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Electric Drives Linear Motion and
and Controls Hydraulics Assembly Technologies Pneumatics Service
Rexroth IndraDrive R911295012

Edition 06
Drive Controllers
Control Sections
Project Planning Manual
Bosch Rexroth AG | Electric Drives Rexroth IndraDrive | Project Planning Manual
and Controls
Title Rexroth IndraDrive

Drive Controllers
Control Sections
Type of Documentation Project Planning Manual
Document Typecode DOK-INDRV*-CSH********-PR06-EN-P
Internal File Reference RS-f3b929d50a6846ac00606b3786952866-2-en-US-5
Record of Revision Edition Release Date Notes

120-2400-B301-06/EN 2007/03 see chapter "Changes"
Copyright ® Bosch Rexroth AG 2007

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 only serve to describe the product. No statements concern‐
ing a certain condition or suitability for a certain application can be derived from
our information. The given information does not release the user from the ob‐
ligation of own judgement and verification. It must be remembered that our
products are subject to a natural process of wear and aging.
Published by Bosch Rexroth AG, Bgm.-Dr.-Nebel-Str. 2, D-97816 Lohr a. Main Telephone
+49 (0)93 52 / 40-0, Tx 68 94 21, Fax +49 (0)93 52 / 40-48 85
http://www.boschrexroth.de
Dept. EDY1 (RR/US/BB)
Note This document has been printed on chlorine-free bleached paper.
Project Planning Manual | Rexroth IndraDrive Electric Drives | Bosch Rexroth AG I/V
and Controls
Table of Contents
Table of Contents
Page
1 Introduction.................................................................................................................... 1
1.1 Guide to the Documentation................................................................................................................... 1
1.1.1 Documentation Structure .................................................................................................................... 1
1.1.2 Changes.............................................................................................................................................. 1
1.1.3 Reference Documentations ................................................................................................................ 2
Overview........................................................................................................................................... 2
1.1.4 Box with Project Planning Manuals on Rexroth IndraDrive ................................................................ 3
1.1.5 Your Feedback.................................................................................................................................... 3
1.2 Basic Design of the Rexroth IndraDrive Controllers .............................................................................. 4
1.2.1 General Information............................................................................................................................. 4
1.2.2 Delivery ............................................................................................................................................... 4
1.2.3 Mounting and Dismounting the Control Section ................................................................................. 5
General Information.......................................................................................................................... 5
Training............................................................................................................................................. 5
ESD Protection................................................................................................................................. 5
Limited Number of Plug-In Actions................................................................................................... 5
2 Important Directions for Use ......................................................................................... 7

2.1 Appropriate Use ..................................................................................................................................... 7
2.1.1 Introduction.......................................................................................................................................... 7
2.1.2 Areas of Use and Application.............................................................................................................. 7
2.2 Inappropriate Use .................................................................................................................................. 8
3 Safety Instructions for Electric Drives and Controls ...................................................... 9

3.1 Safety Instructions - General Information............................................................................................... 9
3.1.1 Using the Safety Instructions and Passing them on to Others............................................................ 9
3.1.2 How to Employ the Safety Instructions................................................................................................ 9
3.1.3 Explanation of Warning Symbols and Degrees of Hazard Seriousness............................................ 10
3.1.4 Hazards by Improper Use.................................................................................................................. 11
3.2 Instructions with Regard to Specific Dangers....................................................................................... 12
3.2.1 Protection Against Contact with Electrical Parts and Housings......................................................... 12
3.2.2 Protection Against Electric Shock by Protective Extra-Low Voltage................................................. 13
3.2.3 Protection Against Dangerous Movements....................................................................................... 13
3.2.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting.............. 16
3.2.5 Protection Against Contact with Hot Parts......................................................................................... 16
3.2.6 Protection During Handling and Mounting......................................................................................... 16
3.2.7 Battery Safety.................................................................................................................................... 17
3.2.8 Protection Against Pressurized Systems........................................................................................... 17
4 Identifying the Control Section .................................................................................... 19

4.1 Type Plates .......................................................................................................................................... 19
4.1.1 General Information........................................................................................................................... 19
4.1.2 Type Plates at the Drive Controller.................................................................................................... 19
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4.1.3 Type Plates at the Control Section.................................................................................................... 20
Control Section Type Plate ............................................................................................................ 20
Firmware Type Plate ..................................................................................................................... 20
5 Rexroth IndraDrive Control Sections........................................................................... 21

5.1 Overview of Types ............................................................................................................................... 21
5.2 Overview of Functions and Interfaces ................................................................................................. 21
5.3 BASIC Control Sections ....................................................................................................................... 23
5.3.1 Type Codes BASIC and BASIC UNIVERSAL................................................................................... 23
Type Code BASIC CSB01.1N ....................................................................................................... 23
Type Code BASIC UNIVERSAL Single-Axis CSB01.1C................................................................ 24
Type Code BASIC UNIVERSAL Double-Axis CDB01.1C ............................................................. 25
5.3.2 Dimensions BASIC............................................................................................................................ 27
Dimensions BASIC and BASIC UNIVERSAL Single-Axis ............................................................. 27
Dimensions BASIC UNIVERSAL Double-Axis .............................................................................. 28
5.3.3 CSB01.1N-FC - BASIC OPENLOOP ............................................................................................... 29
Front View with Connections at Basic Circuit Board...................................................................... 29
Functions........................................................................................................................................ 29
5.3.4 CSB01.1N-SE - BASIC SERCOS .................................................................................................... 33
Front View with Connections.......................................................................................................... 33
Functions........................................................................................................................................ 33
5.3.5 CSB01.1N-PB - BASIC PROFIBUS ................................................................................................. 38
Functions........................................................................................................................................ 38
5.3.6 CSB01.1N-AN - BASIC ANALOG .................................................................................................... 43
Functions........................................................................................................................................ 43
5.3.7 CSB01.1C - BASIC UNIVERSAL Single-Axis .................................................................................. 48
Functions........................................................................................................................................ 48
Optional Slots ................................................................................................................................ 53
5.3.8 CDB01.1C - BASIC UNIVERSAL Double-Axis ................................................................................. 55
Functions........................................................................................................................................ 56
Optional Slots ................................................................................................................................ 62
5.4 ADVANCED ......................................................................................................................................... 64
5.4.1 Type Code ADVANCED (CSH01.1C) .............................................................................................. 64
5.4.2 Type Code ADVANCED (CSH01.2C) .............................................................................................. 66
5.4.3 Dimensions ADVANCED .................................................................................................................. 68
5.4.4 CSH01.1C - ADVANCED ................................................................................................................. 69
Functions........................................................................................................................................ 69
Optional Slots CSH01.1C .............................................................................................................. 75
5.4.5 CSH01.2C - ADVANCED ................................................................................................................. 76
General Information........................................................................................................................ 76
Front View with Connections ......................................................................................................... 77
Project Planning Manual | Rexroth IndraDrive Electric Drives | Bosch Rexroth AG III/V
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Functions........................................................................................................................................ 77
Optional Slots CSH01.2C .............................................................................................................. 84
6 Optional Modules for Control Sections ....................................................................... 87

6.1 Overview .............................................................................................................................................. 87
6.2 Master Communication ........................................................................................................................ 88
6.2.1 SE - SERCOS .................................................................................................................................. 88
6.2.2 PB - PROFIBUS ............................................................................................................................... 89
6.2.3 PL - Parallel Interface ....................................................................................................................... 93
X15, Parallel Interface - PL............................................................................................................. 93
6.2.4 CO - DeviceNet / CANopen .............................................................................................................. 96
X60, DeviceNet / CANopen Interface - CO.................................................................................... 96
Display Elements............................................................................................................................ 97
6.2.5 CD - DeviceNet / CANopen (Preliminary) ......................................................................................... 99
X61, DeviceNet / CANopen Interface - CD..................................................................................... 99
Display Elements.......................................................................................................................... 100
6.2.6 S3 - SERCOS III ............................................................................................................................. 101
6.2.7 CCD - Cross Communication ......................................................................................................... 103
6.3 Encoder Evaluation............................................................................................................................. 104
6.3.1 ENS - Standard Encoder Evaluation .............................................................................................. 104
Interface Standard Encoder Evaluation ENS............................................................................... 104
Properties of ENS......................................................................................................................... 105
Signal Assignment to the Actual Position Value........................................................................... 106
Connection Diagrams ENS........................................................................................................... 107
Connection Diagrams ENS with Third-Party Encoder.................................................................. 107
Allowed Encoder Cable Lengths at ENS ..................................................................................... 109
6.3.2 EN1 - Resolver and HSF Encoder Evaluation ................................................................................ 109
Interface Resolver and HSF Encoder Evaluation EN1................................................................. 109
Properties EN1............................................................................................................................. 110
Connection Diagrams EN1........................................................................................................... 112
6.3.3 EN2 - Encoder Evaluation .............................................................................................................. 113
Interface Encoder Evaluation EN2............................................................................................... 113
Properties EN2............................................................................................................................. 114
Connection Diagrams EN2........................................................................................................... 117
Allowed Encoder Cable Lengths at EN2 ..................................................................................... 118
6.3.4 MEM - Encoder Emulation .............................................................................................................. 120
Interface Encoder Emulation MEM............................................................................................... 120
Incremental Encoder Emulation................................................................................................... 121
Absolute Encoder Emulation (SSI Format)................................................................................... 123
6.4 I/O Extensions.................................................................................................................................... 125
6.4.1 MA1 - Analog I/O Extension ........................................................................................................... 125
6.4.2 MD1 - Digital I/O Extension ............................................................................................................ 128
6.4.3 MD2 - Digital I/O Extension and SSI Encoder Evaluation .............................................................. 129
Interface........................................................................................................................................ 129
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X17, Digital I/O Extension on MD2............................................................................................... 130
X16, SSI Encoder Evaluation on MD2.......................................................................................... 132
6.5 Safety Technology.............................................................................................................................. 134
6.5.1 L1 - Starting Lockout ...................................................................................................................... 134
Description.................................................................................................................................... 134
X41, Connection Point Starting Lockout L1.................................................................................. 134
Connection Accessory, Starting Lockout L1................................................................................. 135
6.5.2 S1 - Safety Technology .................................................................................................................. 135
Description Safety Technology S1............................................................................................... 135
X41, Connection Point Safety Technology S1.............................................................................. 135
6.6 Control Panels.................................................................................................................................... 136
6.6.1 Standard Control Panel“S” ............................................................................................................. 136
6.6.2 Comfort Control Panel“C” ............................................................................................................... 137
6.7 Memory............................................................................................................................................... 138
6.7.1 X7, Memory Card PFM02.1 ............................................................................................................ 138
7 Technical Data Functions.......................................................................................... 139

7.1 Relay Contacts .................................................................................................................................. 139
7.1.1 Symbolic Illustration......................................................................................................................... 139
7.1.2 Relay Contact Type 1 ..................................................................................................................... 139
7.2 Digital Inputs/Outputs......................................................................................................................... 140
7.2.1 General Information......................................................................................................................... 140
7.2.2 Digital Inputs ................................................................................................................................... 140
Digital Inputs Type 1 (Standard) .................................................................................................. 140
Digital Inputs - Probe.................................................................................................................... 141
7.2.3 Digital Outputs ................................................................................................................................ 143
7.3 Analog Inputs/Outputs........................................................................................................................ 144
7.3.2 Connection Diagram - Example ...................................................................................................... 144
7.3.3 Analog Inputs .................................................................................................................................. 145
Analog Input Type 1 .................................................................................................................... 145
7.3.4 Analog Outputs ............................................................................................................................... 148
Analog Output Type 1 .................................................................................................................. 148
7.4 X2, Serial Interface (RS232) .............................................................................................................. 149
7.4.2 Connection Diagrams Serial Interface to PC .................................................................................. 150
7.5 X26, Engineering Interface ................................................................................................................ 151
Project Planning Manual | Rexroth IndraDrive Electric Drives | Bosch Rexroth AG V/V
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8 Other Technical Data................................................................................................. 153

8.1 Power Consumption .......................................................................................................................... 153
8.1.2 Basic Circuit Boards of Control Section .......................................................................................... 153
8.1.3 Optional Modules ............................................................................................................................ 154
8.2 Connections........................................................................................................................................ 154
8.2.2 Connections with Spring Terminals ................................................................................................ 154
8.2.3 Connections with Screw Terminal Blocks ....................................................................................... 155
9 Accessories ............................................................................................................... 157
10 Disposal and Environmental Protection..................................................................... 159

10.1 Disposal.............................................................................................................................................. 159
10.1.1 Products.......................................................................................................................................... 159
10.1.2 Packaging Materials........................................................................................................................ 159
10.2 Environmental Protection.................................................................................................................... 159
10.2.1 No Release of Hazardous Substances............................................................................................ 159
10.2.2 Materials Contained in the Products................................................................................................ 159
Electronic Devices........................................................................................................................ 159
Motors........................................................................................................................................... 159
10.2.3 Recycling......................................................................................................................................... 160
11 Service & Support...................................................................................................... 161

11.1 Helpdesk............................................................................................................................................. 161
11.2 Service Hotline.................................................................................................................................... 161
11.3 Internet................................................................................................................................................ 161
11.4 Helpful Information.............................................................................................................................. 161
Index.......................................................................................................................... 163
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Project Planning Manual | Rexroth IndraDrive Electric Drives | Bosch Rexroth AG 1/166
and Controls
Introduction
1 Introduction
1.1 Guide to the Documentation
1.1.1 Documentation Structure
Chapter Contents
1 Introduction general information

2 Important Directions for Use
safety
3 Safety Instructions for Electric Drives and Controls
4 Identifying the Control Section
5 Rexroth IndraDrive Control Sections
6 Optional Modules for Control Sections
product description (for those doing project planning)
7 Technical Data Functions
8 Other Technical Data
9 Accessories
10 Disposal and Environmental Protection practical application (for operators and maintenance staff)
Fig.1-1: Documentation structure
1.1.2 Changes
Changes in Comparison to Previ‐ Chap‐ Changes
ous Edition
ter
5 additional requirement of polarity reversal protection diodes at I/O extension
modules included
signal names harmonized
6.3 min. amplitude encoder signal for ENS, EN1 and EN2 specified
6 connection diagram EN2 with C0 modified - shield at GND
connection “EN1 with Hall sensor box SHL01” included
identifier for connection points added
current consumption L1 and S1 specified with minimum and maximum values
8 power consumption of optional modules arranged
power consumption of non-configurable control sections with entire equip‐
ment included
7.2.2 technical data of probe inputs added
additional probe type (20 μs–200 μs) included
7.3.3 technical data (among other things, input bandwidth, input resistance, con‐
verter width) corrected
7.3.2 example of connection diagram for shield connection at X32 added
Fig.1-2: Changes
2/166 Bosch Rexroth AG | Electric Drives Rexroth IndraDrive | Project Planning Manual
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Introduction
1.1.3 Reference Documentations

Overview
The following documentations contain detailed information on the
allowed applications, as well as the application, ambient and oper‐
ating conditions.
Reference Documentations - Drive Controllers
Title Kind of documentation Document typecode1)
Rexroth IndraDrive – Drive System Project Planning Manual DOK-INDRV*-SYSTEM*****-PRxx-EN-P

Rexroth IndraDrive Supply Units and Pow‐ Project Planning Manual DOK-INDRV*-HMV-S-D+HCS-PR01-EN-P
er Sections
Rexroth IndraDrive – Drive Controllers Project Planning Manual DOK-INDRV*-CSH********-PRxx-EN-P
Control Sections
Rexroth IndraDrive Additional Compo‐ Project Planning Manual DOK-INDRV*-ADDCOMP****-PRxx-EN-P
nents
1) In the document typecodes, "xx" is a wild card for the current edition of
the documentation (example: "PR01" is the first edition of a Project
Planning Manual)
Fig.1-3: Documentations - overview
The following documentations describe the firmware and contain

information on its scope of functions.
Reference Documentations - Firmware for Drive Controllers
Rexroth IndraDrive Firmware for Drive Functional Description DOK-INDRV*-MP*-02VRS**-FKxx-EN-P

Controllers
Controllers
Controllers
Rexroth IndraDrive Firmware for Drive Parameter Description DOK-INDRV*-GEN-**VRS**-PAxx-EN-P
Controllers
Rexroth IndraDrive Firmware for Drive Troubleshooting Guide DOK-INDRV*-GEN-**VRS**-WAxx-EN-P
Controllers
Rexroth IndraDrive Integrated Safety Functional and Application DOK-INDRV*-SI*-**VRS**-FKxx-EN-P
Technology Description
Planning Manual)
Reference Documentations - Motors
Rexroth Connection Cables Selection Data DOK-CONNEC-CABLE*STAND-AUxx-EN-P

Rexroth IndraDyn A Asynchronous Motors Project Planning Manual DOK-MOTOR*-MAD/MAF****-PRxx-EN-P
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Introduction

Rexroth IndraDyn H Frameless Synchro‐ Project Planning Manual DOK-MOTOR*-MBS-H******-PRxx-EN-P
nous Spindle Motors
Rexroth IndraDyn L Synchronous Linear Project Planning Manual DOK-MOTOR*-MLF********-PRxx-EN-P
Motors
Rexroth IndraDyn S Synchronous Motors Project Planning Manual DOK-MOTOR*-MSK********-PRxx-EN-P
Rexroth IndraDyn T Synchronous Torque Project Planning Manual DOK-MOTOR*-MBT********-PRxx-EN-P
Motors
Planning Manual)
1.1.4 Box with Project Planning Manuals on Rexroth IndraDrive

