Bosch Servodyn-D User manual

Servodyn-D with CANrho interface
Commissioning with DSS
Antriebs- und Steuerungstechnik
Servodyn-D
101
Edition

Servodyn-D
Servodyn-D with CANrho interface
Commissioning with DSS
1070 066 037-101 (00.02) GB
2000
by Robert Bosch GmbH, Erbach, Germany
All rights reserved, including applications for protective rights.
Reproduction or distribution by any means subject to our prior written permission.
Discretionary charge DM 10.––

V
1070 066 037-101 (00.02) GB
Contents Page
1 Safety Instructions 1–1. . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 Proper use 1–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Qualified personnel 1–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Safety markings on products 1–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Safety instructions in this manual 1–4. . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Safety instructions concerning the product described 1–5. . . . . . . .
1.6 Documentation, software release and trademarks 1–7. . . . . . . . . . .
2 Prerequisites for Commissioning 2–1. . . . . . . . . . . . . .
2.1 Checking the hardware 2–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Configuring the CAN interfaces at the drive 2–4. . . . . . . . . . . . . . . . .
2.3 Establishing communication between the drive and DSS 2–5. . . . .
2.4 Establishing communication between rho and the drives 2–8. . . . .
3 DSS user interface 3–1. . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 DSS basic image 3–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 DSS monitor 3–3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Selecting the language 3–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Changing the user group (password) 3–7. . . . . . . . . . . . . . . . . . . . . .
3.5 Important drive commands 3–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Changing phases 3–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Save main memory 3–9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Load main memory 3–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.4 Resetting errors (class 1) 3–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Initial commissioning 4–1. . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Creating a template file 4–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Parameterizing the drive 4–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Operating frequency of the power output stage 4–5. . . . . . . . . . . . . .
4.2.2 Main operating mode 4–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Limit values 4–6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.4 Behavior after ”Drive off” or a fault 4–7. . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5 Behavior after removal of the external drive enable signal: 4–7. . . .
4.2.6 Holding brake 4–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.7 Plug braking 4–8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.8 Digital inputs and outputs (IN x, OUT x) 4–8. . . . . . . . . . . . . . . . . . . .
4.2.9 Torque monitoring 4–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.10 Torque reduction via digital input signals 4–11. . . . . . . . . . . . . . . . . . .
4.2.11 Torque reduction via rho4 (automatic/manual mode) 4–12. . . . . . . . .
4.2.12 Option OM4: Analog outputs 4–13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Optimizing the drive controller 4–14. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Optimization steps 4–15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 DSS tools 4–17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Specifying setpoints 4–19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Save all parameter settings (data backup) 4–20. . . . . . . . . . . . . . . . . .
4.5 Transmitting the parameters to the rho 4–21. . . . . . . . . . . . . . . . . . . . .
4.6 Editing *.scs files 4–22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents
VI
1070 066 037-101 (00.02) GB
5 Series commissioning 5–1. . . . . . . . . . . . . . . . . . . . . . . .
6 Diagnoses 6–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Drive configuration 6–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Drive status display 6–2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Displaying I/O signals 6–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Displaying cyclic telegrams 6–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Separate window for cyclic display 6–6. . . . . . . . . . . . . . . . . . . . . . . .
6.6 Reading parameter values into the template file 6–7. . . . . . . . . . . . .
A Appendix A–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Pin assignment of the CAN interface at the drive (X51) A–1. . . . . . .
A.2 Pin and terminal assignment of the T adapters A–1. . . . . . . . . . . . . .
A.3 CAN bus wiring: rho3 and 1 CAN bus A–2. . . . . . . . . . . . . . . . . . . . . .
A.4 CAN bus wiring: rho3 and 2 CAN buses A–3. . . . . . . . . . . . . . . . . . . .
A.5 CAN bus wiring: rho4 A–4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.6 Index A–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Safety Instructions 1–1
1070 066 037-101 (00.02) GB
1 Safety Instructions
Please read this manual before commissioning the Servodyn-D drives with
CANrho interface. Store this manual in a place to which all users have
access at any time.
1.1 Proper use
This manual contains all information required for the proper use of this
product.
The drive inverters described
have been developed, manufactured, tested and documented in com-
pliance with the safety standards. These products pose no danger to per-
sons or property if they are used in accordance with the handling
stipulations and safety notes prescribed for their configuration, mount-
ing, and proper operation.
comply with the requirements of
the EMC Directives (89/336/EEC, 93/68/EEC and 93/44/EEC)
the EMC product standard EN 61800-3
the Low-Voltage Directive (73/23/EEC)
the harmonized standards EN 50178 (VDE 0160) and EN 60146-1-1
(VDE 0558-11)
are designed for operation in industrial environments (emission class A),
i.e.
no direct connection to public low-voltage power supply,
connection to the medium- or high-voltage system via a transformer.
In residential environments, in trade and commerce as well as small en-
terprises class A equipment may only be used if it does not inadmissibly
interfere with other equipment.
This is a class A device which may cause radio interference in residen-
tial environments. In this case, the operator may be required to take
suitable countermeasures and to bear the cost of the same.
Before putting the drive inverters into operation, ensure that the machine
which the inverters are to be installed in meets the stipulations of the machin-
ery directive (98/37/EEC, 98/79/EEC) and the EMC directive (89/336/EEC).
The faultless, safe functioning of the product requires proper transport, stor-
age, erection and installation as well as careful operation.

