0001, NC cycle time (TNcyc)
• S-0-0002, SERCOS cycle time (TScyc)
• S-0-0003, Minimum AT transmit starting time (T1min)
• S-0-0004, Transmit/receive transition time (TATMT)
• S-0-0005, Minimum feedback acquisition time (T4min)
• S-0-0006, AT Transmission starting time (T1)
• S-0-0007, Feedback acquisition starting time (T4)
• S-0-0008, Command valid time (T3)
• S-0-0009, Beginning address in master data telegram
• S-0-0010, Length of master data telegram
• S-0-0014, Interface status
• S-0-0015, Telegram type parameter
• S-0-0016, Configuration list of AT
MPH-02, MPB-02, MPD-02
32 byte
→ max. length 16 byte
→ max. length 32 byte
DOK-INDRV*-MP*-02VRS**-FK01-EN-P