You can order all the Project Planning Manuals for Rexroth IndraDrive in a box.
The box contains the following Project Planning Manuals:
● Rexroth IndraDrive, Drive System
● Rexroth IndraDrive, Supply Units and Power Sections
● Rexroth IndraDrive, Drive Controllers, Control Sections
● Rexroth IndraDrive, Additional Components
Order data of the box:
● part number R911310293
● document typecode DOK-INDRV*-PROJEKTIER*-8201-EN-P
1.1.5 Your Feedback

Your experience is important for our improvement processes of
products and documentations.
Inform us about mistakes you discovered in this documentation and changes

you suggest; we would be grateful for your feedback.
Please send your remarks to:
Address for Your Feedback Bosch Rexroth AG
Dept. BRC/EDY1
Bürgermeister-Dr.-Nebel-Str. 2
D-97816 Lohr
e-mail: brcedy1-dokusupport-drives@boschrexroth.de
and Controls
Introduction
1.2 Basic Design of the Rexroth IndraDrive Controllers

1.2.1 General Information
1 power section
2 control section
Fig.1-6: Basic design of the Rexroth IndraDrive controllers
The drive controller consists of two essential parts:
● power section
● control section
For detailed information on the power sections: see Project Planning Manual
for Rexroth IndraDrive supply units and power sections.
1.2.2 Delivery
The control section is a separate component that is plugged into the power
section. As a standard, the drive controller is supplied ex works complete with
control section. In exceptional cases, control sections can be delivered sepa‐
rately.
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Introduction
1.2.3 Mounting and Dismounting the Control Section

General Information
In case the control section is delivered separately, observe the following in‐
structions:
Training
Risk of damage to the control section by inappropriate handling!
Only such persons trained by Rexroth for mounting and dismounting control
sections are allowed to mount and dismount control sections.
CAUTION
ESD Protection
Risk of damage to the control section and interference with its opera‐
tional safety caused by electrostatic charges!
Exposed conductive parts coming into contact with the control section must be
CAUTION previously discharged by means of grounding.
Such exposed conductive parts include:
● the human body (ground connection caused by touching a conductive,
grounded item)
● parts and tools (place them on a conductive support)
Control sections may only be stored or dispatched in conductive packaging.
Limited Number of Plug-In Actions
Risk of damage to the control section or power section by mounting and
dismounting the control section too often!
For a drive controller, the control section mustn't be mounted and dismounted
CAUTION more than a maximum of 20 times.
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Important Directions for Use
2 Important Directions for Use

2.1 Appropriate Use
2.1.1 Introduction
Rexroth products represent state-of-the-art developments and manufacturing.
They are tested prior to delivery to ensure operating safety and reliability.
Personal injury and property damage caused by incorrect use of the

products!
The products have been designed for use in the industrial environment and may
WARNING only be used in the appropriate way. If they are not used in the appropriate way,
situations resulting in property damage and personal injury can occur.
Rexroth as manufacturer is not liable for any damages resulting

from inappropriate use. In such cases, the guarantee and the right
to payment of damages resulting from inappropriate use are forfei‐
ted. The user alone carries all responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for an ap‐
propriate use of the products are satisfied:
● Personnel that in any way, shape or form uses our products must first read
and understand the relevant safety instructions and be familiar with ap‐
propriate use.
● If the products take the form of hardware, then they must remain in their
original state, in other words, no structural changes are permitted. It is not
permitted to decompile software products or alter source codes.
● Do not mount damaged or faulty products or use them in operation.
● Make sure that the products have been installed in the manner described
in the relevant documentation.
2.1.2 Areas of Use and Application

Drive controllers made by Rexroth are designed to control electrical motors and
monitor their operation.
Control and monitoring of the Drive controllers may require additional sensors
and actors.
The drive controllers may only used with the accessories and parts
specified in this documentation. If a component has not been spe‐
cifically named, then it may neither be mounted nor connected. The
same applies to cables and lines.
Operation is only permitted in the specified configurations and com‐
binations of components using the software and firmware as speci‐
fied in the relevant Functional Descriptions.
Drive controllers have to be programmed before commissioning, making it pos‐

sible for the motor to execute the specific functions of an application.
Drive controllers of the Rexroth IndraDrive line have been developed for use in
single- and multi-axis drive and control tasks.
To ensure application-specific use of Drive controllers, device types of different
drive power and different interfaces are available.
Typical applications include:
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Important Directions for Use
● handling and mounting systems,

● packaging and food machines,
● printing and paper processing machines and
● machine tools.
Drive controllers may only be operated under the assembly and installation
conditions described in this documentation, in the specified position of normal
use and under the ambient conditions as described (temperature, degree of
protection, humidity, EMC, etc.).
2.2 Inappropriate Use

Using the Drive controllers outside of the operating conditions described in this
documentation and outside of the indicated technical data and specifications is
defined as "inappropriate use".
Drive controllers must not be used, if …
● they are subject to operating conditions that do not meet the specified
ambient conditions. This includes, for example, operation under water,
under extreme temperature fluctuations or extremely high maximum tem‐
peratures.
● Furthermore, Drive controllers must not be used in applications which
have not been expressly authorized by Rexroth. Please carefully follow
the specifications outlined in the general Safety Instructions!
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Safety Instructions for Electric Drives and Controls
3 Safety Instructions for Electric Drives and Controls

3.1 Safety Instructions - General Information
3.1.1 Using the Safety Instructions and Passing them on to Others
Do not attempt to install or commission this device without first reading all doc‐
umentation provided with the product. Read and understand these safety
instructions and all user documentation prior to working with the device. If you
do not have the user documentation for the device, contact your responsible
Bosch Rexroth sales representative. Ask for these documents to be sent im‐
mediately to the person or persons responsible for the safe operation of the
device.
If the device is resold, rented and/or passed on to others in any other form,
these safety instructions must be delivered with the device in the official lan‐
guage of the user's country.
Improper use of these devices, failure to follow the safety instructions in

this document or tampering with the product, including disabling of safe‐
ty devices, may result in material damage, bodily harm, electric shock
WARNING or even death!
Observe the safety instructions!
3.1.2 How to Employ the Safety Instructions

Read these instructions before initial commissioning of the equipment in order
to eliminate the risk of bodily harm and/or material damage. Follow these safety
instructions at all times.
● Bosch Rexroth AG is not liable for damages resulting from failure to ob‐
serve the warnings provided in this documentation.
● Read the operating, maintenance and safety instructions in your language
before commissioning the machine. If you find that you cannot completely
understand the documentation for your product, please ask your supplier
to clarify.
● Proper and correct transport, storage, assembly and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of this device.
● Only assign trained and qualified persons to work with electrical installa‐
tions:
– Only persons who are trained and qualified for the use and operation
of the device may work on this device or within its proximity. The
persons are qualified if they have sufficient knowledge of the assem‐
bly, installation and operation of the product, as well as an under‐
standing of all warnings and precautionary measures noted in these
instructions.
– Furthermore, they must be trained, instructed and qualified to switch
electrical circuits and devices on and off in accordance with technical
safety regulations, to ground them and to mark them according to the
requirements of safe work practices. They must have adequate safe‐
ty equipment and be trained in first aid.
● Only use spare parts and accessories approved by the manufacturer.
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● Follow all safety regulations and requirements for the specific application
as practiced in the country of use.
● The devices have been designed for installation in industrial machinery.
● The ambient conditions given in the product documentation must be ob‐
served.
● Only use safety-relevant applications that are clearly and explicitly ap‐
proved in the Project Planning Manual. If this is not the case, they are
excluded. Safety-relevant are all such applications which can cause dan‐
ger to persons and material damage.
● The information given in the documentation of the product with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturer must
– make sure that the delivered components are suited for his individual
application and check the information given in this documentation
with regard to the use of the components,
– make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
● Commissioning of the delivered components is only permitted once it is
sure that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.
● Operation is only permitted if the national EMC regulations for the appli‐
cation are met.
● The instructions for installation in accordance with EMC requirements can
be found in the section on EMC in the respective documentation (Project
Planning Manuals of components and system).
The machine or installation manufacturer is responsible for compliance
with the limiting values as prescribed in the national regulations.
● Technical data, connection and installation conditions are specified in the
product documentation and must be followed at all times.
National regulations which the user must take into account
● European countries: according to European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
3.1.3 Explanation of Warning Symbols and Degrees of Hazard Seriousness

The safety instructions describe the following degrees of hazard seriousness.
The degree of hazard seriousness informs about the consequences resulting
from non-compliance with the safety instructions:
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Degree of hazard serious‐

Warning symbol Signal word ness acc. to ANSI Z
535.4-2002
Death or severe bodily harm

Danger
will occur.
Death or severe bodily harm

Warning
may occur.
Minor or moderate bodily

Caution harm or material damage
may occur.
Fig.3-1: Hazard classification (according to ANSI Z 535)
3.1.4 Hazards by Improper Use

High electric voltage and high working current! Risk of death or severe
bodily injury by electric shock!
DANGER
Dangerous movements! Danger to life, severe bodily harm or material

damage by unintentional motor movements!
DANGER
High electric voltage because of incorrect connection! Risk of death or

bodily injury by electric shock!
WARNING
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
WARNING
Hot surfaces on device housing! Danger of injury! Danger of burns!

CAUTION
Risk of injury by improper handling! Risk of bodily injury by bruising,

shearing, cutting, hitting or improper handling of pressurized lines!
CAUTION
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Risk of injury by improper handling of batteries!

CAUTION
3.2 Instructions with Regard to Specific Dangers

3.2.1 Protection Against Contact with Electrical Parts and Housings
This section concerns devices and drive components with voltages
of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating electrical equipment, it is unavoid‐
able that some parts of the units conduct dangerous voltage.
High electrical voltage! Danger to life, electric shock and severe bodily
injury!
● Only those trained and qualified to work with or on electrical equipment
DANGER are permitted to operate, maintain and repair this equipment.
● Follow general construction and safety regulations when working on elec‐
trical power installations.
● Before switching on the device, the equipment grounding conductor must
have been permanently connected to all electrical equipment in accord‐
ance with the connection diagram.
● Do not operate electrical equipment at any time, even for brief measure‐
ments or tests, if the equipment grounding conductor is not permanently
connected to the mounting points of the components provided for this
purpose.
● Before working with electrical parts with voltage potentials higher than
50 V, the device must be disconnected from the mains voltage or power
supply unit. Provide a safeguard to prevent reconnection.
● For electrical drive and filter components, observe the following:
Wait 30 minutes after switching off power to allow capacitors to dis‐
charge before beginning to work. Measure the electrical voltage on the
capacitors before beginning to work to make sure that the equipment is
safe to touch.
● Never touch the electrical connection points of a component while power
is turned on.
● Install the covers and guards provided with the equipment properly before
switching the device on. Before switching the equipment on, cover and
safeguard live parts safely to prevent contact with those parts.
● A residual-current-operated circuit-breaker or r.c.d. cannot be used for
electric drives! Indirect contact must be prevented by other means, for
example, by an overcurrent protective device according to the relevant
standards.
● Secure built-in devices from direct touching of electrical parts by providing
an external housing, for example a control cabinet.
and Controls
For electrical drive and filter components with voltages of more than
50 volts, observe the following additional safety instructions.
High housing voltage and high leakage current! Risk of death or bodily
injury by electric shock!
● Before switching on, the housings of all electrical equipment and motors
DANGER must be connected or grounded with the equipment grounding conductor
to the grounding points. This is also applicable before short tests.
● The equipment grounding conductor of the electrical equipment and the
devices must be non-detachably and permanently connected to the power
supply unit at all times. The leakage current is greater than 3.5 mA.
● Over the total length, use copper wire of a cross section of a minimum of
10 mm2 for this equipment grounding connection!
● Before commissioning, also in trial runs, always attach the equipment
grounding conductor or connect to the ground wire. Otherwise, high vol‐
tages may occur at the housing causing electric shock.
3.2.2 Protection Against Electric Shock by Protective Extra-Low Voltage

Protective extra-low voltage is used to allow connecting devices with basic in‐
sulation to extra-low voltage circuits.
All connections and terminals with voltages between 5 and 50 volts at Rexroth
products are PELV systems. 1) It is therefore allowed to connect devices
equipped with basic insulation (such as programming devices, PCs, notebooks,
display units) to these connections and terminals.
High electric voltage by incorrect connection! Risk of death or bodily

injury by electric shock!
If extra-low voltage circuits of devices containing voltages and circuits of more
WARNING than 50 volts (e.g. the mains connection) are connected to Rexroth products,
the connected extra-low voltage circuits must comply with the requirements for
PELV. 2)
3.2.3 Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
● improper or wrong wiring of cable connections
● incorrect operation of the equipment components
● wrong input of parameters before operation
● malfunction of sensors, encoders and monitoring devices
● defective components
● software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
1) “Protective Extra-Low Voltage”

2) “Protective Extra-Low Voltage”
and Controls
The monitoring in the drive components will normally be sufficient to avoid faulty
operation in the connected drives. Regarding personal safety, especially the
danger of bodily harm and/or material damage, this alone cannot be relied upon
to ensure complete safety. Until the integrated monitoring functions become
effective, it must be assumed in any case that faulty drive movements will occur.
The extent of faulty drive movements depends upon the type of control and the
state of operation.
and Controls
Dangerous movements! Danger to life, risk of injury, severe bodily harm

or material damage!
● For the above reasons, ensure personal safety by means of qualified and
DANGER tested higher-level monitoring devices or measures integrated in the in‐
stallation.
They have to be provided for by the user according to the specific condi‐
tions within the installation and a hazard and fault analysis. The safety
regulations applicable for the installation have to be taken into consider‐
ation. Unintended machine motion or other malfunction is possible if safety
devices are disabled, bypassed or not activated.
To avoid accidents, bodily harm and/or material damage:
● Keep free and clear of the machine’s range of motion and moving parts.
Possible measures to prevent people from accidentally entering the
machine’s range of motion:
– use safety fences
– use safety guards
– use protective coverings
– install light curtains or light barriers
● Fences and coverings must be strong enough to resist maximum possible
momentum.
● Mount the emergency stop switch in the immediate reach of the operator.
Verify that the emergency stop works before commissioning. Do not op‐
erate the device if the emergency stop switch is not working.
● Isolate the drive power connection by means of an emergency stop circuit
or use a safety related starting lockout to prevent unintentional start.
● Make sure that the drives are brought to a safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after switching
off the motor power by, for example:
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient equilibration of the vertical axes.
● The standard equipment motor brake or an external brake controlled by
the drive controller are not sufficient to guarantee personal safety!
● Disconnect electrical power to the equipment using a master switch and
secure the switch against reconnection for:
– maintenance and repair work
– cleaning of equipment
– long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio equip‐
ment near electronics circuits and supply leads. If the use of such devices
cannot be avoided, verify the system and the installation for possible mal‐
functions in all possible positions of normal use before initial commission‐
ing. If necessary, perform a special electromagnetic compatibility (EMC)
test on the installation.
and Controls
3.2.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐

ation and Mounting
Magnetic and electromagnetic fields generated by current-carrying conductors
and permanent magnets in motors represent a serious personal danger to
those with heart pacemakers, metal implants and hearing aids.
Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electrical equipment!
● Persons with heart pacemakers and metal implants are not permitted to
WARNING enter following areas:
– Areas in which electrical equipment and parts are mounted, being
operated or commissioned.
– Areas in which parts of motors with permanent magnets are being
stored, repaired or mounted.
● If it is necessary for somebody with a pacemaker to enter such an area,
a doctor must be consulted prior to doing so. The noise immunity of pres‐
ent or future implanted heart pacemakers differs greatly so that no general
rules can be given.
● Those with metal implants or metal pieces, as well as with hearing aids,
must consult a doctor before they enter the areas described above. Oth‐
erwise health hazards may occur.
3.2.5 Protection Against Contact with Hot Parts

Hot surfaces at motor housings, on drive controllers or chokes! Danger
of injury! Danger of burns!
● Do not touch surfaces of device housings and chokes in the proximity of
CAUTION heat sources! Danger of burns!
● Do not touch housing surfaces of motors! Danger of burns!
● According to the operating conditions, temperatures can be higher than
60 °C, 140 °F during or after operation.
● Before accessing motors after having switched them off, let them cool
down for a sufficiently long time. Cooling down can require up to 140 mi‐
nutes! Roughly estimated, the time required for cooling down is five times
the thermal time constant specified in the Technical Data.
● After switching drive controllers or chokes off, wait 15 minutes to allow
them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications, the manufacturer of the end product, machine or
installation, according to the respective safety regulations, has to take
measures to avoid injuries caused by burns in the end application. These
measures can be, for example: warnings, guards (shielding or barrier),
technical documentation.
3.2.6 Protection During Handling and Mounting

In unfavorable conditions, handling and mounting certain parts and compo‐
nents in an improper way can cause injuries.
and Controls
Risk of injury by improper handling! Bodily injury by bruising, shearing,

cutting, hitting!
● Observe the general construction and safety regulations on handling and
CAUTION mounting.
● Use suitable devices for mounting and transport.
● Avoid jamming and bruising by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● If necessary, use suitable protective equipment (for example safety gog‐
gles, safety shoes, safety gloves).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids because of the danger of skidding.
3.2.7 Battery Safety

Batteries consist of active chemicals enclosed in a solid housing. Therefore,
improper handling can cause injury or material damage.
Risk of injury by improper handling!