Safety Instructions
1–2
1070 066 037-101 (00.02) GB
1.2 Qualified personnel
The requirements as to qualified personnel depend on the qualification pro-
files described by ZVEI (central association of the electrical industry) and
VDMA (association of German machine and plant builders). Please refer to
the following publication (in German language):
Weiterbildung in der Automatisierungstechnik
edited by: ZVEI and VDMA
MaschinenbauVerlag
Postfach 71 08 64
60498 Frankfurt/Germany
The present manual is designed for drive technicians. They need addi-
tional special knowledge on the rho3 or rho4.1 robot controls.
Programming, start and operation as well as the modification of program
parameters is reserved to properly trained personnel! This personnel must
be able to judge potential hazards arising from programming, program
changes and in general from the mechanical, electrical, or electronic equip-
ment.
Interventions in the hardware and software of our products, unless de-
scribed otherwise in this manual, are reserved to our specialized personnel.
Tampering with the hardware or software, ignoring warning signs attached to
the components, or non-compliance with the warning notes given in this
manual may result in serious bodily injury or material damage.
Only electrotechnicians as recognized under IEV 826-09-01 (modified) who
are familiar with the contents of this manual may install and service the prod-
ucts described.
Such personnel are
those who, being well trained and experienced in their field and familiar
with the relevant norms, are able to analyze the jobs being carried out
and recognize any hazards which may have arisen.
those who have acquired the same amount of expert knowledge through
years of experience that would normally be acquired through formal tech-
nical training.
With regard to the foregoing, please note our comprehensive range of train-
ing courses. Our training center will be pleased to provide you with further
information, telephone: [phone].

Safety Instructions 1–3
1070 066 037-101 (00.02) GB
1.3 Safety markings on products
Warning of dangerous electrical voltage!
Electrostatically sensitive components!
Lug for connecting PE conductor only!
Connection of shield conductor only

Safety Instructions
1–4
1070 066 037-101 (00.02) GB
1.4 Safety instructions in this manual
DANGEROUS ELECTRICAL VOLTAGE
This symbol is used to warn of a dangerous electrical voltage. The fail-
ure to observe the instructions in this manual in whole or in part may result
in personal injuries.
DANGER
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in personal injury.
CAUTION
This symbol is used wherever insufficient or lacking compliance with in-
structions may result in damage to equipment or data files.
This symbol is used to draw the user’s attention to special circumstances.
This symbol is used if user activities are required.

