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Bosch rexroth NYCe 4000 Hardware Manual

Bosch rexroth NYCe 4000 Hardware Manual

Multi-axis motion control system
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NYCe 4000
Multi-axis motion control system
Hardware System Manual
Project Planning Manual
R911337671
Edition 18

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Summary of Contents for Bosch rexroth NYCe 4000

  • Page 1 NYCe 4000 Multi-axis motion control system Hardware System Manual Project Planning Manual Edition 18 R911337671...
  • Page 2 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Title NYCe 4000 Multi-axis motion control system Hardware System Manual Type of Documentation Project Planning Manual Document Typecode DOK-NY4000-HW***SYSTEM-PR18-EN-E Internal File Reference RS-eb2ca56b361ca3f60a6846a501caac28-18-en-US-9 Record of Revision Edition Release Date Notes DOK-NY4000-HW***SYSTEM-PR01-EN- 09/2012 First edition...
  • Page 3 Copyright © Bosch Rexroth AG 2022 All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

  • Page 4: Table Of Contents

    Low voltage directive......................... 20 3.4.3 EMC directive............................ 21 3.4.4 CE..............................21 3.4.5 UL..............................22 3.4.6 RoHS..............................22 System Overview......................23 Hardware Architecture.......................... 23 Motion Node Modules........................... 24 System housing with backplane......................26 NY4110: MCU Module....................29 Overview............................... 29 R911337671_Edition 18 Bosch Rexroth AG...
  • Page 5 Before you begin..........................52 7.9.2 Cable connections..........................52 7.9.3 Environmental conditions........................52 7.10 System software recovery........................53 7.11 IT-Security............................56 NY4120 and NY4120/10: PWM Drive Module............. 59 Overview............................... 59 Module identification..........................60 Module dimensions..........................61 Bosch Rexroth AG R911337671_Edition 18...
  • Page 6 Module identification........................... 102 10.3 Module dimensions..........................103 10.4 Field Diagnostics..........................103 10.5 Power switch on/off precautions......................104 10.6 I/O Connector............................. 105 10.7 Analog Inputs............................106 10.8 Analog Outputs........................... 108 10.9 Digital Inputs............................110 10.10 Digital Outputs............................ 113 R911337671_Edition 18 Bosch Rexroth AG...
  • Page 7 Supported NYCe 4000 functionality with NY4150................151 12.6 I/O Connector............................. 152 12.7 Analog Inputs............................153 12.8 Digital Outputs............................ 153 12.9 Connection NY4150 – IndraDrive....................... 153 12.10 Installation requirements........................154 Encoders........................157 13.1 Introduction............................157 13.2 Encoder power supply switch......................158 Bosch Rexroth AG R911337671_Edition 18...
  • Page 8 Filtering on NY40x3, NY4074 and NY40x2 system housings............214 16.1.3 Filtering on NY40x0 system housings..................... 214 16.2 Motor Chokes............................. 215 16.3 Regenerative Braking......................... 216 Environmental Conditions..................217 17.1 Thermal............................... 217 17.2 Shock and Vibration..........................217 17.3 Electromagnetic Compatibility......................217 R911337671_Edition 18 Bosch Rexroth AG...
  • Page 9 Cleaning.............................. 227 18.2 Disposal.............................. 227 18.3 Environmental Protection........................227 Service and Support....................229 19.1 Helpdesk............................. 229 19.2 Service-Hotline........................... 229 19.3 Internet..............................229 19.4 Before contacting us........................... 229 Appendix - EU declaration of conformity - modules........... 231 Bosch Rexroth AG R911337671_Edition 18...

  • Page 10: Introduction

    ● the human body (discharge through touching a conductive, grounded item) ● parts and tools (placing on a conductive support) Components sensitive to electrostatic discharge may only be stored or dispatched in conductive packaging. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 11: Cross Reference Component Name, Order Number, Short Name

    NY4013 NYS04.2-ST-02-ULNN-NY4023 R911172905 NY4023 NYS04.2-ST-03-ULNN-NY4033 R911172966 NY4033 NYS04.2-ST-04-ULNN-NY4043 R911172906 NY4043 NYS04.2-ST-05-ULNN-NY4053 R911172907 NY4053 NYS04.2-ST-02-LMSN-NY4074 R911378504 NY4074 NYS04.1-ST-01-LMS-SERCOS-NY4079 R911378505 NY4079 Tab. 1-1: Component name - order number and short name overview of NYCe 4000 system housings Bosch Rexroth AG R911337671_Edition 18...

  • Page 12: Nyce 4000 Mcus, Drive, Digital I/O And Sercos Iii Master Modules

    R911325078 NY4920/10 NYA04.1-CAP-100V-NY4921 R911325079 NY4921 NYA04.1-CAP-200V-NY4921/10 R911325082 NY4921/10 NYA04.1-FAN-1DRV-NY4922/00 R911328062 NY4922/00 NYA04.1-FAN-2DRV-NY4922/10 R911325083 NY4922/10 NYA04.1-FAN-3DRV-NY4922/20 R911172220 NY4922/20 NYA04.1-FAN-4DRV-NY4922/30 R911328063 NY4922/30 NYA04.1-FAN-5DRV-NY4922/50 R911325084 NY4922/50 NYA04.1-1394B-CABLE-B-B-00.5M-NY4950 R911318966 NY4950 NYA04.1-1394B-CABLE-B-B-01.0M-NY4950/10 R911318967 NY4950/10 NYA04.1-1394B-CABLE-B-B-02.0M-NY4950/20 R911318968 NY4950/20 NYA04.1-1394B-CABLE-B-B-04.5M-NY4950/30 R911318969 NY4950/30 R911337671_Edition 18 Bosch Rexroth AG...
  • Page 13 R911343559 NYA04.1-LMS-COIL-UNIT-TL12N-3697459 R911343597 NYA04.1-LMS-COIL-UNIT-TL12S-3685033 R911343435 NYA04.1-LMS-COIL-UNIT-TL15N-3687460 R911343560 NYA04.1-LMS-COIL-UNIT-TL15S-3685034 R911343561 NYA04.1-LMS-COIL-UNIT-TL18N-3685223 R911343562 NYA04.1-LMS-COIL-UNIT-TL18S-3685224 R911343603 NYA04.1-LMS-COIL-UNIT-TL24N-3685014 R911343604 NYA04.1-LMS-COIL-UNIT-TL24S-3685035 R911343605 NYA04.1-LMS-MAGNETTL-192MM-3685193 R911343580 NYA04.1-LMS-MAGNETTL-288MM-3685194 R911343563 NYA04.1-LMS-MAGNETTLV-192MM-120C-3685457 R911343565 NYA04.1-LMS-MAGNETTLV-288MM-120C-3685472 R911343573 NYA04.1-LMS-MAGNETTLV-192MM-150C-3685473 R911343576 NYA04.1-LMS-MAGNETTLV-288MM-150C-3685420 R911343579 NYA04.1-LMS-COIL-UNIT-TB12N-3685155 R911343767 NYA04.1-LMS-COIL-UNIT-TB12S-3685157 R911347637 NYA04.1-LMS-COIL-UNIT-TB15N-3685122 R911347642 Bosch Rexroth AG R911337671_Edition 18...
  • Page 14 R91117yyyy NY4985 NYA04.1-SHARED-CABLE-M-M-01.0M-NY4951/70 R911174516 NY4951/70 NYA04.1-SENSORCABLE-M-F-00.6M-NY4951/00 R911174517 NY4951/00 NYA04.1-SENSORCABLE-M-F-01.5M-NY4951/10 R911174518 NY4951/10 NYA04.1-SENSORCABLE-M-F-03.0M-NY4951/20 R911174519 NY4951/20 NYA04.1-SENSORCABLE-M-F-05.0M-NY4951/30 R911174520 NY4951/30 NYA04.1-SENSORCABLE-M-F-09.0M-NY4951/40 R911174521 NY4951/40 Tab. 1-3: Component name - order number and short name overview of NYCe 4000 accessories R911337671_Edition 18 Bosch Rexroth AG...
  • Page 15 6/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 16: Safety Instructions For Electric Drives And Controls

    To comply with these qualifications, it is necessary, among other things, R911337671_Edition 18 Bosch Rexroth AG...

  • Page 17: Explanation Of Signal Words And The Safety Alert Symbol

    DANGER In case of non-compliance with this safety instruction, death or serious injury will occur. WARNING In case of non-compliance with this safety instruction, death or serious injury can occur. Bosch Rexroth AG R911337671_Edition 18...

