Rexroth Indradrive Drive Controllers Control Sections: Project Planning Manual

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

Edition 05
Drive Controllers
Control Sections
Project Planning Manual
About this Documentation Rexroth IndraDrive
Title Rexroth IndraDrive

Drive Controllers
Control Sections
Type of Documentation Project Planning Manual
Document Typecode DOK-INDRV*-CSH********-PR05-EN-P
Internal File Reference 120-2400-B301-05/EN
Purpose of Documentation This documentation provides information on …

• how to design the control cabinet
• how to install the drive system
Record of Revisions Description Release Date Notes

DOK-INDRV*-CSH********-PR01-DE-P 11.2003 First edition
DOK-INDRV*-CSH********-PR02-DE-P 04.2004 Revision
DOK-INDRV*-CSH********-PR03-EN-P 02.2005 Revision (not
published)
DOK-INDRV*-CSH********-PR04-EN-P 07.2005 Revision
DOK-INDRV*-CSH********-PR05-EN-P 01.2006 Revision
Copyright  Bosch Rexroth AG 2006

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 data specified above only serve to describe the product. No
statements concerning 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 obligation 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. BRC/EDY1
Note This document has been printed on chlorine-free bleached paper.
DOK-INDRV*-CSH********-PR05-EN-P
Rexroth IndraDrive Contents I
Contents
1 Introduction 1-1
1.1 Guide to the Documentation ......................................................................................................... 1-1
Document Structure................................................................................................................. 1-1
Reference Documentations ..................................................................................................... 1-2
Your Feedback ........................................................................................................................ 1-3
1.2 Basic Design of the Rexroth IndraDrive Controllers ..................................................................... 1-4
Delivery.................................................................................................................................... 1-5
Mounting and Dismounting the Control Section ...................................................................... 1-5
2 Important Directions for Use 2-1

2.1 Appropriate Use............................................................................................................................ 2-1
Introduction .............................................................................................................................. 2-1
Areas of Use and Application .................................................................................................. 2-2
2.2 Inappropriate Use ......................................................................................................................... 2-2
3 Safety Instructions for Electric Drives and Controls 3-1

3.1 General Information ...................................................................................................................... 3-1
Using the Safety Instructions and Passing them on to Others................................................ 3-1
Instructions for Use.................................................................................................................. 3-1
Explanation of Warning Symbols and Degrees of Hazard Seriousness ................................. 3-3
Hazards by Improper Use........................................................................................................ 3-4
3.2 Instructions with Regard to Specific Dangers............................................................................... 3-5
Protection Against Contact with Electrical Parts ..................................................................... 3-5
Protection Against Electric Shock by Protective Low Voltage (PELV) .................................... 3-6
Protection Against Dangerous Movements ............................................................................. 3-7
Protection Against Magnetic and Electromagnetic Fields During Operation and
Mounting .................................................................................................................................. 3-9
Protection Against Contact with Hot Parts ............................................................................ 3-10
Protection During Handling and Mounting............................................................................. 3-11
Battery Safety ........................................................................................................................ 3-11
Protection Against Pressurized Systems .............................................................................. 3-12
4 Brief Description, Applications 4-1

4.1 Terms............................................................................................................................................ 4-1
Control Section ........................................................................................................................ 4-1
Basic Control Section Circuit Board ........................................................................................ 4-1
Optional Slot ............................................................................................................................ 4-1
Optional Module....................................................................................................................... 4-1
Master Communication............................................................................................................ 4-1
II Contents Rexroth IndraDrive
Configuration ........................................................................................................................... 4-1

4.2 Fields of Application of the Drive System Rexroth IndraDrive...................................................... 4-2
4.3 Control Sections CSH01, CSB01, CDB01.................................................................................... 4-2
5 Identifying the Control Section 5-1

5.1 Type Plates ................................................................................................................................... 5-1
Type Plates at the Drive Controller.......................................................................................... 5-1
Type Plates at the Control Section .......................................................................................... 5-2
6 Rexroth IndraDrive Control Sections 6-1

6.1 Overview of Types ........................................................................................................................ 6-1
6.2 Overview of Functions and Interfaces .......................................................................................... 6-2
6.3 BASIC Control Sections................................................................................................................ 6-3
Type Codes BASIC and BASIC UNIVERSAL ......................................................................... 6-3
Dimensions BASIC .................................................................................................................. 6-7
BASIC OPENLOOP - CSB01.1N-FC ...................................................................................... 6-9
BASIC SERCOS - CSB01.1N-SE ......................................................................................... 6-12
BASIC PROFIBUS - CSB01.1N-PB ...................................................................................... 6-14
BASIC ANALOG - CSB01.1N-AN ......................................................................................... 6-16
BASIC UNIVERSAL CSB01.1C, Single-Axis ........................................................................ 6-18
BASIC UNIVERSAL CDB01.1C, Double-Axis....................................................................... 6-22
6.4 ADVANCED ................................................................................................................................ 6-27
Type Code ADVANCED CSH01.1C...................................................................................... 6-27
Type code ADVANCED CSH01.2C....................................................................................... 6-29
Dimensions ADVANCED....................................................................................................... 6-29
ADVANCED CSH01.1C ........................................................................................................ 6-30
ADVANCED CSH01.2C ........................................................................................................ 6-35
7 Optional Modules for Control Sections 7-1

7.1 Overview ....................................................................................................................................... 7-1
7.2 Master Communications ............................................................................................................... 7-2
SERCOS - SE.......................................................................................................................... 7-2
PROFIBUS - PB ...................................................................................................................... 7-4
Parallel Interface - PL .............................................................................................................. 7-8
DeviceNet / CANopen - CO................................................................................................... 7-12
SERCOS III - S3 .................................................................................................................... 7-15
Cross Communication Drives - CCD ..................................................................................... 7-17
7.2 Encoder Evaluations................................................................................................................... 7-19
Standard Encoder Evaluation ENS ....................................................................................... 7-19
Resolver and HSF Encoder Evaluation EN1......................................................................... 7-26
Encoder Evaluation EN2 ....................................................................................................... 7-30
Encoder Emulation MEM....................................................................................................... 7-37
7.3 I/O Extensions ............................................................................................................................ 7-42
Analog I/O Extension MA1 .................................................................................................... 7-42
Digital I/O Extension MD1 ..................................................................................................... 7-45
Digital I/O Extension and SSI Encoder Evaluation MD2 ....................................................... 7-47
Rexroth IndraDrive Contents III
7.4 Safety Technology ...................................................................................................................... 7-52

Starting Lockout L1................................................................................................................ 7-52
Safety Technology S1 ........................................................................................................... 7-53
7.5 Control Panels ............................................................................................................................ 7-54
Standard Control Panel "S" ................................................................................................... 7-54
Comfort Control Panel "C"..................................................................................................... 7-55
7.6 Memory....................................................................................................................................... 7-56
Memory Card PFM02.1 ......................................................................................................... 7-56
8 Technical Data Functions 8-1

8.1 Relay Contacts ............................................................................................................................. 8-1
Relay Contact Type 1 .............................................................................................................. 8-1
8.2 Digital Inputs/Outputs ................................................................................................................... 8-3
Digital Inputs ............................................................................................................................ 8-3
Digital Outputs ......................................................................................................................... 8-4
8.3 Analog Inputs/Outputs .................................................................................................................. 8-5
Analog Inputs........................................................................................................................... 8-5
Analog Outputs ........................................................................................................................ 8-9
8.4 Serial Interface (RS232) ............................................................................................................. 8-11
8.5 Engineering Interface.................................................................................................................. 8-13
9 Other Technical Data 9-1

9.1 Power Consumption ..................................................................................................................... 9-1
Basic Circuit Boards of Control Section .................................................................................. 9-1
Optional Modules..................................................................................................................... 9-2
9.2 Connections .................................................................................................................................. 9-3
Connections with Spring Terminals ......................................................................................... 9-3
Connections with Screw Terminal Blocks ............................................................................... 9-3
10 Accessory 10-1
10.1 Signal Level Converter for Encoder Emulation, HAS05.1-003................................................... 10-1
Usage .................................................................................................................................... 10-1
Scope of Supply..................................................................................................................... 10-1
Dimensions ............................................................................................................................ 10-1
Components .......................................................................................................................... 10-2
10.2 Signal Level Converter RS232/RS485, HAS05.1-005 ............................................................... 10-5
Usage .................................................................................................................................... 10-5
Scope of Supply..................................................................................................................... 10-5
Technical Data....................................................................................................................... 10-5
Installation.............................................................................................................................. 10-7
11 Disposal and Environmental Protection 11-1

11.1 Disposal ...................................................................................................................................... 11-1
Products................................................................................................................................. 11-1
IV Contents Rexroth IndraDrive
Packaging Materials .............................................................................................................. 11-1

11.2 Environmental Protection............................................................................................................ 11-1
No Release of Hazardous Substances ................................................................................. 11-1
Materials Contained in the Products ..................................................................................... 11-1
Recycling ............................................................................................................................... 11-2
12 Service & Support 12-1

12.1 Helpdesk ..................................................................................................................................... 12-1
12.2 Service-Hotline ........................................................................................................................... 12-1
12.3 Internet........................................................................................................................................ 12-1
12.4 Vor der Kontaktaufnahme... - Before contacting us... ................................................................ 12-1
12.5 Kundenbetreuungsstellen - Sales & Service Facilities ............................................................... 12-2
13 Index 13-1
Rexroth IndraDrive Introduction 1-1
1 Introduction
1.1 Guide to the Documentation
Document Structure
Chapter Title Content

1 Introduction general information
2 Important directions for use
3 Safety Instructions for Electric Drives and safety
Controls
4 Brief Description, Applications
5 Identifying the Control Section
6 Rexroth IndraDrive Control Sections
product description
7 Optional Modules for Control Sections (for those doing project
planning)
8 Technical Data Functions
9 Other Technical Data
10 Accessory
11 Disposal and Environmental Protection practical application (for
operators and
maintenance staff)
12 Service & Support general information
13 Index
Fig. 1-1: Document structure
1-2 Introduction Rexroth IndraDrive
Reference Documentations
1)
Title Type of documentation Document typecode
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-SYSTEM*****-PRxx-EN-P
Drive System
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-CSH********-PRxx-EN-P
Drive Controllers
Control Sections Cxx
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-HMV-*******-PRxx-EN-P
Supply Units HMV01
Rexroth IndraDrive M Project Planning Manual DOK-INDRV*-HMS+HMD****-PRxx-EN-P
Drive Controllers
Power Sections HMx01
Rexroth IndraDrive C Project Planning Manual DOK-INDRV*-HCS02.1****-PRxx-EN-P
Drive Controllers
Power Sections HCS02.1
Rexroth IndraDrive C Project Planning Manual DOK-INDRV*-HCS03.1****-PRxx-EN-P
Drive Controllers
Power Sections HCS03.1
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-ADDCOMP****-PRxx-EN-P
Additional Components
Rexroth IndraDrive Functional and Application DOK-INDRV*-SI*-**VRS**-FKxx-EN-P
Integrated Safety Technology Description
Rexroth IndraDrive Functional Description DOK-INDRV*-MP*-02VRS**-FKxx-EN-P
Firmware for Drive Controllers
Rexroth IndraDrive Parameter Description DOK-INDRV*-GEN-**VRS**-PAxx-EN-P
Rexroth IndraDrive Troubleshooting Guide DOK-INDRV*-GEN-**VRS**-WAxx-EN-P
Rexroth Connection Cables Selection Data DOK-CONNEC-CABLE*STAND-AUxx-EN-P
Rexroth IndraDyn A Project Planning Manual DOK-MOTOR*-MAD/MAF****-PRxx-EN-P
Asynchronous Motors
Rexroth IndraDyn H Project Planning Manual DOK-MOTOR*-MBS-H******-PRxx-EN-P
Frameless Synchronous Spindle Motors
Rexroth IndraDyn L Project Planning Manual DOK-MOTOR*-MLF********-PRxx-EN-P
Synchronous Linear Motors
Rexroth IndraDyn S Project Planning Manual DOK-MOTOR*-MSK********-PRxx-EN-P
Synchronous Motors
Rexroth IndraDyn T Project Planning Manual DOK-MOTOR*-MBT********-PRxx-EN-P
Synchronous Torque Motors
Third-Party Motors Project Planning and DOK-DRIVE*-3RDPART*MOT-AWxx-EN-P
Commissioning Manual
Safety Instructions for Electrical Drives Safety Guidelines DOK-GENERAL-DRIVE******-SVSx-MS-P
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. 1-2: Documentations - overview
Box with Project Planning Manuals on

Rexroth IndraDrive
You can order all the Project Planning Manuals on the drive system
Rexroth IndraDrive in a box. This box contains:
• Project Planning Manual Drive System
• Project Planning Manual Control Sections CSx
• Project Planning Manual Supply Units HMV01
• Project Planning Manual Power Sections HMx
• Project Planning Manual Power Sections HCS02.1
• Project Planning Manual Power Sections HCS03.1
• Project Planning Manual Additional Components
Order data of the box:

• part number: R911310293
• document typecode: DOK-INDRV*-PROJEKTIER*-8201-EN-P
Your Feedback
Your experience is important for our improvement processes of products
and documentations.
Inform us about mistakes you discovered and changes you suggest; we
would be grateful for your feedback.
Please send your remarks to:
Bosch Rexroth AG
Dept. BRC/EDY1
Bürgermeister-Dr.-Nebel-Str. 2
97816 Lohr
Germany
Telefax +49 (0) 93 52 / 40-43 80
1.2 Basic Design of the Rexroth IndraDrive Controllers
DR000002v01_nn.fh9
1: power section
2: control section
Fig. 1-3: 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

Manuals for Rexroth IndraDrive Power Sections (see page 1-2).
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 separately.
Mounting and Dismounting the Control Section

In case the control section is delivered separately, observe the following
instructions:
Training
Risk of damage to the control section by

inappropriate handling!
⇒ Only such persons trained by Rexroth for mounting
CAUTION and dismounting control sections are allowed to
mount and dismount control sections.
ESD Protection
Risk of damage to the control section and

interference with their operational safety
caused by electrostatic charges!
CAUTION Exposed conductive parts coming into contact with the
control section must be 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!
CAUTION ⇒ For a drive controller the control section mustn't be
mounted and dismounted more than a maximum of
20 times.
Rexroth IndraDrive Important Directions for Use 2-1
2 Important Directions for Use
2.1 Appropriate Use
Introduction
Rexroth products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note: 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 forfeited. The user alone carries all
responsibility of the risks.
Before using Rexroth products, make sure that all the pre-requisites for
an appropriate 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 appropriate 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.
2-2 Important Directions for Use Rexroth IndraDrive
Areas of Use and Application

Drive controllers made by Bosch Rexroth are designed to control
electrical motors and monitor their operation.
Control and monitoring of the motors may require additional sensors and
actors.
Note: The drive controllers may only be used with the accessories
and parts specified in this document. If a component has not
been specifically named, then it may not be either mounted or
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant Functional Descriptions.
Every drive controller has to be programmed before commissioning,

making it possible for the motor to execute the specific functions of an
application.
The drive controllers have been developed for use in single- and multi-
axis drive and control tasks.
To ensure an application-specific use, the drive controllers are available
with different drive power and different interfaces.
Typical applications of the drive controllers include:
• handling and mounting systems,
• packaging and food machines,
• printing and paper processing machines and
• machine tools.
The 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 temperatures.
• Furthermore, the 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!
Rexroth IndraDrive Safety Instructions for Electric Drives and Controls 3-1
3 Safety Instructions for Electric Drives and Controls
3.1 General Information
Using the Safety Instructions and Passing them on to Others

Do not attempt to install or commission this device without first reading all
documentation 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 immediately 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, then these safety instructions must be delivered with the device.
Improper use of these devices, failure to follow

the safety instructions in this document or
tampering with the product, including disabling
WARNING of safety devices, may result in material
damage, bodily harm, electric shock or even
death!
Instructions for Use

Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.
• Bosch Rexroth AG is not liable for damages resulting from failure to
observe the warnings provided in this documentation.
• Read the operating, maintenance and safety instructions in your
language before starting up 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
installations:
• 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 assembly, installation and operation of the
equipment as well as an understanding 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 safety equipment and be trained in first aid.
• Only use spare parts and accessories approved by the manufacturer.
• Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
3-2 Safety Instructions for Electric Drives and Controls Rexroth IndraDrive
• The devices have been designed for installation in industrial

machinery.
• The ambient conditions given in the product documentation must be
observed.
• Only use safety-relevant applications that are clearly and explicitly
approved in the Project Planning Manual. If this is not the case, they
are excluded.
Safety-relevant are all such applications which can cause danger 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
applications 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.
• Startup 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
application are met.
• The instructions for installation in accordance with EMC requirements
can be found in the documentation "EMC in Drive and Control
Systems".
• The machine or installation manufacturer is responsible for
compliance with the limiting values as prescribed in the national
regulations.
• Technical data, connections and operational conditions are specified in
the product documentation and must be followed at all times.
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:
Warning symbol with signal Degree of hazard seriousness according

word to ANSI Z 535
Death or severe bodily harm will occur.
DANGER
Death or severe bodily harm may occur.
WARNING
Bodily harm or material damage may occur.
CAUTION
Fig. 3-1: Hazard classification (according to ANSI Z 535)
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
CAUTION lines!
Risk of injury by improper handling of batteries!
CAUTION
3.2 Instructions with Regard to Specific Dangers
Protection Against Contact with Electrical Parts
Note: This section only concerns devices and drive components with
voltages of more than 50 Volt.
Contact with parts conducting voltages above 50 Volts can cause

personal danger and electric shock. When operating electrical equipment,
it is unavoidable that some parts of the devices 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
DANGER electrical equipment are permitted to operate,
maintain and repair this equipment.
⇒ Follow general construction and safety regulations
when working on electrical power installations.
⇒ Before switching on the device, the equipment
grounding conductor must have been non-
detachably connected to all electrical equipment in
accordance with the connection diagram.
⇒ Do not operate electrical equipment at any time,
even for brief measurements 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.
⇒ With electrical drive and filter components, observe
the following:
Wait 30 minutes after switching off power to allow
capacitors to discharge before beginning to work.
Measure the 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.
European countries: according to EN 50178/ 1998,

section 5.3.2.3.
USA: See National Electrical Code (NEC), National
Electrical Manufacturers' Association (NEMA), as well as
local engineering regulations. The operator must observe
all the above regulations at any time.
With electrical drive and filter components, observe the following:
High housing voltage and large leakage current!

Risk of death or bodily injury by electric shock!
⇒ Before switching on, the housings of all electrical
DANGER equipment and motors 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 units 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
2
section of a minimum of 10 mm for this equipment
grounding connection!
⇒ Before start-up, also in trial runs, always attach the
equipment grounding conductor or connect with the
ground wire. Otherwise, high voltages may occur at
the housing causing electric shock.
Protection Against Electric Shock by Protective Low Voltage (PELV)

All connections and terminals with voltages between 5 and 50 Volt at
Rexroth products are protective extra-low voltage systems which are
provided with touch guard according to the product standards.
High electric voltage by incorrect connection!

Risk of death or bodily injury by electric shock!
⇒ To all connections and terminals with voltages
WARNING between 0 and 50 Volt, only devices, electrical
components, and conductors may be connected
which are equipped with a PELV (Protective Extra-
Low Voltage) system.
⇒ Connect only voltages and circuits which are safely
isolated from dangerous voltages. Safe isolation is
achieved for example by isolating transformers, safe
optocouplers or battery operation without mains
connection.
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
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified time of trouble-free operation.
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 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.
Dangerous movements! Danger to life, risk of

injury, severe bodily harm or material damage!
⇒ For the above reasons, ensure personal safety by
DANGER means of qualified and tested higher-level monitoring
devices or measures integrated in the installation.
They have to be provided for by the user according
to the specific conditions within the installation and a
hazard and fault analysis. The safety regulations
applicable for the installation have to be taken into
consideration. 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 startup. Don’t operate the device if the
emergency stop 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 directly 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 equipment near electronics circuits
and supply leads. If the use of such devices cannot

be avoided, verify the system and the installation for
possible malfunctions in all possible positions of
normal use before initial startup. If necessary,
perform a special electromagnetic compatibility
(EMC) test on the installation.
Protection Against Magnetic and Electromagnetic Fields During

Operation 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!
WARNING ⇒ Persons with heart pacemakers and metal implants
are not permitted to 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 interference immunity of present 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. Otherwise
health hazards may occur.
Protection Against Contact with Hot Parts
Hot surfaces at motor housings, on drive

controllers or chokes! Danger of injury! Danger
of burns!
CAUTION ⇒ Do not touch surfaces of device housings and
chokes in the proximity of heat sources! Danger of
burns!
⇒ Do not touch housing surfaces of motors! Danger of
burns!
⇒ According to 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 minutes!
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.
Protection During Handling and Mounting

In unfavorable conditions, handling and assembling certain parts and
components in an improper way can cause injuries.
Risk of injury by improper handling! Bodily

injury by bruising, shearing, cutting, hitting!
⇒ Observe the general construction and safety
regulations on handling and assembly.
⇒
CAUTION
Use suitable devices for assembly 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 goggles, safety shoes, safety
gloves).
⇒ Do not stand under hanging loads.
⇒ Immediately clean up any spilled liquids because of
the danger of skidding.
Battery Safety
Batteries consist of active chemicals enclosed in a solid housing.
Therefore, improper handling can cause injury or damages.
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.
⇒ Do not damage electrical parts installed in the
devices.
Note: Environmental protection and disposal! The batteries installed

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.
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 partially supplied with externally fed, pressurized media, such as
compressed air, hydraulics oil, cooling liquids, and cooling lubricating
agents. In these cases, improper handling of external supply systems,
supply lines, or connections can cause injuries or damages.
Risk of injury by improper handling of pressurized

lines!
⇒ Do not attempt to disconnect, open, or cut
pressurized lines (risk of explosion).
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.
Note: Environmental protection and disposal! The agents used to

operate the product might not be economically friendly.
Dispose of ecologically harmful agents separate from other
waste. Observe the local regulations in the country of
assembly.
Rexroth IndraDrive Brief Description, Applications 4-1
4 Brief Description, Applications
4.1 Terms
Control Section
The control section is a separate component which is plugged into the
power section.
Basic Control Section Circuit Board

The basic control section circuit board is the main part of the control
section. It has its own interfaces and, in the case of configurable control
sections, additional optional slots for optional modules.
Optional Slot
Slot into which you can plug an optional module. Only configurable control
sections have optional slots.
Optional Module
By means of optional modules, the configurable control sections are
equipped with various functions. There are optional modules for:
• master communications
• encoder evaluation
• I/O extensions
• safety technology
• control panels
Master Communication
Depending on the kind of command value input, we distinguish different
master communications. Command values can be input via field buses,
SERCOS, digital or analog inputs.
Configuration
Configuration means combination of optional modules to form a
configured control section which is ideally suited for the intended
application.
4-2 Brief Description, Applications Rexroth IndraDrive
4.2 Fields of Application of the Drive System

Rexroth IndraDrive
The digital intelligent drive system Rexroth IndraDrive is the cost-efficient
solution with a high degree of functionality for single-axis and multi-axis
drive and control tasks.
The drive system Rexroth IndraDrive realizes a large number of drive
tasks in the most varied applications.
Fields of Application Typical fields of application in the following industrial sectors:
• printing and paper converting
• packaging and food
• mounting and handling
• wood machining
• machine tools
• metal forming
• general automation
For these applications there are various control sections of different
configurations available.
4.3 Control Sections CSH01, CSB01, CDB01

Control sections CSH, CSB and CDB are used to
• operate drive controllers HMS, HMD and HCS
• fulfill open-loop and closed-loop control tasks with analog command
value input
The different control sections can be used as follows:
Device type Usage

CSH01 Advanced
The CSH01 control section is used in HMS01, HCS02 and
HCS03 drive controllers.
CSB01 BASIC single-axis
The CSB01 control section is used in HMS01, HCS02 and
HCS03 drive controllers.
CDB01 BASIC double-axis
The CDB01 control section is used
• in HMD01 drive controllers and
• in HAC01.1 control section housings
Fig. 4-1: Control section usage
Rexroth IndraDrive Identifying the Control Section 5-1
5 Identifying the Control Section
5.1 Type Plates

Each drive component is marked by a type designation.
There is a type plate attached to all devices.
Type Plates at the Drive Controller
DG000023v01_nn.FH9
1: Power section type plate

2: Control section type plate
3: Firmware type plate
Fig. 5-1: Type plates at the drive controller
5-2 Identifying the Control Section Rexroth IndraDrive
Type Plates at the Control Section

Control Section Type Plate
Type
CSH01.1C-SE-EN1-EN2-MA1-L1-S-NN-FW
MNR: R911293808 FD: 05W24 (7260)
Part number
Production week
Example: 05W24 means year 2005, week 24
SN:CSH011-00123 0A01 0S01
Serial number
Barcode Hardware index

DG000022v01_de.FH9
Fig. 5-2: Control section type plate (example)
Firmware Type Plate
Type
MPH02V12D51
Barcode SRVNN Production week
(7260)
05W24 Example: 05W24 means year 2005, week 24
R911
297901-04432 Serial number
DG000024v01_en.fh9
Fig. 5-3: Firmware type plate (example)
Example of Text for Purchase The text for the purchase order of the product firmware consists of:
Order
• IndraDrive firmware: FWA-INDRV*
• base package: MPH
• version: 02V
• latest release: RS (in the illustrated example the release is "12")
• language: D5
• other
FWA-INDRV*-MPH-02VRS-D5-1-NNN-NN
For further information see documentation "Rexroth IndraDrive, Firmware

for Drive Controllers MPH-03, MPD-03, MPB-03, Functional Description";
part number R911308329.
Your sales representative will help you select the appropriate firmware.
Rexroth IndraDrive Rexroth IndraDrive Control Sections 6-1
6 Rexroth IndraDrive Control Sections
6.1 Overview of Types
Control Characteristic Type Features

section
range
BASIC BASIC OPEN LOOP CSB01.1N-FC not configurable
(Basic 1) single-axis
BASIC SERCOS CSB01.1N-SE not configurable 1)
BASIC ProfiBus CSB01.1N-PB not configurable 1)
BASIC Analog CSB01.1N-AN not configurable 1)
BASIC BASIC UNIVERSAL CSB01.1C configurable
UNIVERSAL (Basic 5) single-axis
CDB01.1C configurable
double-axis
ADVANCED ADVANCED CSH01.1C configurable
CSH01.2C single-axis
1) exception: option L1 (starting lockout) is possible
Fig. 6-1: Control section overview
6-2 Rexroth IndraDrive Control Sections Rexroth IndraDrive
6.2 Overview of Functions and Interfaces

The control sections differ with regard to their configurability, the available
interfaces, as well as the cycle times or switching frequencies (pulse
frequencies). The table below contains an overview:
CSB01.1N-AN
CSB01.1N-PB
CSB01.1N-FC
CSB01.1N-SE
CDB01.1C
CSB01.1C
CSH01.1C
CSH01.2C
configurable no no no no yes yes yes
1) 1) 1)
configuration slots 0 1 1 1 1 2 1
safety technology
serial interface RS232 1 1 1 1 1 1 1
inputs/outputs:
number of digital inputs 8 8 8 9 8 22 11
thereof probe 0 1 1 0 1 2 2
number of digital 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; 1 N/O 1 N/O 1 N/O 1 N/O 1 N/O 1 N/O
2 changeover
switches
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
3)
switching frequencies :
2 kHz x x x x x x x
4 kHz x x x x x x x
8 kHz x x x x x x x
12 kHz -- -- -- -- -- -- x
16 kHz -- -- -- -- -- -- x
1) option starting lockout can be configured
2) cycle times depend on firmware version
3) clock frequencies also depend on power section
Fig. 6-2: Overview of control section functions
Note: For more details on possible configurations please see

chapter "Optional Slots" in the description of the respective
control section.
6.3 BASIC Control Sections
Type Codes BASIC and BASIC UNIVERSAL

Type Code BASIC CSB01.1N
Fig. 6-3: Type code control section BASIC (single-axis); (to be continued on
next page)
Fig. 6-4: Type code control section BASIC (single-axis); (continuation)
Type Code BASIC UNIVERSAL Single-Axis CSB01.1C

see type code BASIC CSB01.1N
Type Code BASIC UNIVERSAL Double-Axis CDB01.1C
Fig. 6-5: Type code control section BASIC (double-axis); (to be continued on
next page)
Fig. 6-6: Type code control section double-axis (continuation)
Dimensions BASIC
Dimensions BASIC and BASIC UNIVERSAL Single-Axis
DM000016v01_nn.FH9
Fig. 6-7: Dimensions CSB
Note: For the mounting dimensions in the front area please see the
mounting dimensions of the drive controllers.
Dimensions BASIC UNIVERSAL Double-Axis
DM000017v01_nn.FH9
Fig. 6-8: Dimensions CDB
Note: For the mounting dimensions in the front area please see the
mounting dimensions of the drive controllers.
BASIC OPENLOOP - CSB01.1N-FC

Front View with Connections at Basic Circuit Board
Front view Connecti Strande AWG Tighteni Description Figure

on point d wire ng
[mm²] torque
[Nm]
X31 / 0,08-1,5 28-14 - digital and 1 1
X32 analog 2 2
inputs/outputs; 3 3
voltage input 4 4
5 5
(24V, 0V) 6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X31 X32 X11 / 0,08-1,5 28-14 - relay contacts 1 1

X12 2 2
3 3
4 4
5 5
DA000050v01_nn.FH9
X11 X12
X35 / 0,08-1,5 28-14 - analog 1 1
X36 inputs / outputs 2 2
; 3 3
X35 X36 4 4
voltage output
(24V, 0V)
DA000052v01_nn.FH9
X2 0,25-0,5 - - serial interface 5

8
X2 2
7
1 4
6
3
H1
DA000049v01_nn.FH9
DG000010v01_nn.FH9 H1 - - - interface for -

control panel
see also chapter "Connections with Spring Terminals"
Fig. 6-9: Connections BASIC OPENLOOP
Functions
Note: Factory settings depend on the firmware. Following settings

are valid for firmware MPx04.
Function Connec Factory setting Nominal data Technical data

tion
relay contact no Rel 3 X11.3 "speed reached", AC250V /2A relay contact
Rel 3 S-0-0013 DC30V /1A type 1
com Rel 3 X11.4
nc Rel 3 X11.5
DA000016v01_nn.FH9
relay contact no Rel 2 X12.3 "Ready", AC250V /2A

Rel 2 P-0-0115 DC30V /1A
com Rel 2 X12.4
nc Rel 2 X12.5
DA000016v01_nn.FH9
relay contact no Rel 1 X12.1 ready for operation, AC250V /2A

Rel 1 P-0-0115 DC30V /1A
no Rel 1 X12.2
DA000017v01_nn.FH9
digital inputs E1 X31.3 "clear error", 24 V / 3 mA digital inputs

S-0-0099
E2 X31.4 "drive ON",
P-0-4028
E3 X31.5 "velocity cmd value
from memory of fixed
values",
P-0-1200
values",
1 E5 X31.7
P-0-1200
"velocity cmd value
values",
DA000022v01_nn.FH9
P-0-1200
E8 X32.6 "E-Stop",
P-0-0223
values",
P-0-1200
values",
P-0-1200
Function Connec Factory setting Nominal data Technical data

tion
voltage input EAn1+ X32.4 +/- 10 V analog inputs
type 1
EAn1- X32.5
voltage input EAn2+ X32.1
EAn2- X32.2
analog inputs
current input AI1+ X36.1 0…20 mA analog inputs
type 3
AI1- X36.2
current input AI2+ X36.3
AI2- X36.4
voltage output AN1 X32.9 0…+10 V analog outputs
type 1
analog output reference potential A_GND X32.3
for analog voltage
output
voltage output AN2 X35.3 0…+10 V analog outputs
type 1
analog output reference potential A_GND X35.4
for analog voltage
output
input for +24V X31.8 DC 19…30 V;
supply of digital
voltage supply max. 0,1A
inputs 0V X31.9
of digital inputs
output (source) connect supply +24V X35.1 DC 19…30 V
for voltage (source) of digital max. 0,1A;
supply of digital inputs with X31.8 or 0V X35.2 protected
inputs X31.9 against polarity
reversal; short-
circuit proof
serial interface X2 corresponds see Technical
to RS232 Data Functions
Fig. 6-10: Functions BASIC OPENLOOP
BASIC SERCOS - CSB01.1N-SE