● Do not attempt to reactivate low batteries by heating or other methods (risk
of explosion and cauterization).
CAUTION ● Do not recharge the batteries as this may cause leakage or explosion.
● Do not throw batteries into open flames.
● Do not dismantle batteries.
● When replacing the battery/batteries do not damage electrical parts in‐
stalled in the devices.
● Only use the battery types specified by the manufacturer.
Environmental protection and disposal! The batteries contained in

the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regulations.
Dispose of used batteries separate from other waste. Observe the
local regulations in the country of assembly.
3.2.8 Protection Against Pressurized Systems

According to the information given in the Project Planning Manuals, motors
cooled with liquid and compressed air, as well as drive controllers, can be par‐
tially supplied with externally fed, pressurized media, such as compressed air,
hydraulics oil, cooling liquids and cooling lubricating agents. Improper handling
of the connected supply systems, supply lines or connections can cause injuries
or material damage.
and Controls
Risk of injury by improper handling of pressurized lines!

● Do not attempt to disconnect, open or cut pressurized lines (risk of explo‐
sion).
CAUTION ● Observe the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (for example safety goggles, safety
shoes, safety gloves).
● Immediately clean up any spilled liquids from the floor.
Environmental protection and disposal! The agents used to operate

the product might not be economically friendly. Dispose of ecolog‐
ically harmful agents separately from other waste. Observe the local
regulations in the country of assembly.
and Controls
Identifying the Control Section
4 Identifying the Control Section

4.1 Type Plates
Each drive component is marked by a type designation.
There is a type plate attached to all devices.
4.1.2 Type Plates at the Drive Controller
1 power section type plate

2 control section type plate
3 firmware type plate
Fig.4-1: Type plates at the drive controller
and Controls
Identifying the Control Section
4.1.3 Type Plates at the Control Section

Control Section Type Plate
1) type
2) part number
3) serial number
4) bar code
5) hardware index
6) production week (example: 06W31 means year 2006, week 31)
Fig.4-2: Control section type plate (example)
Firmware Type Plate
1) bar code
2) type
3) production week (example: 05W24 means year 2005, week 24)
4) serial number
Fig.4-3: Firmware type plate (example)
Example of Purchase Order Text The purchase order text for the firmware product consists of:
● IndraDrive firmware: FWA-INDRV*
● base package: MPH
● version: 02V
● latest release: RS (in the illustrated example, the release is “12”)
● language: D5
● others
FWA-INDRV*-MPH-02VRS-D5-1-NNN-NN
For further information, see documentation “Rexroth IndraDrive, Firmware for
Drive Controllers MPH, MPD, MPB, Functional Description”.
Our sales representative will help you select the appropriate firmware.
and Controls
Rexroth IndraDrive Control Sections
5 Rexroth IndraDrive Control Sections

5.1 Overview of Types
Control section range Characteristic Type Features
BASIC BASIC OPEN LOOP CSB01.1N‑FC (Basic 1) not configurable single-axis

BASIC SERCOS CSB01.1N‑SE (Basic 2) not configurable 1) single-axis
BASIC PROFIBUS CSB01.1N‑PB (Basic 3) not configurable 1) single-axis
BASIC Analog CSB01.1N‑AN (Basic 4) not configurable 1) single-axis
BASIC UNIVERSAL BASIC UNIVERSAL CSB01.1C (Basic 5) configurable single-axis
CDB01.1C configurable double-axis
ADVANCED ADVANCED CSH01.1C configurable single-axis
CSH01.2C
1) exception: option L1 (starting lockout) is possible
Fig.5-1: Control section overview
5.2 Overview of Functions and Interfaces

The control sections differ with regard to
● their configurability
● the available interfaces
● the cycle times or switching frequencies (pulse frequencies)
The table below contains an overview:
CSB01.1N- CSB01.1N CSB01.1N- CSB01.1N CSH01.1C

CSB01.1C CDB01.1C
FC -SE PB -AN CSH01.2C
configurable no no no no yes yes yes

configuration slots safety 0 1 1) 1 1) 1 1) 1 2 1
technology
operation with comfort control yes 4) no no no no no no
panel VCP01.2
serial interface RS232 1 1 1 1 1 1 1
Inputs/outputs:
number of dig. inputs, thereof 8 8 8 9 8 22 11
probe type 2 0 1 1 0 1 2 2
probe type 3 0 1 1 0 1 0 0
number of dig. outputs 0 3 3 4 3 4 4
2 voltage;
number of analog inputs 0 0 2 0 1 1
2 current
number of analog outputs 2 0 0 0 0 2 2
number of relay contacts 1 N/O; 2 1 N/O 1 N/O 1 N/O 1 N/O 1 N/O 1 N/O
changeover
switches
and Controls
CSB01.1N- CSB01.1N CSB01.1N- CSB01.1N CSH01.1C

CSB01.1C CDB01.1C
FC -SE PB -AN CSH01.2C
Cycle times 2):

current control 125 µs 125 µs 125 µs 125 µs 125 µs 125 µs 62.5 µs
125 µs
velocity control 250 µs 250 µs 250 µs 250 µs 250 µs 250 µs 125 µs
500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs
position control 500 µs 500 µs 500 µs 500 µs 500 µs 500 µs 250 µs
1000 µs 1000 µs 1000 µs 1000 µs 1000 µs 1000 µs 500 µs
minimum SERCOS cycle time - 1000 µs - - 1000 µs 1000 µs 250 µs
Switching frequencies 3):
2 kHz ■ ■ ■ ■ ■ ■ ■
4 kHz ■ ■ ■ ■ ■ ■ ■
8 kHz ■ ■ ■ ■ ■ ■ ■
12 kHz - - - - - - ■
16 kHz - - - - - - ■
1) option starting lockout can be configured
2) cycle times depend on firmware version
3) clock frequencies also depend on power section, see Parameter De‐
scription "P-0-0001, Switching frequency of the power output stage"
4) as of firmware version MPB04V12
Fig.5-2: Overview of control section functions
For more details on possible configurations see section “Optional

Slots” in the description of the respective control section.
and Controls
5.3 BASIC Control Sections

5.3.1 Type Codes BASIC and BASIC UNIVERSAL
Type Code BASIC CSB01.1N
Fig.5-3: Type code control section BASIC (single-axis); (to be continued)

and Controls
Fig.5-4: Type code control section BASIC (single-axis); (continuation)

Type Code BASIC UNIVERSAL Single-Axis CSB01.1C
See type code BASIC CSB01.1N
and Controls
Type Code BASIC UNIVERSAL Double-Axis CDB01.1C
Fig.5-5: Type code control section BASIC (double-axis); (to be continued)

and Controls
Fig.5-6: Type code control section BASIC (double-axis); (continuation)

and Controls
5.3.2 Dimensions BASIC

Dimensions BASIC and BASIC UNIVERSAL Single-Axis
Fig.5-7: Dimensions CSB
For the mounting dimensions in the front area, please see the
mounting dimensions of the drive controllers.
and Controls
Dimensions BASIC UNIVERSAL Double-Axis
Fig.5-8: Dimensions CDB
For the mounting dimensions in the front area, please see the
mounting dimensions of the drive controllers.
and Controls
5.3.3 CSB01.1N-FC - BASIC OPENLOOP

Front View with Connections at Basic Circuit Board
Front view Connection Stranded AWG Tighten‐ Description
point wire ing tor‐
[mm²] que
[Nm]
X31 / X32 0,08–1,5 28–14 - digital and analog in‐

puts/outputs; voltage
input (24V, 0V)
X11 / X12 0,08–1,5 28–14 - relay contacts
X35 / X36 0,08–1,5 28–14 - analog inputs / outputs;
voltage output (24V,
0V)
X2 0,25–0,5 - - serial interface
H1 - - - interface for control
panel
Fig.5-9: Connections BASIC OPENLOOP

Functions
The specified factory settings apply to firmware MPx04.
For additional notes on function and commissioning, see the fol‐
lowing sections in the Functional Description of the firmware:
● Analog Outputs
● Analog Inputs
● Digital Inputs/Outputs
and Controls
Function Con‐ Factory setting Nominal data Figure;

nection technical data
power consumption from 24V supply; - - see section “Power Consumption”

connection at power section X13 or +24V/0V
relay contact Rel no Rel 3 X11.3 speed reached AC 250 V X11 I X12
3 S‑0‑0013 2A
com Rel 3 X11.4
nc Rel 3 X11.5 DC 30 V
1A
relay contact Rel no Rel 2 X12.3 ready signal AC 250 V
2 P‑0‑0115 2A
com Rel 2 X12.4 data see chapter
nc Rel 2 X12.5 DC 30 V 7.1 Relay Contacts ,
page 139
1A
relay contact Rel no Rel 1 X12.1 ready for operation AC 250 V
1 P‑0‑0115 2A
no Rel 1 X12.2
DC 30 V
1A
digital I_1 X31.3 clear error 24 V X31 I X32
inputs S‑0‑0099 3 mA
I_2 X31.4 drive ON
P‑0‑4028
I_3 X31.5 velocity cmd value
from memory of
fixed values
P‑0‑1200
I_4 X31.6 velocity cmd value data see chapter
from memory of 7.2 Digital Inputs/Out‐
fixed values puts, page 140
P‑0‑1200
I_5 X31.7 velocity cmd value
from memory of
fixed values
P‑0‑1200
I/O_8 X32.6 E-Stop
P‑0‑0223
I/O_9 X32.7 velocity cmd value
from memory of
fixed values
P‑0‑1200
I/O_10 X32.8 velocity cmd value
from memory of
fixed values
P‑0‑1200
and Controls

analog voltage input I_a_1+ X32.4 ±10 V X31 I X32
inputs I_a_1- X32.5
voltage input I_a_2+ X32.1
I_a_2- X32.2
data see chapter Ana‐

log Input Type 1 , page
145
current input I_ai3+ X36.1 0…20 mA X35 I X36
I_ai3- X36.2
current input I_ai4+ X36.3
I_ai4- X36.4

146
analog voltage output O_a_1 X32.9 0…+10 V X31 I X32
output reference potential GND_a X32.3
for analog voltage
output

log Output Type 1 ,
page 148
analog voltage output O_a_2 X35.3 0…+10 V X35 I X36
output reference potential GND_a X35.4
for analog voltage
output

log Output Type 1 ,
page 148
and Controls

input for power supply of digital in‐ +24V X31.8 X31 I X32
supply of digital puts
0V X31.9
inputs
DC 19…30 V; max.
0.1 A
output (source) connect supply +24V X35.1 X35 I X36
for power supply (source) of digital in‐
0V X35.2
of digital inputs puts to X31.8 or
X31.9
DC 19…30 V; max.
0.1 A; protected against
polarity reversal; short-
circuit proof
serial interface X2 corresponds
to RS232
data see chapter

7.4 X2, Serial Interface
(RS232) , page 149
Fig.5-10: Functions BASIC OPENLOOP

and Controls
5.3.4 CSB01.1N-SE - BASIC SERCOS

Front View with Connections
[mm²] que
[Nm]
X8 0,25–0,5 - - encoder evaluation

ENS
X31 / 0,08–1,5 28–14 - digital inputs/outputs;
X32 voltage input (24V, 0V)
X41 0,25–0,5 - optional: starting lock‐

out
X20 / 0,3 master communication
X21 SERCOS

panel
Fig.5-11: Connections BASIC SERCOS

Functions
● Analog Outputs
● Analog Inputs
and Controls
External supply required!

Digital I/Os require external supply voltage at X31.8 and X31.9.
Use protective diode!
Protect the module against incorrect connection and polarity rever‐
sal of the supply voltage, e.g. by using a protective diode (see D3
in figure below) in the power supply at X31.8.
Configuration is possible as input or output!
Observe that the connections X32.6, X32.7, X32.8 can be config‐
ured as digital inputs or outputs (I/O_8, I/O_9, I/O_10). At CDB01
and CSH01 control sections, additionally X32.9 as I/O_11.
D1, D2 diodes, internal

D3 protective diode, external
LT power section
BR circuit for motor holding brake
ST control section
OM1 optional modules
OM2 optional modules with supply voltage connection, e.g. MA1, MD2
Fig.5-12: Block diagram 24V supply
and Controls


master commu‐ SERCOS SE X20; max.
nication X21 16 MBaud
data see chapter

6.2.1 SE - SERCOS ,
page 88
encoder interfa‐ ENS X8 DC 11.6 V
ces 300 mA
data see chapter

6.3.1 ENS - Standard
Encoder Evaluation ,
page 104
relay contact Rel 1 X31.1 ready for operation DC 24 V X31 I X32
Rel 1 X31.2 P‑0‑0115 1A
data see chapter

7.1 Relay Contacts ,
page 139
and Controls

digital I_1 X31.3 probe 1 can be con‐ X31 I X32
inputs type 2 S‑0‑0401 figured as
(probe) probe
24 V
3 mA
typ. 1 µs
I_2 X31.4 24 V
type 3 3 mA
(probe)
data see chapter
I_3 X31.5 travel range limit 7.2 Digital Inputs/Out‐
switch puts, page 140
P‑0‑0222
I_4 X31.6 travel range limit
switch
P‑0‑0222
I_5 X31.7 home switch
S‑0‑0400
I/O_8 X32.6 E-Stop
P‑0‑0223
I/O_9 X32.7 combined I/O con‐
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
O_10; see also
P‑0‑0302
digital I/O_8 X32.6 combined I/O con‐ 24 V X31 I X32
outputs figured as input I/ 0.5 A
O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
7.2.3 Digital Outputs ,
P‑0‑0302
page 143
and Controls

power supply of +24V X31.8 X31 I X32
digital inputs/out‐
0V X31.9
puts
DC 19…30 V; max.
1.1 A
see note on “protective
diode”
serial interface RS232 X2
data see chapter

(RS232) , page 149
optional: starting X41
lockout
data see chapter

6.5.1 L1 - Starting Lock‐
out , page 134
Fig.5-13: Functions BASIC SERCOS

and Controls
5.3.5 CSB01.1N-PB - BASIC PROFIBUS

[mm²] que
[Nm]

ENS
X31 / X32 0,08–1,5 28–14 - digital inputs/outputs;
voltage input (24V, 0V)
out
X30 0,08–0,5 - - master communication
PROFIBUS
X2 0,25–0,5 n.s. - serial interface
panel
Fig.5-14: Connections BASIC PROFIBUS

Functions
● Analog Outputs
● Analog Inputs
and Controls


LT power section
ST control section


master commu‐ PROFIBUS PB X30 12 MBaud
nication
and Controls

ces 300 mA
data see chapter

page 104
Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
and Controls

digital inputs I_1 X31.3 probe 1 can be con‐ X31 I X32
type 2 S‑0‑0401 figured as
(probe) probe
24 V
3 mA
typ. 1 µs
data see chapter

7.2 Digital Inputs/Out‐
puts, page 140
I_2 X31.4 24 V X31 I X32
type 3 3 mA
(probe)
switch
P‑0‑0222
switch
P‑0‑0222
data see chapter
I_5 X31.7 home switch 7.2 Digital Inputs/Out‐
puts, page 140
S‑0‑0400
I/O_8 X32.6 E-Stop
P‑0‑0223
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
O_10; see also
P‑0‑0302
digital outputs I/O_8 X32.6 combined I/O con‐ 24 V X31 I X32
figured as input I/ 0.5 A
O_8; see also
P-0-0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
P‑0‑0302
page 143
and Controls

power supply of power supply of digi‐ +24V X31.8 X31 I X32
digital inputs/out‐ tal inputs/outputs
0V X31.9
puts
DC 19…30 V; max.
1.1 A
diode”
serial interface
data see chapter
(RS232) , page 149
lockout
data see chapter

out , page 134
Fig.5-16: Functions BASIC PROFIBUS

and Controls
5.3.6 CSB01.1N-AN - BASIC ANALOG

[mm²] que
[Nm]

ENS
X31 / X32 0,08–1,5 28–14 - digital and analog in‐
input (24V, 0V)
out
X16 0,25–0,5 - - encoder emulation
MEM
X2 0,25–0,5 n.s. - serial interface
panel
Fig.5-17: Connections BASIC ANALOG

Functions
● Analog Outputs
● Analog Inputs
and Controls


LT power section
ST control section
and Controls


Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
digital I_1 X31.3 clear error 24 V X31 I X32
inputs S‑0‑0099 3 mA
I_2 X31.4 drive ON
P‑0‑4028
switch
P‑0‑0222
switch data see chapter
7.2 Digital Inputs/Out‐
P‑0‑0222
puts, page 140
S‑0‑0400
I/O_8 X32.6 E-Stop
P‑0‑0223
I/O_9 X32.7 Drive Halt
P‑0‑4028
figured as output I/
O_10; see also
P‑0‑0302
figured as output I/
O_11; see also
P‑0‑0302
and Controls