  • Page 18: General Information

    You must follow these safety instructions. ● Bosch Rexroth is not liable for damages resulting from failure to observe the safety instructions. ●...
  • Page 19 Manual Safety Instructions for Electric Drives and Controls ● Only use accessories and spare parts approved by Bosch Rexroth. ● Follow the safety regulations and requirements of the country in which the electric components of the drive and control system are operated.

  • Page 20: Hazards By Improper Use

    Contact with parts conducting voltages above 50 volts can cause personal danger and electric shock. When operating components of the drive and control system, it is unavoidable that some parts of these components conduct dangerous voltage. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 21 The supply voltages 24V System, DP NY4130, 24V Dig, and 24V Fdig for the system must be separated at least by reinforced insulation from all hazardous voltages according to the standard IEC 61010-1:2010. To be observed with electrical drive and filter components: Bosch Rexroth AG R911337671_Edition 18...

  • Page 22: Safety Extra-Low Voltage As Protection Against Electric Shock

    All connections and terminals with voltages between 5 and 50 volts at the components of the Bosch Rexroth drive and control system are SELV systems. It is allowed to connect devices equipped with basic insulation (such as programming devices, PCs, notebooks, display units) to these connections.
  • Page 23 The extent of faulty drive movements depends upon the type of control and the state of operation. Bosch Rexroth AG R911337671_Edition 18...
  • Page 24 It might possibly be necessary to perform a special electromagnetic compatibility (EMC) test. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 25: Protection Against Magnetic And Electromagnetic Fields During Operation And Mounting

    These measures can be, for example: Warnings at the machine or installation, guards (shieldings or barriers) or safety instructions in the application documentation. Bosch Rexroth AG R911337671_Edition 18...

  • Page 26: Protection During Handling And Mounting

    Use suitable protective equipment (hard hat, safety goggles, safety shoes, safety gloves, for example). ● Do not stand under hanging loads. ● Immediately clean up any spilled liquids from the floor due to the risk of slipping. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 27 18/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 28: Important Directions For Use

    Areas of use and Application NYCe 4000 modules made by Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the motors may require additional sensors and actuators. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 29: Inappropriate Use

    Declarations of conformity confirm that the components comply with valid EN standards and EC directives. If required, our sales representative can provide you with the declarations of conformity for our components. 3.4.2 Low voltage directive These components correspond to the following standard. ● IEC 61010-1:2010 Bosch Rexroth AG R911337671_Edition 18...

  • Page 30: Emc Directive

    EMC properties may change. Hence the product intended for the final user (complete apparatus, machines or installations) should be inspected with regard to its EMC properties by the manufacturer of the product intended for the final user. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 31: Rohs

    China RoHS 2 marking The above mentioned components, comply with the requirements of the Administrative Measures for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products, known as China RoHS 2. Bosch Rexroth AG R911337671_Edition 18...

  • Page 32: System Overview

    Node Modules" on page The modules are mounted in a system housing with a backplane that arranges the connections to system power, servo power, motors, encoders and I/O, see chapter 4.3 "System housing with backplane" on page R911337671_Edition 18 Bosch Rexroth AG...

  • Page 33: Motion Node Modules

    I/O. The following types of drive modules are available for the NYCe 4000 system: ● NY4120, which can drive two axes of the following motor types: – brushless DC – brushless AC – brushed DC Bosch Rexroth AG R911337671_Edition 18...
  • Page 34 Drive Module" on page 125. ● NY4150, module with a Drivelink connection based on the SERCOS III standard hardware to connect IndraDrive amplifiers of Bosch Rexroth. The NY4150 is described in chapter 12 "NY4150 and NY4150/10: SERCOS III Master Module" on page 147.

  • Page 35: System Housing With Backplane

    ● The drive module (NY4120, NY4120/10, NY4125, NY4130, NY4140, NY4150, NY4150/10) ● Customer specific connections ● 24V I/O power supply (part of customer specific connections) ● Drive power supply (part of customer specific connections) Bosch Rexroth AG R911337671_Edition 18...
  • Page 36 (NY4110, NY4112, NY4114) System backplane 5 axis 2 axis 2 axis 1 axis drive module drive module drive module drive module (NY4120) (NY4125) (NY4130) (NY4140) M M M M M Fig. 4-4: Backplanes in the node structure R911337671_Edition 18 Bosch Rexroth AG...
  • Page 37 28/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 38: Ny4110: Mcu Module

    Interconnect up to 5 drive modules ● Control lines (service mode and axes stop) ● Program and debug features ● Insulated power supply for on-board logic and drive modules logic Only NYCe 4000 Software Releases before 50VRS are supported. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 39: Module Identification

    Identification label of the NY4110 Identification number Field explanation Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 5-1: Explanation of the fields of the NY4110 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 40: Module Dimensions

    POST (Power On Self Test) in progress. Green continuously Result of POST is OK. Node initialization successfully completed. Orange continuously Initializing node. Red flashing Start-up failure. Red continuously Result of POST is ERROR. Tab. 5-3: "MCU" status LED indications R911337671_Edition 18 Bosch Rexroth AG...

  • Page 41: System Power Supply

    +24 V ± 5% Current Typical 6.5W (0.27A), power supply required connected drive modules and encoders not included. Support inrush currents of 3A (6A for 10 ms), to prevent startup problems. Tab. 5-5: NY4110 24V System power supply Bosch Rexroth AG R911337671_Edition 18...

  • Page 42: Service Mode And Stop Axes Inputs

    24 Volt power supply 3.3k 3.3k Inp_Service_Mode TLP280 [See Note 2] 1.1k 3.3k 3.3k Inp_Stop_Axes TLP280 1.1k [See Note 1] Inp_Common [See Note 3] Fig. 5-4: Service_Mode and Stop_Axes inputs Use the following cabling instructions. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 43: Fw1, Fw2, Fw3 Connection Information

    FW1, FW2, FW3 connection information Characteristic Description Cable length max 4.5 m. Type of cable IEEE 1394b Tab. 5-7: Connection cable characteristics See also NYCe 4000 Standard Housings & Accessories, chapter "NY4950: IEEE 1394b Cables and Chokes". Bosch Rexroth AG R911337671_Edition 18...

  • Page 44: Installation Requirements

    The operation of installations, systems and machines requires the implementation of an integral concept for state-of-the-art IT security. Bosch Rexroth products are part of this integral concept. Bosch Rexroth product characteristics have to be taken into consideration in an integral IT security concept.
  • Page 45 36/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 46: Ny4112: Ethernet Mcu Module

    Program and debug features ● Insulated power supply for on-board logic and drive modules logic Only NYCe 4000 Software Releases before 50VRS are supported. Module identification An identification label is attached on the NY4112 module. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 47: Module Dimensions

    Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 6-1: Explanation of the fields of the NY4112 identification label Module dimensions Fig. 6-3: NY4112 module dimensions Bosch Rexroth AG R911337671_Edition 18...

  • Page 48: Field Diagnostics

    The 24 V power supply generates all the supply voltages for the following components. ● MCU module installed in the system housing ● All drive modules installed in the system housing ● All encoders connected to the system housing R911337671_Edition 18 Bosch Rexroth AG...

  • Page 49: Service Mode And Stop Axes Inputs

    15 V ... +30 V –15 V ... –30 V Input low level –5 V ... +5 V Input current @ 24V Nominal 3,5 mA Jitter on switching times Typical 20 μs Tab. 6-5: Characteristics of the digital inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 50 0 Volt +24 Volt Inp_Common Inp_Common High side switching (HSS) Low side switching (LSS) Application Node Application Node Inp_ +24 Volt Inp_ 0 Volt 0 Volt +24 Volt Inp_Common Inp_Common Fig. 6-5: HSS and LSS R911337671_Edition 18 Bosch Rexroth AG...

  • Page 51: Eth1, Eth2 Connection Information

    60 mm, and the width of the NY4901/20 cable strain relief bracket is 65 mm. Consult the specifications of the cable manufacturer for the minimum allowed bending radius. See for more information the NYCe 4000 Standard Housings & Accessories manual. Bosch Rexroth AG R911337671_Edition 18...

  • Page 52: Environmental Conditions

    The operation of installations, systems and machines requires the implementation of an integral concept for state-of-the-art IT security. Bosch Rexroth products are part of this integral concept. Bosch Rexroth product characteristics have to be taken into consideration in an integral IT security concept.
  • Page 53 44/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 54: Ny4114: Ethernet Mcu Module

    ● Interconnect up to 5 drive modules ● Control lines (service mode and axes stop) ● Program and debug features ● Linux operating system for on-board program environment for application software (Embedded Applications) R911337671_Edition 18 Bosch Rexroth AG...

