Rexroth IndraDrive C Drive Controllers HCS02.1 ... - Bosch Rexroth

7-112 Commissioning and Parameterization Rexroth IndraDrive
Features
• double-axis BASIC UNIVERSAL (CDB01.1C)
The following communication channels are distinguished:
• cyclic data channel (PROFIBUS-DP)
The field bus provides data containers in which useful data can be
cyclically transmitted. This section is called cyclic data channel. The
cyclic data channel is divided into
• a device-specific parameter channel (optional) for reading and
writing all parameters via PROFIBUS-DP,
Note: This parameter channel does not fulfill "real-time
properties"!
• an (optional) safety related, axis-specific process data channel
(PROFIsafe) that allows transmitting safety-relevant signals
depending on firmware and hardware (see also "Drive-Integrated
Safety Technology" in chapter "Drive Functions"),
• an axis-specific process data channel (real-time channel)
containing firmly specified information that can be directly
interpreted by the receiver.
• acyclic data channel (DPV1 parameter communication)
The following are supported:
• one class-1 connection
• two class-2 connections
safety related not safety related
master ® slave param. channel PROFIsafe ctrl word, cmd values
slave ® master param. channel PROFIsafe status word, act. val.
Fig. 7-51: Overview cyclic data channel
DF000156v01_en.fh7
Note: To simplify field bus communication Bosch Rexroth makes
available function blocks for different programmable logic
controllers (PLCs). The principles applied can be easily used
for other field bus masters.
The slave PROFIBUS-DP circuit with master communication module PL
has the following functional features:
• support of RS485 interfaces according to IEC61158-2
• support of all data rates according to IEC61158-2, with exclusive use
of PROFIBUS-DP (9.6 kBaud, 19.2 kBaud, 45.45 kBaud, 93.75 kBaud,
187.5 kBaud, 500 kBaud, 1.5 MBaud, 3 MBaud, 6 MBaud, 12 Mbaud)
• automatic baud rate detection
• configurable cyclic data up to 10 parameters (incl. field bus control
word and field bus status word) in both data directions
(max. 40 bytes or 20 words)
• additional optional parameter channel in the cyclic channel with up to
16 bytes (8 words)
• monitoring of the cyclical data exchange (watchdog function)
• LED for diagnosing the PROFIBUS interface
DOK-INDRV*-FU*********-IB01-EN-P