O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
I/O_10 X32.8 ready signal
P‑0‑0115 data see chapter
I/O_11 X32.9 warning 7.2.3 Digital Outputs ,
page 143
P‑0‑0115
analog voltage input I_a_1+ X32.4 ±10 V X31 I X32
inputs I_a_1- X32.5
voltage input I_a_2+ X32.1
I_a_2- X32.2
reference potential GND_a X32.3
for analog inputs
connection for signal

shields
145
example of connection
see chapter 7-16Shield
connection X32, page
144
0V X31.9
puts
DC 19…30 V;
max. 1.1 A
diode”
and Controls

data see chapter

(RS232) , page 149
ces 300 mA
data see chapter

page 104
encoder emula‐ MEM X16
tion

lockout
data see chapter

out , page 134
Fig.5-19: Functions BASIC ANALOG

and Controls
5.3.7 CSB01.1C - BASIC UNIVERSAL Single-Axis

[mm²] que
[Nm]

ENS
option 2
X31 / X32 0,08–1,5 28–14 - digital inputs/outputs;
voltage input (24V, 0V)
X7 memory card slot
option ST 1)
option MC 2)
panel
1) option ST = safety technology

2) option MC = master communication
Fig.5-20: Connections BASIC UNIVERSAL single-axis CSB01.1C
Functions
● Analog Outputs
● Analog Inputs
and Controls


LT power section
ST control section


master commu‐ configurable
nication
and Controls

ces 300 mA
data see chapter

page 104
Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
and Controls

(probe) probe
24 V
3 mA
typ. 1 µs
I_2 X31.4 24 V
type 3 3 mA
(probe)
data see chapter
P‑0‑0222
switch
P‑0‑0222
S‑0‑0400
I/O_8 X32.6 E-Stop
P‑0‑0223
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
O_10; see also
P‑0‑0302
O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
P‑0‑0302
page 143
and Controls

0V X31.9
puts
DC 19…30 V
max. 1.1 A
diode”
data see chapter

(RS232) , page 149
optional func‐ allowed options: see see corresponding op‐
tions configuration table tional module
Fig.5-22: Functions BASIC UNIVERSAL single-axis CSB01.1C

and Controls
Optional Slots
option MC master communication

option ST safety technology
Fig.5-23: Optional slots for BASIC UNIVERSAL single-axis CSB01.1C
The following configuration table shows which optional module is

supported on which optional slot.
Our sales representative will inform you on whether a certain com‐
bination is allowed or not.
Optional mod‐
Optional slot
ule
option MC option 1 (on option 2 option ST memory card slot control panel
board) (X41) (X7) (H1)
SE ■ - - - - -
PB ■ - - - - -
PL ■ - - - - -
and Controls
Optional mod‐
Optional slot
ule
option MC option 1 (on option 2 option ST memory card slot control panel
board) (X41) (X7) (H1)
CO ■ - - - - -
ET ■ - - - - -
S3 ■ - - - - -
CCD - - - - - -
ENS - ■ ■ - - -
EN1 - - ■ - - -
EN2 - - ■ - - -
MEM - - ■ - - -
MA1 - - ■ - - -
MD1 - - - - - -
MD2 - - - - - -
L1 - - - ■ - -
S1 - - - - - -
S - - - - - ■
PFM02 - - - - ■ -
■ allowed optional module on optional slot
- not allowed
Fig.5-24: Configuration table
and Controls
5.3.8 CDB01.1C - BASIC UNIVERSAL Double-Axis

[mm²] que
[Nm]
X7 memory card slot

option 3
option 4
X33; X34 0,08–1,5 28–14 - digital inputs
option 1
option 2
X31; X32 0,08–1,5 28–14 - digital and analog in‐
input (24V, 0V)
option ST1 1)
option ST2 1)
option MC 2)
panel

Fig.5-25: Connections BASIC UNIVERSAL double-axis
and Controls
Functions
● Analog Outputs
● Analog Inputs


LT power section
ST control section
and Controls
Low input resistance

The digital inputs I_6 and I_7 are mounted in parallel to the analog
input I_a_1. Observe that this reduces the input resistance of the
analog input to the value of the digital inputs.
Signal sources with low impedance for a low degree of linearity error
If you need a low degree of linearity error, use signal sources with
the lowest possible impedance at the analog input I_a_1. For ex‐
ample, you can achieve a linearity error smaller 5% with a 1 kohm
potentiometer and smaller 2.5% with a 500 ohm potentiometer.


master commu‐ configurable
nication
Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
and Controls

digital I_1 X31.3 axis 1: probe 1 can be con‐ X31 I X32
(probe) probe;
24 V
3 mA
I_2 X31.4 axis 2: probe 1
typ. 1 µs
type 2 S‑0‑0401
(probe)
I_3 X31.5 axis 1: travel range 24 V data see chapter

limit switch 3 mA 7.2 Digital Inputs/Out‐
P‑0‑0222 puts, page 140
I_4 X31.6 axis 1: travel range

limit switch
P‑0‑0222
I_5 X31.7 axis 1: home switch
S‑0‑0400
I_6 X32.4 can also be used as
analog input; see
I_a_1+
analog input; see
I_a_1-
Fig.5-27: Functions BASIC UNIVERSAL double-axis CDB01.1C

and Controls

I/O_8 X32.6 axis 1: E-Stop X31 I X32

P‑0‑0223
I/O_9 X32.7 axis 2: travel range
limit switch
P‑0‑0222
I/O_10 X32.8 axis 2: travel range
limit switch
P‑0‑0222
I/O_11 X32.9 axis 2: home switch
S‑0‑0400 X33 I X34
I_12 X33.1
I_13 X33.2
I_14 X33.3
I_15 X33.4
I_16 X33.5
I_17 X33.6
I_18 X34.1
I_19 X34.2
I_20 X34.3
I_21 X34.4
I_22 X34.5
reference potential 0V X34.6
for digital inputs
O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
P‑0‑0302
page 143
figured as input I/
O_11; see also
P‑0‑0302
and Controls

analog voltage input I_a_1+ X32.4 can also be used as ±10 V X31 I X32
inputs digital input I_6 typ. 2 kohm
I_a_1- X32.5 can also be used as
digital input I_7

147
144
analog voltage output O_a_1 X32.1 5V X31 I X32
outputs O_a_2 X32.2 1 mA

for analog voltage
output

shields

log Output Type 2 ,
page 148
144
0V X31.9
puts
DC 19…30 V; max.
1.1 A
diode”
and Controls

data see chapter

(RS232) , page 149
Fig.5-28: Functions BASIC UNIVERSAL double-axis CDB01.1C

and Controls
Optional Slots

options ST1 safety technology
and ST2
Fig.5-29: Options for BASIC UNIVERSAL double-axis CDB01.1C

and Controls
Optional
Optional slot
module
option option 1 option 2 option 3 option 4 option ST option ST memory card control
MC (X8.1) (X8.2) 1 2 slot panel (H1)
(X41.1) (X41.2) (X7)
SE ■ - - - - - - - -
PB ■ - - - - - - - -
PL - - - - - - - - -
CO - - - - - - - - -
ET ■ - - - - - - - -
S3 ■ - - - - - - - -
CCD - - - - - - - - -
ENS - ■ ■ ■ ■ - - - -
EN1 - ■ ■ ■ ■ - - - -
EN2 - ■ ■ ■ ■ - - - -
MEM - - - ■ ■ - - - -
MA1 - - - ■ ■ - - - -
MD1 - - - - - - - - -
MD2 - - - - - - - - -
L1 - - - - - ■ ■ - -
S1 - - - - - ■ ■ - -
S - - - - - - - - ■
C - - - - - - - - ■
PFM02 - - - - - - - ■ -
- not allowed
Fig.5-30: Configuration table
and Controls
5.4 ADVANCED
5.4.1 Type Code ADVANCED (CSH01.1C)
Fig.5-31: Type code control section ADVANCED (CSH01.1C); (to be continued)

and Controls
Fig.5-32: Type code control section ADVANCED (CSH01.1C); (continuation)

and Controls
5.4.2 Type Code ADVANCED (CSH01.2C)
Fig.5-33: Type code control section ADVANCED (CSH01.2C); (to be continued)

and Controls
Fig.5-34: Type code control section ADVANCED (CSH01.2C); (continuation)

● In comparison to type CSH01.1C, the type CSH01.2C has the interface
“cross communication - CCD” (at optional slot 3; CCD = Cross Commu‐
nication Drives).
● For the purpose of engineering, the control section - in addition to the serial
interface X2 - has an Ethernet-based interface.
and Controls
5.4.3 Dimensions ADVANCED
Fig.5-35: Dimensions ADVANCED

and Controls
5.4.4 CSH01.1C - ADVANCED

[mm²] que
[Nm]
X7 memory card slot

option 1
option 2
input (24V, 0V)
option 3
option ST 1)
option MC 2)
panel

Fig.5-36: Connections ADVANCED CSH01.1C
Functions
● Analog Outputs
● Analog Inputs
and Controls


LT power section
ST control section

and Controls


Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
and Controls

(probe) probe;
24 V
I_2 X31.4 probe 2
3 mA
type 2 S‑0‑0402
(probe) typ. 1 µs
I_3 X31.5 travel range limit 24 V

switch 3 mA
P‑0‑0222
data see chapter
P‑0‑0222
S‑0‑0400
analog input; see
I_a_1+
analog input; see
I_a_1-
I/O_8 X32.6 E-Stop
P‑0‑0223
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
O_10; see also
P‑0‑0302
figured as input I/
O_11; see also
P‑0‑0302
and Controls

O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
P‑0‑0302
page 143
figured as input I/
O_11; see also
P‑0‑0302
inputs digital input I_6 typ. 2 kohm
I_a_1- X32.5 can also be used as
digital input I_7

147
144

for analog voltage
output

shields

log Output Type 2 ,
page 148
144
and Controls

power supply of power supply of digi‐ +24V X31.8 X31 I X32
digital inputs/out‐ tal inputs/outputs
0V X31.9
puts
DC 19…30 V; max.
1.1 A
diode”
data see chapter

(RS232) , page 149
Fig.5-38: Functions ADVANCED CSH01.1C

and Controls
Optional Slots CSH01.1C
option MC Master communication

Fig.5-39: Options for ADVANCED CSH01.1C

Optional mod‐
Optional slot
ule
option MC option 1 option 2 option 3 option ST memory card control panel

(X41) slot (X7) (H1)
SE ■ - - - - - -
PB ■ - - - - - -
and Controls
Optional mod‐
Optional slot
ule
PL ■ - - - - - -
CO ■ - - - - - -
ET ■ - - - - - -
S3 ■ - - - - - -
CCD - - - ■ - - -
ENS - ■ ■ ■ - - -
EN1 - ■ ■ ■ - - -
EN2 - ■ ■ ■ - - -
MEM - ■ ■ ■ - - -
MA1 - - ■ ■ - - -
MD1 - - - ■ - - -
MD2 - - - ■ - - -
L1 - - - - ■ - -
S1 - - - - ■ - -
S - - - - - - ■
PFM02 - - - - - ■ -
- not allowed
Fig.5-40: Configuration table CSH01.1C
5.4.5 CSH01.2C - ADVANCED

General Information
The following documentation of ADVANCED CSH01.2C is preliminary.
and Controls

[mm²] que
[Nm]
X7 memory card slot

option 1
option 2
input (24V, 0V)
X24; X25 - - - cross communication -
CCD
X26 - - - engineering interface
option ST 1)
option MC 2)
panel

Fig.5-41: Connections ADVANCED CSH01.2
Functions
● Analog Outputs
● Analog Inputs
and Controls


LT power section
ST control section

and Controls


relay contact Rel 1 X31.1 ready for operation DC24 V X31 I X32
Rel 1 X31.2 P‑0‑0115 1A
data see chapter

page 139
and Controls

(probe) probe
24 V
I_2 X31.4 probe 2
3 mA
type 2 S‑0‑0402
(probe) typ. 1 µs
I_3 X31.5 travel range limit 24 V

switch 3 mA
P‑0‑0222
data see chapter
P‑0‑0222
S‑0‑0400
analog input; see
I_a_1+
analog input; see
I_a_1-
I/O_8 X32.6 E-Stop
P-0-0223
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
O_10; see also
P‑0‑0302
figured as input I/
O_11; see also
P‑0‑0302
and Controls

O_8; see also
P‑0‑0302
figured as input I/
O_9; see also
P‑0‑0302
figured as input I/
data see chapter
O_10; see also
P‑0‑0302
page 143
figured as input I/
O_11; see also
P‑0‑0302
inputs digital input I_6 typ.
I_a_1- X32.5 can also be used as 160 kohm
digital input I_7

147
144
and Controls


for analog voltage
output
shields

log Output Type 2 ,
page 148
144
power supply of power supply of digi‐ +24V X31.8 DC 19…30 V; max.
digital inputs/out‐ tal inputs/outputs 1.1 A
0V X31.9
puts see note on “protective
diode”
data see chapter

(RS232) , page 149
CCD X24
CCD X25
and Controls

engineering in‐ Ethernet-based in‐ X26
terface terface
data see chapter

7.5 X26, Engineering
Interface , page 151
Fig.5-43: Functions ADVANCED CSH01.2

and Controls
Optional Slots CSH01.2C

Fig.5-44: Options for ADVANCED CSH01.2C

Optional
Optional slot
module
option MC option 1 option 2 option 3 (on option ST memory card control panel
board) (X41) slot (X7) (H1)
SE ■ - - - - - -
PB ■ - - - - - -
and Controls
Optional
Optional slot
module
PL ■ - - - - - -
CO ■ - - - - - -
ET ■ - - - - - -
S3 ■ - - - - - -
CCD - - - ■ - - -
ENS - ■ ■ - - - -
EN1 - ■ ■ - - - -
EN2 - ■ ■ - - - -
MEM - ■ ■ - - - -
MA1 - - ■ - - - -
MD1 - - - - - - -
MD2 - - - - - - -
L1 - - - - ■ - -
S1 - - - - ■ - -
S - - - - - - ■
PFM02 - - - - - ■ -
- not allowed
Fig.5-45: Configuration table CSH01.2C
and Controls
and Controls
Optional Modules for Control Sections
6 Optional Modules for Control Sections

6.1 Overview
Optional module Function Name of op‐ Notes
tional module
Connection
point
master communica‐ master communication via SE (HCC02) master communication based on fiber optic cables
tions SERCOS interface X20; X21
master communication via PB (HCC03) field bus PROFIBUS
PROFIBUS X30
master communication via CO (HCC06) field bus DeviceNet; connection via screw terminal
DeviceNet X60
master communication via CD field bus DeviceNet; connection via D‑SUB interface
DeviceNet X61 (in preparation)
master communication via par‐ PL (HCC01) parallel interface
allel interface X15
master communication via CO (HCC06) field bus CANopen; connection via screw terminal
CANopen X60
master communication via CD field bus CANopen; connection via D‑SUB interface
CANopen X61 (in preparation)
master communication via ET (HCC08) field bus PROFINET
PROFINET IO
master communication via S3 (HCC07) master communication based on Ethernet
SERCOS III X22, X23
communication cross communication via CCD communication between drive controllers based on
SERCOS III (HMC01) Ethernet
X24, X25
encoder evaluations for encoder systems of ENS (HFI03) standard for motors of IndraDyn product range ; (en‐
IndraDyn motors coder systems S1, M1, S2 and M2)
12 V power supply
for resolvers and encoder sys‐ EN1 (HFI01) standard for MKD, MKE and MHD motors (encoder
tems with HSF interface systems R0, R1, S0 and M0)
8 V power supply
for encoder systems with 5 V EN2 (HFI02) 5 V power supply (encoder systems C0)
supply (Sense function re‐
quired)
emulation of absolute and in‐ MEM emulation absolute encoder in SSI format
cremental encoders (HFE01)
and Controls
Optional module Function Name of op‐ Notes

tional module
Connection
point
I/O extensions extension “analog inputs/out‐ MA1 2 analog differential input channels
puts” (HAS01) 2 analog output channels
extension “digital inputs/out‐ MD1 12 digital inputs
puts” (HEA01) 8 digital outputs
extension “digital inputs/out‐ MD2 16 digital inputs in 2 groups
puts” (HEA02) 16 digital outputs in 4 groups
X17, X16 SSI encoder evaluation
safety technology I/O for safety technology S1 (HSI11)
X41
starting lockout L1 (HSI01)
X41
control panels standard control panel S single-line display
comfort control panel C multiline display
memory exchangeable medium for pa‐ PFM02.1 MultiMediaCard (MMC)
rameters and firmware X7
Fig.6-1: Available optional modules
6.2 Master Communication

6.2.1 SE - SERCOS
Risk of damage!
The maximum tightening torque of the union nut at the coupling elements of
the fiber optic cable is 0.6 Nm.
CAUTION
Description
Fig.6-2: SERCOS interface