Safety Instructions 1–5
1070 066 037-101 (00.02) GB
1.5 Safety instructions concerning the product described
DANGER
Danger of life through inadequate EMERGENCY-STOP devices!
EMERGENCY-STOP devices must be active and within reach in all
system modes. Releasing an EMERGENCY-STOP device must not
result in an uncontrolled restart of the system!
First check the EMERGENCY-STOP circuit, then switch the system
on!
DANGER
Danger for persons and equipment!
Test every new program before starting up a system!
DANGER
Retrofits or modifications may adversely affect the safety of the
products described!
The consequences may include severe injuries, damage to equip-
ment, or environmental hazards. Possible retrofits or modifications
to the system using third-party equipment therefore have to be ap-
proved by Bosch.
DANGER
Health hazards through destroyed electrical components!
Do not destroy any built-in components. Dispose of destroyed com-
ponents in a proper manner.
DANGER
Please note your local, system-specific regulations and require-
ments as well as the proper use of tools, hoisting and transport
equipment as well as the applicable standards, regulations, and acci-
dent prevention regulations.
DANGEROUS ELECTRICAL VOLTAGE
Unless described otherwise, maintenance works must be performed
on inactive systems! The system must be protected against unau-
thorized or accidental reclosing.
Measuring or test activities on the live system are reserved to quali-
fied electrical personnel!

Safety Instructions
1–6
1070 066 037-101 (00.02) GB
DANGEROUS ELECTRICAL VOLTAGE
Lethal voltages of up to 375 V DC against ground on all power con-
nections and DC link connections!
The drives must not be switched on unless all covers have been
fitted!
When the drive has been disconnected from mains, wait for up to 5
minutes until the system is de-energized before removing any
covers.
The drive must always be examined for safe isolation from supply!
CAUTION
Use only spare parts approved by Bosch!
CAUTION
Danger to the module!
All ESD protection measures must be observed when using the mo-
dule! Prevent electrostatic discharges!
The following protective measures must be observed for modules and com-
ponents sensitive to electrostatic discharge (ESD)!
Personnel responsible for storage, transport, and handling must have
training in ESD protection.
ESD-sensitive components must be stored and transported in the pre-
scribed protective packaging.
ESD-sensitive components may only be handled at special ESD-work-
places.
Personnel, working surfaces, as well as all equipment and tools which
may come into contact with ESD-sensitive components must have the
same potential (e.g. by grounding).
Wear an approved grounding bracelet. The grounding bracelet must be
connected with the working surface through a cable with an integrated
1 Mresistor.
ESD-sensitive components may by no means come into contact with
chargeable objects, including most plastic materials.
When ESD-sensitive components are installed in or removed from equip-
ment, the equipment must be de-energized.

Safety Instructions 1–7
1070 066 037-101 (00.02) GB
1.6 Documentation, software release and trademarks
Documentation Overview of available manuals:
Manuals Part no.
German English French Italian
Configuration
– Manual for overview and rating 1070 066 009 1070 066 029 1070 066 059 1070 066 049
Servo motors SF, SR 1070 066 004 1070 066 024 1070 066 048 1070 066 046
Asynchronous motors DU 1070 066 007 1070 066 027 – –
Interface conditions 1070 066 010 1070 066 030 1070 066 060 1070 066 050
Interface conditions
– Stand alone version 1070 066 016 1070 066 036 – –
Servodyn-D, all interfaces
Parameter manual 1070 066 018 1070 066 038 1070 066 068 1070 066 058
Servodyn-D with SERCOS interface
– Parameter and commissioning manual 1070 066 011 1070 066 031 –1070 066 051
Servodyn-D with analog interface
– Parameter description (replaced by 1070 066 018) (replaced by 1070 066 038) (replaced by 1070 066 068) –
Servodyn-D with analog interface
– Commissioning manual 1070 066 014 1070 066 034 – –
Servodyn-D with CANrho interface
– Commissioning manual 1070 066 017 1070 066 037 – –
Servodyn-D with motion control
– Commissioning manual 1070 066 015 1070 066 035 – –
Diagnostics, maintenance 1070 066 012 1070 066 032 1070 066 062 1070 066 052
Redundant safety monitoring RSU 1070 066 006 1070 066 026 1070 066 081 1070 066 082
EMC manual 1070 066 072 1070 066 074 1070 066 075 1070 066 076
External load switching module 1070 066 077 1070 066 080 – –
In this manual the floppy disk drive is always drive A, the hard disk
drive is always drive C:.
Special keys or key combinations are shown enclosed in pointed brackets:
Special keys: e.g. <Enter>, <PgUp>, <Del>
Key combinations (pressed simultaneously): e.g. <Ctrl> + <PgUp>
Release
The present manual applies to the following releases:
DM/DS software: 0.012
DSS software: 1.01
rho3 software: TO12A or higher
rho4.1 software: all
The current inverter software release number can be viewed by selecting
parameter S-0-0030 with the DSS-D Commissioning and Service Sys-
tem, or in the ”Software” field of the module configuration display (DIAG-
NOSTICS MODULE CONFIGURATION).

