This block supports Valves from Bosch Rexroth running the CiA 408 Fluid Power profile. Per default, the block has two Inputs and two Outputs, which are the CiA408 Control Word/Status Word and the Target Spool Position resp. Current Spool Position.
Up to three Analog Inputs can be configured and mapped to an Output port. Please note that for HDB devices, the Input type (Current or Voltage) of Inputs one and two must be identical. For Voltage, the unit of the Outputs is Volt (V), for Current the unit is Milliampere (mA).
See General Options for a description of the mask fields.
IndraWorks Ds is the commissioning tool provided by Rexroth. In the following, it is assumed that the valve is connected to an EtherCAT master at position zero.
NOTE: If the Valve is in Error state (PREOP+E),
communication via EoE is not possible.
Switch the Valve to PREOP state manually with the EtherCAT
tool using ethercat states -p 0 preop.
First step is to bring up the EoE network device on the Host of the
EtherCAT master, eoe0s0:
sudo ip link set dev eoe0s0 up.
After that, an ip address is assigned to the Valve using the
ethercat tool:
sudo ethercat ip -p 0 ip_address 192.168.0.1/24
This section explains how to forward all EoE traffic
to a spare network port of the EtherCAT master
or an EL6601 Switchport.
This spare network card has the name eth1.
A second machine running IndraWorks Ds will be attached to this port,
which has the IP address 192.168.0.199/24.
sudo ip link add dev br0 type bridge
sudo ip link set dev br0 up
sudo ip link set dev eoe0s0 master br0
sudo ip link set dev eth1 up
sudo ip link set dev eth1 master br0
# disable packet filtering for bridges
sudo sysctl -w net.bridge.bridge-nf-call-iptables=0
Without local access to the EtherCAT Master, a SSH tunnel allows accessing the Valve from remote without complex routing setup. The port 35021 needs to be forwarded from a machine in the same subnet as the IndraWorks machine.
The EoE device on the host eoe0s0 will be given
an IP address in the same range as the Valve itself.
sudo ip address add dev eoe0s0 192.168.0.10/24
Pinging the Valve should now be possible.
It is assumed that the machine which provides the ssh tunnel has the IP address 192.168.101.10. Open an SSH tunnel to the host which runs the EtherCAT master (ethercatctl):
ssh -L 192.168.101.10:35021:192.168.0.1:35021 ethercatctl
The port 35021 needs to be reachable from the same subnet.
Then, point IndraWorks Ds to 192.168.101.10 in the connection dialog.
For using this EtherLab block, the Valve must be configured to use
the Fluid Power Profile.
Master Communication is expected to be CAN Application Protocol over
EtherCAT (CoE).
Navigate to Functional Packages
and activate Open-loop
Functional Package. Reboot the valve afterwards. After the reboot,
the EoE settings explained above must be redone
to restore the connection to IndraWorks.
Navigate to Settings
below Master communication axis
.
Choose Axis remains in PM (parameter mode)
in the combo box at the bottom.
Select Fluid Power Profile,
then click on Activate Profile type
and reboot the valve again.
After the reboot, restore the EoE Settings.
Navigate to Operation mode selection
below Operation modes
.
Select Direct valve control as primary operation mode.
Per default, parameters are written to the flash storage on every write.
All further parameters are stored in the EtherLab blocks and will be written
on every application startup.
To protect the flash storage, navigate to the menu item Parameterization
→
Parameters
→ Storage mode
.
Select Backup parameters in working memory (RAM) only and press
Backup working memory procedure
.