LED H20 Distortion LED of SERCOS interface
Pin Assignment X20 TX
X21 RX
Fig.6-3: Pin assignment

and Controls

Data Rate, Transmission Power The data rate and transmission power can be set via the serial interface X2 or
with the control panel.
Fiber optic cables:
Drive controllers with a SERCOS interface are connected to higher-level control
units by means of fiber optic cables.
The fiber optic cables (cables, connectors or ready-made cables) have to be
ordered separately.
For more detailed information on the subject of “fiber optic cables”, see appli‐
cation manual “Rexroth Connection System, fiber optic cables” (DOK-CON‐
NEC-CABLE*LWL**-AWxx-EN-P, part. no. R911284755). This application
description contains the following points:
● Fiber optic cable - general information
● Basic planning information for optical transmission systems
● Routing guidelines for fiber optic cables
● Attenuation measurements of the standard plastic fiber optic cables
● FSMA selection list for plug-in connectors and fiber optic cables
● Assembly guidelines for FSMA connectors
● Tools for assembly of fiber optic cables
6.2.2 PB - PROFIBUS
Description
Fig.6-5: PROFIBUS interface

and Controls
Connection No. of Type of de‐ Stranded wire

Type Figure
point poles sign [mm²]
female (de‐
X30 D-Sub 9 0,08–0,5
vice)
Fig.6-6: Connections
Pin Assignment Pin DIR Signal Function
1 - n. c.
2 - n. c.
3 I/O RS485+ receive/transmit data-positive
4 O CNTR-P repeater control signal
5 0V 0V
6 O +5 V repeater supply
7 - n. c.
8 I/O RS485- receive/transmit data-negative
9 0V 0V
Fig.6-7: Signal assignment

Shield Connection Via D-sub fastening screws and metallized connector housing.
Compatibility of the Interface According to DIN EN 50 170
Recommended Cable Type According to DIN EN 50 170 - 2, cable type A
Signal Specification Signal Specification
+5V +5 V (±10%)
repeater supply max. 75 mA
TTL-compatible:
● 1: transmit
● 0: receive
repeater control signal
output resistance: 350R
VOL ≤ 0.8 V at IOL ≤ 2 mA
VOH ≥ 3.5 V at IOH ≤ 1 mA
receive/transmit data EIA-RS485 standard
Fig.6-8: Signal specification

Danger of destroying output “+5V repeater supply” by overload!
Do not short-circuit the output.
Do not exceed the maximum current.
CAUTION
and Controls
Diagnostic Displays For the significance of the diagnostic displays, see Functional Description of
the respective firmware.
Bus Connectors The PROFIBUS connectors each have a connectable terminating resistor. The
terminating resistor must always be active at both the first and last bus node.
Carry out the connection as shown in the figures below.
1) shield
2) bus connection and switch position for first node and last node
3) bus connection and switch position for all other nodes
Fig.6-9: Preparing a cable for connecting a bus connector
To assemble the bus cable, proceed as follows:
● use cable according to DIN EN50170 / 2 edition 1996
● strip cable (see figure above)
● insert both cores into screw terminal block
Do not interchange the cores for A and B.
● press cable sheath between both clamps

● screw on both cores in screw terminals
1) switch position for first slave and last slave in PROFIBUS-DP

2) cable shield must have direct contact to metal
Fig.6-10: Bus connection for first slave and last slave, bus connector with 9-pin
D-Sub female connector, INS0541
and Controls
1) terminating resistor is off

Fig.6-11: Bus connection for all other slaves, bus connector with 9-pin D-Sub fe‐
male connector, INS0541
1) switch position for first slave and last slave in PROFIBUS-DP

Fig.6-12: Bus connection for first slave and last slave, without 9-pin D-Sub female
connector, INS0540
1) terminating resistor is off

Fig.6-13: Bus connection for all other slaves, without 9-pin D-Sub female con‐
nector, INS0540
Connect the drive controller to a control unit using a shielded two-wire line in
accordance with DIN 19245/Part 1.
and Controls
6.2.3 PL - Parallel Interface

X15, Parallel Interface - PL
Description Stranded
Connec‐ No. of Type of de‐ Solid wire wire
Type Figure
tion point poles sign [mm²]
[mm²]
pins on de‐
X15 D-Sub 37 - 0,08–0,5
vice
Pin Assignment Con‐
Function nec‐ Factory setting Technical data
tion
P-0-4026, Posi‐
I_0.0 1 tioning block
selection; bit 0
P-0-4026, Posi‐
I_0.1 20 tioning block see chapter Digital
selection; bit 1 Inputs Type 1
P-0-4026, Posi‐ (Standard) , page
digital input I_0.2 2 tioning block 140
group 0 selection; bit 2
P-0-4026, Posi‐
selection; bit 3
P-0-0115, bit 1;
O_0.0 28
ready signal
S-0-0059, Posi‐
O_0.1 10 tion switch flag
parameter; bit 0
S-0-0403, Posi‐ see chapter Digital
tion feedback Outputs , page 143
O_0.2 29
digital output value status;
group 0 bit 0
S-0-0331, Sta‐
O_0.3 11 tus 'n_feedback
= 0'
and Controls
Con‐
tion
power supply DC 19 … 30 V
for input/output +24V 30
group 0 max. 1.2 A
P-0-4026, Posi‐
selection; bit 4
P-0-4026, Posi‐
selection; bit 5
see chapter Digital
P-0-4060, Posi‐ Inputs Type 1
tioning block (Standard) , page
I_1.2 4
control word; 140
digital input bit 0
group 1
S-0-0148,
C0600 Drive-
I_1.3 23 controlled hom‐
ing procedure
command; bit 0
P-0-4061; bit 4,
O_1.0 12 end position
reached
P-0-0115; bit 2,
O_1.1 31
warning
see chapter Digital
S-0-0437; Outputs 143
O_1.2 13 bit 12, jog mode
digital output active
group 1
S-0-0437; bit 3,
O_1.3 32 interpolator hal‐
ted
group 1 max. 1.2 A
S-0-0346, Posi‐
I_2.0 5 tioning control
word; bit 1
S-0-0346, Posi‐
I_2.1 24 tioning control
word; bit 2 see chapter Digital
P-0-4028, De‐ Inputs Type 1
vice control (Standard) , page
I_2.2 6
digital input word; Drive ON; 140
group 2 bit 15
P-0-4028, De‐
vice control
I_2.3 25
word; Drive
HALT; bit 13
and Controls
Con‐
tion
P-0-4051, Posi‐
tioning block
O_2.0 33
acknowledg‐
ment; bit 0
P-0-4051, Posi‐
tioning block
O_2.1 15
acknowledg‐
ment; bit 1 see chapter Digital
P-0-4051, Posi‐ Outputs , page 143
digital output tioning block
O_2.2 34
group 2 acknowledg‐
ment; bit 2
P-0-4051, Posi‐
tioning block
O_2.3 16
acknowledg‐
ment; bit 3
group 2 max. 1.2 A
S-0-0099,
C0500 Reset
I_3.0 7
class 1 diag‐ see chapter Digital
nostics Inputs Type 1
I_3.1 26 (Standard) , page
140
digital input I_3.2 8
group 3
I_3.3 27
P-0-4051, Posi‐
tioning block
O_3.0 17
acknowledg‐
ment; bit 4
P-0-4051, Posi‐
tioning block
O_3.1 36
acknowledg‐
ment; bit 5 see chapter Digital
P-0-4051, Posi‐ Outputs , page 143
digital output tioning block
O_3.2 18
group 3 acknowledg‐
ment; bit 6
P-0-4051, Posi‐
tioning block
O_3.3 37
acknowledg‐
ment; bit 7
group 3 max. 1.2 A
and Controls
Con‐
tion
reference po‐
tential for in‐
puts/outputs 0V 9 max. 5 A
and power sup‐
ply
con‐
cable shield nector
shld
connection hous‐
ing
The inputs/outputs are galvanically isolated from the control section

and require power which is supplied via the connections +24V and
0V.
6.2.4 CO - DeviceNet / CANopen

X60, DeviceNet / CANopen Interface - CO
Description
Fig.6-16: Description
The master communications DeviceNet and CANopen are realized with the
same optional module “CO”.
Activate the desired master communication with switch S1:
Switch position Effect Switch S1
up (as shown) CANopen active
down DeviceNet active
Fig.6-17: Switch
and Controls
Properties of the Connector Stranded

Connec‐ No. of Solid wire wire
Type AWG Figure
tion point poles [mm²]
[mm²]
spring
terminal
X60 female 5 0,25–2,5 0,25–1,5 24–16
(connec‐
tor)
Risk of damage!
Maximum allowed tightening torque of locking screws: 0.5 Nm.
CAUTION
Display Elements
Significance for CANopen LED Significance Color Description
signals operating states; for details see

H4 Run green
Functional Description
signals error states; for details see Func‐
H5 Error red
tional Description
Fig.6-19: Significance of display elements for CANopen

Significance for DeviceNet LED Significance Color Description
malfunction on module; for details see

red
H4 module status
module OK; for details see Functional De‐
green
scription
malfunction on network; for details see
red
H5 network status
network OK; for details see Functional De‐
green
scription
Fig.6-20: Significance of display elements for DeviceNet

Assignment X60 Pin Signal Function
1 VP- 0 V potential 24 V supply voltage

2 CAN_L bidirectional data signal CAN_L
3 Drain/Shield shield connection
4 CAN_H bidirectional data signal CAN_H
5 VP+ 24 V supply voltage – plus
Fig.6-21: Signal assignment optional module CO

and Controls
Main Features Feature DeviceNet CANopen
according to DIN EN
compatibility according to EN 50325-4
50325-2
max. possible number of
64 nodes max. 127 nodes
nodes
bus topology line topology line topology
124 ohm each, 1%, 200 mW; connect at both bus ends
bus terminator (ISO 11898)
to X60.2 and X60.4
transmission medium 2 twisted two-wire lines (4-pin) with shield
max. allowed bus (line)
depending on bit rate
lengths
recommended connection
our RKS number or third-party type
cable
Fig.6-22: Main features

Allowed Network Dimension (Bus Bit rate Max. allowed network dimension
Lengths)
[kBaud] [m]
DeviceNet CANopen
1000 - 25
800 - 50
500 40 100
250 250 250
125 500 500
50 - 1000
20 - 2500
10 - 5000
Fig.6-23: Network dimension

and Controls
6.2.5 CD - DeviceNet / CANopen (Preliminary)

X61, DeviceNet / CANopen Interface - CD
Description
Fig.6-24: Description
The master communications DeviceNet and CANopen are realized with the
same optional module “CD”. In comparison to the optional module “CO” with
terminal block, the optional module “CD” has a D-SUB connector for field bus
connection.
Activate the desired master communication with switch S1:
Switch position Effect Switch S1
up CANopen active
down DeviceNet active
Fig.6-25: Switch
Properties of the Connector Stranded wire
Connec‐ No. of Type of de‐
Type Figure
pins on de‐
X61 D-Sub 9 0,25–0,5
vice
Fig.6-26: Connection
and Controls
Display Elements
Significance for CANopen LED Significance Color Description
signals operating states; for details see

H4 Run green
signals error states; for details see Func‐
H5 Error red
tional Description
Fig.6-27: Significance of display elements for CANopen

Significance for DeviceNet LED Significance Color Description
malfunction on module; for details see

red
H4 module status
module OK; for details see Functional De‐
green
scription
malfunction on network; for details see
red
H5 network status
network OK; for details see Functional De‐
green
scription
Fig.6-28: Significance of display elements for DeviceNet

1 VP- 0 V potential 24 V supply voltage

2 CAN_L bidirectional data signal CAN_L
3 Drain/Shield shield connection
4 CAN_H bidirectional data signal CAN_H
5 VP+ 24 V supply voltage – plus
6 n. c. -
7 n. c. -
8 n. c. -
9 n. c. -
Fig.6-29: Signal assignment optional module CD

and Controls
Main Features Feature DeviceNet CANopen
according to DIN EN
compatibility according to EN 50325-4
50325-2
max. possible number of
64 nodes 127 nodes
nodes
bus topology line topology line topology
124 ohm each, 1%, 200 mW; connect at both bus ends
bus terminator (ISO 11898)
to X60.2 and X60.4
transmission medium 2 twisted two-wire lines (4-pin) with shield
max. allowed bus (line)
depending on bit rate
lengths
recommended connection
our RKS number or third-party type
cable
Fig.6-30: Main features

Bus Lengths Depending on Bit Bit rate Max. allowed network dimension
Rates
[kBaud] [m]
DeviceNet CANopen
1000 - 25
800 - 50
500 40 100
250 250 250
125 500 500
50 - 1000
20 - 2500
10 - 5000
Fig.6-31: Network dimension
6.2.6 S3 - SERCOS III

Description SERCOS III is the Ethernet-based version of SERCOS 2. The interface corre‐
sponds to standard IEE 802.3.
and Controls
Fig.6-32: SERCOS III connection points
Connection No. of
Type Figure
points poles
X22, X23 RJ45 8
Assignment X22, X23 Pin Signal Function
1 TD+ 10/100 Base-T Transmit, Differential Output A

2 TD- 10/100 Base-T Transmit, Differential Output B
3 RD+ 10/100 Base-T Receive, Differential Input A
4 n. c. -
5 n. c. -
6 RD- 10/100 Base-T Receive, Differential Input B
7 n. c. -
8 n. c. -
housing shield connection

Compatibility of the Interface 10 Base-T according to IEEE 802.3i
100 Base-T according to IEEE 802.3u
Recommended Cable Type According to CAT 5
and Controls
Display Elements LED Significance Color Description
H6, H8 Status yellow data transmission running

H7, H9 Link green connection to network available
H7, H9 - orange -
Fig.6-35: Significance of display elements
6.2.7 CCD - Cross Communication

Description The interface corresponds to standard IEE 802.3.
Fig.6-36: SERCOS III connection points CCD
No. of
Connection points Type Figure
poles
X24, X25 RJ45 8
and Controls
Assignment X24, X25 Pin Signal Function

4 n. c. -
5 n. c. -
7 n. c. -
8 n. c. -

Display Elements LED Significance Color Description
H10, H12 Status yellow data transmission running

H11, H13 Link green connection to network available
H11, H13 - orange -
Fig.6-39: Significance of display elements
6.3 Encoder Evaluation

6.3.1 ENS - Standard Encoder Evaluation
Interface Standard Encoder Evaluation ENS
Description For encoders with a control voltage supply of 12 volt:
● encoder system of IndraDyn S motors (MSK motors)
● 1 Vpp with HIPERFACE®
● 1 Vpp with EnDat 2.1
● 1 Vpp with reference track
● 5V-TTL square-wave encoder with reference
Connec‐ No. of Type of de‐ Stranded wire

Type Figure
female (de‐
X8 D-Sub 15 0,25–0,5
vice)
and Controls
Pin Assignment Connection Signal Function
1 GND_shld connection for signal shields

2 A+ track A positive
3 A- track A negative
4 GND_Encoder power supply reference potential
5 B+ track B positive
6 B- track B negative
7 EncData+ data transmission positive
8 EncData- data transmission negative
9 R+ reference track positive
10 R- reference track negative
11 VCC_Encoder power supply
12 n. c.
13 EncCLK+ clock positive
14 EncCLK- clock negative
15 n. c.

Properties of ENS
Voltage for Encoder Supply Data Unit Min. Typ. Max.
VCC_Encoder
voltage for encoder supply
V 11,15 11,6 12,3
VCC_Encoder
output current mA 500
Fig.6-42: Encoder supply ENS

Input Circuit for Sine Signals A+, A-
or B+, B- or R+, R-
Fig.6-43: Input circuit for sine signals (block diagram)

Properties of Differential Input Data Unit Min. Typ. Max.
amplitude encoder signal

V 0,8 1,0 1,0 + 0,2
(USSencodersignal)
input resistance ohm 120

converter width A/D converter bit 12
limit frequency (-3 dB) kHz 500
input frequency for 5V-TTL sig‐
kHz 400
nals (square-wave)
amplitude 5V-TTL signals V 5,25
Fig.6-44: Differential input

and Controls
The allowed input frequency for 5 V-TTL signals is lower than the
limit frequency, because the differential input is overridden with ap‐
plied 5 V signals.
Signal Assignment to the Actual Position Value

Actual position value (with de‐
Signal assignment 1) Signal designation Signal shape
fault setting)
sine (1 Vpp) without ab‐

increasing
solute value
sine (1 Vpp) with absolute

increasing
value
1) see following note

Fig.6-45: Signal assignment to the actual position value
The encoder signal assignment to the inputs is based on clockwise

rotation (front view to motor shaft).
● Track A (A+, A-, “cos”) advances track B (B+, B-, “sin”) 90°
electrically.
● The actual position value increases in this case (unless neg‐
ation takes effect).
● If available, the reference track R (R+, R-) provides the refer‐
ence mark pulse at positive signals of track A and track B (in
the so-called “0-th” quadrant).
Standard setting: see Functional Description of firmware

and Controls
Connection Diagrams ENS

ENS with Encoder System S1 / M1
Fig.6-46: Connection diagram encoder system S1 / M1
For direct connection to the encoder system use our cable

RKG4200.
ENS with Encoder System S2 / M2
Fig.6-47: Connection diagram encoder system S2 / M2

RKG4200.
Connection Diagrams ENS with Third-Party Encoder

Observe that the third-party encoder used has to be suited for the
voltage supplied at the encoder evaluation ENS as voltage for en‐
coder supply “VCC_Encoder”.
and Controls
ENS with Third-Party Encoder

HIPERFACE®
Fig.6-48: Connection diagram third-party encoder HIPERFACE®

ENS with Third-Party Encoder En‐
Dat 2.1
Fig.6-49: Connection diagram third-party encoder EnDat 2.1