Safety Instructions
1–8
1070 066 037-101 (00.02) GB
For the current DSS software release number, refer to
HELP ABOUT ...
The current VM software release can only be read from the 7-segment
display during test operation. For this purpose, turn dip switch ”T” on the
VM’s personality module ”on”.
The following appears in a running, flashing display:
“Cxx.ZZ.ddmmyyyy“
Where: xx = software release number
ZZ = (internal)
dd = software creation day
mm = software creation month
yyyy = software creation year
Modifications Modifications in the present manual as compared to the previous edition are
marked by black vertical bars in the margin.
This symbol is used in illustrations to call your attention to any modifi-
cations made.
Trademarks All trademarks of software installed on Bosch products upon delivery are the
property of the respective manufacturer.
Upon delivery, all installed software is copyright-protected. The software
may only be reproduced with the approval of Bosch or in accordance with the
license agreement of the respective manufacturer.
MS-DOSand Windowsare registered trademarks of Microsoft Corpo-
ration.

Prerequisites for Commissioning 2–1
1070 066 037-101 (00.02) GB
2 Prerequisites for Commissioning
Drive inverters of the Servodyn-D series with CANrho interface are designed
for connection to the rho3.0 or rho4.1 robot controls. The commissioning
procedure comprises the following steps:
parameterization of the CAN bus interface of the drive
establishing communication between the DSS and the drive
checking the telegram parameters in the drive and in rho and performing
the necessary adjustment
Deactivate the parameter download from the rho to the drive!
connecting the drive to the CAN bus
determining/optimizing all required drive parameter values
transmission of drive parameter values to the rho machine parameter
group 7xx; activating download from rho to drive
For parameter input and optimization in the drive, the DSS-D commissioning
and diagnostics system has to be used.
The installation and operation of the DSS requires general knowledge of the
Windows user interface (e.g. start/exit programs, open/save files, change
program windows, etc.).
In the present manual, we suppose that this knowledge is available.
CAUTION
Commissioning by insufficiently qualified personnel may cause
severe damages to the machine and drives or even personal injuries!
Commissioning is therefore reserved to appropriately trained
technical personnel!
For systems comprising several drives, you should always op-
timize one drive at a time only.
All motors have to be properly fastened.
Our service department will be pleased to assist you with the commission-
ing. We may also train your personnel on request. For more information,
please contact us (phone [phone])
The description of all parameters, their mode of functioning and
precise programming is included in the ”Servodyn-D parameter
description” manual. This description forms the basis of the present
manual!
Since the drive and rho machine parameters have different numbering
systems, you find the appropriate drive parameter for each rho param-
eter under ”rho machine parameter” in the index of this description.

Prerequisites for Commissioning
2–2
1070 066 037-101 (00.02) GB
2.1 Checking the hardware
First make sure that the system is switched off and de-energized.
Check the nameplates and the engineering documents for the proper in-
verter types and the correct motors installed.
Do not continue the commissioning procedure unless the correct hardware
has been completely installed!
Follow the instructions below step by step.
Wiring
CAUTION
Unless specified otherwise, never unplug or plug connectors/termi-
nals on live systems!
Check the complete wiring of the drive on the basis of the information pro-
vided in the ”Servodyn-D interface conditions” manual and the ”EMC
manual” (including resistance measurement).
Remove all connectors/terminals including the CAN connector (X51) from
all drive inverters.
Power supply Turn the 24 V supply on. Measure the voltage of the 24V supply at the con-
nector.
It must be between 20.8 ... 28.8 V.
Turn the power supply on and measure the voltage.
It must be between 342 ... 510 V.
Turn the power supply and the 24 V supply off.
Do not proceed unless all connectors/terminals are de-energized.
Plug in all connectors/terminals except the CAN connectors (X51) to the in-
verters. Check connectors for proper assignment.
Do not connect the CAN connectors except for the works described in
section 2.4 and at the times indicated there in order to avoid an acci-
dental data download to the drive.
Turn the 24 V supply on.
The 7-segment display at the inverter must display ”0”.
If error ”F36” is displayed,
the 24V supply is outside the permissible tolerance, maybe because of a
supply overload.
For more information on other error messages, please refer to the diagnos-
tics manual.
Additional information may be contained in drive parameter S-0-0095.
Establish communication between the PC and the drive to display the
parameter on the DSS monitor.