Front view Connec Strande AWG Tighte Description Figure

tion d wire ning
point [mm²] torque
[Nm]
X8 0,25-0,5 - - encoder
evaluation ENS
1 9
8 15
DA000053v01_nn.FH9
X31 / 0,08-1,5 28-14 - digital 1 1

X32 inputs/outputs; 2 2
voltage input 3 3
4 4
(24V, 0V) 5 5
6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X41 0,25-0,5 - optional:

starting lockout 1
6
5 9
DA000054v01_nn.FH9
X20; 0,3 SERCOS

X21 master X20 TX
communication
X21 RX
LED H20
DA000055v01_nn.FH9

8
2
7
1 4
6
3
DA000049v01_nn.FH9
H1 - - - interface for -
control panel
Fig. 6-11: BASIC SERCOS
Functions

Note: Observe that the connections X32.6, X32.7 and X32.8 can be
configured as digital input (E8, E9, E10) or digital output (A8,
A9, A10).
Function Con- Factory setting Nominal data Technical data

nection
master SERCOS SE X20; max. see Optional
communication X21 16 MBaud Module Master
Communication
SERCOS
encoder ENS X8 DC11V6, see Optional
interfaces 300 mA Module ENS
relay contact Rel 1 X31.1 "ready for operation" DC24V / 1A relay contact
P-0-0115 type 2
Rel 1 X31.2
DA000017v01_nn.FH9
digital inputs E1 X31.3 "probe 1" can be digital inputs

1 S-0-0401 configured as
probe;
24 V / 3 mA;
typ. 1 us
DA000022v01_nn.FH9
E2 X31.4 24 V / 3 mA
E3 X31.5 "travel range limit
switch"
P-0-0222
1 switch"
P-0-0222
E5 X31.7 "home switch"
DA000022v01_nn.FH9
S-0-0400
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7
E10 X32.8
digital outputs A8 X32.6 24 V / 0,5 A digital outputs
1 A9 X32.7
A10 X32.8
DA000024v01_nn.FH9
voltage supply voltage supply of +24V X31.8 DC 19…30 V;

of digital digital inputs/outputs max. 1,1 A
inputs/outputs 0V X31.9
serial interface RS232 X2 serial interface

optional: X41 see Optional
starting lockout Module Starting
Lockout
Fig. 6-12: Functions BASIC SERCOS
BASIC PROFIBUS - CSB01.1N-PB


tion d wire ning
point [mm²] torque
[Nm]
X8 0,25-0,5 - - encoder
evaluation ENS
1 9
8 15
DA000053v01_nn.FH9
X31 / 0,08-1,5 28-14 - digital 1 1

voltage input 3 3
4 4
(24V, 0V) 5 5
6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X41 0,25-0,5 - optional:

starting lockout
1
6
5 9
DA000054v01_nn.FH9
X30 0,08-0,5 - - master

communication
1
PROFIBUS 6
5 9
DA000054v01_nn.FH9
X2 0,25-0,5 k.A. - serial interface 5

8
2
7
1 4
6
3
DA000049v01_nn.FH9
H1 - - - Schnittstelle für -
Bedienteil
Fig. 6-13: BASIC PROFIBUS
Functions

A9, A10).

nection
point
master PROFIBUS PB X30 12 MBaud
communication
encoder ENS X8 DC11V6, see Technical
interfaces 300 mA Data Optional
Module ENS
P-0-0115 type 2
Rel 1 X31.2
DA000017v01_nn.FH9

probe;
24 V / 3 mA;
typ. 1us
DA000022v01_nn.FH9
E2 X31.4 24 V / 3 mA digital inputs

switch"
P-0-0222
1 switch"
P-0-0222
DA000022v01_nn.FH9 S-0-0400
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7
E10 X32.8
1 A9 X32.7
A10 X32.8
DA000024v01_nn.FH9

of digital digital inputs/outputs max. 1,1A

Lockout
Fig. 6-14: Functions BASIC PROFIBUS
BASIC ANALOG - CSB01.1N-AN


tion d wire ning
point [mm²] torque
[Nm]
X8 0,25-0,5 - - encoder
evaluation ENS 1 9
8 15
DA000053v01_nn.FH9
X31 / 0,08-1,5 28-14 - digital 1 1

voltage input 3 3
4 4
(24V, 0V) 5 5
6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X41 0,25-0,5 - optional:

starting lockout
1
6
5 9
DA000054v01_nn.FH9
X16 0,25-0,5 - - encoder

emulation MEM
8 15
9
1
DA000056v01_nn.FH9
X2 0,25-0,5 k.A. - serielle Schnitt- 5

stelle 8
2
7
1 4
6
3
DA000049v01_nn.FH9
H1 - - - Schnittstelle für -
Bedienteil
Fig. 6-15: BASIC ANALOG
Functions
Note: Observe that the connections X32.6, X32.7, X32.8 and X32.9
can be configured as digital input (E8, E9, E10, E11) or digital
output (A8, A9, A10, A11).
Function Conne Factory setting Nominal Technical data

ction data
P-0-0115 type 2
DA000017v01_nn.FH9
Rel 1 X31.2
digital inputs E1 X31.3 "clear error" 24 V / 3 mA digital inputs

S-0-0099
E2 X31.4 "drive ON"
P-0-4028
E3 X31.5 "travel range limit switch"
P-0-0222
E4 X31.6 "travel range limit switch"
1 E5 X31.7
P-0-0222
"home switch"
S-0-0400
DA000022v01_nn.FH9
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7 "Drive Halt"
P-0-4028
E10 X32.8
E11 X32.9
digital outputs A8 X32.6 24V / 0,5 A digital outputs
1 A9 X32.7
A10 X32.8 "Ready signal"

P-0-0115
DA000024v01_nn.FH9
A11 X32.9 "warning"
P-0-0115
analog inputs voltage input EAn1+ X32.4 +/-10 V analog inputs
type 1
EAn1- X32.5
voltage input EAn2+ X32.1
EAn2- X32.2
reference potential A_GND X32.3

for analog input
of digital digital max. 1,1 A
inputs/outputs inputs/outputs 0V X31.9
serial interface RS232 X2 see Technical

Data Functions
Fig. 6-16: Functions BASIC ANALOG
BASIC UNIVERSAL CSB01.1C, Single-Axis


tion d wire ning
point [mm²] torque
[Nm]
X8 0,25-0,5 - - encoder
evaluation ENS
1 9
8 15
DA000053v01_nn.FH9
Option 2
X31 / 0,08-1,5 28-14 - digital 1 1
voltage input 3 3
(24V, 0V) 4 4
5 5
6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X7 memory card
slot
Option ST
Option MC
8
2
7
1 4
6
3
DA000049v01_nn.FH9
H1 - - - interface for -
control panel
Fig. 6-17: BASIC UNIVERSAL CSB01.1C, single-axis
Functions
A9, A10).

nection
master configurable
communication
encoder ENS X8 DC11V6, see Optional
interfaces 300 mA Module ENS
P-0-0115 type 2
Rel 1 X31.2
DA000017v01_nn.FH9

probe;
24 V / 3 mA;
typ. 1us
DA000022v01_nn.FH9
E2 X31.4 24 V / 3 mA
switch"
P-0-0222
1 switch"
P-0-0222
DA000022v01_nn.FH9
S-0-0400
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7
E10 X32.8
1 A9
A10
X32.7
X32.8
DA000024v01_nn.FH9
voltage supply of +24V X31.8 DC 19…30 V;

digital max. 1,1 A

Optional allowed options see
functions see configuration corresponding
table optional
module
Fig. 6-18: Functions BASIC UNIVERSAL CSB01.1C, single-axis
Optional Slots
Option 1 Option 2
Option ST
Option MC
DG000017v01_nn.FH9
Option MC: master communication

Option ST: safety technology
Fig. 6-19: Optional slots for BASIC CSB01.1C, single-axis
Note: The configuration table below shows which optional module is

supported on which optional slot.
Your sales representative will inform you on whether a certain
combination is allowed or not.
Optional
Optional slot
module
Option MC Option 1 Option 2 Option ST memory card slot control panel
(on board) (X41) (X7) (H1)
SE X O O O O O
PB X O O O O O
PL X O O O O O
CO X O O O O O
ET X O O O O O
S3 X O O O O O
CCD O O O O O O
ENS O X X O O O
EN1 O O X O O O
EN2 O O X O O O
MEM O O X O O O
MA1 O O X O O O
MD1 O O O O O O
MD2 O O O O O O
L1 O O O X O O
S1 O O O O O O
S O O O O O X
C O O O O O X
PFM02 O O O O X O
X: allowed module on optional slot
O: not allowed
Fig. 6-20: Configuration table
BASIC UNIVERSAL CDB01.1C, Double-Axis

Front view Connec Stranded AWG Tightening Description Figure

tion wire torque
point [mm²] [Nm]
X7 memory card
slot
option 3
option 4
X33 / 0,08-1,5 28-14 - digital inputs 1 1
2 2
X34 3 3
4 4
5 5
6 6
DA000059v01_nn.FH9
option 1
option 2
X31 / 0,08-1,5 28-14 - digital and 1 1
2 2
X32 analog 3 3
inputs/outputs; 4 4
5 5
voltage input 6 6
7 7
(24V, 0V) 8 8
9 9
DA000051v01_nn.FH9
option ST1
option ST2
option MC
8
2
7
1 4
6
3
DA000049v01_nn.FH9
H1 - - - interface for
control panel
Fig. 6-21: BASIC UNIVERSAL double-axis
Functions

Note: Digital I/Os require an external supply voltage at X31.8 and

X31.9.
Connection X34.6 is not used for supply.
Note: The digital inputs E6 and E7 are positioned in parallel to the

analog input EAn. Observe that this reduces the input
resistance of the analog input to the value of the digital inputs.
If you need a low degree of linearity error, use signal sources
with the lowest possible impedance at the analog input EAn.
You can achieve a linearity error smaller 5% with a 1 kOhm
potentiometer, for example.

nection
master configurable
communication
P-0-0115 type 2
Rel 1 X31.2
DA000017v01_nn.FH9
digital inputs E1 X31.3 axis 1: can be digital inputs

1 "probe 1"
S-0-0401
configured as
probe;
24 V / 3 mA;
typ. 1us
DA000022v01_nn.FH9
E2 X31.4 axis 2:
"probe 1"
1 S-0-0401
DA000022v01_nn.FH9
E3 X31.5 axis 1: 24 V / 3 mA
"travel range limit
switch"
P-0-0222
E4 X31.6 axis 1:
1 "travel range limit
switch"
P-0-0222
E5 X31.7 axis 1:
DA000022v01_nn.FH9
"home switch"
S-0-0400
E6 X32.4
E7 X32.5

nection
master configurable
communication
E8 X32.6 axis 1:
"E-Stop"
P-0-0223
E9 X32.7 axis 2:
"travel range limit
switch"
P-0-0222
E10 X32.8 axis 2:
"travel range limit
switch"
P-0-0222
E11 X32.9 axis 2:
"home switch"
S-0-0400
E12 X33.1
E13 X33.2
E14 X33.3
E15 X33.4
E16 X33.5
E17 X33.6
E18 X34.1
E19 X34.2
E20 X34.3
E21 X34.4
E22 X34.5
reference potential 0V X34.6
for digital inputs
1 A9 X32.7
A10 X32.8
DA000024v01_nn.FH9 A11 X32.9
analog inputs voltage input EAn+ X32.4 +/-10 V; analog inputs
typ. 2 kOhm type 4
EAn- X32.5
analog outputs voltage output An1 X32.1 5 V / 1 mA analog outputs
type 2
An2 X32.2
for analog voltage
output

Optional allowed options see see
functions configuration table corresponding
optional
module
Fig. 6-22: Functions BASIC UNIVERSAL double-axis
Optional Slots
Option 3 Option 4
Option 1 Option 2
Option ST 1 Option ST 2
Option MC
DG000018v01_nn.FH9

Options ST1 and ST2: safety technology
Fig. 6-23: Options for BASIC UNIVERSAL CDB01.1C, double-axis

Optional
Optional slot
module
Option Option Option Option Option Option Option memory card control
MC 1 2 3 4 ST 1 ST 2 slot panel
(X41.1) (X41.2) (X7) (H1)
SE X O O O O O O O O
PB X O O O O O O O O
PL O O O O O O O O O
CO O O O O O O O O O
ET X O O O O O O O O
S3 X O O O O O O O O
CCD O O O O O O O O O
ENS O X X X X O O O O
EN1 O X X X X O O O O
EN2 O X X X X O O O O
MEM O O O X X O O O O
MA1 O O O X X O O O O
MD1 O O O O O O O O O
MD2 O O O O O O O O O
L1 O O O O O X X O O
S1 O O O O O X X O O
S O O O O O O O O X
C O O O O O O O O X
PFM02 O O O O O O O X O
O: not allowed
Fig. 6-24: Configuration table
6.4 ADVANCED
Type Code ADVANCED CSH01.1C
Fig. 6-25: Type code control section ADVANCED (to be continued on next
page)
Fig. 6-26: Type code control section ADVANCED (continuation)
Type code ADVANCED CSH01.2C
in preparation
Fig. 6-27: Type code control section ADVANCED CSH01.2C
• In comparison to control section CSH01.1C control section

CSH01.2C has the interface "Cross Communication Drives – CCD"
(at place of option 3)
• For purpose of engineering there is - in addition to the serial interface
X2 - an Ethernet based interface.
Dimensions ADVANCED
DM000016v01_nn.FH9
Fig. 6-28: Dimensions CSH
ADVANCED CSH01.1C
Front View with Connections

tion d wire ning
point [mm²] torque
[Nm]
X7 memory card
slot
option 1
option 2
X31/X32 0,08-1,5 28-14 - digital and 1 1
analog 2 2
3 3
inputs/outputs 4 4
; voltage input 5 5
6 6
(24V, 0V) 7 7
8 8
9 9
DA000051v01_nn.FH9
option 3
option ST
option MC
X2 0,25-0,5 - - serial 5
interface 8
2
7
1 4
6
3
DA000049v01_nn.FH9
control panel
Fig. 6-29: ADVANCED CSH01.1C
Functions
Note: The factory settings depend on the firmware. The following

settings are valid for firmware MPx04.
(E8, E9, E10, E11) can be configured as digital input or digital
output (A8, A9, A10, A11).
Note: The digital inputs E6 and E7 are positioned in parallel to the

analog input EAn. Observe that this reduces the input
resistance of the analog input to the value of the digital inputs.
If you need a low degree of linearity error, use signal sources
with the lowest possible impedance at the analog input EAn.
For example, you can achieve a linearity error smaller 5% with
a 1 kOhm potentiometer and smaller 2.5% with a 500 Ohm
potentiometer.