ENS with Third-Party Encoder
1Vpp
Fig.6-50: Connection diagram third-party encoder 1Vpp

and Controls
ENS with Third-Party Encoder 5V-

TTL
Fig.6-51: Connection diagram third-party encoder 5V-TTL

Allowed Encoder Cable Lengths at ENS
The current consumption of the connected encoder system generates a voltage
drop due to the ohmic resistance of the encoder cable (line cross section and
line length). This reduces the signal at the encoder input.
I [mA] current consumption

l [m] cable length
0,5; 1,0; 1,5 cable cross sections in mm2
Fig.6-52: Allowed encoder cable length
Example For an encoder cable with a length of 75 m and a cross section of 0.5 mm2,
encoder systems with a current consumption of a maximum of 175 mA are
allowed. If current consumption is higher, this requires an encoder cable with
a cross section greater than 0.5 mm2.
6.3.2 EN1 - Resolver and HSF Encoder Evaluation

Interface Resolver and HSF Encoder Evaluation EN1
Description For encoder systems with a control voltage supply of DC8 volt or AC18.2 volt
peak-peak:
and Controls
● digital servo feedback from Rexroth (encoder interface HSF for MHD mo‐
tors)
● resolver (encoder interface for MKD motors)
● resolver without data memory
● Hall sensor box SHL01.1 (for position detection of the primary part of
IndraDyn L and LSF motors)

Type Figure
female (de‐
- D-Sub 15 0,25–0,5
vice)

5 n. c. n. c.
6 n. c. n. c.
7 I2C_SCLK clock line for I²C interface
8 I2C_SDAout data transmission to encoder
11 n. c. n. c.
13 n. c. n. c.
14 I2C_Fsample data request
15 I2C_SDAin data transmission from encoder

Properties EN1
Encoder Supply Resolver Data Unit Min. Typ. Max.
AC output voltage VVC_Encoder

V 18,2 1)
(peak-peak value)
output frequency sine kHz 4
and Controls
Data Unit Min. Typ. Max.

d.c. resistance of load ohm 35
1) DC8V are applied in the switch-on phase.
Fig.6-55: Encoder supply resolver
Encoder Supply Digital Servo Data Unit Min. Typ. Max.
Feedback
DC output voltage VVC_Encoder V 7,8 8 8,2
Fig.6-56: Encoder supply HSF

Input Circuit A+, A- or B+, B-
R1 5k
R2 5k
R3 20k (HSF) or 2k5 (resolver)
R4 20k (HSF) or 2k5 (resolver)
C1 not specified
C2 not specified
Fig.6-57: Input circuit (block diagram)
Differential Input for HSF Operation Data Unit Min. Typ. Max.
amplitude encoder signal sine V 0,8 1,0 1,1

input resistance kohm 9,5 10 10,5
Fig.6-58: Input data HSF

Differential Input for Resolver Op‐ Data Unit Min. Typ. Max.
eration
allowed amplitude of encoder signal
V 9,0
sine
input resistance kohm 9,5 10 10,5
Fig.6-59: Input data resolver operation

and Controls

Signal assignment Signal designation Signal shape
fault setting)
HSF (sine 1 Vpp without

120 ohm terminating re‐ increasing
sistor, I2C bus)
resolver increasing
amplitude-modulated signal

Connection Diagrams EN1
EN1 with Encoder System R0 and
R1
Fig.6-61: Connection diagram

IKS4043.
and Controls
EN1 with Encoder System S0 and

M0

IKS4042.
EN1 with Hall Sensor Box SHL01

IKS4042.
6.3.3 EN2 - Encoder Evaluation

Interface Encoder Evaluation EN2
Description For encoders with a control voltage supply of 5 volt:
● EnDat2.1 with Sense lines
● sine encoder (1 Vpp) with reference track
● square-wave encoder (TTL) with reference track

Type Figure
pins on de‐
- D-Sub 15 0,25–1,0
vice
and Controls
1 Sense+ return of supply voltage

2 Sense- return of supply voltage
3 R- reference track negative
4 R+ reference track positive
9 EncData+ data transmission
11 EncCLK+ clock positive
13 EncCLK- clock negative
15 EncData- data transmission

Properties EN2
VCC_Encoder (Encoder Supply) Data Unit Min. Typ. Max.
DC output voltage VCC_Encoder

V 4,75 5,0 5,25
with voltage return (Sense)
DC output voltage VCC_Encoder
V 4,85 5,1 5,35
without voltage return (Sense)
d.c. resistance of load ohm 35
Fig.6-66: Encoder supply EN2

Input Circuit for Sine Signals A+, A-
or B+, B- or R+, R-
Fig.6-67: Input circuit for sine signals (block diagram)

Properties of Differential Input for Data Unit Min. Typ. Max.
Sine Signals
allowed amplitude of encoder signal
V 0,8 1,0 1,2
peak-peak (UPPencodersignal)

Fig.6-68: Differential input sine

and Controls
Input Circuit for Square-Wave Sig‐

nals
Fig.6-69: Input circuit for square-wave signals (block diagram)

Properties of Differential Input for Data Unit Min. Typ. Max.
Square-Wave Signals
input voltage “high” V 2,4 5,0
input voltage “low” V 0 0,8
input frequency kHz 1000
Fig.6-70: Differential input square-wave signals

Sense+, Sense- Return of encoder supply to amplifier to compensate for voltage drop in encoder
cable and have required voltage range present at encoder.
Use cables with Sense lines for high degrees of voltage drop
caused by
● great cable lengths
● small cable cross sections
● many contact resistances
and Controls

Signal assignment 1) Signal designation Signal shape
fault setting)
sine (1 Vpp) without ab‐

increasing
solute value
square-wave (TTL) with‐

increasing
out absolute value
sine (1 Vpp) with absolute

increasing
value (e.g. EnDat)
1) see following note

The encoder signal assignment to the inputs is based on clockwise

rotation (front view to motor shaft).
● Track A (A+, A-) advances track B (B+, B-) 90° electrically.
● The actual position value increases in this case (unless neg‐
ation takes effect).
● If available, the reference track R (R+, R-) provides the refer‐
ence mark pulse at positive signals of track A and track B (in
the so-called “0-th” quadrant).
Standard setting: see Functional Description of firmware

and Controls
Connection Diagrams EN2

EN2 with Encoder System C0
Fig.6-72: Connection diagram EN2 with encoder system C0

RKG0014.
EN2 with Third-Party Encoder En‐

Dat2.1 (According to Heidenhain
Standard) and Sense Lines, 5 V
Supply
Fig.6-73: Connection diagram EN2 with third-party encoder EnDat2.1 (according

to Heidenhain standard)

IKS4038.
and Controls
EN2 with Third-Party Encoder

1 Vpp, 5 V Supply
Fig.6-74: Connection diagram EN2 with third-party encoder 1 Vpp, 5 V supply

EN2 with Third-Party Encoder
Square-Wave, 5 V Supply
Fig.6-75: Connection diagram EN2 with third-party encoder square-wave, 5 V

supply
Allowed Encoder Cable Lengths at EN2
The current consumption of the connected encoder system generates a voltage
drop due to the ohmic resistance of the encoder cable (line cross section and
line length). This reduces the signal at the encoder input.
The drive controller can influence the voltage for encoder supply (VCC_En‐
coder). For this purpose, the actual voltage value at the encoder can be
detected with the Sense lines.
If the cable and the encoder system have connections for the Sense+/Sense-
signals, this value is transmitted from the encoder to the drive controller.
The diagrams below take into account that
● the cross section of the wires for supply voltage in the cable is at least
0.5 mm2 (lower cross sections reduce the allowed length)
● the allowed supply voltage at the encoder is 5 V ±5%
and Controls
With Sense Connection in the En‐

coder Line
I [mA] current consumption

l [m] length
Fig.6-76: Encoder cable lengths with Sense connection
The maximum allowed length of cables with Sense lines is 75 m.

Without Sense Connection in the
Encoder Line
1 encoder tolerates supply voltage of 5V - 10%

2 encoder tolerates supply voltage of 5V - 5%
Fig.6-77: Encoder cable lengths without Sense connection
The maximum allowed length of cables without Sense lines is 50 m.

Smaller cross sections (e.g. of original Heidenhain cables) reduce
the allowed cable length.
and Controls
6.3.4 MEM - Encoder Emulation

Interface Encoder Emulation MEM
Description Emulation of absolute value and incremental encoders for further evaluation by
a control unit. The signals are galvanically isolated from the circuit board. Ex‐
ternal power supply is not necessary.

Type Figure
X8.11)
X8.22) pins on de‐
D-Sub 15 0,25–0,5
X103) vice
X164)
1) 2) see also control section CDB01.1C configuration table: option 3, option

4
3) see also control section CSH01.1C configuration table: option 3
4) see also control section CSB01.1N-AN, front view
1 n. c. n. c.
2 n. c. n. c.
incremental encoder: n. c.; absolute encoder: clock
3 SSI_CLK+
pos.
incremental encoder: n. c.; absolute encoder: clock
4 SSI_CLK-
neg.
5 n. c. n. c.
6 n. c. n. c.
7 n. c. n. c.
8 n. c. n. c.
UA0+ / SSI_Da‐ incremental encoder: reference track; absolute en‐
9
ta+ coder: data transmission
10 0V reference potential
UA0- / SSI_Da‐ incremental encoder: reference track; absolute en‐
11
ta- coder: data transmission
incremental encoder: track A1; absolute encoder:
12 UA1+
n. c.
13 UA1-
n. c.
and Controls
Connection Signal Function

14 UA2+
n. c.
15 UA2-
n. c.

Line Data Data Unit Min. Typ. Max.
allowed length l m 40
allowed capaci‐
tance between nF/m 5
outputs
allowed capaci‐
tance between nF/m 10
output and 0 V
double shielding (individual shields and overall
shielding
shield)
Fig.6-80: Line at MEM
Risk of damage by use of unshielded lines and lines with single shield‐
ing!
Use lines with double shielding.
CAUTION
Update rate of actual position value output: see firmware documen‐

tation.
Incremental Encoder Emulation

Connection Incremental Encoder
Emulation
Fig.6-81: Connection of incremental actual position value output

Differential Outputs Incremental Data Unit Min. Typ. Max.
Encoder Emulation
output voltage
V 2,5 5
“high”
output voltage
V 0 0,5
“low”
and Controls

output current
mA I 20 I
Iout
load capaci‐
tance between nF 10
output and 0 V
output frequen‐
MHz 1
cy f
overload pro‐
available
tection
Fig.6-82: Differential outputs
To adjust the output voltage levels, use the accessory

HAS05.1-003. For the description of the accessory, see chapter
“Accessories” in this documentation.
Signals for Incremental Actual Po‐

sition Value Output
t1 < 50 ns
1) one line
2) square-wave pulses with view to the motor shaft and clockwise rotation
Fig.6-83: Signals for incremental actual position value output
Output Frequency f
f output frequency
S number of lines
U revolution
n speed
Fig.6-84: Calculating the output frequency f
The output frequency results from the respective parameter setting.

See also Functional Description of firmware: Encoder Emulation.
Control-Side Signal Filter for UA1

and UA2 Due to the signal processing in the control section, the periodic time
and duty cycle of the output signals are influenced.
Depending on the parameterized output frequency, there are the
following requirements to the signal filtering of the control unit for
channels UA1 and UA2:
● with fout ≥ 500 kHz: ffilter ≥ 1 MHz
● with fout < 500 kHz: ffilter ≥ 2 x fout
and Controls
Speed Measurement
Frequency measurement is not suited to measure the speed from
the incremental emulator signals.
Absolute Encoder Emulation (SSI Format)

Absolute Encoder Emulation
Fig.6-85: Output of absolute actual position values according to SSI format

Differential Input Circuit Absolute
Encoder Emulation
Fig.6-86: Differential input circuit (block diagram)

Differential Inputs Absolute Encod‐ Data Unit Min. Typ. Max.
er Emulation
input voltage
V 2,5 5
“high”
input voltage
V 0 0,5
“low”
input resistance ohm approx. 150 (see circuit)
clock frequency
kHz 100–1000
f
polarity rever‐
within the allowed input voltage range
sal protection
galvanic isola‐
signals from circuit board
tion
Fig.6-87: Differential inputs

Differential Outputs Absolute En‐ Data Unit Min. Typ. Max.
coder Emulation
output voltage
V 2,5 5
“high”
output voltage
V 0 0,5
“low”
and Controls

output current
mA I 20 I
Iout
load capaci‐
tance between nF 10
output and 0 V
output frequen‐
MHz 1
cy f
overload pro‐
available
tection
terminating re‐
ohm 150–180
sistor at load
Fig.6-88: Differential outputs
The differential output corresponds to the RS422 specifications. On

the control side, a line terminating resistor must be available for the
SSI data signal. If this resistor is not available, connect an external
line terminating resistor (150–180 ohm).
1) resolution for 4096 revolutions

2) resolution for 1 revolution
G0 least significant bit in Gray code
G23 most significant bit in Gray code
m stored parallel information
T clock time
Tp clock break ≥ 20 μs
tv delay time max. 650 ns
PFB power failure bit (not used and always logically LOW)
Fig.6-89: Pulse diagram with absolute actual position value output (SSI format)
and Controls
6.4 I/O Extensions

6.4.1 MA1 - Analog I/O Extension
Description This option is used to increase the number of analog channels or to equip con‐
trol sections with analog channels of better resolution.
The option makes available the following functions:
● 2 differential analog input channels ±10V (resolution: 12 bits)
● 2 analog output channels ±10V (resolution: 12 bits)
Stranded
Connec‐ No. of Type of de‐ wire
Type Figure
tion point poles sign
[mm²]
X8 1)
X8.1 2) female (de‐
D-Sub 15 0,08–0,5
X8.2 3) vice)
X10 4)
1) see also control sections CSH01.1C, CSH01.2C configuration table:

option 2
2) 3) see also control section CDB01.1C configuration table: option 3, option
4
2) see also control section CSB01.1C configuration table: option 2
Fig.6-90: Connection point MA1
Pin Assignment Function Signal Pin1) Technical data
GND connection to
GND100 1
analog source AE1 see chapter Analog
Input Type 2 , page
analog differential I_a_1+ 2
146
input 1 I_a_1- 9
GND connection to
GND100 3
analog source AE2 see chapter Analog
Input Type 2 , page
analog differential I_a_2+ 4
146
input 2 I_a_2- 11
analog output 1 O_a_1 5
reference potential
for analog output 1
(GND measuring
GND_a 6 see chapter Analog
pin for external dif‐
Output Type 3 ,
ferential analog in‐
page 149
put)
shield connection
for analog output 1 GND100 13
(O_a_1)
and Controls
Function Signal Pin1) Technical data
analog output 2 O_a_2 14

reference potential
for analog output 2
(GND measuring
GND_a 15 see chapter Analog
pin for external dif‐
Output Type 3 ,
ferential analog in‐
page 149
put)
shield connection
for analog output 2 GND100 7
(O_a_2)
housing (connec‐
tion for overall housing 8
shield)
unassigned GNDA
pin (reference po‐
GND_a 10
tential for analog
output)
unassigned GNDA
pin (reference po‐
GND_a 12
tential for analog
output)
1) applies to all connection points X8, X10
For notes on function and commissioning, see sections Analog

Outputs and Analog Inputs in the Functional Description of the firm‐
ware.
Fig.6-92: Basic wiring

For applications only using one or two analog I/Os, you can also wire the indi‐
vidual cables directly at the D-Sub connector (see basic wiring above). Observe
and Controls
that several individual cables in the connector housing and in the cable entry
take more space than one overall cable only. Use D-Sub connectors with met‐
allized housings.
For applications using several analog I/Os, use the appropriate dis‐
tribution box (e.g. UM 45-D15SUB/S from Phoenix Contact).
For direct connection of the optional module MA1 to the distribution
box, use our cable RKS0003.
Interconnection Diagram MA 1 with

Distribution Box UM 45
1) connection of overall shield to housing of optional module MA1 via in‐

ternal connection
Fig.6-93: Interconnection diagram RKS 0003
Fig.6-94: Distribution box UM 45-D15SUB/S (Phoenix Contact)
The connections in the distribution box are executed “1 to 1” from

D-Sub connector to screw terminal connections. The connection
point “⊥” is connected to the housing potential of the distribution box.
and Controls
6.4.2 MD1 - Digital I/O Extension

Description This option is an extension for Rexroth IndraDrive control sections.
The option makes available the following functions:
● 12 digital 24 V inputs
● 8 digital 24 V outputs
Stranded
Connec‐ No. of Type of de‐ wire
Type Figure
tion point poles sign
[mm²]
pins on de‐
- D-Sub 25 0,08–0,5
vice
Pin Assignment Connec‐
Function Signal Technical data
tion
I_0.0 14
I_0.1 15
I_0.2 16
I_0.3 17
I_0.4 18 24 V
I_0.5 19 3 mA
see chapter Digital Inputs
I_0.6 20
Type 1 (Standard) , page
digital input group 0 I_0.7 21 140
I_0.8 22
I_0.9 23
I_0.10 24
I_0.11 25
DC 19 … 30 V
power supply for input group 0 +24V 7
max. 0.1 A
O_0.0 1
24 V
O_0.1 2
0.5 A
O_0.2 4 see chapter Digital Out‐
puts , page 143
digital output group 0 O_0.3 5
and Controls
Connec‐
tion
DC 19 … 30 V
power supply for output group 0 +24V 3
max. 1.2 A
O_1.0 9
24 V
O_1.1 10
0.5 A
O_1.2 12 see chapter Digital Out‐
puts , page 143
DC 19 … 30 V
power supply for output group 1 +24V 11
max. 1.2 A
reference potential for input/out‐
0V 8, 6 max. 2.5 A
put groups and power supply
connec‐
cable shield connection shld tor hous‐
ing
For notes on function and commissioning, see section Digital In‐

puts/Outputs in the Functional Description of the firmware.
6.4.3 MD2 - Digital I/O Extension and SSI Encoder Evaluation