Prerequisites for Commissioning 2–3
1070 066 037-101 (00.02) GB
Plug braking of motors in the event of a power failure
Check logic for proper functioning according to planning engineer’s data.
If a plug braking resistor is used, an auxiliary contact of the contactor must be
provided to ensure that the drive cannot be enabled unless the braking resis-
tor has been deactivated. The ”Plug brake enable delay” must be disabled
(=0) for this test.
The contactor is driven by output ”OUT4” of the inverter.
In order to avoid faults and overload, a relay must be connected in
series.
Holding brake Check holding brake for proper functioning if the motor is equipped with a
holding brake.
The holding brake is released when 24VDC are connected.
The contactor is triggered by the ”OUT3” output of the inverter.
In order to avoid faults and overload, a relay must be connected in
series.
EMERGENCY-STOP circuit Check for proper functioning according to planning engineer’s data.
Finish checking Switch off all voltages.
If all checks were completed successfully, proceed to the next section.
Otherwise, all faults that have occurred must be eliminated.

Prerequisites for Commissioning
2–4
1070 066 037-101 (00.02) GB
2.2 Configuring the CAN interfaces at the drive
The following settings will not be effective unless the drives have been re-
booted. Therefore, they should be made before proceeding with the com-
missioning process:
CAN bus address
CAN baud rate
CAN mode
For pin assignments and wiring of the X51 CAN interface, please refer to the
annex on page A–1 ff.
Axis address Rotary switches S2 and S3 on the individual inverters are used to set the axis
address as a 2-digit hexadecimal value.
Each axis address may appear only once on a CAN bus!
S2
S3
Address __ __ (hex)
S2
S3
Address 02 (hex)
Example:
The hexadecimal value set at these switches is entered as a decimal
value under ”CAN input” of rho machine parameter 401, thus defining
the assignment between the inverter and the axes of the kinematics
(cf. section 2.4).
Baud rate Set the desired baud rate on rotary switch S4.
rho3: 1000 kBaud (no other setting permitted)
rho4.1: admissible baud rates, depending on the length of the CAN
bus:
S4 Baud rate CAN bus length
0 1000 kBaud 25 m
2 500 kBaud 100 m
3 250 kBaud 100 m
4 125 kBaud 100 m
9 to F 1000 kBaud 25 m
In rho4, the baud rate is stored in machine parameter P30 (default
value: 1000 kBaud).
Mode Set rotary switch S5 to the value ”1”.
S5 CAN mode
0 CANopen
1 CANrho

Prerequisites for Commissioning 2–5
1070 066 037-101 (00.02) GB
2.3 Establishing communication between the drive and DSS
Connection between PC and drive
To avoid communication faults between the PC and the drive, please note
the following:
We recommend using the pre-assembled Bosch connection cable, part
no.: 1070 077 753, length 5 m
Distance between connection cable – power cables: at least 20 cm.
Do not permit inductive or capacitive coupling with live components.
If communication faults still occur, an annular core on the connection
lead may be helpful. Use the folding ferrite coil, part no. 1070 918 766.
Connect COM1 or COM2 of the PC to X99 of the first inverter in the drive
chain and record the PC port used.
Cannon connector, 9-pole.
Type: RS-232
Cable length: max. 15 m
Cable type: screened, min. core cross-section 0.14 mm2
Transmission rate: 9600 bps
Parameters: even parity, 8 data bits, 2 stop bits
Handshake: software handshake (XON, XOFF)
1
2
3
RX
TX
4
max. 15 m
X99 (Cannon)
Screen continuity through metal
housing of the plug connection
5
GND
6
7
8
9
PC (COM1 or COM2)
RX
TX
GND
Connector
Connector
Assignment:
RX Receive Data
TX Transmit Data; data transmission to DSS
GND Signal Ground

