Electric Drives Linear Motion and and Controls Hydraulics Assembly Technologies Pneumatics Service R911333512 sercos System Manual Edition 02 for I/O Devices Application Description Bosch Rexroth AG | Electric Drives sercos | Application Description and Controls Title sercos System Manual for I/O Devices Type of Documentation Application Description Document Typecode: DOK-CONTRL-ILS3*******-AP02-EN-P Internal File Reference 7836_en_01, 120-0403-B309/EN -02 Purpose of Documentation This document describes configuration, parameterization, startup and diagnostics of I/O devices with sercos interface. Record of Revisions Document Designation of Release Remark Previous Editions Date 120-0403-B309/EN -01 03/2011 First edition 120-0403-B309/EN -02 07/2011 Completely revised Copyright © Bosch Rexroth AG, 2011. Copying this document, giving it to others and the use or communication of the contents thereof without express authority, are forbidden. Offenders are liable for the payment of damages. All rights are reserved in the event of the grant of a patent or the registration of a utility model or design (DIN 34-1). Validity The specified data is for product description purposes only and may not be deemed to be guaranteed unless expressly confirmed in the contract. All rights are reserved with respect to the content of this documentation and the availability of the product. Published by Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 • 97816 Lohr a. Main, Germany Phone + 49 9352 4-00 • Fax + 49 9352 4-04885 www.boschrexroth.com/ Dept. DC-IA/SPF3 Note This document is printed on non-chlorine bleached paper. Application Description | sercos Electric Drives | Bosch Rexroth AG I/IV and Controls Table of Contents Table of Contents Page 1 Introduction ..................................................................................................................1 1.1 General Information on sercos .................................................................................................................1 1.2 Development of the sercos Automation Bus ............................................................................................1 1.3 Ethernet in Industrial Communications with sercos ..................................................................................2 2 Overview and Architecture .........................................................................................3 2.1 Topology ..................................................................................................................................................3 2.1.1 The Ring Structure ...............................................................................................................................3 2.1.2 The Linear Structure .............................................................................................................................4 2.1.3 Advanced Topologies ..........................................................................................................................4 2.2 Installation................................................................................................................................................5 2.3 Technical Properties of sercos.................................................................................................................5 2.4 Overview of Transmission Performance...................................................................................................6 2.5 Communication Model .............................................................................................................................7 2.6 Basic Communication Profiles .................................................................................................................9 2.7 Device Model .........................................................................................................................................10 2.8 sercos Parameter Model ........................................................................................................................11 2.9 Grouping of ID Numbers ........................................................................................................................14 2.9.1 SCP (sercos Communication Profile) .................................................................................................15 2.9.2 GDP (Generic Device Profile) .............................................................................................................16 2.9.3 FSP_IO (Function-Specific Profile for I/O Devices) ............................................................................18 3 sercos Communication ............................................................................................. 19 3.1 Telegrams and Their Basic Structure .....................................................................................................19 3.2 The Data Link Layer ...............................................................................................................................23 3.2.1 The Service Channel ..........................................................................................................................23 3.2.2 The Hot-Plug Service .........................................................................................................................23 3.2.3 The Realtime Channel (RTC) .............................................................................................................24 3.3 Synchronization with sercos...................................................................................................................24 4 Planning ...................................................................................................................... 27 4.1 (Assembly) Directives and Standards ....................................................................................................27 4.1.1 Wiring .................................................................................................................................................27 4.1.7 Plug Connector ..................................................................................................................................36 4.1.8 Grounding ..........................................................................................................................................36 4.2 Central and Distributed System Concepts .............................................................................................39 4.3 Fast and Slow Connections....................................................................................................................39 4.3.1 Realtime Ethernet and Standard Ethernet ..........................................................................................39 4.3.2 Different Producer Cycle Times ..........................................................................................................39 5 Parameterization ........................................................................................................ 41 5.1 Scope of Functions of the sercos I/O Master..........................................................................................41 5.2 Assignment/Definition Producer/Consumer ...........................................................................................41 5.3 Determining Cycle Times .......................................................................................................................41 II/IV Bosch Rexroth AG | Electric Drives sercos | Application Description and Controls Table of Contents Page 5.4 Parameterization Options...................................................................................................................... 42 5.4.1 Parameterization Phase CP2 ............................................................................................................ 42 5.4.2 Parameterization Level (PL) .............................................................................................................. 42 5.5 Creating sercos I/Os.............................................................................................................................. 43 5.5.1 Adding sercos Devices to the IndraWorks Device Database ............................................................. 43 5.5.2 Creating a sercos Slave .................................................................................................................... 43 5.5.3 sercos I/O Settings ............................................................................................................................ 44 5.5.4 sercos I/O Module ............................................................................................................................. 45 6 Startup .........................................................................................................................49 6.1 General Information on Initialization and the Six Communication Phases ............................................. 49 6.2 Phase Startup With Check of the Configured Data................................................................................ 50 6.2.1 Communication Phase NRT (Non-Realtime Phase) .......................................................................... 50 6.2.2 Communication Phase CP0 (Start Phase) ......................................................................................... 50 6.2.3 Communication Phase CP1 (Configuration Phase) ..........................................................................