nection
P-0-0115 type 2
Rel 1 X31.2
DA000017v01_nn.FH9

probe;
E2 X31.4 "probe 2" 24 V / 3 mA;
S-0-0402 typ. 1us
DA000022v01_nn.FH9
E3 X31.5 "travel range limit 24 V / 3 mA

switch"
P-0-0222
switch"
P-0-0222
1 S-0-0400
E6 X32.4
E7 X32.5
DA000022v01_nn.FH9
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7
E10 X32.8
E11 X32.9

nection
1 A9 X32.7
A10 X32.8
A11 X32.9
DA000024v01_nn.FH9
analog inputs voltage input EAn+ X32.4 +/-10 V analog inputs

typ. 2 kOhm type 4
EAn- X32.5
analog outputs voltage output An1 X32.1 5 V / 1mA analog outputs
type 2
An2 X32.2
for analog voltage
output

optional
module
Fig. 6-30: Functions ADVANCED CSH01.1C
Optional Slots

Fig. 6-31: Options for ADVANCED CSH01.1C

Optional
Optional slot
module
Option MC Option 1 Option 2 Option 3 Option ST memory card control panel
(X41) slot (H1)
(X7)
SE X O O O O O O
PB X O O O O O O
PL X O O O O O O
CO X O O O O O O
ET X O O O O O O
S3 X O O O O O O
CCD O O O X O O O
ENS O X X X O O O
EN1 O X X X O O O
EN2 O X X X O O O
MEM O X X X O O O
MA1 O O X O O O O
MD1 O O O X O O O
MD2 O O O X O O O
L1 O O O O X O O
S1 O O O O X O O
S O O O O O O X
C O O O O O O X
PFM02 O O O O O X O
O: not allowed
Fig. 6-32: Configuration table CSH01.1C
ADVANCED CSH01.2C
The following documentation of ADVANCED CSH01.2C is preliminary.
Front View with Connections
Front view Connec Stranded AWG Tighte Description Figure

tion wire ning
point [mm²] torque
[Nm]
X7 memory card
slot
option 1
option 2
X31/X32 0,08-1,5 28-14 - digital and 1 1
analog 2 2
3 3
inputs/outputs; 4 4
voltage input 5 5
(24V, 0V) 6 6
7 7
8 8
9 9
DA000051v01_nn.FH9
X24/X25 -- -- -- cross H10

communication
drives - CCD X24
H11
H12
X25
H13
DA000040v01_nn.FH9
X26 -- -- -- engineering
interface
option ST *
option MC *
8
2
7
1 4
6
3
DA000049v01_nn.FH9
control panel
* option ST = safety technology
* option MC = master communication
Fig. 6-33: Connections ADVANCED CSH01.2
Functions CSH01.2C
Note: The factory settings depend on the firmware. The following

settings are valid for firmware MPx04.
(E8, E9, E10, E11) can be configured as digital input or digital
output (A8, A9, A10, A11).
Note: Observe that for the connections X32.4 and X32.5 either the
analog inputs EAn or the digital inputs can be configured.

nection
relay contact Rel 1 X31.1 "ready for DC24V / 1A relay contact
operation" type 2
Rel 1 X31.2 P-0-0115
DA000017v01_nn.FH9

probe;
E2 X31.4 "probe 2" 24 V / 3 mA;
S-0-0402 typ. 1us
DA000022v01_nn.FH9
E3 X31.5 "travel range limit 24 V / 3 mA

switch"
P-0-0222
switch"
P-0-0222
1 S-0-0400
E6 X32.4
E7 X32.5
DA000022v01_nn.FH9
E8 X32.6 "E-Stop"
P-0-0223
E9 X32.7
E10 X32.8
E11 X32.9

nection
1 A9 X32.7
A10 X32.8
DA000024v01_nn.FH9 A11 X32.9
analog inputs voltage input EAn+ X32.4 +/-10 V analog inputs
typ. 160 kOhm type 4
EAn- X32.5
analog outputs voltage output An1 X32.1 5 V / 1mA analog outputs
type 2
An2 X32.2
for analog voltage
output

CCD X24
CCD X25
engineering Ethernet based X26
interface interface
optional
module
Fig. 6-34: Functions ADVANCED CSH01.2
Optional Slots CSH01.2C

Fig. 6-35: Options for ADVANCED CSH01.2C

Optional
Optional slot
module
Option MC Option 1 Option 2 Option 3 Option ST memory card control panel
(X41) slot (H1)
(X7)
SE X O O O O O O
PB X O O O O O O
PL X O O O O O O
CO X O O O O O O
ET X O O O O O O
S3 X O O O O O O
CCD O O O X O O O
ENS O X X O O O O
EN1 O X X O O O O
EN2 O X X O O O O
MEM O X X O O O O
MA1 O O X O O O O
MD1 O O O O O O O
MD2 O O O O O O O
L1 O O O O X O O
S1 O O O O X O O
S O O O O O O X
C O O O O O O X
PFM02 O O O O O X O
O: not allowed
Fig. 6-36: Configuration table CSH01.2C
Notes
Rexroth IndraDrive Optional Modules for Control Sections 7-1
7 Optional Modules for Control Sections
7.1 Overview
Optional module Function Name of Notes

optional
module
Master master communication via SE master communication based on fiber optic cables
communications SERCOS interface (HCC02)
master communication via PB field bus PROFIBUS
PROFIBUS (HCC03)
master communication via CO field bus DeviceNet
DeviceNet (HCC06)
master communication via PL parallel interface
parallel interface (HCC01)
master communication via CO field bus CANopen
CANopen (HCC06)
master communication via ET field bus PROFINET
PROFINET IO (HCC08)
master communication via S3 master communication based on Ethernet
SERCOS III (HCC07)
Communication cross communication via CCD communication between drive controllers based on
SERCOS III (HMC01) Ethernet
Encoder for encoder systems of ENS standard for motors of IndraDyn product range
evaluations IndraDyn motors (HFI03) (encoder systems S1, M1, S2 and M2)
12 V power supply
for resolvers and encoder EN1 standard for MKD, MKE and MHD motors
systems with HSF interface (HFI01) (encoder systems R0, R1, S0 and M0)
8 V power supply
for encoder systems with EN2 5 V power supply
5 V supply (Sense function (HFI02) (encoder systems C0)
required)
emulation of absolute and MEM emulation absolute encoder in SSI format
incremental encoders (HFE01)
I/O extensions extension "analog MA1 2 analog differential input channels;
inputs/outputs" (HAS01) 2 analog output channels
extension "digital MD1 12 digital inputs;
inputs/outputs" (HEA01) 8 digital outputs
extension "digital MD2 16 digital inputs in 2 groups;
inputs/outputs" (HEA02) 16 digital outputs in 4 groups;
SSI encoder evaluation
Safety technology I/O for safety technology S1 (HSI11)
starting lockout L1 (HSI01)
Control panels standard control panel S single-line display
comfort control panel C multiline display
Memory exchangeable medium for PFM02.1 MMC - MultiMediaCard
parameters and firmware
Fig. 7-1: Available optional modules
7-2 Optional Modules for Control Sections Rexroth IndraDrive
7.2 Master Communications
SERCOS - SE
Risk of damage!
⇒ The maximum tightening torque of the union nut at
the coupling elements of the fiber optic cables is
0.6 Nm.
CAUTION
Description
X20 TX
X21 RX
LED H20
DA000055v01_nn.FH9
Fig. 7-2: SERCOS interface
LED H20 Distortion LED of SERCOS interface
Pin Assignment X20 X21

TX RX
Fig. 7-3: Pin assignment
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 SERCOS interface are connected to higher-level
control units by means of fiber optic cables.
The fiber optic cables (cable, connector or the entire ready-made cables)
have to be ordered separately.
For more detailed information on the subject of "fiber optic cables" refer to
the application manual "Rexroth Connection System, fiber optic cables"
(DOK-CONNEC-CABLE*LWL**-AWxx-EN-P, part. no. 284755).
The following points are dealt with in the manual "Rexroth Connection
System, fiber optic cables":
• general information on fiber optic cables
• basic planning information for optical transmission systems
• instructions for laying fiber optic cables
• attenuation measurement on ready-made fiber optic cable
• available fiber optic FSMA plug-in connectors and fiber optic cables
• instructions for assembling FSMA connectors
• tools for assembling fiber optic cables
PROFIBUS - PB
Description
PROFIBUS: 1
6
X30
LED H30 5
9
DA000062v01_nn.FH9
Fig. 7-4: PROFIBUS interface
Connec- Type No. of Type of Stranded Figure

tion point poles design wire
[mm²]
X30 D-Sub 9 female 0,08-0,5
(device)
1
6
5 9
DA000054v01_nn.FH9
Fig. 7-5: Connections
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. 7-6: Signal assignment
Shield Connection Via D-subminiature 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
repeater control signal TTL-compatible 1: transmit
0: receive
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. 7-7: Signal specification
Danger of destroying output

"+5V Repeater supply" by overload!
⇒ do not short-circuit
CAUTION ⇒ do not exceed maximum current
Diagnostic Messages For the definition of the diagnostic messages see the Functional
Description of the respective firmware.
Bus Connectors The PROFIBUS connectors each have a connectable terminating

resistor. The terminating resistor must always have been switched on at
the first and last bus node. Carry out the connection as shown in the
figures below.
5 16 5
shield
Bus connection and switch Bus connection and switch

position for the first and last stations position for all other stations
OFF
OFF
ON
ON
A1 B1 A2 B2 A1 B1 A2 B2
AP5069f1.fh7
Fig. 7-8: Preparing a cable for connecting a bus connector
To prepare the bus cable, proceed as follows:

• use cable according to DIN EN50170 / 2 edition 1996
• strip cable (see previous illustration)
• insert both cores into screw terminal block
Note: Do not interchange the cores for A and B.
• press cable sheath between both clamps

• screw on both cores in screw terminals
1
on
A B
off
A B
A B A B
n s
me
n s
Sie
me
Sie
1 Switch connection for the first and final slave in the Profibus-DP
2 The cable shield must be placed bare on the metal guide
Ap5074f1.fh7
Fig. 7-9: Bus connection for the first and last slave, bus connector with 9-pin
D-Sub female connector, INS 0541
on
A B
off
A B
A B A B
2
Siemens
Siemens
Siemens
Siemens
1 Terminating resistor is off

Ap5075f1.fh7
Fig. 7-10: Bus connection for all other slaves, bus connector with 9-pin D-Sub
female connector, INS 0541
1
on
off
A B
A B
A B A B
2
ns
me
ns
Sie
me
Sie
1 Switch connection for the first and final slave in the Profibus-DP
Ap5076f1.fh7
Fig. 7-11: Bus connection for the first and last slave, without 9-pin D-Sub
female connector, INS 0540
1
on
off
A B
A B
A B A B
Siemens
Siemens
Siemens
Siemens
1 Terminating resistor is off
Ap5077f1.fh7
Fig. 7-12: Bus connection for all other slaves without 9-pin D-Sub female
connector, INS 0540
Connect the drive controller to a control unit using a shielded two-wire line
in accordance with DIN 19245/ section 1.
Parallel Interface - PL
Connec Type No. of Type of Solid Stranded Figure

-tion poles design wire wire
point [mm²] [mm²]
X15 D-Sub 37 pins on - 0,08-0,5
device 19
37
1 20
DA000058v01_nn.FH9
Assignment
Function Con- Factory Technical
nection setting data
dig. input group 0 Input 0.0 1 P-0-4026, see chapter
Positioning "Technical
1
block Data
selection Functions"
Input 0.1 20 P-0-4026,
Positioning
DA000022v01_nn.FH9
block
selection
Input 0.2 2 P-0-4026,
Positioning
block
selection
Input 0.3 21 P-0-4026,
Positioning
block
selection
dig. output group 0 Output 0.0 28 P-0-0115; see chapter
ready signal "Technical
1
Data
Output 0.1 10 S-0-0059, Functions"
Position
switch flag
parameter
DA000024v01_nn.FH9
Output 0.2 29 S-0-0403,
Position
feedback
value status
Output 0.3 11 S-0-0331,
Status
'n_feedback
= 0';
power supply for Uext_ea0 30 DC (19…30)V
input/output group 0 max. 1,2 A

dig. input group 1 Input 1.0 3 P-0-4026, see chapter
1
block Data
selection Functions"
Input 1.1 22 P-0-4026,
Positioning
DA000022v01_nn.FH9 block
selection
Input 1.2 4 P-0-4060,
Positioning
block control
word
Input 1.3 23 S-0-0148,
C0600 Drive-
controlled
homing
procedure
command
dig. output group 1 Output 1.0 12 P-0-4061 see chapter
end position "Technical
1
reached Data
Functions"
Output 1.1 31 P-0-0115
warning
Output 1.2 13 S-0-0437
DA000024v01_nn.FH9
jog mode
active
Output 1.3 32 S-0-0437
interpolator
halted
dig. input group 2 Input 2.0 5 S-0-0346, see chapter
1
control word Data
Functions"
Input 2.1 24 S-0-0346,
Positioning
control word
DA000022v01_nn.FH9
Input 2.2 6 P-0-4028,
Device
control word;
Drive ON
Input 2.3 25 P-0-4028,
Device
control word;
Drive HALT

dig. output group 2 Output 2.0 33 P-0-4051, see chapter
1
block Data
acknow- Functions"
ledgment
Output 2.1 15 P-0-4051,
Positioning
DA000024v01_nn.FH9
block
acknow-
ledgment
Output 2.2 34 P-0-4051,
Positioning
block
acknow-
ledgment
Output 2.3 16 P-0-4051,
Positioning
block
acknow-
ledgment
dig. input group 3 Input 3.0 7 S-0-0099, see chapter
C0500 Reset "Technical
1
Data
Input 3.1 26 Functions"
Input 3.2 8
Input 3.3 27
DA000022v01_nn.FH9
dig. output group 3 Output 3.0 17 P-0-4051, see chapter

1
block Data
acknow- Functions"
ledgment
Output 3.1 36 P-0-4051,
DA000024v01_nn.FH9
Positioning
block
acknow-
ledgment
Output 3.2 18 P-0-4051,
Positioning
block
acknow-
ledgment
Output 3.3 37 P-0-4051,
Positioning
block
acknow-
ledgment
reference potential for GNDext 9 max. 5 A
inputs/outputs and
power supply
connection cable shield shield con-
nector
housing
Note: The inputs/outputs are galvanically isolated from the control

section and require power supply via the connections Uext and
GNDext.
DeviceNet / CANopen - CO
Description
DA000034v01_nn.FH9
Fig. 7-15: Description
The master communications DeviceNet and CANopen are realized with

the same optional module "CO".
Via switch S1 select the master communication which is to be active.
Switch position Effect Switch S1
up (as shown) CANopen active
down DeviceNet active

DA000035v01_nn.FH9
Fig. 7-16: Switch
Properties of the Connector Con- Type No. of Solid Stranded AWG Figure
nection poles wire wire
point [mm²] [mm²]
X60 spring 5 0,25- 0,25-1,5 24-16
terminal, 2,5
female
(connect
or) 1 2
3 4 5
DA000036v01_nn.FH9

Note: Maximum allowed tightening torque of the screws: 0.5 Nm.
Display Elements
CANopen LED Significance Color Description

H4 Run green Signals operating status;
for details see Functional Description
H5 Error red Signals error status,
Fig. 7-18: Significance of display elements
DeviceNet LED Significance Color Description

H4 Module status red malfunction on module;
green module OK;
H5 Network status red malfunction on network;

green network OK;

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. 7-20: Signal assignment optional module CO
Main Features Feature DeviceNet CANopen

compatibility according to according to
DIN EN 50325-2 EN 50325-4
max. possible number of 64 nodes max. 127 nodes
nodes
bus topology line topology line topology
bus terminator 124 Ohm, 1%, 200 mW at both bus ends
(ISO 11898) (connect resistor with X60.2 and X60.4)
transmission medium 2 twisted two-wire lines 2 twisted two-wire lines
(4-pin) with shield (4-pin) with shield
max. allowed bus (line) depending on bit rate depending on bit rate
lengths
recommended our RKS number or our RKS number or
connecting cable third-party type third-party type
Fig. 7-21: Main features
Bus Lengths Depending on Bit Bit rate [kBaud] Max. allowed network dimension [m]
Rates
DeviceNet CANopen
1000 -- 25
800 -- 50
500 40 100
250 250 250
125 500 500
50 -- 1000
20 -- 2500
10 -- 5000
-- bit rate not specified for this field bus
Fig. 7-22: Network dimension
SERCOS III - S3
Description SERCOS III is the Ethernet-based version of SERCOS 2. The interface

corresponds to standard IEE 802.3.
H6
X22
H7
H8
X23
H9
DA000039v01_nn.FH9
Fig. 7-23: SERCOS III connection points
Connection Type No. of Figure

points poles
X22, RJ-45 8
X23
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
Display Elements LED Significance Color