  • Page 55: Module Identification

    Identification label of the NY4114 Identification number Field explanation Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 7-1: Explanation of the fields of the NY4114 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 56: Module Dimensions

    Normal operation mode level boot problem On-board power supply Hardware boot failure - Linux problem failure Hardware POST failure level boot error → replace board → replace board → restart board Tab. 7-3: MCU LED continuous states R911337671_Edition 18 Bosch Rexroth AG...
  • Page 57 100 Mbps. The LED is off when the link is not active. ● The lower LED (yellow) is the activity indicator. The LED is illuminated when data is transported over the ethernet connection. Bosch Rexroth AG R911337671_Edition 18...

  • Page 58: 24V System Power Supply

    USB device decreases. The USB port on the NY4114 module is designed for memory sticks. These devices require typically less than 100 mA. Service Mode and Stop Axes Inputs Characteristic Description Number of digital inputs 2: INP_Service_Mode, INP_Stop_Axes Functions Enter service mode Stop all axes in node R911337671_Edition 18 Bosch Rexroth AG...
  • Page 59 3. Connect the NYCe 4000, power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact. 4. Both inputs can be used either as high side switching (HSS) - or as low side switching LSS). Bosch Rexroth AG R911337671_Edition 18...

  • Page 60: Eth1, Eth2, Eth3 Connection Information

    Damage to the MCU may occur if external WARNING power is connected to the USB connector. ● Do not connect an external (USB) power supply to the USB port of the MCU module. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 61: Installation Requirements

    NY4114 is installed to guarantee sufficient free air flow. See the NYCe 4000 Standard Housings and Accessories manual for detailed information. convection cooling forced cooling ambient temperature [°C] Fig. 7-6: Cooling requirements Bosch Rexroth AG R911337671_Edition 18...

  • Page 62: System Software Recovery

    Gently pull the NY4114 module out of the slot of the system housing. Locate the jumper block on the module and put a standard 0.1" jumper on the indicated pins. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 63 Wait until the "MCU" LED on the NY4114 is fast flashing green/ orange. Connect to the web server of the MCU. Enter in the address field of the web browser on the PC the default IP address 192.168.41.14. The "Recovery Bootloader" page appears. Bosch Rexroth AG R911337671_Edition 18...
  • Page 64 MCU to the factory default settings. All data, including configuration files, is erased from the flash memory. Do steps ①, ②,③, and ④ of the 1 recovery method. Click the "Restore" tab (you must use the mouse). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 65: Security

    Wait until the MCU restarts and the "MCU" LED is lit continuously green. 7.11 IT-Security The operation of installations, systems and machines requires the implementation of an integral concept for state-of-the-art IT security. Bosch Rexroth products are part of this integral concept. Bosch Rexroth product Bosch Rexroth AG R911337671_Edition 18...
  • Page 66 NYCe 4000 Multi-axis motion control system Hardware Sys‐ 57/233 tem Manual NY4114: Ethernet MCU Module characteristics have to be taken into consideration in an integral IT security concept. The relevant characteristics are documented in the IT security guideline (R911342562). R911337671_Edition 18 Bosch Rexroth AG...
  • Page 67 58/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 68: Ny4120 And Ny4120/10: Pwm Drive Module

    Current control loop ● PWM frequency: 16 … 96 kHz. ● I continuous : 7 A rms (BLAC, BLDC, stepper motor), 10 A (DC motor) ● Bus voltage is minimal 15 V, maximal 75 V R911337671_Edition 18 Bosch Rexroth AG...

  • Page 69: Module Identification

    Identification label of the NY4120 Identification number Field explanation Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 8-1: Explanation of the fields of the NY4120 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 70: Module Dimensions

    Fatal error on the drive module, or gateware is not correct or not loaded, or module not operational because a communication problem is detected (call service). Orange steady Gateware loaded, but node not yet operational, because other drive modules in the node are initializing. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 71: Power Switch On/Off Precautions

    3. Switch off the 24V System power supply to the system. 4. Wait until the "DRV" LED on the drive module is off. 5. Remove the drive module. Bosch Rexroth AG R911337671_Edition 18...

  • Page 72: I/O Connector

    HB3+ HB3+ HB3+ HB3+ HB3+ DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR HB2– HB2– HB2– HB2– HB2– HB2+ HB2+ HB2+ HB2+ HB2+ HB1– HB1– HB1– HB1– HB1– HB1+ HB1+ HB1+ HB1+ HB1+ R911337671_Edition 18 Bosch Rexroth AG...

  • Page 73: Analog Inputs

    Absolute: 3% of full scale Relative: 0.1% of full scale Sample frequency Synchronously 32 kHz Bandwidth ● NY4120 : 4 kHz ±10% ● NY4120/10 : 125 kHz ±10% Tab. 8-5: Characteristics of the analog inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 74 If the analog input source provides a single ended signal, connect the signal wire to the positive input pin on the NYCe 4000 side, and connect the application ground to the negative input pin on the NYCe 4000 side. ● 4 – 20 mA. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 75: Analog Outputs

    0.55 mV rms Maximum output current 10 mA Range load resistor ≥ 1 kΩ (R2 in figure below) Capacitive load ≤ 10 nF (C2 in figure below) Output short circuit proof Yes, Ishort ≤ 35mA Bosch Rexroth AG R911337671_Edition 18...
  • Page 76 R*. If this resistor is not included in the equipment itself, install it for example in the connector at the equipment side of the cable. (For single ended input: 100 Ω, for differential 100 Ω – 100 kΩ). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 77: Digital Inputs

    15 V ... +30 V and –15 V ... –30 V Input low level –5 V ... +5 V Input current @ 24V Nominal 3,5 mA Jitter on switching times Typical 20 μs Tab. 8-7: Characteristics of the digital inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 78 3. Connect the NYCe 4000, a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact. 4. Each group of 4 inputs can be used either as high side switching (HSS), or as low side switching (LSS). R911337671_Edition 18 Bosch Rexroth AG...
  • Page 79 DigIn5 and DigIn6 for the second axis. See fig. 8-11 "24 Volt Hall sensor connection" on page 70 for the connection of a Hall sensor with either high side switched or low side switched outputs. Fig. 8-11: 24 Volt Hall sensor connection Bosch Rexroth AG R911337671_Edition 18...

  • Page 80: Digital Outputs

    ≤ 160 μs PULSE_on Pulse accuracy for t > 160 PULSE Tab. 8-9: Pulse time specifications of the digital outputs PWM signal specifications Unit Minimum Typical Maximum Digital output PWM frequency 10 000 PWM duty cycle R911337671_Edition 18 Bosch Rexroth AG...
  • Page 81 100% inactive state b = T - a Fig. 8-12: PWM signal specification parameters The schematic of the digital output is given in fig. 8-13 "DigOut0 and DigOut1" on page Bosch Rexroth AG R911337671_Edition 18...
  • Page 82 UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. If the load represents a high impedance input, you must use an external pull down resistor to meet the minimum specified output current through the switch. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 83: Digital High Speed Inputs And Outputs

    0.7 V. Indicated time only apply with a resistive load. Indicated time changes if the load has a capacitive component. Tab. 8-12: Characteristics of digital high speed output Bosch Rexroth AG R911337671_Edition 18...
  • Page 84 The cable with signal wire(s) of fast digital inputs and/or fast digital outputs must also include the return current path for every signal in the cable. For normal digital I/O this is recommended, but for fast digital I/O this is mandatory. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 85: Volt Digital Inputs

    Power supply for the encoders on both axes can only be switched on/off at the same time, not separately. Pull-up resistor for open Included (2,2 kΩ connected to non-switched Enc5V) collector driver Tab. 8-13: Characteristics for Hall inputs, 5 Volt digital inputs and counter inputs Bosch Rexroth AG R911337671_Edition 18...

  • Page 86: Encoder Inputs And Encoder Power Supply

    ● Hiperface The +5 Volt Hall sensors of a BLDC motor are connected to the +5 Volt digital inputs (Dig5VIn0a, Dig5VIn0b, Dig5VIn0c for axis0 and Dig5VIn1a, Dig5VIn1b, Dig5VIn1c for axis1). The digital encoders (Rexroth MSM R911337671_Edition 18 Bosch Rexroth AG...

  • Page 87: Drive Output

    FETs can be destroyed by this energy. Characteristic Description PWM frequency 16 kHz … 96 kHz PWM duty cycle Minimum OFF time: 1 µs PWM resolution 12 bits Bosch Rexroth AG R911337671_Edition 18...

  • Page 88: Motor Types

    PWM Brushed DC servo motor control (DC) PWM Stepper motor control Two phase stepper motors with a sinusoidal current of 7 A rms can be used. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 89: Connection Information

    UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. Connect an external capacitor close to the drive module (see chapter 16.1 "Drive Power Filtering for NY412x/NY4140" on page 213), in order to avoid ripple currents. Bosch Rexroth AG R911337671_Edition 18...