Prerequisites for Commissioning
2–6
1070 066 037-101 (00.02) GB
Configuring the interface Switch on the 24V supply of the system.
Switch on the PC. Wait until the operating system has been fully booted and
start the ”DSS” commissioning and service system. The ”Establish connec-
tion” dialog is automatically displayed:
(1)
(2)
(3)
This dialog may also be invoked manually when the connection has been
successfully established:
menu sequence OPTIONS PREFERENCES INTERFACE
-or-
by clicking on the command button in the DSS basic image.
Selection in the ”Primary connection” field (1): V.24 connection
If no inverter is connected, the DSS may also be operated ”offline”. In
this case, it will simulate an inverter.
Set the data in the ”Interface Preferences” field (2) through one of the follow-
ing dialogs:
Click on ”OK” to return to the ”Establish connection” dialog.
Clicking on ”OK” in this dialog will cause the DSS to try and establish the de-
sired connection.
In the event of a fault, the ”Status” field (3) will contain more information.
Check the connection between the PC and the drive and then click on the
”Retry” command button.
If the connection can be established, the DSS will read information from
the drive and then display the DSS basic image.

Prerequisites for Commissioning 2–7
1070 066 037-101 (00.02) GB
Reinitializing DSS after module RESET or a module change
If, while DSS is running, you
disconnect the connection cable from the inverter (e.g. for starting up a
new drive), or
press the RESET key of the currently connected inverter,
you then have to re-initialize the DSS. This is the only way to ensure that the
DSS does not work with invalid or outdated data.
CAUTION
Uncontrolled motor movements are possible!
For as long as the drive is enabled, you must neither press the
”Reset” key nor disconnect the cable between the DSS and the drive.
First stop the movement and disable the drive.
Initiate the ”Initialize module type” command:
menu sequence
CONTROL RESET INIT. MODULE TYPE,
-or-
click on in the icon bar.

Prerequisites for Commissioning
2–8
1070 066 037-101 (00.02) GB
2.4 Establishing communication between rho and the drives
The 24V supply has been turned on.
Communication between DSS and the first drive has been established.
The 7-segment displays of all inverters shows ”0”.
The drives do not boot completely, but rather remain in phase ”0” be-
cause the CAN connectors have not been inserted.
Checking and setting the cycle time of all drives
For proper communication between rho and the drives, the cycle times of all
drives (drive parameter S-0-0002) and the ”Clock Start time” of the rho (rho
parameter P5) must be identical.
In the factory, S-0-0002 has been set to 20000 s and P5 has been set to
20 ms, i.e. these values are identical. If no changes have been made,
you may skip the cycle time setting option.
Start the DSS ”Monitor”:
with the menu sequence DISPLAY MONITOR, or
by clicking on in the icon bar, or
by clicking on the command button in the icon bar or the DSS
basic image.
Enter the proper settings for S-0-0002:
1. 1. Enter the value 2 in the upper left field. Then press the Enter key or
click on the ”Get” button.
In the ”Date” field, the DSS will now display the current cycle time setting
of the drive.
2. Enter the desired value for the CAN cycle time in the ”Date” field.
3. Click on the ”Set” button.
The drive will initially accept the value to its RAM.
4. Switch drive to phase 3 (for procedure, refer to page 3–8).
5. Initiate the ”Save main memory” command:
by menu sequence
CONTROL MAIN MEMORY SAVE
6. Switch the drive back to phase 0.
The CAN interface of the drive connected to the DSS has now been com-
pletely parameterized.
In order to parameterize other inverters, remove the connection cable from
X99 and connect it to X99 of the next inverter of the drive chain.
Initialize the new axis module:
by the menu sequence
CONTROL RESET INIT. MODULE TYPE or
by clicking on in the icon bar.
Then parameterize S-0-0002 as described above.