H6, H8 Status yellow data transmission running
H7, H9 Link green connection to network available
H7, H9 n.s. orange n.s.
Cross Communication Drives - CCD

Description The interface corresponds to standard IEE 802.3.
H10
X24
H11
H12
X25
H13
DA000040v01_nn.FH9
Fig. 7-27: SERCOS III connection points CCD

points poles
X24, RJ-45 8
X25
Assignment X24, X25 Pin Signal Function

4 n. c. -
5 n. c. -
7 n. c. -
8 n. c. -
housing shield connection
Compatibility of the Interface 10 Base-T according to IEEE 802.3i

Recommended Cable Type According to CAT 5
Display Elements LED Significance Color

H10; H12 Status yellow data transmission running
H11; H13 Link green connection to network available
H11; H13 n.s. orange n.s.
7.3 Encoder Evaluations
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
• 5 V-TTL square-wave encoder with reference

[mm²]
X8 D-Sub 15 female 0,25-0,5
(device)
1 9
8 15
DA000053v01_nn.FH9
Fig. 7-31: Connection
Pin Assignment Connection Signal Function

1 GND_Shield 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. n.c.
13 EncCLK+ clock positive
14 EncCLK- clock negative
15 n.c. 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 300
Fig. 7-33: Encoder supply ENS
Input Circuit for Sine Signals

A+, A- or B+, B- or R+, R- E+
120R
E-
DA000063v01_nn.FH9
block diagram
Fig. 7-34: Input circuit for sine signals
Properties of Differential Input Data Unit Min. Typ. Max.

allowed amplitude of encoder V 1,0 1,0 + 0,2
signal (UPPencodersignal)
input resistance Ohm 120
converter width A/D converter Bit 12
limit frequency (-3 dB) kHz 500
allowed input frequency for kHz 400
5 V-TTL signals (square-wave)
allowed amplitude V 5,25
5 V-TTL signals
Fig. 7-35: Differential input
Note: The allowed input frequency for 5 V-TTL signals is lower than
the limit frequency because the differential input is overridden
with 5 V signals.
Signal Assignment to the Actual Position Value

1)
Signal assignment Signal designation Signal shape Actual position value
(with default setting)
A+
A-
B+
sine (1 Vpp)
B- increasing
without absolute value
R+
R-
DF000185v01_nn.FH9
DK000089v01_nn.FH9
A+
A-
sine (1 Vpp)
B+ increasing
with absolute value
B-
DK000088v01_nn.FH9
DF000184v01_nn.FH9
1) see following note

Fig. 7-36: Signal assignment to the actual position value
Note: The encoder signal assignment to the inputs is based on

clockwise rotation (front view at motor shaft).
• Track A (A+, A-) advances track B (B+, B-) 90° electrically
• The actual position value increases in this case (unless a
negation takes effect)
• If present, the reference track R (R+, R-) makes the
reference mark pulse at positive signals of track A and
track B (within the 0-quadrant)
Note: Standard setting:

=> see Functional Description of firmware
Connection Diagrams ENS
ENS with Encoder System

S1 / M1
Fig. 7-37: Connection diagram encoder system S1 / M1
Note: For direct connection to the encoder system use our cable
RKG 4200.
ENS with Encoder System

S2 / M2
Fig. 7-38: Connection diagram encoder system S2 / M2
RKG 4200.
Connection Diagrams ENS with Third-Party Encoder
Note: Observe that the third-party encoder used has to be suited for
the voltage supplied at the encoder evaluation ENS as voltage
for encoder supply "VCC_Encoder".
ENS with Third-Party Encoder

Hiperface
Fig. 7-39: Connection diagram third-party encoder Hiperface

EnDat 2.1
Fig. 7-40: Connection diagram third-party encoder EnDat 2.1

1Vpp
Fig. 7-41: Connection diagram third-party encoder 1Vpp

5V-TTL
Fig. 7-42: 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 (line cross section and line
length) of the encoder cable. This reduces the signal at the encoder input.
The diagrams below take into account that
• the cross section of the wires for supply voltage in the cable is at
2
least 0.5 mm (lower cross sections reduce the allowed length),
• the allowed supply voltage at the encoder is 10 V ±5%.
100
90
80
70
length [m]
60
50
40
30
20
100 150 200 250 300
current consumption [mA]
DK000091v01_en.FH9
Fig. 7-43: Allowed encoder cable lengths
Example For a cable length of 75 m between motor encoder and drive controller,
encoder systems with a max. current consumption of 225 mA are
allowed. If the encoder system has a higher current consumption, take a
cross section greater than 0.5 mm².
Resolver and HSF Encoder Evaluation EN1

Description For encoders with a control voltage supply of DC8 Volt or AC18.2 Volt
peak-peak:
• digital servo feedback from Rexroth (encoder interface HSF for MHD
motors)
• resolver (encoder interface for MKD motors)
• resolver without data memory

[mm²]
-- D-Sub 15 female 0,25-0,5
(device)
1 9
8 15
DA000053v01_nn.FH9

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 to encoder
Properties EN1
Encoder Supply Data Unit Min. Typ. Max.

Resolver
AC output voltage VVC_Encoder V 18,2
(peak-peak value)
output frequency sine kHz 4
d.c. resistance of load Ohm 35
Fig. 7-46: Encoder supply resolver
Encoder Supply Data Unit Min. Typ. Max.

Digital Servo Feedback
DC output voltage VVC_Encoder V 7,8 8 8,2
Fig. 7-47: Encoder supply HSF
Input circuit A+, A-

C1
or B+, B-
R3
R1
E+ -
E- +
R2
R4 C2
AP5296F1.FH7
block diagram
R1: 5k
R2: 5k
R3: 20k (HSF) or 2k5 (resolver)
R4: 20k (HSF) or 2k5 (resolver)
C1: no data
C2: no data
Fig. 7-48: Input circuit
Differential Input for DSF Data Unit Min. Typ. Max.

Operation
allowed amplitude of encoder V 1,0 1,1
signal sine
input resistance kOhm 9,5 10 10,5
Fig. 7-49: Input data DSF
Differential Input for Resolver Data Unit Min. Typ. Max.

Operation
allowed amplitude of encoder V 9,0
signal sine
input resistance kOhm 9,5 10 10,5
Fig. 7-50: Input data resolver

A+
A- HSF
(sine 1 Vpp without increasing
B+ 120 Ohm terminating
resistor,
B- I²C bus)
DF000184v01_nn.FH9
DK000086v01_nn.FH9
A+
A- resolver increasing
B+
B-
DK000087v01_nn.FH9 DF000184v01_nn.FH9
amplitude-modulated signal
Connection Diagrams EN1
EN1 with Encoder System R0

and R1
Fig. 7-52: Connection diagram
IKS 4043.
EN1 with Encoder System S0

and M0
IKS 4042.
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

[mm²]
-- D-Sub 15 pins on 0,25-1,0
device
8 15
9
1
DA000056v01_nn.FH9

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)
output frequency sine kHz 4
d.c. resistance of load Ohm 35
Fig. 7-56: Encoder supply EN2
Input Circuit for Sine Signals

A+, A- or B+, B- or R+, R- E+
120R
E-
DA000063v01_nn.FH9
block diagram
Fig. 7-57: Input circuit for sine signals

for Sine Signals
allowed amplitude of encoder V 1,0 1,2
signal peak-peak (UPPencodersignal)
Fig. 7-58: Differential input sine
Input Circuit for Square-Wave

Signals
E+ A
120R
E- B
DA000064v01_nn.FH9
block diagram
Fig. 7-59: Input circuit for square-wave signals

for Square-Wave Signals
input voltage "high" V 2,4 5,0
input voltage "low" V 0 0,8
input frequency kHz 1000
Fig. 7-60: 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.
Note: Use cables with Sense lines for high degrees of voltage drop
caused by
great cable lengths
small cable cross sections
many contact resistances

1)
A+
A-
B+
sine (1 Vpp) increasing
B- without absolute value
R+
R-
DK000089v01_nn.FH9 DF000185v01_nn.FH9
A+
A-
B+
square-wave (TTL) increasing
B- without absolute value
R+
R-
DK000090v01_nn.FH9
DF000185v01_nn.FH9
A+
A-
sine (1 Vpp)
B+ with absolute value increasing
(e.g. EnDat)
B-
DF000184v01_nn.FH9
DK000088v01_nn.FH9
1) see following note

Note: The encoder signal assignment to the inputs is based on

clockwise rotation (front view at motor shaft).
• Track A (A+, A-) advances track B (B+, B-) 90° electrically
• The actual position value increases in this case (unless a
negation takes effect)
• If present, the reference track R (R+, R-) makes the
reference mark pulse at positive signals of track A and
track B (within the 0-quadrant)
Note: Standard setting:

=> see Functional Description of firmware
Connection Diagrams EN2

EN2 with Encoder System C0
RKG 0014.
EN2 with Third-Party Encoder

EnDat2.1 (According to
Heidenhain Standard) and Sense
Lines,
5 V Supply
IKS 4038.

1 Vpp,
5 V Supply

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 (line cross section and line
length) of the encoder cable. This reduces the signal at the encoder input.
The drive controller can influence the voltage for encoder supply
(VCC_Encoder). 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
2
least 0.5 mm (lower cross sections reduce the allowed length),
• the allowed supply voltage at the encoder is 5 V ±5%.
1. With Sense connection in the encoder line
75
70
length [m]
65
60
55
50
250 300
current consumption [mA]
DK000092v01_en.FH9
Fig. 7-66: Encoder cable lengths with Sense connection
Note: The maximum allowed length of cables with Sense lines is

75 m.
2. Without Sense connection in the encoder line
50
l [m]
45
40 5V+-10%
5V+- 5%
35
30
25
20
15
10
0
100 150 I [mA] 200 250 300
Fig. 7-67: Encoder cable lengths without Sense connection
Note: 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.
Encoder Emulation MEM
Description Emulation of absolute and incremental encoders for further analysis by a

control. The signals are galvanically isolated from the circuit board.
External power supply is not necessary.

[mm²]
X10 D-Sub 15 pins on 0,25-0,5
device
8 15
9
1
DA000056v01_nn.FH9
Pin Assignment X10 Connection Signal Function

1 n.c. n.c.
2 n.c. n.c.
3 SSI_CLK+ incremental encoder: n.c.;
absolute encoder: clock pos.
4 SSI_CLK- incremental encoder: n.c.;
absolute encoder: clock neg.
5 n.c. n.c.
6 n.c. n.c.
7 n.c. n.c.
8 n.c. n.c.
9 UA0+ / incremental encoder: reference track;
SSI_Data+ absolute encoder: data transmission
10 0V reference potential
11 UA0- / incremental encoder: reference track;
SSI_Data- absolute encoder: data transmission
12 UA1+ incremental encoder: track A1;
absolute encoder: n.c.
13 UA1- incremental encoder: track A1;
14 UA2+ incremental encoder: track A2;
15 UA2- incremental encoder: track A2;
Line Data Data Unit Min. Typ. Max.
allowed length l m 40
allowed capacitance nF/m 5
between outputs
allowed capacitance nF/m 10
between output and 0 V
shielding double shielding
(individual shields and overall
shield)
Fig. 7-70: Line at MEM
Risk of damage by use of unshielded lines and

lines with single shielding!
⇒ Use lines with double shielding.
CAUTION
Note: Update rate of actual position value output: see firmware

documentation.
Incremental Encoder Emulation

Connection
Fig. 7-71: Connection of incremental actual position value output
Differential Outputs Data Unit Min. Typ. Max.

output voltage "high" V 2,5 5
output voltage "low" V 0 0,5
output current Iout mA I 20 I
load capacitance nF 10
output frequency f MHz 1
overload protection available
Fig. 7-72: Differential outputs
Note: 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 one line

Position Value Output
UA1
Square-wave pulse
looking at the motor
UA2 shaft and in
clockwise direction
UA0
t1 t1
t1 < 50 ns SV0201F1.FH7
Fig. 7-73: Signals for incremental actual position value output
Output Frequency f
number of lines
f = •n
revolution
f: output frequency
n: speed
Fig. 7-74: Calculating the output frequency f
Note: The output frequency results from the respective parameter

setting.
=> See also Functional Description of firmware: "Encoder
Emulation".
Control-Side Signal Filter for Note: Due to the signal processing in the control section, the periodic
UA1 and UA2 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 * fout
Speed Measurement
Note: Frequency measurement is not suited to measure the speed
from the incremental emulator signals.
Absolute Encoder Emulation (SSI Format)
Connection
Absolute Encoder Emulation
Fig. 7-75: Output of absolute actual position values according to SSI format
Differential Input Circuit

SSICLK+
Absolute Encoder Emulation R2
R1
C1
R3
SSICLK- Ap5321f1.fh7
block diagram
R1: 332R
R2: 100R
R3: 100R
C1: 1 nF
Fig. 7-76: Differential input circuit
Differential Inputs Data Unit Min. Typ. Max.

input voltage "high" V 2,5 5
input voltage "low" V 0 0,5
input resistance Ohm approx. 150
(see circuit)
clock frequency f kHz 100 – 1000
polarity reversal protection within the allowed input voltage
range
galvanic isolation signals from circuit board
Fig. 7-77: Differential inputs
Differential Outputs Data Unit Min. Typ. Max.

output voltage "high" V 2,5 5
output voltage "low" V 0 0,5
output current Iout mA I 20 I
load capacitance nF 10
output frequency f MHz 1
overload protection available
terminating resistor at load Ohm 150…180
Fig. 7-78: Differential outputs
Note: 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).
Pulse diagram with absolute actual position value output

(SSI format)
resolution for 4096 rotations resolution for 1 rotations
T Tp
pulse
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 1 2
data
1 1 G23 G22 G21 G20 G19 G18 G17 G16 G15 G14 G13 G12 G11 G10 G9 G8 G7 G6 G5 G4 G3 G2 G1 G0 PFB 0 1 1 G23 G22
Tp
T
pulse
1 2 24 25
data
G23 G22 G0 PFB
tv
G0 = least significant bit in gray code

G23 = most significant bit in gray code
m = stored parallel information
T = pulse time
Tp = pulse break > 20 µs
tv = delay time max. 650 ns
PFB = power failure bit (not used and always logically LOW)
SV0202F1.FH7
Fig. 7-79: Pulse diagram with absolute actual position value output
(SSI format)
7.4 I/O Extensions
Analog I/O Extension MA1
Description This option is used to increase the number of analog channels or to equip
control 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)

[mm²]
-- D-Sub 15 female 0,08-0,5
(device)
1 9
8 15
DA000053v01_nn.FH9
Fig. 7-80: Connection point MA1
Pin Assignment Function Con- Technical data

nection
GND connection to analog GND100 1
source AE1
analog input type 2
+AE1 2
analog differential input 1
-AE1 9
GND connection to analog GND100 3
source AE2
analog input type 2
+AE2 4
analog differential input 2
-AE2 11
analog output 1 +AA1 5
reference potential for GNDA 6
analog output 1
(GND measuring pin for
analog output type 3
external differential analog
input)
shield connection for analog GND100 13
output 1 (AA1)
analog output 2 +AA2 14
analog output type 3
Function Con- Technical data

nection
reference potential for GNDA 15
analog output 2
(GND measuring pin for
external differential analog
input)
shield connection for analog GND100 7
output 2 (AA2)
housing (connection for housing 8
overall shield)
unassigned GNDA pin GNDA 10
(reference potential for
analog output)
unassigned GNDA pin GNDA 12
(reference potential for
analog output)
Gehäuse/
8 8 housing
15 15 GNDA
7 7 GND100
14 14 +AA2
6 6 GNDA
13 13 GND100
5 5 +AA1
12 12 GNDA
4 4 +AE2
11 11 -AE2
3 3 GND100
10 10 GNDA
2 2 +AE1
9 9 -AE1
1 1 GND100
DA000067v01_nn.FH9
Fig. 7-82: Block diagram
For applications only using one or two analog I/Os you can also wire the
individual cables directly at the D-Sub connector (see block diagram
above).
Observe 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 metallized housings.
Note: For applications using several analog I/Os, use the appropriate
distribution 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 with Distribution box MA1

Distribution Box UM 45
1) Connection of overall shield to housing of optional module MA1 via

internal connection
Fig. 7-83: Interconnection diagram RKS0003
Fig. 7-84: Distribution box UM 45-D15SUB/S (Phoenix Contact)
Note: The connections in the distribution box are connected "1 to 1"
from D-Sub connector to screw terminal connections.
The housing potential of the distribution box is available at the
remaining connection "⊥".
Digital I/O Extension MD1
Description This options is en extension for Rexroth IndraDrive control sections.