  • Page 90: Drive Power

    The minimum voltage at which the software disables the drive is 12 V (default value) or a higher user defined voltage level. See Software User Manual, parameter SAC_PAR_POS_SERVO_UNDER_VOLTAGE_LIMIT Tab. 8-17: NY4120 drive power inputs characteristics R911337671_Edition 18 Bosch Rexroth AG...
  • Page 91 82/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 92: Ny4125: 5-Axis Low Power Pwm Drive Module

    5 7.5 MHz (30 ∗ 10 count/s) quadrature encoders, digital Rexroth MSM or EnDat2.2 encoder interfaces suitable for RS485 and TTL inputs. ● 12 digital inputs. 5 inputs can be configured as disable drive input, 1 per axis. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 93: Module Identification

    Identification label of the NY4125 Identification number Field explanation Type code Version level and status Material number 2D bar code Date of manufacture (yyWww) Serial number Manufacturer ID Tab. 9-1: Explanation of the fields of the NY4125 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 94: Module Dimensions

    Fatal error on the drive module, or gateware is not correct or not loaded, or module not operational because a communication problem is detected (call service). Orange steady Gateware loaded, but node not yet operational, because other drive modules in the node are initializing. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 95: Power Switch On/Off Precautions

    3. Switch off the 24V System power supply to the system. 4. Wait until the "DRV" LED on the drive module is off. 5. Remove the drive module. Bosch Rexroth AG R911337671_Edition 18...

  • Page 96: I/O Connector

    HB4_2 HB3_1 HB3_1 HB3_2 HB3_2 HB2_3 HB2_3 HB3_3 HB3_3 DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR HB2_1 HB2_1 HB2_2 HB2_2 HB1_1 HB1_1 HB1_2 HB1_2 HB0_3 HB0_3 HB1_3 HB1_3 HB0_1 HB0_1 HB0_2 HB0_2 R911337671_Edition 18 Bosch Rexroth AG...

  • Page 97: Digital Inputs

    +15 V ... +30 V or –15 V ... –30 V Input low level –5 V ... +5 V Input current @ 24V Nominal 3,5 mA Jitter on switching times Typical 20 μs Tab. 9-5: Characteristics of the digital inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 98 4. Each group of 4 inputs can be used either as high side switching (HSS), or as low side switching (LSS), but must be the same for the whole group. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 99: Digital Outputs

    The digital outputs cannot be used for inductive loads. Voltage supply 24 V ±6 V Output current 0,02 A ... 1 A, 2 A peak (max. 50 ms) Typical 50 μs Output turn on time ( Bosch Rexroth AG R911337671_Edition 18...
  • Page 100 %. These two parameters are internally converted to pulse duration "a" and pulse pause duration "b" (see fig. 9-8 "PWM signal specification parameters" on page 92) which can only have a discrete increment step size. The R911337671_Edition 18 Bosch Rexroth AG...
  • Page 101 Shield (house connector). 2. Connect the minus of the I/O power to the housing and/or safety earth (if this is not already the case). Bosch Rexroth AG R911337671_Edition 18...

  • Page 102: Digital High Speed Inputs And Outputs

    Characteristics of high speed digital input Characteristic Description Number of digital outputs 2: FastOut0 and FastOut1 Function External stepper drive control ( High speed state output High speed pulsed output High speed PWM output with on delay R911337671_Edition 18 Bosch Rexroth AG...
  • Page 103 The cable with signal wire(s) of fast digital inputs and/or fast digital outputs must also include the return current path for every Bosch Rexroth AG R911337671_Edition 18...

  • Page 104: Ttl Digital Inputs

    Interface type Input frequency 1 MHz Pull-up resistor for open collector driver Tab. 9-11: Characteristics for TTL digital inputs +3.3V 100k TTLIn 74LVT14 100 nF DGND Fig. 9-11: Input circuit of the digital inputs TTLIn0…4 Notes R911337671_Edition 18 Bosch Rexroth AG...

  • Page 105: Encoder Inputs And Encoder Power Supply

    NY4125. During the active part of the PWM cycle, the drive power voltage is applied to the motor connections. During the passive part of the PWM cycle, the half H-bridges are for a short moment in a short circuit mode and current measurements are done. Bosch Rexroth AG R911337671_Edition 18...

  • Page 106: Motor Types

    BLAC motors have a sinusoidal stator winding distribution which is designed for use on a sinusoidal or PWM inverter supply voltage. In software, the alignment between motor coils and magnets is done using for example a wake-and-shake procedure. PWM Brushed DC servo motor control (DC) R911337671_Edition 18 Bosch Rexroth AG...

  • Page 107: Connection Information

    UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. Connect an external capacitor close to the drive module (see chapter 16.1 "Drive Power Filtering for NY412x/NY4140" on page 213), in order to avoid ripple currents. Bosch Rexroth AG R911337671_Edition 18...

  • Page 108: Drive Power

    Undervoltage protection The minimum voltage at which the software disables the drive is 12 V (default value) or a higher user defined voltage level. Software User Manual, parameter SAC_PAR_POS_SERVO_UNDER_VOLTAGE_LIMIT Tab. 9-15: NY4125 drive power inputs characteristics R911337671_Edition 18 Bosch Rexroth AG...
  • Page 109 100/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 110: Ny4130: Dc Drive Module

    ● Power consumption approximately 1.7 W at 24 V system power supply voltage Per module the following I/O are available: ● 6 x RS422 encoder inputs for each axis (2 x QuadA, QuadB and Index). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 111: Module Identification

    Identification label of the NY4130 Identification number Field explanation Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 10-1: Explanation of the fields of the NY4130 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 112: Module Dimensions

    Fatal error on the drive module, or gateware is not correct or not loaded, or module not operational because a communication problem is detected (call service). Orange steady Gateware loaded, but node not yet operational, because other drive modules in the node are initializing. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 113: Power Switch On/Off Precautions

    3. Switch off the 24V System power supply to the system. 4. Wait until the "DRV" LED on the drive module is off. 5. Remove the drive module. Bosch Rexroth AG R911337671_Edition 18...

  • Page 114: I/O Connector

    DigComm1 FastIn0 FastIn1 FastOut0 FastOut1 GND_DIO DigOut0 DigOut1 DigOut2 DigOut3 24V_DIO 24V_DIO 24V_DIO 24V_DIO 24V_DIO GND_DIO DigIn8 DigIn9 StopAlarm0 StopAlarm1 DigComm2 DRVPW–L DRVPW–L DRVPW+L DRVPW+L M2– M2– M2– M2– M2– M1– M1– M1– M1– M1– R911337671_Edition 18 Bosch Rexroth AG...

  • Page 115: Analog Inputs

    Absolute: 3% of full scale Relative: 0.1% of full scale Sample frequency Synchronously 32 kHz Bandwidth 4 kHz ±10% Reference Voltage output AnVref = 2.50 V Reference Voltage current Max. 10 mA Tab. 10-5: Characteristics for analog inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 116 8. If the analog input source provides a single ended signal, connect the signal wire to the positive input pin on the NYCe 4000 side, and connect the application ground to the negative input pin and analog ground pin on the NYCe 4000 side. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 117: Analog Outputs

    (R2 in figure below) Capacitive load ≤ 10 nF (C2 in figure below) Output short circuit proof Yes, Ishort ≤ 35mA Bandwidth DAC 4 kHz Update frequency Maximum 32 kHz Tab. 10-6: Characteristics of the analog outputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 118 6. Connect the NYCe 4000, a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact. 7. For proper use, this ground may not be connected to motor or digital I/O ground R911337671_Edition 18 Bosch Rexroth AG...

  • Page 119: Digital Inputs

    –30 V ... +30 V ● Input high level 15 V ... +30 V ● Input low level –30 V ... +5 V ● Input current @ 24V Nominal 15 mA Tab. 10-7: Characteristics of the digital inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 120 Connect the other side to a convenient metal part or leave it unconnected. ● The digital I/O may be associated with more than one power supply, and/or the cable may contain more than one minus for R911337671_Edition 18 Bosch Rexroth AG...
  • Page 121 Both HSS and LSS is possible for the first two groups of four digital inputs, but must be the same for the whole group. ● HSS and LSS is limited supported for the last group. Bosch Rexroth AG R911337671_Edition 18...