Interface
Description This option is a combined extension with the following functions:
● digital I/O extension with 16 inputs and 16 outputs:
– 2 input groups with 8 inputs each and separate supply voltage for
each group
– 4 output groups with 4 outputs each and separate supply voltage for
each group
● SSI encoder evaluation for absolute position detection for different en‐
coders with SSI interface
and Controls
Fig.6-97: MD2
X17, Digital I/O Extension on MD2
No.
Connec‐ of
Type Description Figure
tion point pole
s
D-Sub (High
X17 44 I/O extension
Density)
Pin Assignment X17 I/O Extension Connec‐
tion
I_0.0 7
I_0.1 22
24 V
I_0.2 6
3 mA
I_0.3 21
see chapter Digital
I_0.4 5 Inputs Type 1
(Standard) , page
digital input group 0 I_0.5 20
140
I_0.6 4
I_0.7 19
and Controls
Connec‐
tion
power supply for input +24V 36 DC 19 … 30 V

group 0 0V 35 max. 1.1 A
I_1.0 3
I_1.1 18
24 V
I_1.2 2
3 mA
I_1.3 32
see chapter Digital
I_1.4 17 Inputs Type 1
(Standard) , page
digital input group 1 I_1.5 1
140
I_1.6 16
I_1.7 31
power supply for input +24V 34 DC 19 … 30 V

O_0.0 15
24 V
O_0.1 30
0.5 A
O_0.2 14 see chapter Digital
Outputs , page 143
power supply for output +24V 44 DC 19 … 30 V

O_1.0 13
24 V
O_1.1 28
0.5 A
Outputs , page 143

O_2.0 11
24 V
O_2.1 26
0.5 A
Outputs , page 143

O_3.0 9
24 V
O_3.1 24
0.5 A
Outputs , page 143
and Controls
Connec‐
tion

connec‐
cable shield connection shld tor hous‐
ing
For notes on function and commissioning, see section Digital In‐

puts/Outputs in the Functional Description of the firmware.
The digital inputs/output are galvanically isolated from the control

section.
Connect connection point X17 to the terminal strip in the control
cabinet by means of our cable RKS0004. The cable RKS0004 is up
to 10 m long. See also example of connection MD2.
X16, SSI Encoder Evaluation on MD2

The connected encoder is supplied via the connections X16.5 and X16.6 from
the 24 V control voltage supply (UN3) of the power section.
Connection No. of
Type Description Figure
point poles
X16 RJ11 6 SSI encoder evaluation
Pin Assignment X16 SSI Interface Connection Signal Function Technical data
1 SSI_CLK- clock neg.

2 SSI_CLK+ clock pos.
3 SSI_Data+ data transmission positive
4 SSI_Data- data transmission negative
5 +24V supply voltage encoder UN3-1 V
6 0V reference potential max. 0.2 A
connector
shld cable shield connection
housing

and Controls
Max. Line Length SSI_CLK frequency which is set (see also

Max. allowed line length
P‑0‑0910)
[m]
[kHz]
125 75
250 75
500 75
1000 40
Fig.6-102: Line length and SSI_CLK frequency

Example of Connection Principle
MD2
Fig.6-103: Example of connection I/O extension MD2
The connection to the SSI encoder consists of two cable sections:

● Cable RKG4400 from X16 to coupling element (max. length
1.5 m).
● Adapter cable between connection cable and the respective
encoder used with different connector pin assignments. For
SSI encoders from Stegmann, use our cable RKG4401 .
and Controls
6.5 Safety Technology

6.5.1 L1 - Starting Lockout
Description
The starting lockout complies with stop category 0 acc. to EN60204-1.
X41, Connection Point Starting Lockout L1
Tightening tor‐
Connection Stranded wire
Type No. of poles AWG que Figure
point [mm²]
[Nm]
D-Sub, female
X41 9 0,25–0,5 - -
(device)
Con‐
Function Signal Nominal data Technical data
nection
inverted acknowl‐
ASQ2 6
edgment
see chapter Relay
supply for acknowl‐ DC 24 V / 1 A Contact Type 3 ,
ASQ 4
edgment potential page 140
acknowledgment ASQ1 5
control signal start‐
ing lockout assign‐ AS A 1
ment A
see chapter Digital
inverted control sig‐ Inputs Type 1
AS n 2 24 V / 3 mA
nal starting lockout (Standard) , page
140
control signal start‐
ing lockout assign‐ AS B 3
ment B
+24V 8 DC 19.2 … 30 V
min. 0.1 A
input for power sup‐
DC 24 V max. 1.1 A (depend‐
ply 0VE 9
ing on load of out‐
puts)
n. c. 7

Function AS ASn Status ASQ1 ASQ2
1 0 starting lockout active = ASQ open

0 1 starting lockout not active open = ASQ
and Controls
AS ASn Status ASQ1 ASQ2

0 0
error when selecting starting lockout open = ASQ
1 1
Fig.6-106: Function
Connection Accessory, Starting Lockout L1
Cable RKS0001 (9-pin cable with connector and single wire ends)
6.5.2 S1 - Safety Technology

Description Safety Technology S1
This option allows realizing different application-related safety functions, such
as safety related standstill, safety related drive interlock, safety related reduced
speed, safety related direction of motion.
The option can only be used in conjunction with an encoder (at slot
X4 or X4.1 and X4.2).
X41, Connection Point Safety Technology S1

Stranded Tightening
Connection Type of de‐ wire torque
Type No. of poles AWG Figure
point sign
[mm²] [Nm]
female (de‐
X41 D-Sub 9 0,25–0,5 - -
vice)
Connec‐
tion
see chapter Digital

Inputs Type 1
digital input 24 V / 3 mA
input/output forced (Standard) , page
EA30 1 140
dynamization
see chapter Digital
digital output 24 V / 0.5 A
Outputs , page 143
see chapter Digital
Inputs Type 1
input/output ac‐ (Standard) , page
EA20 2 140
knowledgment
see chapter Digital
digital output 24 V / 0.5 A
Outputs , page 143
and Controls
Connec‐
tion
see chapter Digital
Inputs Type 1
(Standard) , page
input/output / relay 140
contact diagn. mes‐
EA10n 3 see chapter Digital
sage / door locking digital output 24 V / 0.5 A
Outputs , page 143
device
see chapter Relay
N/O contact DC 24 V / 1A Contact Type 3 ,
page 140
E1n 4
see chapter Digital
E2n 5 Inputs Type 1
digital inputs operating mode selection 24 V / 3 mA
E3n 6 (Standard) , page
140
E4n 7
+24V 8 DC 19.2…30 V;
min. 0.1 A
input for power sup‐
DC 24 V max. 1.6 A (depend‐
ply 1) 0 VE 9
ing on load of out‐
puts)
1) The maximum current consumption depends on the required current at
the outputs EA10n, EA20 and EA30 (3 x 0.5 A + 0.1 A = 1.6 A).
6.6 Control Panels

6.6.1 Standard Control Panel“S”
Description The standard control panel
● has a single-line display
● is not suited for hot plug, i.e. you mustn't plug it in nor disconnect it when
the drive controller has been switched on,
● must have been plugged in when the drive controller is switched on so
that it can be recognized
Fig.6-109: Standard control panel with exemplary display and control elements
● The display shows operating states, command and error diagnoses and
pending warnings.
and Controls
● Using the four keys, the commissioning engineer or service technician, in

addition to master communication via the commissioning tool or NC con‐
trol unit, can have extended diagnoses displayed at the drive controller
and trigger simple commands.
Overview of Functions Using the standard control panel you can:
● set the drive address
● SERCOS: set the transmission power
● SERCOS Autodetect: set the field bus transmission rate
● establish the position data reference
● have a look at the error memory
● start the basic load defaults procedure
● set the analog outputs
6.6.2 Comfort Control Panel“C”

Description The comfort control panel
● has a graphics display with a resolution of 128 × 64 pixel
● is suited for hot plug, i.e. you may disconnect it when the drive controller
has been switched on,
● must have been plugged in when the drive controller is switched on so
that it can be recognized
● requires at least the firmware version MPx04V12
Fig.6-110: Comfort control panel with exemplary display and control elements
● The display shows operating states, command and error diagnoses and
pending warnings.
● Via the keys the drive can be commissioned without PC.
● Using the keys, the commissioning engineer or service technician, in ad‐
dition to master communication via the commissioning tool or NC control
unit, can have extended diagnoses displayed at the drive controller and
trigger simple commands.
Overview of Functions Using the comfort control panel you can:
● set the drive address
● SERCOS: set the transmission power
● SERCOS Autodetect: set the field bus transmission rate
● establish the position data reference
● have a look at the error memory
● start the basic load defaults procedure
and Controls
● set the analog outputs
For further information, see the Functional Description of the firm‐

ware.
6.7 Memory
6.7.1 X7, Memory Card PFM02.1
Description The memory card PFM02.1 is used for reading and storing data (firmware, drive
parameters, operating data) from or on a standard MultiMediaCard (MMC).
The memory card PFM02.1 is not contained in the standard scope

of supply of the control sections.
In the documentation of the firmware you can find a description of

how to handle the memory card.
and Controls
Technical Data Functions
7 Technical Data Functions

7.1 Relay Contacts
7.1.1 Symbolic Illustration
Fig.7-1: Relay contact
Fig.7-2: Relay contact
7.1.2 Relay Contact Type 1

current load capacity A DC 1

AC 2
voltage load capacity V DC 30
AC 250
minimum contact load mA 10
contact resistance at minimum mΩ 1000
current
switching actions at max. time 100.000
constant of load
number of mechanical switching
1 × 106
cycles
time constant of load ms 50
pick up delay ms 10
drop out delay ms 10
Fig.7-3: Relay contacts type 1


current
and Controls

switching actions at max. time
1 × 106
constant of load
1 × 108
cycles
time constant of load ms ohmic
pick up delay ms 10


current
switching actions at max. time
1 × 106
constant of load
1 × 107
cycles
time constant of load ms ohmic
pick up delay ms 10
7.2 Digital Inputs/Outputs

The digital inputs/outputs correspond to IEC 61131, type 1.
Do not operate digital outputs at low-resistance sources!

In the Functional Description of the firmware, observe the Notes on
Commissioning for digital inputs/outputs of the control section, par‐
ticularly the parameter “P-0-0302, Digital I/Os, direction”.
7.2.2 Digital Inputs

Digital Inputs Type 1 (Standard)
Fig.7-6: Symbol
and Controls
allowed input voltage V -3 30

On V 15
Off V 5
input current mA 2 5
input resistance kΩ non-linear, varies depending on in‐
put voltage
sampling frequency kHz depending on firmware
delay μs 20 100 +
1 cycle
time of po‐
sition con‐
trol
(see also
Overview
of Func‐
tions and
Interfaces ,
page 21)
Fig.7-7: Digital inputs type 1

Digital Inputs - Probe
Digital Inputs Type 2 (Probe)
Function See “Probe” in the Functional Description of the firmware.
Technical Data
Fig.7-8: Symbol

On V 15
Off V 5
put voltage
pulse width tPuls μs 4
measuring accuracy tx μs 1

and Controls
A signal
B signal detection at probe input
tPuls pulse width
tx measuring accuracy
Fig.7-10: Signal detection at probe input
Usage For detecting sophisticated measuring marks, e.g. when positioning glue dots.
Probe inputs are “rapid” inputs. For control use bounce-free switch‐
ing elements (e.g. electronic switches) to avoid incorrect evaluation.
Digital Inputs Type 3 (Probe)

Function See “Probe” in the Functional Description of the firmware.
Technical Data
Fig.7-11: Symbol

On V 15
Off V 5
put voltage
pulse width tPuls μs 200
measuring accuracy tx μs 20

and Controls
A signal
B signal detection at probe input
tPuls pulse width
tx measuring accuracy
Fig.7-13: Signal detection at probe input
Usage For detecting less sophisticated measuring marks, e.g. recognizing the pas‐
sage of workpieces through a machine.
Probe inputs are “rapid” inputs. For control use bounce-free switch‐
ing elements (e.g. electronic switches) to avoid incorrect evaluation.
7.2.3 Digital Outputs

The digital outputs correspond to IEC 61131.
Fig.7-14: Symbol
output voltage ON V Uext - 0.5 24 Uext
output voltage OFF V 2,1

output current OFF mA 0,05
allowed output current per out‐ mA 500
put
allowed output current total or mA 1000
per group
update interval ns depending on firmware
short circuit protection present
and Controls

overload protection present
allowed energy content of con‐ mJ 400
nected inductive loads, e.g. re‐
lay coils; only allowed as single
pulse
Fig.7-15: Digital outputs
The digital outputs have been realized with high-side switches. This
means that these outputs can actively supply current, but not drain
it.
The energy absorption capacity of the outputs is used to limit volt‐

age peaks caused when inductive loads are switched off.
Limit voltage peaks by using free-wheeling diodes directly at the
relay coil.
7.3 Analog Inputs/Outputs

The analog inputs correspond to IEC 61131.
7.3.2 Connection Diagram - Example
XS1 shield connection at drive controller

Fig.7-16: Shield connection X32
and Controls
Connect the cable shield (overall shield) at both ends of the cable.
At the drive controller, connect the cable shield at connection XS1.
Both signal shields (inner shields) may only be connected at one
side of the cable so that compensating current does not flow.
At CSB01.1N-FC control sections, it is not allowed to connect signal
shields at X32.3.
7.3.3 Analog Inputs

Analog Input Type 1
AD analog/digital converter
Fig.7-17: Analog voltage inputs
allowed input voltage V -30 +30

working range input voltage V -10 +10
Uon_work
input resistance kΩ 180

input bandwidth kHz 2
common-mode range V -20 +20
common-mode rejection dB 48
relative measuring error at 90% % -1 +1
Uon_work
converter width A/D converter incl. bit 12

polarity sign
oversampling 8-fold
dynamic converter width with bit 14
oversampling
resulting resolution mV/inc 5,5
cyclic conversion μs n.s.
conversion time μs n.s.

and Controls
Analog Input Type 2

Uon_work
input resistance kΩ 2000

relative measuring error at 90% % -0,3 +0,3
Uon_work

polarity sign
oversampling 8-fold
oversampling
cyclic conversion µs n.s.
conversion time µs n.s.

Analog Input Type 3
Fig.7-21: Analog current inputs
and Controls
allowed input current mA 0 +20

working range input current Ion_work mA 0 +20
input resistance Ω 200

Ion_work

polarity sign
oversampling 8-fold
oversampling
resulting resolution μA/inc 10,7
cyclic conversion µs n.s.
conversion time μs n.s.
n.s. not specified
Fig.7-22: Analog current inputs
Analog Input Type 4

Uon_work
input resistance voltage input kΩ 160

CSH01.2C
Uon_work
and Controls

polarity sign
oversampling 8-fold
oversampling
cyclic conversion µs 500 (depending on firmware)
conversion time μs -
7.3.4 Analog Outputs

Analog Output Type 1
output voltage V 0 +10

output load kΩ 2
output current mA 0 +5
converter width digital/analog bit 10
converter incl. polarity sign
resolution mV/inc 9,8
conversion time (incl. response μs 10
time)
cyclic conversion depending on firmware
Fig.7-25: Analog outputs type 1

output voltage V 0 +5
output load kΩ 5
resolution mV/inc 19,5
accuracy at R = 5 kohm % 5 of FMR 1)
accuracy at R = 10 kohm % 2.5 of FMR 1)
time)
and Controls

1) FMR: final value of measuring range
output voltage V -10 +10

output load kΩ 1
resolution mV/inc 5
accuracy at R = 1 kohm % 1 of FMR 1)
accuracy at R = 10 kohm % 0.2 of FMR 1)
time)
1) FMR: final value of measuring range
7.4 X2, Serial Interface (RS232)

The serial interface (RS232) is required for programming, parameterization and
diagnosis during commissioning and servicing.
Connec‐ Type No. of Stranded Description Figure

tion point poles wire
[mm²]
X2 MiniDin, 8 0,25–0,5 serial interface

female
(device)
Fig.7-28:
and Controls
Pin Assignment Pin Signal Function
1 RTS Request to send

2 CTS Clear to send
3 TxD Transmit Data
4 GND reference potential
5 RxD Receive Data
6 Vcc supply voltage
7 n. c. n. c.
8 n. c. n. c.
Fig.7-30: Pin assignment of serial interface

Features Feature Unit Min. Typ. Max.
number of nodes 1
allowed cable length m 15
transmission rates kbaud 9,6 115
connection galvanically connected to control section
supply
allowed voltage difference be‐ V 1
tween reference potentials of
control section and data end de‐
vice
Fig.7-31: Features of serial interface
The accessory HAS05.1-005 is a converter from RS232 to RS484.