The option makes available the following functions:
• 12 digital 24 V inputs
• 8 digital 24 V outputs

[mm²]
-- D-Sub 25 pins on 0,08-0,5
device
13
25
1 14
DA000057v01_nn.FH9
Assignment
nection
Input 0.0 14 24 V / 3 mA
see chapter "Technical
Input 0.1 15 Data Functions"
Input 0.2 16
dig. input group 0 Input 0.3 17
Input 0.4 18
Input 0.5 19
1 Input 0.6 20
Input 0.7 21
DA000022v01_nn.FH9 Input 0.8 22
Input 0.9 23
Input 0.10 24
Input 0.11 25
power supply for input UL_ext_2 7 DC (19…30) V;
group 0 max. 0,1 A
dig. output group 0 Output 0.0 1 see chapter "Technical
Data Functions"
Output 0.1 2
1 Output 0.2 4
Output 0.3 5
DA000024v01_nn.FH9
power supply for output UL_ext_0 3 DC (19…30) V;

group 0 max. 1,2 A

nection
dig. output group 1 Output 1.0 9 see chapter "Technical
Data Functions"
Output 1.1 10
1 Output 1.2 12
Output 1.3 13
DA000024v01_nn.FH9
power supply for output UL_ext_1 11 DC (19…30) V;

group 1 max. 1,2 A
reference potential for GND_ext 8, 6 max. 2,5 A
input/output groups and
power supply
connection cable shield shield connector
housing
Digital I/O Extension and SSI Encoder Evaluation MD2
Description The optional module MD2 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
encoders with SSI interface
DA000045v01_nn.FH9
Fig. 7-87: Description MD2
Digital I/O Extension on MD2
Connec- Type No. of Description Figure

tion point poles
X17 D-Sub (High 44 I/O extension 30
Density)
15
44
1 31
16
DA000043v01_nn.FH9
Pin Assignment X17

I/O Extension
nection
Input 0.0 7 24 V / 3 mA;
dig. input group 0 Input 0.1 22 see Technical Data

Input 0.2 6 Functions
1 Input 0.3
Input 0.4
21
5
Input 0.5 20
DA000022v01_nn.FH9
Input 0.6 4
Input 0.7 19
power supply for input +UL_ext_in_0 36 DC 19…30 V;
group 0 max. 1,1 A
GND_ext_in_0 35
Input 1.0 3 24 V / 3 mA;
Input 1.1 18 see Technical Data
dig. input group 1
Input 1.2 2 Functions
1 Input 1.3
Input 1.4
32
17
Input 1.5 1
DA000022v01_nn.FH9
Input 1.6 16
Input 1.7 31
power supply for input +UL_ext_in_1 34 DC 19…30 V;
group 1 max. 1,1 A
GND_ext_in_1 33
dig. output group 0 Output 0.0 15 24 V / 0,5 A
Output 0.1 30 see Technical Data
1 Output 0.2 14 Functions
Output 0.3 29
DA000024v01_nn.FH9
power supply for output +UL_ext_out_0 44 DC 19…30 V;

group 0 max. 1,1 A
GND_ext_out_ 43
0
Output 1.3 27
DA000024v01_nn.FH9

group 1 max. 1,1 A
GND_ext_out_ 41
1

nection
Output 2.3 25
DA000024v01_nn.FH9

group 2 max. 1,1 A
GND_ext_out_ 39
2
Output 3.3 23
DA000024v01_nn.FH9

group 3 max. 1,1 A
GND_ext_out_ 37
3
connection cable shield shield connect
or
housing
Fig. 7-89: Assignment
Note: 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 available up to a length of 10 M, see also example
of connection MD2.
SSI Encoder Evaluation on MD2

The encoder is supplied by the connections X16.5 and X16.6 of the 24 V
control voltage supply (UN3) of the power section.
Connec- Type No. of Description Figure

tion point poles
X16 RJ11 6 SSI encoder
evaluation
6
DA000044v01_nn.FH9
Pin Assignment X16 Connection Signal Function Technical Data

SSI Interface
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 UN3-1V;
max. 0,2 A
6 0V reference potential
connector shield connection cable shield
housing
Max. Line Length SSI_CLK frequency that is set Max. allowed line length
(see also P-0-0906) [m]
[kHz]
125 75
250 75
500 75
1000 40
Fig. 7-92: Line length and SSI_CLK frequency
Example of Connection
Principle MD2 RKS0004
+24Vext
+24V
0Vext
+24Vext
0Vext
0Vext
RKG4400
RKG4401
SSI-Encoder
DA000042v01_nn.fh9
Fig. 7-93: Example of connection I/O extension MD2
Note: The connection to the SSI encoder consists of two cable

sections:
• Cable RKG 4400 from X16 to coupling element (max.
length 1.5 m).
• Adapter cable between connecting cable and the
respective encoder used with different connector pin
assignments. For SSI encoders from Stegmann use our
cable RKG 4401.
7.5 Safety Technology
Starting Lockout L1
Description The starting lockout complies with stop category 0 acc. to EN60204-1.
Connection Type No. of poles Stranded AWG Tightening Figure

point wire torque [Nm]
[mm²]
X41 D-Sub, 9 0,25-0,5 - -
female
1
(device) 6
5 9
DA000054v01_nn.FH9
Function Con- Nominal Technical data

nection data
inverted ASQ2 6 DC24V / 1A relay contact type 3
acknowledgment
supply for ASQ 4
acknowledgment
potential
acknowledgment ASQ1 5
DA000016v01_nn.FH9
control signal AS-A 1 24 V / 3 mA digital inputs

starting lockout
assignment A
inverted control AS n 2
signal
starting lockout
control signal AS B 3
starting lockout
assignment B
input +24V 8 DC24V / 0,1A DC 19,2…30 V;
for power supply max. 0,1 A
0 VE 9
n. c. 7
Function AS ASn Status ASQ1 ASQ2

1 0 starting lockout active = ASQ open
0 1 starting lockout not active open = ASQ
0 0 open = ASQ
error when selecting starting lockout
1 1
Fig. 7-96: Function
Connection Accessory Cable RKS0001 (9-pin cable with connector and single wire ends)
Safety Technology S1
Description This option allows different application-related safety functions, such as

safety related standstill, safety related drive interlock, safety related
reduced speed, safety related direction of motion etc.
Note: This option can only be used in conjunction with an encoder

(at slot X4 or X4.1 and X4.2).
Connec- Type No. of Type of Stranded AWG Tightening Figure

tion point poles design wire torque
[mm²] [Nm]
X41 D-Sub 9 female 0,25-0,5 - -
(device)
1
6
5 9
DA000054v01_nn.FH9
Function Con- Nominal data Technical data

nection
input/output forced digital input IO30 1 24 V / 3 mA digital inputs
dynamization
digital output 24 V / 0,5 A digital outputs
input/output digital input IO20 2 24 V / 6 mA digital inputs
acknowledgment
digital output 24 V / 0,5 A digital outputs
input/output / digital input IO10n 3 24 V / 3 mA digital inputs
relay contact diagn.
message/
door locking device digital output 24 V / 0,5 A digital outputs
N/O contact DC24 V / 1A relay contact type 3
digital inputs I1n 4 24 V / 3 mA digital inputs

I2n 5
operating mode selection
I3n 6
I4n 7
input +24V 8 DC24 V / 0,1A DC 19,2…30 V;
for power supply max. 0,1 A
0 VE 9
7.6 Control Panels
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. 7-99: Standard control panel with exemplary display and control elements
• The display shows operating states, command and error diagnoses

and pending warnings.
• Using the four keys, the commissioning engineer or service
technician, in addition 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 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
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.
Fig. 7-100: 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
addition 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
• set the analog outputs
Note: For further information see the Functional Description of the

firmware.
7.7 Memory
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).
Note: The memory card PFM02 is not contained in the standard

scope of supply of the control sections.
Note: In the documentation of the firmware you can find a

description of how to handle the memory card.
Rexroth IndraDrive Technical Data Functions 8-1
8 Technical Data Functions
8.1 Relay Contacts
DA000016v01_nn.FH9 DA000017v01_nn.FH9
Fig. 8-1: Relay contacts
Relay Contact Type 1
Data Unit Min. Typ. Max.

current load capacity A DC 1
AC 2
voltage load capacity V DC 30
AC 250
minimum contact load mA 10
contact resistance at mOhm 1000
minimum current
switching actions at max. time 100.000
constant of load
number of mechanical 6
1 * 10
switching cycles
time constant of load ms 50
pick up delay ms 10
drop out delay ms 10
Fig. 8-2: Relay contacts type 1

minimum current
switching actions at max. time 6
1 * 10
constant of load
1 * 10
switching cycles
time constant of load ms ohmic
pick up delay ms 10
8-2 Technical Data Functions Rexroth IndraDrive

minimum current
switching actions at max. time 6
1 * 10
constant of load
1 * 10
switching cycles
time constant of load ms ohmic
pick up delay ms 10
8.2 Digital Inputs/Outputs

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

Observe Functional Description of the firmware section "Notes
on Commisioning" particularly parameter P-0-0302, Digital I/O,
Direction.
Digital Inputs
1
DA000022v01_nn.FH9
Fig. 8-5: Symbol of digital input

allowed input voltage V -3 30
On V 15
Off V 5
input current mA 2 5
input resistance kOhm non-linear, varies depending on
input voltage
sampling frequency kHz depending on firmware
probe input delay us 1
Fig. 8-6: Digital inputs
Note: Probe inputs are fast inputs. For triggering use bounce-free
switches.
Digital Outputs
The digital outputs correspond to IEC 61131.
1
DA000024v01_nn.FH9
Fig. 8-7: Symbol of digital output

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 mA 500
output
allowed output current total mA 1000
or per group
update interval ns depending on firmware
short circuit protection present
overload protection present
allowed energy content of mJ 400
connected inductive loads,
e.g. relay coils; only allowed
as single pulse
Fig. 8-8: Digital outputs
Note: The digital outputs have been realized with so-called high-side
switches. This means that these outputs can actively supply
current but not drain it.
Note: The energy absorption capacity of the outputs is used to limit

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

The analog inputs correspond to IEC 61 131.
Analog Inputs
Analog Input Type 1
Ru
U+
AD
Ru
U-
GND
DA000025v01_nn.FH9
AD: analog/digital converter

Fig. 8-9: Analog voltage inputs

allowed input voltage V -10 +10
voltage inputs
input resistance kOhm 180
voltage input
input bandwidth kHz 6
common-mode range V -20 +20
common-mode rejection dB
relative measuring error % -1 +1
at 90% Uemax
incl. polarity sign
oversampling 8-fold
dynamic converter width with Bit 12
oversampling
resulting resolution mV/Ink 5,5
cyclic conversion us 500 (depending on firmware)
conversion time us n.s.
Analog Input Type 2
Ru
U+
AD
Ru
U-
GND
DA000025v01_nn.FH9


voltage inputs
voltage input
common-mode rejection dB 70
relative measuring error % -0,3 +0,3
at 90% Uemax
incl. polarity sign
oversampling 8-fold
oversampling
conversion time us 40
Analog Input Type 3
Ri
I+
Rs AD
Ri
I-
GND
DA000026v01_nn.FH9

Fig. 8-13: Analog current inputs

allowed input current mA 0 +20
at 90% Uemax
incl. polarity sign
oversampling 8-fold
oversampling
resulting resolution µA/Ink 5,45
Fig. 8-14: Analog current inputs
Analog Input Type 4
Ru
U+
AD
Ru
U-
GND
DA000025v01_nn.FH9


voltage inputs
voltage input
voltage input CSH01.2C
at 90% Uemax
incl. polarity sign
oversampling 8-fold
oversampling
Analog Outputs
Analog Output Type 1

output voltage V 0 +10
output load kOhm 2
output current mA 0 +5
converter width digital/analog Bit 10
converter incl. polarity sign
resolution mV/Ink 9,8
(incl. response time)
cyclic conversion us depending on firmware
Fig. 8-17: Analog outputs type 1

output voltage V 0 +5
output load kOhm 5
resolution mV/Ink 19,5
accuracy at R=5 kOhm % 5 of FMR
accuracy at R=10 kOhm % 2,5 of FMR
FMR: final value of measuring range

output voltage V -10 +10
output load kOhm 1
resolution mV/Ink 5
accuracy at R = 1 kOhm % 1 of FMR
accuracy at R = 10 kOhm % 0,2 of FMR
FMR: final value of measuring range
8.4 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 5
female interface 8
2
(device) 7
1 4
6
3
DA000049v01_nn.FH9
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. 8-21: 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 V 1
between reference potentials
of control section and data
end device
Fig. 8-22: Features of serial interface
Note: Accessory HAS05.1-005 is a converter RS232 to RS485. (see

section "Accessory").
Connection Diagrams for Serial Interface to PC

Serial Interface
to PC with 9-Pin SUB-D
Fig. 8-23: Connection of serial interface to PC with 9-pin SUB-D
Note: For direct connection to the serial interface, use our cable
IKB 0041.
Serial Interface
to PC with 25-Pin SUB-D
Fig. 8-24: Connection of serial interface to PC with 25-pin SUB-D
8.5 Engineering Interface

The following description of the Engineering Interface is preliminary.
Description The interface corresponds to the IEE 802.3 standard.

point poles
X26 RJ-45 8

4 n. c. -
5 n. c. -
7 n. c. -
8 n. c. -
Housing shield connection
Compatibility of Interface 10 Base-T according to IEEE 802.3i

Recommended cable type According to CAT 5
Rexroth IndraDrive Other Technical Data 9-1
9 Other Technical Data
9.1 Power Consumption

The power consumption of the control sections consists of the
components for
• basic equipment and
• optional equipment
Note: The control sections are supplied via the terminal connectors
24V and 0V at the power section (24V supply).
Basic Circuit Boards of Control Section
Note: According to the options with which the control section has
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.
Designation Power Typ. inrush Max. pulse width

consumption current tEIN3Lade
PN3 1) IEIN3
[W] [A] [ms]
CSB01.1N-FC… 7,5 1,5 120
CSB01.1N-SE… 7,5 5 40
CSB01.1N-PB… 7,5 5 40
CSB01.1N-AN… 8,0 1,5 130
CSB01.1C-… 6,5 4,5 110
CDB01.1C-… 7,5 6 60
CSH01.1C-… 6,0 4 100
CSH01.2C-… 7,0 4 100
1) at max. allowed output load without optional modules
Fig. 9-1: Power consumption of control sections
Note: The isolated inputs/outputs at X31 and X32 are not supplied
via the connections of the 24V supply of the power section. A
separate voltage supply is required for these inputs/outputs.
9-2 Other Technical Data Rexroth IndraDrive
Optional Modules
1)
OP Optional module Power
consumption
PN3 2)
[W]
SE master communication SERCOS 1,5
PB master communication PROFIBUS-DP 2,0
PL master communication parallel interface 1,0
CO master communication DeviceNet and CANopen 1,0
S3 master communication SERCOS III 1,0
CCD cross communications SERCOS III 1,0
S standard control panel 1,0
C comfort control panel 1,0
ENS IndraDyn, HIPERFACE®, 1Vpp 5,5
EN1 HSF, resolver 6,0
EN2 EnDat2.1 / 1Vpp / 5V TTL 5,5
MEM encoder emulator 1,2
L1 starting lockout 1,5
S1 safety technology I/O 1,0
MD1 digital I/O extension 1,0
MA1 analog I/O extension 2,0
MD2 digital I/O extension and SSI encoder evaluation 1,0
PFM MultiMediaCard 0,5
1) code from the control section type codes
2) at max. allowed output load without circuits to be supplied externally
Fig. 9-2: Power consumption of optional modules
Rexroth IndraDrive Other Technical Data 9-3
9.2 Connections
The connection points at Rexroth IndraDrive control sections are
equipped with spring terminals and screw terminal blocks.
Note: 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
Connections with Spring Terminals