  • Page 122: Digital Outputs

    Unit Minimum Typical Maximum Digital output pulse duration μs 10 000 000 Pulse accuracy t ≤ 160 μs PULSE_on Pulse accuracy for t > 160 PULSE Tab. 10-9: Pulse time specifications of the digital outputs R911337671_Edition 18 Bosch Rexroth AG...
  • Page 123 100% inactive state b = T - a Fig. 10-12: PWM signal specification parameters The schematic of the digital output is given in fig. 10-13 "DigOut0 and DigOut1" on page 115. Bosch Rexroth AG R911337671_Edition 18...
  • Page 124 UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. If the load represents a high impedance input, you must use an external pull down resistor to meet the minimum specified output current through the switch. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 125: Digital High Speed Inputs And Outputs

    Active high control signals are recommended. Using active low control signals is only possible if the minimum input level speci‐ fied by the external stepper drive is higher than 0.7 V. Tab. 10-12: Characteristics of the digital high speed outputs Bosch Rexroth AG R911337671_Edition 18...

  • Page 126: Volt Digital Inputs

    See the encoder header pinout tables of the system housing in the NYCe 4000 Standard Housings & Accessories manual). R911337671_Edition 18 Bosch Rexroth AG...
  • Page 127 ● The shielding on the NYCe 4000 side of the cable must be connected to Shield (house connector). ● If the equipment on the application side is metal, connect the shield to the equipment housing. Bosch Rexroth AG R911337671_Edition 18...

  • Page 128: Encoder Inputs And Encoder Power Supply

    Offset voltage ≤ 50 mV (no offset compensation) OPA548 amplifier output gain Fixed at 24 I continuous 2 A for ± 15 V per axis 1 A for ± 26 V per axis R911337671_Edition 18 Bosch Rexroth AG...

  • Page 129: Motor Type

    Conform application Capacitance max 100 pF/m. Tab. 10-15: Motor cable characteristics The motor is connected to the drive according to fig. 10-16 "Motor connection circuit NY4130" on page 121 tab. 10-16 "Motor connections" on page 121. Bosch Rexroth AG R911337671_Edition 18...
  • Page 130 DRVPW-L on the node. The fuses are mandatory by safety regulations and must be UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. DC motor balanced DC motor unbalanced M1– M2– –V R911337671_Edition 18 Bosch Rexroth AG...

  • Page 131: Drive Power

    SAC_PAR_POS_SERVO_OVER_VOLTAGE_LIMIT SAC_PAR_NEG_SERVO_OVER_VOLTAGE_LIMIT respectively. Input current ● For ± 15 V – continuous : 4 A – peak : 8 A ● For ± 26 V – continuous : 2 A – peak : 4 A Bosch Rexroth AG R911337671_Edition 18...

  • Page 132: Installation Requirements

    NY4130 drive power inputs characteristics 10.16 Installation requirements Make sure that your machine design has at least 35 mm free clearance space in front of the protruding case of the modules for the heat sink of the NY4130. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 133 124/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 134: Ny4140: High Voltage Drive Module

    Quadrature encoder cable break detection ● Power consumption approximately 4.4 W at 24 V system power supply voltage Per module the following I/O is available: ● 3 x RS422 encoder inputs for each axis (QuadA, QuadB and Index). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 135: Module Identification

    Identification label of the NY4140 Identification number Field explanation Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 11-1: Explanation of the fields of the NY4140 identification label Bosch Rexroth AG R911337671_Edition 18...

  • Page 136: Module Dimensions

    Fatal error on the drive module, or gateware is not correct or not loaded, or module not operational because a communication problem is detected (call service). Orange steady Gateware loaded, but node not yet operational, because other drive modules in the node are initializing. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 137: Power Switch On/Off Precautions

    3. Switch off the 24V System power supply to the system. 4. Wait until the "DRV" LED on the drive module is off. 5. Remove the drive module. Bosch Rexroth AG R911337671_Edition 18...

  • Page 138: I/O Connector

    Enc0QuadA– Enc0QuadA+ Dig5VIn0c– Dig5VIn0c+ Opt_0– EncGND EncVref EncGND Enc5V0 DigIn0 DigIn1 DigIn2 DigIn3 DigComm0 DigIn4 DigIn5 DigIn6 DigIn7 DigComm1 FastIn0 FastIn1 FastOut0 FastOut1 GND_DIO DigOut0 DigOut1 24V_DIO 24V_DIO 24V_DIO 24V_DIO 24V_DIO GND_DIO DR_PWR DR_PWR DR_PWR DR_PWR DR_PWR R911337671_Edition 18 Bosch Rexroth AG...

  • Page 139: Analog Inputs

    Max. common mode voltage 12 V Resolution 12 bit monotonic Linearity 1 LSB Accuracy Absolute: 3% of full scale Relative: 0.1% of full scale Sample frequency Synchronously 32 kHz Bandwidth 4 kHz ±10% Tab. 11-5: Characteristics of the analog inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 140 If the analog input source provides a single ended signal, connect the signal wire to the positive input pin on the NYCe 4000 side, and connect the application ground to the negative input pin on the NYCe 4000 side. ● 4 – 20 mA. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 141: Analog Outputs

    0.55 mV rms Maximum output current 10 mA Range load resistor ≥ 1 kΩ (R2 in figure below) Capacitive load ≤ 10 nF (C2 in figure below) Output short circuit proof Yes, Ishort ≤ 35mA Bosch Rexroth AG R911337671_Edition 18...
  • Page 142 R*. If this resistor is not included in the equipment itself, install it for example in the connector at the equipment side of the cable. (For single ended input: 100 Ω, for differential 100 Ω – 100 kΩ). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 143: Digital Inputs

    15 V ... +30 V and –15 V ... –30 V Input low level –5 V ... +5 V Input current @ 24V Nominal 3,5 mA Jitter on switching times Typical 20 μs Tab. 11-7: Characteristics of the digital inputs Bosch Rexroth AG R911337671_Edition 18...
  • Page 144 3. Connect the NYCe 4000, a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact. 4. Each group of 4 inputs can be used either as high side switching (HSS), or as low side switching (LSS). R911337671_Edition 18 Bosch Rexroth AG...
  • Page 145 DigIn0, DigIn1 and DigIn2 have to be used. See fig. 11-11 "24 Volt Hall sensor connection" on page 136 for the connection of a Hall sensor with either high side switched or low side switched outputs. Fig. 11-11: 24 Volt Hall sensor connection Bosch Rexroth AG R911337671_Edition 18...

  • Page 146: Digital Outputs

    Unit Minimum Typical Maximum Digital output pulse duration μs 10 000 000 Pulse accuracy t ≤ 160 μs PULSE_on Pulse accuracy for t > 160 PULSE Tab. 11-9: Pulse time specifications of the digital outputs R911337671_Edition 18 Bosch Rexroth AG...
  • Page 147 100% inactive state b = T - a Fig. 11-12: PWM signal specification parameters The schematic of the digital output is given in fig. 11-13 "DigOut0 and DigOut1" on page 139. Bosch Rexroth AG R911337671_Edition 18...
  • Page 148 UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. If the load represents a high impedance input, you must use an external pull down resistor to meet the minimum specified output current through the switch. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 149: Digital High Speed Inputs And Outputs

    0.7 V. Indicated time only apply with a resistive load. Indicated time changes if the load has a capacitive component. Tab. 11-12: Characteristics of digital high speed output Bosch Rexroth AG R911337671_Edition 18...

  • Page 150: Volt Digital Inputs

    See the encoder header pinout tables of the system housing in the NYCe 4000 Standard Housings & Accessories manual). Signal interface RS485 or 5 V (half RS485 referenced to 2.05 V) R911337671_Edition 18 Bosch Rexroth AG...
  • Page 151 Shield (house connector). ● If the equipment on the application side is metal, connect the shield to the equipment housing. For proper use, this ground may not be connected to motor or digital I/O ground. Bosch Rexroth AG R911337671_Edition 18...

  • Page 152: Encoder Inputs And Encoder Power Supply

    NY4140. During the active part of the PWM cycle, the drive power voltage is applied to the motor connections. During the passive part of the PWM cycle, the half H-bridges are in a freewheel mode and current measurements are done. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 153: Motor Types

    BLAC motors have a sinusoidal stator winding distribution which is designed for use on a sinusoidal or PWM inverter supply voltage. In software, the alignment between motor coils and magnets is done using for example a wake-and-shake procedure. PWM Brushed DC servo motor control (DC) Bosch Rexroth AG R911337671_Edition 18...

  • Page 154: Connection Information

    UL recognized. See NYCe 4000 Standard Housings and Accessories manual for detailed information about fuses. 5. Connect an external capacitor close to the drive module (see chapter 16.1 "Drive Power Filtering for NY412x/NY4140" on page 213), in order to avoid ripple currents. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 155: Drive Power

    The minimum voltage at which the software disables the drive is 35 V (default value) or a higher user defined voltage level. See Software User Manual, parameter SAC_PAR_POS_SERVO_UNDER_VOLTAGE_LIMIT Tab. 11-17: NY4140 drive power inputs characteristics Bosch Rexroth AG R911337671_Edition 18...