For its description see chapter "Accessories" in Project Planning
Manual "Rexroth IndraDrive, Drive System".
7.4.2 Connection Diagrams Serial Interface to PC

Serial Interface to PC with 9-Pin D-
Sub
Fig.7-32: Connection serial interface to PC with 9-pin D-Sub
For direct connection to the serial interface use our cable

IKB0041 .
and Controls
Serial Interface to PC with 25-Pin

D-Sub
Fig.7-33: Connection serial interface to PC with 25-pin D-Sub
7.5 X26, Engineering Interface

The following documentation of the engineering interface is preliminary.
Description The interface corresponds to standard IEE 802.3.
Connection point Type No. of poles Figure
X26 RJ-45 8

4 n. c. -
5 n. c. -
7 n. c. -
8 n. c. -

and Controls
and Controls
Other Technical Data
8 Other Technical Data

8.1 Power Consumption
The power consumption of the control sections consists of the components for
● basic equipment and
● optional equipment
The control sections are supplied via the terminal connectors 24V
and 0V at the power section (24V supply).
8.1.2 Basic Circuit Boards of Control Section

According to the options with which the configurable control sec‐
tions have been equipped, the power consumption of the optional
modules have to be added. This does not change the data for inrush
current and pulse width.
Power consumption Typ. inrush current Max. pulse width

Designation PN3 at UN3=DC24V IEIN3 tEIN3Lade
[W] [A] [ms]
CSB01.1N-FC 8,5 1) 1,5 120

CSB01.1N-SE 15,5 1) 5 40
CSB01.1N-PB 16 1) 5 40
CSB01.1N-AN 16 4) 1,5 130
CSB01.1C-… 8 2) 3) 4,5 110
CDB01.1C-… 9 2) 3) 6 60
CSH01.1C-… 7,5 2) 3) 4 100
CSH01.2C-… 8,5 2) 3) 4 100
1) incl. encoder interface "ENS"; corresponding master communication
and control panel "C" or "S"
2) incl. MultiMediaCard "PFM" and control panel "C" or "S"
3) at maximum allowed output load, plus power consumption of optional
modules
4) incl. encoder interface "ENS", encoder emulation "MEM" and control
panel "C" or "S"
Fig.8-1: Power consumption of control sections
The isolated inputs/outputs at X31 and X32 are not supplied via the
connections of the 24V supply of the power section. A separate
power supply is required for these inputs/outputs.
and Controls
8.1.3 Optional Modules

Option1) Optional module Power consump‐
tion PN3 at
UN3=DC24V2)
[W]
C comfort control panel 1

CCD cross communication SERCOS III
CO master communication DeviceNet and CANopen
MD1 digital I/O extension
MD2 digital I/O extension and SSI encoder evaluation
PL master communication parallel interface
S standard control panel
S1 safety technology I/O
S3 master communication SERCOS III
MEM encoder emulator 2
L1 starting lockout
SE master communication SERCOS
MA1 analog I/O extension
PB master communication PROFIBUS-DP
EN1 HSF, resolver 6
EN2 EnDat2.1 / 1 Vpp / 5 V TTL
ENS IndraDyn, HIPERFACE®, 1 Vpp

1) code from the control section type codes
2) at maximum allowed output load, plus circuits to be supplied externally
Fig.8-2: Power consumption of optional modules
8.2 Connections
The connection points at Rexroth IndraDrive control sections are equipped with
spring terminals and screw terminal blocks.
To connect 2 conductors in one terminal connecting point:

● use stranded wires with min. 0.5 mm2 and max. 1.0 mm2
● use wires of the same cross section
● use TWIN ferrules
8.2.2 Connections with Spring Terminals

Spring terminals can be wired with wire ends equipped with or without fer‐
rules. Preferably use wire ends without ferrules.
When assembling the connections, make sure
● that all strands of a stranded wire are placed in the funnel of the terminal
connector.
and Controls
● not to use solid wires, where possible.

● that the cross section which can be connected at the spring terminals is
max. 1 mm2.
● to use appropriate crimping tools for the wire ends with ferrules.
8.2.3 Connections with Screw Terminal Blocks

On screw terminal blocks, use wire ends with ferrules. Make sure to use ap‐
propriate crimping tools.
When assembling the connections, make sure that all strands of a stranded
wire are placed in the funnel of the terminal connector.
and Controls
and Controls
Accessories
9 Accessories
The following accessories are available for control sections:
● HAS05.1‑003 “signal level converter for encoder emulation”
● HAS05.1-005 “signal level converter RS232/RS485”
The accessories are described in the “Rexroth IndraDrive, Drive System - Proj‐
ect Planning Manual” documentation.
and Controls
and Controls
Disposal and Environmental Protection
10 Disposal and Environmental Protection

10.1 Disposal
10.1.1 Products
Our products can be returned to us free of charge for disposal. It is a precon‐
dition, however, that the products are free of oil, grease or other dirt.
Furthermore, the products returned for disposal mustn't contain any undue for‐
eign matter or foreign component.
Please send the products free domicile to the following address:
Bosch Rexroth AG
Electric Drives and Controls
Bürgermeister-Dr.-Nebel-Straße 2
D-97816 Lohr am Main
10.1.2 Packaging Materials

The packaging materials consist of cardboard, wood and polystyrene. These
materials can be easily recycled in any municipal recycling system. For eco‐
logical reasons, please refrain from returning the empty packages to us.
10.2 Environmental Protection

10.2.1 No Release of Hazardous Substances
Our products do not contain any hazardous substances which may be released
in the case of appropriate use. Accordingly, our products will normally not have
any negative effect on the environment.
10.2.2 Materials Contained in the Products

Electronic Devices
Electronic devices mainly contain:
● steel
● aluminium
● copper
● synthetic materials
● electronic components and modules
Motors
Motors mainly contain:
● steel
● aluminium
● copper
● brass
● magnetic materials
● electronic components and modules
and Controls
Disposal and Environmental Protection
10.2.3 Recycling
Due to their high content of metal, most of the product components can be
recycled. In order to recycle the metal in the best possible way, the products
must be disassembled into individual modules.
Metals contained in electric and electronic modules can also be recycled by
means of special separation processes. The synthetic materials remaining after
these processes can be thermally recycled.
If the products contain batteries or accumulators, these have to be removed
before recycling and disposed of.
and Controls
Service & Support
11 Service & Support

11.1 Helpdesk
Our service helpdesk at our headquarters in Lohr, Germany, will assist you with
all kinds of enquiries.
Contact us:
● By phone through the Service Call Entry Center,
Mo - Fr 7:00 am - 6:00 pm CET
+49 (0) 9352 40 50 60
● By Fax
+49 (0) 9352 40 49 41
● By email: service.svc@boschrexroth.de
11.2 Service Hotline

Out of helpdesk hours please contact our German service department directly:
+49 (0) 171 333 88 26
or
+49 (0) 172 660 04 06
Hotline numbers for other countries can be found in the addresses of each
region (see below).
11.3 Internet
Additional notes regarding service, maintenance and training, as well as the
current addresses of our sales and service offices can be found on
http://www.boschrexroth.com
Outwith Germany please contact our sales/service office in your area first.
11.4 Helpful Information

For quick and efficient help please have the following information ready:
● detailed description of the fault and the circumstances
● information on the type plate of the affected products, especially type co‐
des and serial numbers
● your phone / fax numbers and e-mail address so we can contact you in
case of questions
and Controls
and Controls
Index
Index
A RKG4400 133
Accessories 157 RKG4401 133
ADVANCED RKS0001 135
Control section 64 RKS0004 132
ADVANCED CSH01.1C CANopen 96, 99
Connections 69 CCD
Optional slots 75 Optional module 103
ADVANCED CSH01.2C 76 CD
Connections 77 Optional module 99
Optional slots 84 CDB01
Analog I/O extension MA1 125 Connections 55
Analog inputs CDB01.1C
Technical data 145 Optional slots 62
Type 1 145 Type code 25
Type 2 146 CO
Type 3 146 Optional module 96
Type 4 147 Comfort control panel 137
Analog outputs Configurability 21
Technical data 148 Connection diagrams
Type 1 148 Analog inputs/outputs 144
Type 2 148 RS232 150
Type 3 149 Serial interface 150
Appropriate use 7 Connections
Applications 7 ADVANCED CSH01.1C 69
ADVANCED CSH01.2C 77
B BASIC ANALOG CSB01.1N-AN 43
BASIC BASIC OPENLOOP CSB01.1N-FC 29
Control section 23 BASIC PROFIBUS CSB01.1N-P 38
BASIC ANALOG CSB01.1N-AN BASIC SERCOS CSB01.1N-SE 33
Connections 43 BASIC UNIVERSAL double-axis CDB01.1C 55
BASIC OPENLOOP CSB01.1N-FC BASIC UNIVERSAL single-axis CSB01.1C 48
Connections 29 With screw terminal blocks, notes 155
BASIC PROFIBUS CSB01.1N-PB With spring terminals, notes 154
Connections 38 Control panel
BASIC SERCOS CSB01.1N-SE Comfort control panel 137
Connections 33 Standard control panel 136
BASIC UNIVERSAL double-axis CDB01.1C Control section
Connections 55 ADVANCED 64
BASIC UNIVERSAL double-axis CDB01.1C BASIC 23
Optional slots 62 Configurability 21
BASIC UNIVERSAL single-axis CSB01.1C Delivery 4
Connections 48 Mounting and dismounting 5
Optional slots 53 Optional modules 87
Box with project planning manuals 3 Overview - functions and interfaces 21
Overview - types 21
C Power consumption 153
C Power dissipation 153
Optional module 137 Type code ADVANCED CSH01.1C 64
Cable Type code ADVANCED CSH01.2C 66
IKB0041 150 Type code BASIC 23
IKS4038 117 Type plate 20
IKS4042 113 Cross communication 103
IKS4043 112 CSB01.1C
RKG0014 117 Connections 48
RKG4200 107 Optional slots 53
and Controls
Index
CSB01.1N Encoder emulation

Type code 23 Voltage signal level converter 157
CSB01.1N-AN Encoder emulation MEM 120
Connections 43 Encoder evaluation
CSB01.1N-FC EN2 113
Connections 29 Resolver and HSF encoder evaluation EN1 109
CSB01.1N-PB SSI 129
Connections 38 Standard encoder evaluation ENS 104
CSB01.1N-SE Engineering interface 151
Connections 33 ENS
CSH01.1C Optional module 104
Connections 69
Optional slots 75 F
Type code 64 Firmware
CSH01.2C, 76 Type plate 20
Connections 77 Functions and interfaces
Optional slots 84 Overview 21
Type code 66
H
D Hall sensor box 109
Delivery HAS05.1-
Control section 4 005 157
DeviceNet 96, 99
Digital I/O extension MD1 128 I
Digital I/O extension MD2 129 I/O extension
Digital inputs Analog, MA1 125
Probe 141, 142 Digital, MD1 128
Technical data 140 Digital, MD2 129
Digital outputs Identification
Technical data 143 Of the control section 19
Dimensional drawing Inappropriate use, 8
Control section double-axis 28 Consequences, exclusion of liability 7
Control section single-axis 27 Interfaces
Dimensions Overview 21
ADVANCED 68
BASIC double-axis 28
L
BASIC single-axis 27
L1
Dismounting
Optional module 134
Control section 5
Documentation
Structure 1 M
Documentations MA1
Overview 2 Optional module 125
Drive controller Marking the components 19
Control section 4 Master communication
Design 4 Cross communication - CCD 103
Power section 4 DeviceNet / CANopen - CD 99
Type plates 19 DeviceNet / CANopen - CO 96
Parallel interface - PL 93
PROFIBUS - PB 89
E
SERCOS III - S3 101
EN1
SERCOS - SE 88
Optional module 109
MD1
EN2
Optional module 128
Optional module 113
MD2
Encoder cable length, allowed
Optional module 129
EN2 118
MEM
ENS 109
Optional module 120
and Controls
Index
Memory card PFM02.1 138 Type 3 140

MMC 138 Resolver and HSF encoder evaluation EN1 109
Mounting RS232
Control section 5 Serial interface 149
RS232/485
O Signal level converter 157
Optional module
C 137 S
CCD 103 S
CD 99 Optional module 136
CO 96 S1
EN1 109 Optional module 135
EN2 113 S3
ENS 104 Optional module 101
L1 134 safety instructions for electric drives and controls 9
MA1 125 Safety technology
MD1 128 S1 135
MD2 129 Starting lockout L1 134
MEM 120 Screw terminal blocks
Overview 87 Notes 155
PB 89 SE
PFM02.1 138 Optional module 88
PL 93 SERCOS 88
S 136 SERCOS III 101
S3 101 Serial interface RS232 149
Safety technology S1 135 SHL
SE 88 Hall sensor box 109
Optional modules Signal level converter
Power consumption 154 Voltage signal level converter (for encoder emu‐
Optional slots lation) 157
ADVANCED CSH01.1C 75 Signal level converter RS232/485 157
ADVANCED CSH01.2C 84 Spring terminals
BASIC UNIVERSAL double-axis CDB01.1C 62 Connections, notes 154
BASIC UNIVERSAL single-axis CSB01.1C 53 SSI encoder evaluation MD2 129
Standard control panel 136
P Standard encoder evaluation ENS 104
Parallel interface 93 Starting lockout L1 134
PB State-of-the-art 7
Optional module 89
PFM02.1 138 T
PL Technical data
Optional module 93 Analog inputs 145
Power consumption 153 Analog outputs 148
Basic circuit boards of control section 153 Digital inputs 140
Optional modules 154 Digital outputs 143
Power dissipation Dimensions control section BASIC double-axis
Control section 153 28
Optional modules 154 Dimensions control section BASIC single-axis
Probe 141, 142 27
PROFIBUS 89 Engineering interface 151
Project planning manuals Power dissipation 153
Box 3 Relay contacts 139
Serial interface RS232 149
R Type code
Relay contacts 139 ADVANCED CSH01.1C 64
Type 1 139 ADVANCED CSH01.2C 66
Type 2 139 BASIC 23
and Controls
Index
CDB01.1C 25 U
CSB01.1N 23 Use
CSH01.1C 64 Appropriate use 7
CSH01.2C 66 Inappropriate use 8
Type plates
At the drive controller 19
Project Planning Manual | Rexroth IndraDrive Electric Drives | Bosch Rexroth AG
and Controls
Notes
Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2
D-97816 Lohr a. Main
info@boschrexroth.de
www.boschrexroth.de
Printed in Germany
DOK-INDRV*-CSH********-PR06-EN-P

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Electric Drives Linear Motion and

and Controls Hydraulics Assembly Technologies Pneumatics Service

Rexroth IndraDrive R911295012

Title Rexroth IndraDrive

Type of Documentation Project Planning Manual

Document Typecode DOK-INDRV*-CSH********-PR06-EN-P

Internal File Reference RS-f3b929d50a6846ac00606b3786952866-2-en-US-5

Record of Revision Edition Release Date Notes

Copyright ® Bosch Rexroth AG 2007

2 Important Directions for Use ......................................................................................... 7

3 Safety Instructions for Electric Drives and Controls ...................................................... 9

4 Identifying the Control Section .................................................................................... 19

5 Rexroth IndraDrive Control Sections........................................................................... 21

6 Optional Modules for Control Sections ....................................................................... 87

7 Technical Data Functions.......................................................................................... 139

8 Other Technical Data................................................................................................. 153

9 Accessories ............................................................................................................... 157

10 Disposal and Environmental Protection..................................................................... 159

11 Service & Support...................................................................................................... 161

1 Introduction general information

Fig.1-1: Documentation structure

1.1.3 Reference Documentations

Reference Documentations - Drive Controllers

Title Kind of documentation Document typecode1)

Rexroth IndraDrive – Drive System Project Planning Manual DOK-INDRV*-SYSTEM*****-PRxx-EN-P

The following documentations describe the firmware and contain

Reference Documentations - Firmware for Drive Controllers

Title Kind of documentation Document typecode1)

Rexroth IndraDrive Firmware for Drive Functional Description DOK-INDRV*-MP*-02VRS**-FKxx-EN-P

Title Kind of documentation Document typecode1)

Rexroth Connection Cables Selection Data DOK-CONNEC-CABLE*STAND-AUxx-EN-P

Title Kind of documentation Document typecode1)

1.1.4 Box with Project Planning Manuals on Rexroth IndraDrive

1.1.5 Your Feedback

Inform us about mistakes you discovered in this documentation and changes

1.2 Basic Design of the Rexroth IndraDrive Controllers

1.2.3 Mounting and Dismounting the Control Section

Important Directions for Use

2 Important Directions for Use

Personal injury and property damage caused by incorrect use of the

Rexroth as manufacturer is not liable for any damages resulting

2.1.2 Areas of Use and Application

Drive controllers have to be programmed before commissioning, making it pos‐

Important Directions for Use

● handling and mounting systems,

2.2 Inappropriate Use

Safety Instructions for Electric Drives and Controls

3 Safety Instructions for Electric Drives and Controls

Improper use of these devices, failure to follow the safety instructions in

3.1.2 How to Employ the Safety Instructions

Safety Instructions for Electric Drives and Controls

3.1.3 Explanation of Warning Symbols and Degrees of Hazard Seriousness

Safety Instructions for Electric Drives and Controls

Degree of hazard serious‐

Death or severe bodily harm

Death or severe bodily harm

Minor or moderate bodily

3.1.4 Hazards by Improper Use

Dangerous movements! Danger to life, severe bodily harm or material

Rexroth IndraDrive Firmware for Drive Functional Description DOK-INDRV-MP-02VRS**-FKxx-EN-P