Spring terminals can be wired with wire ends equipped with or without
ferrules. Preferably use wire ends without ferrules.
When preparing the connections, make sure
• that all strands of a stranded wire are placed in the funnel of the
terminal connector.
• not to use solid wires, where possible.
• that the cross section that can be connected at the spring terminals is
max. 1 mm².
• to use appropriate crimping tools for the wire ends with ferrules.
Connections with Screw Terminal Blocks

On screw terminal blocks use wire ends with ferrules. Make sure to use
appropriate crimping tools.
When preparing the connections, make sure that all strands of a stranded
wire are placed in the funnel of the terminal connector.
9-4 Other Technical Data Rexroth IndraDrive
Rexroth IndraDrive Accessory 10-1
10 Accessory
10.1 Signal Level Converter for Encoder Emulation,

HAS05.1-003
Usage
Accessory Usage
HAS05.1-003-NNN-NN The accessory is used to adjust voltage levels at the
output of the optional module MEM to the voltage
range of 5…30V.
Fig. 10-1: Accessory for control section
Scope of Supply
The accessories have to be ordered separately. They are not part of the
Dimensions
Fig. 10-2: Dimensions HAS05.1-003
10-2 Accessory Rexroth IndraDrive
Components
1: top shell of connector housing

2: bottom shell of connector housing
3: electronics circuit board with internal connection point
Fig. 10-3: Components of signal level converter
Description
Fig. 10-4: Accessory HAS05.1-003
Connection point Type No. of poles Stranded wire

[mm²]
X2 screw terminal 6 0,14 – 1,5
block
see also chapter "Connections with Screw Terminal Blocks"

1 UB voltage supply for electronics
2 UL voltage supply for output driver
3 UA2+ incremental encoder track A2
4 0Vext reference potential
5 UA1+ incremental encoder track A1
6 UA0+ incremental encoder reference track A0
shield connect cable shield to connector housing
Note: If the required output voltage UL is greater than 7V, it can be

used to supply the electronics (UB), too.
Electrical Data Data Unit Min. Typ. Max.

supply voltage UL V 5 30
(output driver)
supply voltage UL mA 16
(output driver)
supply voltage UB V 7 30
(electronics)
supply voltage UB mA 17
(electronics)
output voltage V UL
UA0+, UA1+, UA2+
allowed output current per mA 40
output UA0+, UA1+, UA2+
output resistance kOhm
overload protection present, output voltage is
reduced
Fig. 10-7: Supply and outputs
Example of Connection
Fig. 10-8: Example of connection
10.2 Signal Level Converter RS232/RS485, HAS05.1-005

Following documentation of the signal level converter HAS05.1-005 is
preliminary.
Usage
Accessory Usage
HAS05.1-005-NNN-NN Converts the serial interface of
Rexroth IndraDrive control sections
from RS232 standard to RS485
standard.
Fig. 10-9: Usage
Scope of Supply
The accessories have to be ordered separately. They are not part of the
Scope of supply of the accessories:

• converter
• connectors at X2 and X3
• cable ties
• accompanying note
Technical Data
Dimensions
Fig. 10-10: Dimensions
Note: HAS05.1-005 can be mounted on a top hat rail. For mounting

it on a plane surface, remove the rail clamp from the back of
the housing.
You can mount it also on electrically insulating surfaces.
Electrical Data Feature Unit Min. Typ. Max.

number of nodes 31
allowed cable length 1) m 500
transmission rate 2) kBaud 9,6 115
operation mode half duplex two-wire-line
coupling between X1 and X2, X3 galvanically coupled
allowed difference of voltage V 20
between potentials of reference
of drive controllers (housing)
current consumption at X1.1 mA 50
termination (TERM) switchable "ON", "OFF"
short-circuit protection Data+ against Data-;
Data+, Data- against GND
cable length at X1 m 5
cable length at X2, X3 m keep the bus propagation, see
allowed cable length
connection X2, X3 spring terminal
connection cross section multi- mm² / 0,14…1,5 / 28…16;
wire AWG ferrule without insulating shroud
1) bus propagation RS485 comes up to the total length of all connected
lines
2) is set via the firmware
Fig. 10-11: Technical features
Position of Connections,
Termination
Fig. 10-12: HAS05.1-005 with connections
Assignment X1 Connection Signal Function

1 Vcc supply voltage (+5V)
2 RxD Receive Data
3 TxD Transmit Data
4 n.c. n.c.
5 GND reference potential
6 n.c. n.c.
7 n.c. n.c.
8 RTS Request to send
9 n.c. n.c.
Fig. 10-13: Assignment X1

1 Data+ Data transmission +
2 Data- Data transmission -
3 shield connection outer shield

1 Data+ Data transmission +
2 Data- Data transmission -
3 shield connection outer shield
4 GND connection inner shield (signal shield)
Installation
Three connections connect the converter HAS05.1-005 to one
RS485 bus:
• connection X1 with the serial interface X2 of the control section
• connection X2 with the connection X3 of the next HAS05
• connection X2 of bus master (e.g. RS232/485 converter controlled by
PC)
Note: Terminate the RS485 bus line at the farthest bus end.
Switch on bus master termination (converter at PC). Set
"TERM" switch of the last node to "ON".
See also Functional Description MPx04 "Serial Communication"

->"Communication via RS485 Interface".
Example
Fig. 10-16: Example
Note: Connect PC and RS485 bus via a RS232/485 converter.

When selecting a RS232/485 converter, please observe that
for switching the data direction the RTS signal of interface
RS232 of the PC often is used. If the software uses the RTS
signal, the RS232/485 converter must support this signal.
Connection X1
Connection from X1 to Control
Section (X2)
Fig. 10-17: Cable RKB00010
Note: For a direct connection from X1 to the control section use our
cable RKB00010 and observe its maximum length (see
Technical Data of HAS05).
Connection X2 and X3
Connect X2 and X3 with a cable according to the following figure:
Connection X2 to X3
Fig. 10-18: Cable for connecting X2 and X3
Note: Use our non-assembled cable INK0572 to make your cable.
Strain Relief at X2 and X3
Fig. 10-19: Strain relief at X2 and X3
Note: Pay attention to a sufficient strain relief at X2 and X3. Use

cable ties.
Rexroth IndraDrive Disposal and Environmental Protection 11-1
11 Disposal and Environmental Protection
11.1 Disposal
Products
Our products can be returned to us free of charge for disposal. It is a
precondition, however, that the products are free of oil, grease or other
dirt.
Furthermore, the products returned for disposal must not contain any
undue foreign 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
97816 Lohr am Main
Germany
Packaging Materials
The packaging materials consist of cardboard, wood and polystyrene.
These materials can be easily recycled in any municipal recycling system.
For ecological reasons, please refrain from returning the empty packages
to us.
11.2 Environmental Protection
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.
Materials Contained in the Products

Electronic Devices
Electronic devices mainly contain:
• steel
• aluminium
• copper
• synthetic materials
• electronic components and modules
11-2 Disposal and Environmental Protection Rexroth IndraDrive
Motors
Motors mainly contain:
• steel
• aluminium
• copper
• brass
• magnetic materials
• electronic components and modules
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.
Rexroth IndraDrive Service & Support 12-1
12 Service & Support
12.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr Our service helpdesk at our headquarters in Lohr am
am Main steht Ihnen mit Rat und Tat zur Seite. Main, Germany can assist you in all kinds of inquiries.
Sie erreichen uns Contact us
- telefonisch - by phone: +49 (0) 9352 40 50 60

über Service Call Entry Center Mo-Fr 07:00-18:00
- via Service Call Entry Center Mo-Fr 7:00 am - 6:00 pm
- per Fax - by fax: +49 (0) 9352 40 49 41
- per e-Mail - by e-mail: service.svc@boschrexroth.de
12.2 Service-Hotline
Außerhalb der Helpdesk-Zeiten ist der Service After helpdesk hours, contact our service
direkt ansprechbar unter department directly at
+49 (0) 171 333 88 26

oder - or +49 (0) 172 660 04 06
12.3 Internet
Unter www.boschrexroth.com finden Sie At www.boschrexroth.com you may find

ergänzende Hinweise zu Service, Reparatur und additional notes about service, repairs and training
Training sowie die aktuellen Adressen *) unserer in the Internet, as well as the actual addresses *) of
auf den folgenden Seiten aufgeführten Vertriebs- our sales- and service facilities figuring on the
und Servicebüros. following pages.
Verkaufsniederlassungen sales agencies
Niederlassungen mit Kundendienst offices providing service
Außerhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit Please contact our sales / service office in your area first.
unserem für Sie nächstgelegenen Ansprechpartner auf.
*) Data in the present documentation may have become
*) Die Angaben in der vorliegenden Dokumentation können obsolete since printing.
seit Drucklegung überholt sein.
12.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir können Ihnen schnell und effizient helfen wenn For quick and efficient help, please have the
Sie folgende Informationen bereithalten: following information ready:
1. detaillierte Beschreibung der Störung und der 1. Detailed description of the failure and
Umstände. circumstances.
2. Angaben auf dem Typenschild der 2. Information on the type plate of the affected
betreffenden Produkte, insbesondere products, especially type codes and serial
Typenschlüssel und Seriennummern. numbers.
3. Tel.-/Faxnummern und e-Mail-Adresse, unter 3. Your phone/fax numbers and e-mail address,
denen Sie für Rückfragen zu erreichen sind. so we can contact you in case of questions.
12-2 Service & Support Rexroth IndraDrive
12.5 Kundenbetreuungsstellen - Sales & Service Facilities
Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!

from abroad: don’t dial (0) after country code!
Vertriebsgebiet Mitte
Germany Centre SERVICE AUTOMATION SERVICE AUTOMATION SERVICE AUTOMATION
Bosch Rexroth CALL ENTRY CENTER ERSATZTEILE / SPARES
Electrice Drives and Controls GmbH Helpdesk HOTLINE 24 / 7 / 365 verlängerte Ansprechzeit
Bgm.-Dr.-Nebel-Str. 2 / Postf. 1357 MO – FR - extended office time -
97816 Lohr am Main / 97803 Lohr von 07:00 - 18:00 Uhr außerhalb der Helpdesk-Zeit ♦ nur an Werktagen
from 7 am – 6 pm out of helpdesk hours - only on working days -
Kompetenz-Zentrum Europa
♦ von 07:00 - 18:00 Uhr
Tel. +49 (0) 9352 40 50 60 Tel.: +49 (0)172 660 04 06
Tel.: +49 (0)9352 40-0 - from 7 am - 6 pm -
Fax +49 (0) 9352 40 49 41 oder / or
Fax: +49 (0)9352 40-4885 Tel.: +49 (0)171 333 88 26 Tel. +49 (0) 9352 40 42 22
service.svc@boschrexroth.de
Vertriebsgebiet Süd Vertriebsgebiet West Gebiet Südwest
Germany South Germany West Germany South-West
Bosch Rexroth AG Bosch Rexroth AG Bosch Rexroth AG
Landshuter Allee 8-10 Regionalzentrum West Service-Regionalzentrum Süd-West
80637 München Borsigstrasse 15 Siemensstr. 1
40880 Ratingen 70736 Fellbach
Tel.: +49 (0)89 127 14-0 Tel.: +49 (0)2102 409-0 Tel.: +49 (0)711 51046–0
Fax: +49 (0)89 127 14-490 Fax: +49 (0)2102 409-406 Fax: +49 (0)711 51046–248
+49 (0)2102 409-430
Vertriebsgebiet Nord Vertriebsgebiet Mitte Vertriebsgebiet Ost Vertriebsgebiet Ost

Germany North Germany Centre Germany East Germany East
Bosch Rexroth AG Bosch Rexroth AG Bosch Rexroth AG Bosch Rexroth AG
Walsroder Str. 93 Regionalzentrum Mitte Beckerstraße 31 Regionalzentrum Ost
30853 Langenhagen Waldecker Straße 13 09120 Chemnitz Walter-Köhn-Str. 4d
Tel.: +49 (0) 511 72 66 57-0 64546 Mörfelden-Walldorf 04356 Leipzig
Service: +49 (0) 511 72 66 57-256
Fax: +49 (0) 511 72 66 57-93 Tel.: +49 (0) 61 05 702-3 Tel.: +49 (0)371 35 55-0 Tel.: +49 (0)341 25 61-0
Service: +49 (0) 511 72 66 57-783 Fax: +49 (0) 61 05 702-444 Fax: +49 (0)371 35 55-333 Fax: +49 (0)341 25 61-111
Europa (West) - Europe (West)

vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählen
from abroad: don’t dial (0) after country code, Italy: dial 0 after country code
Austria - Österreich Austria – Österreich Belgium - Belgien Denmark - Dänemark

Bosch Rexroth GmbH Bosch Rexroth GmbH Bosch Rexroth NV/SA BEC A/S
Electric Drives & Controls Electric Drives & Controls Henri Genessestraat 1 Zinkvej 6
Stachegasse 13 Industriepark 18 1070 Bruxelles 8900 Randers
1120 Wien 4061 Pasching
Tel.: +43 (0) 1 985 25 40 Tel.: +43 (0)7221 605-0 Tel: +32 (0) 2 451 26 08 Tel.: +45 87 11 90 60
Fax: +43 (0) 1 985 25 40-93 Fax: +43 (0)7221 605-21 Fax: +32 (0) 2 451 27 90 Fax: +45 87 11 90 61
info@boschrexroth.be
service@boschrexroth.be
Great Britain – Großbritannien Finland - Finnland France - Frankreich France - Frankreich

Bosch Rexroth Ltd. Bosch Rexroth Oy Bosch Rexroth SAS Bosch Rexroth SAS
Electric Drives & Controls Electric Drives & Controls Electric Drives & Controls Electric Drives & Controls
Broadway Lane, South Cerney Ansatie 6 Avenue de la Trentaine ZI de Thibaud, 20 bd. Thibaud
Cirencester, Glos GL7 5UH 017 40 Vantaa (BP. 74) (BP. 1751)
77503 Chelles Cedex 31084 Toulouse
Tel.: +44 (0)1285 863000 Tel.: +358 (0)9 84 91-11 Tel.: +33 (0)164 72-63 22 Tel.: +33 (0)5 61 43 61 87
Fax: +44 (0)1285 863030 Fax: +358 (0)9 84 91-13 60 Fax: +33 (0)164 72-63 20 Fax: +33 (0)5 61 43 94 12
sales@boschrexroth.co.uk Hotline: +33 (0)608 33 43 28
service@boschrexroth.co.uk
France – Frankreich Italy - Italien Italy - Italien Italy - Italien

Bosch Rexroth SAS Bosch Rexroth S.p.A. Bosch Rexroth S.p.A. Bosch Rexroth S.p.A.
Electric Drives & Controls Strada Statale Padana Via Paolo Veronesi, 250 Via Mascia, 1
91, Bd. Irène Joliot-Curie Superiore 11, no. 41 10148 Torino 80053 Castellamare di Stabia NA
69634 Vénissieux – Cedex 20063 Cernusco S/N.MI
Tel.: +33 (0)4 78 78 53 65 Hotline: +39 02 92 365 563 Tel.: +39 011 224 88 11 Tel.: +39 081 8 71 57 00
Fax: +33 (0)4 78 78 53 62 Tel.: +39 02 92 365 1 Fax: +39 011 224 88 30 Fax: +39 081 8 71 68 85
Service: +39 02 92 365 300
Fax: +39 02 92 365 500
Service: +39 02 92 365 516
Italy - Italien Italy - Italien Netherlands - Niederlande/Holland Netherlands – Niederlande/Holland