  • Page 156: Ny4150 And Ny4150/10: Sercos Iii Master Module

    The NY4150 and NY4150/10 are standard NYCe 4000 modules with a Drivelink connection based on the SERCOS III standard hardware to connect IndraDrive amplifiers of Bosch Rexroth to the NYCe 4000 system. SERCOS is the abbreviation of Serial Real time Communication System, and SERCOS III is the third generation SERCOS drive communication protocol based on the Ethernet physical hardware structure.

  • Page 157: Module Identification

    The main features of the NY4150 are the following. ● Support for Bosch Rexroth IndraDrive C Advanced and IndraDrive Cs Basic Universal Servo Power Amplifiers. Up to 8 IndraDrives can be connected to the NY4150. Every power stage module can be used, but...

  • Page 158: Module Dimensions

    Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 12-1: Explanation of the fields of the NY4150 identification label 12.3 Module dimensions Fig. 12-4: NY4150 module dimensions R911337671_Edition 18 Bosch Rexroth AG...

  • Page 159: Field Diagnostics

    The SERCOS network is ready. Red flashing (2Hz) The SERCOS network is not ready. Cables not connected, loop not closed, IndraDrive not powered or network is being enumerated. Tab. 12-4: "NET" status LED indications SERCOS III network connections Bosch Rexroth AG R911337671_Edition 18...

  • Page 160: Supported Nyce 4000 Functionality With Ny4150

    1 kHz, and is limited to 5 if the update frequency is 2 kHz (if that update frequency can be set). ● Axis position sampling in the IndraDrive is synchronous with the axis position sampling of the other standard drive modules. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 161: I/O Connector

    AnVref AnIn1– AnIn1+ AnGND AnVref AnIn0– AnIn0+ DGND DGND DGND DGND DGND AnIn2– AnIn2+ AnIn7+ AnIn3– AnIn3+ AnIn7– AnIn4– AnIn4+ AnIn6+ Dig5VIn0a– Dig5VIn0a+ AnIn6– Dig5VIn0b– Dig5VIn0b+ AnIn5+ Dig5VIn0c– Dig5VIn0c+ AnIn5– EncGND EncVref EncGND Enc5V0 Enc5V0 Bosch Rexroth AG R911337671_Edition 18...

  • Page 162: Analog Inputs

    STP cable to the "PORT1" header on the NY4150, and closes the ring, see fig. 12-6 "Connection ring between NY4150 and IndraDrive(s)" on page 154. It is advised to connect the NY4150 and IndraDrive(s) as described here, because NYCeConfigurator displays the topology in this way. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 163: Installation Requirements

    RJ45 plug and header. You can use the NY4901/10 cable strain relief bracket installed on the NY4112 or NY4114 MCU, or the NY4901/40 cable strain relief bracket Bosch Rexroth AG R911337671_Edition 18...
  • Page 164 NY4150 module to ensure reliable connections. IndraDrive I/O connection See the NYCe 4000 Software User Manual, chapter Single Axis Control Drivelink (SACDL), for the mapping of IndraDrive I/O names to NYCe 4000 I/O names. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 165 156/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 166: Encoders

    3A. Another limitation is the maximum current that a drive module can deliver. The maximum current that a drive module can supply to its connected encoders depends on the drive module. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 167: Encoder Power Supply Switch

    The source for the encoder power supply on each drive module is on the MCU module. The total required current for all encoders connected to all installed drive modules in one node must stay below 3000 mA. Bosch Rexroth AG R911337671_Edition 18...

  • Page 168: Timing Aspects Of The Control Loop

    First, the different sample time definitions and their relationship are explained. With that information the moment of availability of encoder data and other timing aspects are explained, for example ● Data availability for sync packet transmission. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 169 13-3 "Relation of MCU sample, PVL sample and encoder data (PVL on drive @ 16 kHz)" on page 161. However, the sync packet always contains the information of the digital encoder of the previous PVL sample. Bosch Rexroth AG R911337671_Edition 18...
  • Page 170 Note that, depending on the selected node (sample) frequency and the PVL (on the drive module) frequency, several PVL (on the drive module) sample cycles are executed in one MCU sample. For example, if the sample R911337671_Edition 18 Bosch Rexroth AG...
  • Page 171 EnDat2.1 and Hiperface) and quadrature encoders is available when the sync packet transmission is started. The position information that the PVL (on the drive module or on the MCU) uses is always the actual data of the SinCos, EnDat2.1, Hiperface encoder or quadrature encoder. Bosch Rexroth AG R911337671_Edition 18...
  • Page 172 MCU sample frequency is 8 kHz and the PVL frequency is 32 kHz, the displacement is divided in 4 smaller displacements, see fig. 13-6 "Relation between MCU sample (setpoint generator) and PVL sample" on page 164. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 173: Encoders And Bldc Motor With +5 Volt Hall Sensors

    BLDC motor (with +5 Volt Hall sensors) is not possible. Note that if the Hall sensors are used on the +24 Volt digital inputs, the Rexroth MSM incremental or absolute encoder can be used with a BLDC motor. Sanyo Denki absolute encoder Bosch Rexroth AG R911337671_Edition 18...

  • Page 174: Quadrature Encoder

    Note that if the Hall sensors are used on the +24 Volt digital inputs, the Hiperface encoder can be used with a BLDC motor. 13.5 Quadrature encoder The quadrature encoder is also named A/B encoder, S0S90 encoder and 3- channel digital incremental encoder. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 175 Available on QuadA, QuadB and Index on all drive modules except NY4125. Available on QuadA and QuadB on NY4125 drive module. Enable/disable by software Maximum allowed signal skew Tskew < 2500 ns between balanced inputs for proper cable break detection Bosch Rexroth AG R911337671_Edition 18...
  • Page 176 EncVref. If the quadrature encoder is connected hardware-wise single- ended, see fig. 13-9 "Examples of correct connections" on page 170, this indicated software with parameter R911337671_Edition 18 Bosch Rexroth AG...
  • Page 177 Common ground signals # ■ 0, 1 for NY4120 and NY4130, 0 for NY4140, 0, 1, 2, 3, 4 for NY4125 # ■ 0, 1 for NY4120 and NY4130, 0 for NY4140 Tab. 13-8: Encoder inputs assignment Bosch Rexroth AG R911337671_Edition 18...
  • Page 178 If the equipment on the application side is metal, connect the shield to the equipment housing. Please study the datasheet of the encoder to find out the correct way to connect. fig. 13-9 "Examples of correct connections" on page 170 shows some examples. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 179: Analog Position Sensor

    Tab. 13-9: Analog inputs characteristics per drive module Encoder inputs assignment Backplane pin Description AnIn0–, AnIn0+ Analog input 0 for axis0 AnIn1–, AnIn1+ Analog input 1 for axis1 AnVref Analog reference voltage (only on NY4130) Bosch Rexroth AG R911337671_Edition 18...
  • Page 180 6. If the encoder input source provides a balanced differential signal, it may be desirable to connect a termination resistor between the signal wires at the NYCe 4000 side. Consult for this the installation instructions of the supplier. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 181: Rexroth Msm Incremental Encoder

    After power-on or a power supply failure, the axis must always be moved to its home position before processing can begin. ● The Rexroth MSM encoder counts downward (position increases) when the shaft of the encoder rotates clockwise. This behavior is opposite to most other encoders. Bosch Rexroth AG R911337671_Edition 18...
  • Page 182 Encoder inputs characteristics per drive module Encoder inputs assignment Backplane pin Description Dig5VIn0c– , Dig5VIn0c+ Data– and Data+ to drive for axis0 (NY4120, NY4140) Dig5VIn1c– , Dig5VIn1c+ Data– and Data+ to drive for axis1 (NY4120) R911337671_Edition 18 Bosch Rexroth AG...
  • Page 183 RKG0040, order number R911328668, see fig. 13-13 "MSM encoder cable layout" on page 175 fig. 13-14 "MSM encoder cable pinout" on page 175. These cables are custom made to the length specified. Bosch Rexroth AG R911337671_Edition 18...

  • Page 184: Rexroth Msm Absolute Encoder

    The absolute encoder type M0, M5 and M6 can be used as single-turn encoder without further accessories. The absolute encoder type M0, M5 and M6 can be used as multi-turn encoder when the battery box accessory is used. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 185 The following accessories are available for the encoder type M5. Component name Order number Cable length Battery box SUP-E02-MSM-BATTERYBOX-L010 R911346063 1000 mm SUP-E02-MSM-BATTERYBOX-L030 R911346065 3000 mm SUP-E02-MSM-BATTERYBOX-NNNN R911346084 250 mm Spare battery SUP-E02-MSM-BATTERY R911369925 Tab. 13-17: Accessories for encoder type M5 Single-turn signals Bosch Rexroth AG R911337671_Edition 18...
  • Page 186 6500 rpm for M6 Maximum rotational speed 6000 rpm for M0, M5 power-off mode, power-off 6500 rpm for M6 operation) Maximum angular acceleration (in 80000 rad/s normal operating mode) Maximum angular acceleration (in 80000 rad/s power-off mode, timer) R911337671_Edition 18 Bosch Rexroth AG...
  • Page 187 Data– and Data+ for axis0 (NY4120, NY4140) Dig5Vin1c– and Dig5Vin1c+ Data– and Data+ for axis1 (NY4120) Enc#QuadB– and Enc#QuadB+ Data– and Data+ for axis# (NY4125) # = 0, 1, 2, 3, 4) EncGND Tab. 13-21: Encoder inputs assignment Bosch Rexroth AG R911337671_Edition 18...
  • Page 188 The encoder cable RKG0040 connects the Battery+ and Battery– pins of the encoder to Enc5V and EncGND pins of the NYCe 4000 encoder power supply source. Fig. 13-16: MSM encoder type M0 cable layout R911337671_Edition 18 Bosch Rexroth AG...
  • Page 189 Encoder type M6 Symbol Remarks NYCe 4000 connection SH/FG wire shielding wire Encoder GND connected by the encoder side main power supply - EncGND main power supply + Enc5V external battery power supply - EncGND Bosch Rexroth AG R911337671_Edition 18...

  • Page 190: Sanyo Denki Absolute Encoder

    NY4120 switch on/off per drive ● NY4125, NY4140 switch on/off per axis Battery 3.6 V Battery enables ● holding data (in multi-turn operation) ● multi-turn operation when power supply fails Tab. 13-23: Power supply characteristics R911337671_Edition 18 Bosch Rexroth AG...
  • Page 191 Single-turn signals Value Note Absolute value 32 bit Resolution 17 bit (131072 pulses Accuracy is 8 bit per revolution) Maximum rotational 7200 rpm speed normal operating mode) Maximum angular 100000 rad/s acceleration (in normal operating mode) Bosch Rexroth AG R911337671_Edition 18...
  • Page 192 RS422 (differential) Line termination ● On-board, 120 Ω in series with 680 pF on NY4120 and NY4140 ● On-board, 400 Ω on NY4125 Input frequency Max. 2.5 MHz Cable break alarm By software protocol errors R911337671_Edition 18 Bosch Rexroth AG...
  • Page 193 MCU, drive logic, analog I/O, and host PC if the MCU is NY4110 and an IEEE 1394b cable is used. For proper use, this ground may not be connected to motor or digital I/O ground. Bosch Rexroth AG R911337671_Edition 18...
  • Page 194 ● The shielding on the NYCe 4000 side of the cable must be connected to Shield (house connector). ● If the equipment on the application side is metal, connect the shield to the equipment housing. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 195: Endat2.2 Encoder

    ● 2k2 on-board on NY4120, NY4140 collector driver ● Not included on NY4125, NY4130 If necessary add externally Cable break alarm By software protocol errors Tab. 13-30: Encoder inputs characteristics per drive module Bosch Rexroth AG R911337671_Edition 18...
  • Page 196 1. Connect the NYCe 4000, a power supply or other equipment on a metal frame or mounting base and make sure there is a galvanic contact. 2. When switching off the power of the encoder the software behavior is as follows. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 197: Sincos Encoder

    The index threshold value can be tuned by the software or by using the tools, refer to software and tools user manuals. Increasing direction Clockwise, as viewed form the encoder shaft end Tab. 13-33: Encoder inputs characteristics Bosch Rexroth AG R911337671_Edition 18...
  • Page 198 Power supply for axis0 Dig5VIn1a–, Dig5VIn1a+ Sine– and Sine+ for axis1 Dig5VIn1b–, Dig5VIn1b+ Cosine– and Cosine+ for axis1 Dig5VIn1c–, Dig5VIn1c+ Ref– and Ref+ for axis1 Enc5V1 Power supply for axis1 EncGND Tab. 13-34: Encoder inputs assignment R911337671_Edition 18 Bosch Rexroth AG...
  • Page 199 4K99 Opt_2+ 220 pF EncGND 120 Ohm 1 nF 220 pF 10 Ohm 4K99 Opt_2- MAX1562 [See Note 4] Enc5V0 [See Note 5] EncGND [See Note 3] Fig. 13-24: SinCos encoder input circuit for axis0 Bosch Rexroth AG R911337671_Edition 18...
  • Page 200 A power loss error is generated on the axis. ● The axis will go to the error state and be set 'not homed'. To recover from this situation, you must switch on the encoder power, reset and home the axis. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 201: Endat2.1 Encoder

    Data of incremental encoder Value Note Type EnDat2.1 Resolution Max. 32 bits Depending on the encoder used Output format EnDat2.1 protocol Digital protocol Baud rate 100, 200, 500, 1000 Supported baud rates Tab. 13-37: Data of absolute encoder Bosch Rexroth AG R911337671_Edition 18...
  • Page 202 Sine– and Sine+ for axis1 Dig5VIn1b–, Dig5VIn1b+ Cosine– and Cosine+ for axis1 Dig5VIn0b–, Dig5VIn0b+ Clock– and Clock+ for axis1 Dig5VIn1c–, Dig5VIn1c+ Data– and Data+ for axis1 Enc5V1 Power supply for axis1 EncGND Tab. 13-39: Encoder inputs assignment R911337671_Edition 18 Bosch Rexroth AG...
  • Page 203 4K99 Opt_1+ 220 pF EncGND 120 Ohm 1 nF 220 pF 10 Ohm 4K99 Opt_1- MAX1562 [See Note 5] Enc5V0 EncGND [See Note 6] [See Note 4] Fig. 13-26: EnDat2.1 encoder input circuit for axis0 Bosch Rexroth AG R911337671_Edition 18...
  • Page 204 5. When switching off the power of the encoder the software behavior is as follows. ● A power loss error is generated on the axis. ● The axis will go to the error state and be set 'not homed'. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 205: Hiperface Encoder

    Encoder data Value Note Type Hiperface Resolution 128 lines per revolution Bosch Rexroth standard Hiperface encoders Output format Analog signals Increasing direction Clockwise As viewed from the encoder shaft end Tab. 13-41: Data of incremental encoder Bosch Rexroth AG R911337671_Edition 18...
  • Page 206 8V power supply for axis0 Dig5VIn1a–, Dig5VIn1a+ Sine– and Sine+ for axis1 Dig5VIn1b–, Dig5VIn1b+ Cosine– and Cosine+ for axis1 Dig5VIn0b–, Dig5VIn0b+ Data– and Data+ for axis1 Dig5Vin1c+ 8V power supply for axis1 EncGND Tab. 13-44: Encoder inputs assignment R911337671_Edition 18 Bosch Rexroth AG...
  • Page 207 120 Ohm 1 nF 220 pF 10 Ohm 4K99 Opt_1- FDC6324 ON/OFF Opt_2+ Enc8V [See Note 1 and Note 6] EncGND [See Note 7] [See Note 5] Fig. 13-28: Hiperface encoder input circuit for axis0 Bosch Rexroth AG R911337671_Edition 18...
  • Page 208 6. When switching off the power of the encoder the software behavior is as follows. ● A power loss error is generated on the axis. ● The axis will go to the error state and be set 'not homed'. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 209: Ny4199 Sincos Option Module For Sincos Based Encoders

    (Dig5VIn1a, Dig5VIn1b and Dig5VIn1c) routed to the NY4199 SinCos Option module. This is shown schematically in fig. 13-31 "Drive module connections with NY4199 SinCos Option module" on page 201. Bosch Rexroth AG R911337671_Edition 18...

  • Page 210: Module Identification

    13.11 "SinCos encoder" on page 188, chapter 13.12 "EnDat2.1 encoder" on page chapter 13.13 "Hiperface encoder" on page 196. 13.14.2 Module identification An identification label is attached on the NY4199 module. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 211: Module Dimensions

    Type code Version level and status Date of manufacture (yyWww) Material number Serial number 2D bar code Tab. 13-46: Explanation of the fields of the NY4199 identification label 13.14.3 Module dimensions Fig. 13-33: NY4199 module dimensions Bosch Rexroth AG R911337671_Edition 18...

  • Page 212: Installation Instructions For The Ny4199 Sincos Option Module

    NY4199 SinCos Option module into the sockets of the drive module. 5. Put the curled washer Ⓔ and the nut Ⓕ on the screw. Do not use excessive force to lock the nut. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 213 204/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 214: Network

    For an LMS, due to the physical layout, a daisy-chain of MCUs is often the practical solution. The limitation of 16 hops also applies in this setup. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 215: Ieee 802.3 Multi-Node Configuration Ny4112 Mcu

    3. A combination of the previous two methods. You can use a switch to connect the PC to a node, and connect an other node (or nodes) to that node. Bosch Rexroth AG R911337671_Edition 18...

  • Page 216: Direct Cable Connection Between Pc And Ny4112-Based Node(S)

    The number of NYCe 4000 nodes you can connect in this topology is limited to 62. NYCe 4000 nodes can co-exist with other ethernet devices on the machine network. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 217: Dhcp Support

    The NY4114 MCU is only supported in NYCe 4000 Software Release 50V02 or higher. The network adapter in the PC that connects to the NYCe 4000 machine network must be configured to be in the same subnet as the MCUs. Only one Bosch Rexroth AG R911337671_Edition 18...

  • Page 218: Direct Cable Connection Between Pc And Ny4114-Based Node(S)

    Not shown in the figure is the possibility to build a binary tree toplogy. Further, not shown in the figure is the possibility to connect other ethernet devices to the switch. The number of NYCe 4000 R911337671_Edition 18 Bosch Rexroth AG...

  • Page 219: Dhcp Support

    IP address Decimal dotted IPv4 address 192.168.41.14 Subnet mask Decimal dotted IPv4 subnet mask 255.255.255.0 (option 1) Default gateway Optional decimal dotted IPv4 0.0.0.0 address of the default gateway (option 3) Tab. 14-2: DHCP client options Bosch Rexroth AG R911337671_Edition 18...

  • Page 220: Nyce 4000 Hardware Glossary

    SERCOS III Master module. header clear identification ‘connector’ at the end of a cable is called "plug" and the ‘connector’ on a [system, I/O] backplane is called "header". Tab. 15-1: Identification names of the components R911337671_Edition 18 Bosch Rexroth AG...
  • Page 221 A digital position encoder that generates two block wave encoder signals with 90° phase shift relative to each other and an optional index signal. Also known as A/B encoder, S0S90 encoder and 3-channel digital incremental encoder. Tab. 15-3: Explanation of other expressions Bosch Rexroth AG R911337671_Edition 18...

  • Page 222: Drive Power Precautions For Ny412X/Ny4140

    The capacitors required for the filtering of high-power applications are rather large, and for this reason they are not included in the on-board capacitance of the NY412x/NY4140. Bosch Rexroth has designed on-board capacitors in the NY412x/NY4140 for light applications only. For the heavier applications, the drive modules need a larger application dependent capacitor in parallel as close as possible to the I/O backplane.

  • Page 223: Filtering On Ny40X3, Ny4074 And Ny40X2 System Housings

    See tab. 16-2 "Advised capacitors for NY412x (NY4010/4040/4050 housing)" on page 215 tab. 16-3 "Advised capacitors for NY4140 (NY4010/4040/4050 housing)" on page 215 for the needed capacitor (per typical application) advised by Bosch Rexroth. Bosch Rexroth AG R911337671_Edition 18...

  • Page 224: Motor Chokes

    If the motor inductance is too low, additional chokes must be added in the motor wiring. fig. 16-1 "PWM cycle and motor current measurement" on page 216. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 225: Regenerative Braking

    (if large enough) lead to the destruction of the NYCe 4000 system. Some power supplies are not protected against current sinking, and in those cases the voltage increase will cause the power supply to break down. Bosch Rexroth AG R911337671_Edition 18...

  • Page 226: Environmental Conditions

    ● Electrostatic discharge: EN 61000-4-2:2008 ● Radiated, RF electromagnetic field: IEC 61000-4-3:2020 ● Electrical fast transient (burst): IEC 61000-4-4:2012 ● RF conducted disturbances: IEC 61000-4-6:2013 17.4 Environment Pollution degree (operating / storage and transport): 2. R911337671_Edition 18 Bosch Rexroth AG...

  • Page 227: Derating Conditions

    /hr. Environmental temperature (°C) Fig. 17-1: Max. motor current for 10 axes (5 NY4120 drive modules) and all digital outputs at 1 A load with 3 fans (airflow 11.3 m /hr) installed vs. environmental temperature Bosch Rexroth AG R911337671_Edition 18...

  • Page 228: Convection Cooled Systems, Ny4120

    17-4 "Maximum motor current for 2 axes (one NY4120 drive module) and all digital outputs at 1 A load vs. environmental temperature" on R911337671_Edition 18 Bosch Rexroth AG...

  • Page 229: Forced Cooled Systems, Ny4125

    45 °C. If the PWM frequency is 32 kHz, the following conditions apply. See line Ⓑ. ● The maximum motor current is 2.8 A rms for all axes at an environmental temperature up to 55 °C. Bosch Rexroth AG R911337671_Edition 18...

  • Page 230: Convection Cooled Systems, Ny4125

    ● The maximum motor current is 2.0 A rms for all axes at an environmental temperature up to 45 °C. ● The absolute maximum environmental temperature is 55 °C (motor current is .95 A rms). R911337671_Edition 18 Bosch Rexroth AG...

  • Page 231: Forced Cooled Systems, Ny4130

    17-8 "Max. load by 10 axes (5 NY4130 drive modules, control frequency = 32 kHz) and all digital outputs at 1 A load vs. environmental temperature" on page 223 shows the derating curve under these following conditions for the environmental temperature. Bosch Rexroth AG R911337671_Edition 18...

  • Page 232: Forced Cooled Systems, Ny4140

    5 axes. fig. 17-10 "Maximum motor current for 5 axes (5 NY4140 drive modules) and all digital outputs at 1A load vs. environmental temperature" on page 224 shows the situation R911337671_Edition 18 Bosch Rexroth AG...
  • Page 233 The maximum motor current is 5 A rms for all axes at an environmental temperature of 30 °C. ● The maximum motor current is 3 A rms for all axes at an environmental temperature of 40 °C. ● The absolute maximum environmental temperature is 50 °C. Bosch Rexroth AG R911337671_Edition 18...
  • Page 234 NYCe 4000 Multi-axis motion control system Hardware Sys‐ 225/233 tem Manual Environmental Conditions Environmental temperature (°C) Fig. 17-11: Max. motor current for 5 axes (5 NY4140 drive modules, PWM fre‐ quency = 16 kHz) and digital outputs not used vs. environmental temperature R911337671_Edition 18 Bosch Rexroth AG...
  • Page 235 226/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 236: Cleaning, Disposal And Environmental Protection

    Materials Contained in the Products ● Electronic Devices Electronic devices mainly contain: – steel – aluminum – copper – synthetic materials – electronic components and modules ● Motors Motors mainly contain: – steel R911337671_Edition 18 Bosch Rexroth AG...
  • Page 237 The metals contained in the electric and electronic modules can also be recycled by means of specific separation processes. The synthetic materials remaining after these processes can be thermally recycled. Bosch Rexroth AG R911337671_Edition 18...

  • Page 238: Service And Support

    1. Detailed description of the failure and circumstances. 2. Information on the type plate of the affected products, especially type codes and serial numbers. 3. Your telephone number and e-mail address, so we can contact you in case of questions. R911337671_Edition 18 Bosch Rexroth AG...
  • Page 239 230/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Bosch Rexroth AG R911337671_Edition 18...

  • Page 240: Appendix - Eu Declaration Of Conformity - Modules

    NYCe 4000 Multi-axis motion control system Hardware Sys‐ 231/233 tem Manual Appendix - EU declaration of conformity - modules Appendix - EU declaration of conformity - modules Fig. 20-1: EU declaration of conformity, page 1 R911337671_Edition 18 Bosch Rexroth AG...
  • Page 241 232/233 NYCe 4000 Multi-axis motion control system Hardware Sys‐ tem Manual Appendix - EU declaration of conformity - modules Fig. 20-2: EU declaration of conformity, page 2 Bosch Rexroth AG R911337671_Edition 18...
  • Page 242 NYCe 4000 Multi-axis motion control system Hardware Sys‐ 233/233 tem Manual Notes...
  • Page 243 Bosch Rexroth AG P.O. Box 13 57 97803 Lohr a.Main, Germany Bgm.-Dr.-Nebel-Str. 2 97816 Lohr a.Main, Germany Phone +49 9352 18 0 Fax +49 9352 18 8400 www.boschrexroth.com/electrics *R911337671* R911337671 DOK-NY4000-HW***SYSTEM-PR18-EN-E...

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