Bosch Rexroth S.p.A. Bosch Rexroth S.p.A. Bosch Rexroth Services B.V. Bosch Rexroth B.V.
Via del Progresso, 16 (Zona Ind.) Via Isonzo, 61 Technical Services Kruisbroeksestraat 1
35020 Padova 40033 Casalecchio di Reno (Bo) Kruisbroeksestraat 1 (P.O. Box 32)
(P.O. Box 32) 5281 RV Boxtel
5281 RV Boxtel
Tel.: +39 049 8 70 13 70 Tel.: +39 051 29 86 430 Tel.: +31 (0) 411 65 19 51 Tel.: +31 (0) 411 65 16 40
Fax: +39 049 8 70 13 77 Fax: +39 051 29 86 490 Fax: +31 (0) 411 67 78 14 Fax: +31 (0) 411 65 14 83
Hotline: +31 (0) 411 65 19 51 www.boschrexroth.nl
services@boschrexroth.nl
Norway - Norwegen Spain – Spanien Spain - Spanien Spain - Spanien

Bosch Rexroth AS Goimendi Automation S.L. Bosch Rexroth S.A. Bosch Rexroth S.A.
Electric Drives & Controls Parque Empresarial Zuatzu Electric Drives & Controls Electric Drives & Controls
Berghagan 1 or: Box 3007 C/ Francisco Grandmontagne no.2 Centro Industrial Santiga c/ Almazara, 9
1405 Ski-Langhus 1402 Ski 20018 San Sebastian Obradors 14-16 28760 Tres Cantos (Madrid)
Tel.: +47 64 86 41 00 08130 Santa Perpetua de Mogoda
Tel.: +34 9 43 31 84 21 Barcelona Tel.: +34 91 806 24 79
Fax: +47 64 86 90 62 - service: +34 9 43 31 84 56 Tel.: +34 9 37 47 94 00 Fax: +34 91 806 24 72
Fax: +34 9 43 31 84 27 Fax: +34 9 37 47 94 01 fernando.bariego@boschrexroth.es
Hotline: +47 64 86 94 82 - service: +34 9 43 31 84 60
jul.ruud@rexroth.no sat.indramat@goimendi.es
Sweden - Schweden Sweden - Schweden Switzerland East - Schweiz Ost Switzerland West - Schweiz West
Bosch Rexroth AB Bosch Rexroth AB Bosch Rexroth Schweiz AG Bosch Rexroth Suisse SA
Electric Drives & Controls Electric Drives & Controls Electric Drives & Controls Av. Général Guisan 26
- Varuvägen 7 Ekvändan 7 Hemrietstrasse 2 1800 Vevey 1
(Service: Konsumentvägen 4, Älfsjö) 254 67 Helsingborg 8863 Buttikon
125 81 Stockholm Tel.: +46 (0) 4 238 88 -50 Tel. +41 (0) 55 46 46 111 Tel.: +41 (0)21 632 84 20
Fax: +46 (0) 4 238 88 -74 Fax +41 (0) 55 46 46 222 Fax: +41 (0)21 632 84 21
Tel.: +46 (0) 8 727 92 00
Fax: +46 (0) 8 647 32 77
Europa (Ost) - Europe (East)

vom Ausland: (0) nach Landeskennziffer weglassen
from abroad: don’t dial (0) after country code
Czech Republic - Tschechien Czech Republic - Tschechien Hungary - Ungarn Poland – Polen
Bosch -Rexroth, spol.s.r.o. DEL a.s. Bosch Rexroth Kft. Bosch Rexroth Sp.zo.o.
Hviezdoslavova 5 Strojírenská 38 Angol utca 34 ul. Staszica 1
627 00 Brno 591 01 Zdar nad Sázavou 1149 Budapest 05-800 Pruszków
Tel.: +420 (0)5 48 126 358 Tel.: +420 566 64 3144 Tel.: +36 (1) 422 3200 Tel.: +48 (0) 22 738 18 00
Fax: +420 (0)5 48 126 112 Fax: +420 566 62 1657 Fax: +36 (1) 422 3201 – service: +48 (0) 22 738 18 46
Fax: +48 (0) 22 758 87 35
– service: +48 (0) 22 738 18 42
Poland – Polen Romania - Rumänien Romania - Rumänien Russia - Russland

Bosch Rexroth Sp.zo.o. East Electric S.R.L. Bosch Rexroth Sp.zo.o. Bosch Rexroth OOO
Biuro Poznan Bdul Basarabia no.250, sector 3 Str. Drobety nr. 4-10, app. 14 Wjatskaja ul. 27/15
ul. Dabrowskiego 81/85 73429 Bucuresti 70258 Bucuresti, Sector 2 127015 Moskau
60-529 Poznan Tel./Fax:: +40 (0)21 255 35 07 Tel.: +40 (0)1 210 48 25 Tel.: +7-095-785 74 78
Tel.: +48 061 847 64 62 /-63 +40 (0)21 255 77 13 +40 (0)1 210 29 50 +7-095 785 74 79
Fax: +48 061 847 64 02 Fax: +40 (0)21 725 61 21 Fax: +40 (0)1 210 29 52 Fax: +7 095 785 74 77
eastel@rdsnet.ro laura.kanina@boschrexroth.ru
Russia Belarus - Weissrussland Turkey - Türkei Turkey - Türkei Slowenia - Slowenien

ELMIS Bosch Rexroth Otomasyon Servo Kontrol Ltd. Sti. DOMEL
10, Internationalnaya San & Tic. A..S. Perpa Ticaret Merkezi B Blok Otoki 21
246640 Gomel, Belarus Fevzi Cakmak Cad No. 3 Kat: 11 No: 1609 64 228 Zelezniki
Tel.: +375/ 232 53 42 70 34630 Sefaköy Istanbul 80270 Okmeydani-Istanbul
+375/ 232 53 21 69 Tel.: +90 212 413 34 00 Tel: +90 212 320 30 80 Tel.: +386 5 5117 152
Fax: +375/ 232 53 37 69 Fax: +90 212 413 34 17 Fax: +90 212 320 30 81 Fax: +386 5 5117 225
elmis_ltd@yahoo.com www.boschrexroth.com.tr remzi.sali@servokontrol.com brane.ozebek@domel.si
www.servokontrol.com
Africa, Asia, Australia – incl. Pacific Rim
Australia - Australien Australia - Australien China China

AIMS - Australian Industrial Bosch Rexroth Pty. Ltd. Shanghai Bosch Rexroth Shanghai Bosch Rexroth
Machinery Services Pty. Ltd. No. 7, Endeavour Way Hydraulics & Automation Ltd. Hydraulics & Automation Ltd.
28 Westside Drive Braeside Victoria, 31 95 Waigaoqiao, Free Trade Zone 4/f, Marine Tower
Laverton North Vic 3026 Melbourne No.122, Fu Te Dong Yi Road No.1, Pudong Avenue
Melbourne Shanghai 200131 - P.R.China Shanghai 200120 - P.R.China
Tel.: +61 3 93 14 3321 Tel.: +61 3 95 80 39 33 Tel.: +86 21 58 66 30 30 Tel: +86 21 68 86 15 88
Fax: +61 3 93 14 3329 Fax: +61 3 95 80 17 33 Fax: +86 21 58 66 55 23 Fax: +86 21 68 86 05 99
Hotlines: +61 3 93 14 3321 mel@rexroth.com.au richard.yang_sh@boschrexroth.com.cn
+61 4 19 369 195 gf.zhu_sh@boschrexroth.com.cn
enquires@aimservices.com.au
China China China China

Bosch Rexroth China Ltd. Bosch Rexroth China Ltd. Bosch Rexroth (China) Ltd. Melchers GmbH
15/F China World Trade Center Guangzhou Repres. Office A-5F., 123 Lian Shan Street BRC-SE, Tightening & Press-fit
1, Jianguomenwai Avenue Room 1014-1016, Metro Plaza, Sha He Kou District 13 Floor Est Ocean Centre
Beijing 100004, P.R.China Tian He District, 183 Tian He Bei Rd Dalian 116 023, P.R.China No.588 Yanan Rd. East
Guangzhou 510075, P.R.China 65 Yanan Rd. West
Shanghai 200001
Tel.: +86 10 65 05 03 80 Tel.: +86 20 8755-0030 Tel.: +86 411 46 78 930 Tel.: +86 21 6352 8848
Fax: +86 10 65 05 03 79 +86 20 8755-0011 Fax: +86 411 46 78 932 Fax: +86 21 6351 3138
Fax: +86 20 8755-2387
Hongkong India - Indien India - Indien India - Indien

Bosch Rexroth (China) Ltd. Bosch Rexroth (India) Ltd. Bosch Rexroth (India) Ltd. Bosch Rexroth (India) Ltd.
6th Floor, Electric Drives & Controls Electric Drives & Controls S-10, Green Park Extension
Yeung Yiu Chung No.6 Ind Bldg. Plot. No.96, Phase III Advance House, II Floor New Delhi – 110016
19 Cheung Shun Street Peenya Industrial Area Ark Industrial Compound
Cheung Sha Wan, Bangalore – 560058 Narol Naka, Makwana Road
Kowloon, Hongkong Andheri (East), Mumbai - 400 059
Tel.: +852 22 62 51 00 Tel.: +91 80 51 17 0-211...-218 Tel.: +91 22 28 56 32 90 Tel.: +91 11 26 56 65 25
Fax: +852 27 41 33 44 Fax: +91 80 83 94 345 +91 22 28 56 33 18 +91 11 26 56 65 27
alexis.siu@boschrexroth.com.hk +91 80 83 97 374 Fax: +91 22 28 56 32 93 Fax: +91 11 26 56 68 87
mohanvelu.t@boschrexroth.co.in singh.op@boschrexroth.co.in koul.rp@boschrexroth.co.in
Indonesia - Indonesien Japan Japan Korea

PT. Bosch Rexroth Bosch Rexroth Automation Corp. Bosch Rexroth Automation Corp. Bosch Rexroth-Korea Ltd.
Building # 202, Cilandak Service Center Japan Electric Drives & Controls Electric Drives and Controls
Commercial Estate Yutakagaoka 1810, Meito-ku, 2F, I.R. Building Bongwoo Bldg. 7FL, 31-7, 1Ga
Jl. Cilandak KKO, Jakarta 12560 NAGOYA 465-0035, Japan Nakamachidai 4-26-44, Tsuzuki-ku Jangchoong-dong, Jung-gu
YOKOHAMA 224-0041, Japan Seoul, 100-391
Tel.: +62 21 7891169 (5 lines) Tel.: +81 52 777 88 41 Tel.: +81 45 942 72 10 Tel.: +82 234 061 813
Fax: +62 21 7891170 - 71 +81 52 777 88 53 Fax: +81 45 942 03 41 Fax: +82 222 641 295
rudy.karimun@boschrexroth.co.id +81 52 777 88 79
Fax: +81 52 777 89 01
Korea Korea Malaysia Singapore - Singapur

Bosch Rexroth-Korea Ltd. Bosch Rexroth-Korea Ltd. Bosch Rexroth Sdn.Bhd. Bosch Rexroth Pte Ltd
Electric Drives & Controls Electric Drives & Controls 11, Jalan U8/82, Seksyen U8 15D Tuas Road
1515-14 Dadae-Dong, Saha-gu 1515-14 Dadae-Dong, Saha-gu 40150 Shah Alam Singapore 638520
Pusan Metropolitan City, 604-050 Ulsan, 680-010 Selangor, Malaysia
Tel.: +82 51 26 00 741 Tel.: +82 52 256-0734 Tel.: +60 3 78 44 80 00 Tel.: +65 68 61 87 33
Fax: +82 51 26 00 747 Fax: +82 52 256-0738 Fax: +60 3 78 45 48 00 Fax: +65 68 61 18 25
eunkyong.kim@boschrexroth.co.kr keonhyun.jeong@boschrexroth.co.kr hhlim@boschrexroth.com.my lai.ts@boschrexroth.com.sg
rexroth1@tm.net.my
South Africa - Südafrika Taiwan Taiwan Thailand

TECTRA Automation (Pty) Ltd. Bosch Rexroth Co., Ltd. Bosch Rexroth Co., Ltd. NC Advance Technology Co. Ltd.
100 Newton Road, Meadowdale Taichung Industrial Area Tainan Branch 59/76 Moo 9
Edenvale 1609 No.19, 38 Road No. 17, Alley 24, Lane 737 Ramintra road 34
Taichung, Taiwan 407, R.O.C. Chung Cheng N.Rd. Yungkang Tharang, Bangkhen,
Tel.: +27 11 971 94 00 Tel : +886 - 4 -235 08 383 Tainan Hsien, Taiwan, R.O.C. Bangkok 10230
Fax: +27 11 971 94 40 Fax: +886 - 4 -235 08 586 Tel : +886 - 6 –253 6565 Tel.: +66 2 943 70 62
Hotline: +27 82 903 29 23 jim.lin@boschrexroth.com.tw Fax: +886 - 6 –253 4754 +66 2 943 71 21
georgv@tectra.co.za david.lai@boschrexroth.com.tw charlie.chen@boschrexroth.com.tw Fax: +66 2 509 23 62
Hotline +66 1 984 61 52
sonkawin@hotmail.com
Nordamerika – North America

USA USA Central Region - Mitte USA Southeast Region - Südost USA SERVICE-HOTLINE
Headquarters - Hauptniederlassung
Bosch Rexroth Corporation Bosch Rexroth Corporation
Bosch Rexroth Corporation Electric Drives & Controls Electric Drives & Controls
- 7 days x 24hrs -
Electric Drives & Controls 1701 Harmon Road 2810 Premiere Parkway, Suite 500
5150 Prairie Stone Parkway Auburn Hills, MI 48326 Duluth, GA 30097
Hoffman Estates, IL 60192-3707
+1-800-REXROTH
Tel.: +1 847 645-3600 Tel.: +1 248 393-3330 Tel.: +1 678 957-4050 +1 800 739-7684
Fax: +1 847 645-6201 Fax: +1 248 393-2906 Fax: +1 678 417-6637
servicebrc@boschrexroth-us.com
repairbrc@boschrexroth-us.com
USA Northeast Region – Nordost USA West Region – West
Bosch Rexroth Corporation Bosch Rexroth Corporation

Electric Drives & Controls Electric Drives & Controls
99 Rainbow Road 7901 Stoneridge Drive, Suite 220
East Granby, CT 06026 Pleasanton, CA 94588
Tel.: +1 860 844-8377 Tel.: +1 925 227-1084
Fax: +1 860 844-8595 Fax: +1 925 227-1081
Canada East - Kanada Ost Canada West - Kanada West Mexico Mexico
Bosch Rexroth Canada Corporation Bosch Rexroth Canada Corporation Bosch Rexroth Mexico S.A. de C.V. Bosch Rexroth S.A. de C.V.
Burlington Division 5345 Goring St. Calle Neptuno 72 Calle Argentina No 3913
3426 Mainway Drive Burnaby, British Columbia Unidad Ind. Vallejo Fracc. las Torres
Burlington, Ontario Canada V7J 1R1 07700 Mexico, D.F. 64930 Monterrey, N.L.
Canada L7M 1A8
Tel.: +1 905 335 5511 Tel. +1 604 205 5777 Tel.: +52 55 57 54 17 11 Tel.: +52 81 83 65 22 53
Fax: +1 905 335 4184 Fax +1 604 205 6944 Fax: +52 55 57 54 50 73 +52 81 83 65 89 11
mario.francioli@boschrexroth.com.mx +52 81 83 49 80 91
michael.moro@boschrexroth.ca david.gunby@boschrexroth.ca Fax: +52 81 83 65 52 80
Südamerika – South America

Argentina - Argentinien Argentina - Argentinien Brazil - Brasilien Brazil - Brasilien
Bosch Rexroth S.A.I.C. NAKASE SRL Bosch Rexroth Ltda. Bosch Rexroth Ltda.
"The Drive & Control Company" Servicio Tecnico CNC Av. Tégula, 888 R. Dr.Humberto Pinheiro Vieira, 100
Rosario 2302 Calle 49, No. 5764/66 Ponte Alta, Atibaia SP Distrito Industrial [Caixa Postal 1273]
B1606DLD Carapachay B1653AOX Villa Balester CEP 12942-440 89220-390 Joinville - SC
Provincia de Buenos Aires Provincia de Buenos Aires
Tel.: +54 11 4756 01 40 Tel.: +54 11 4768 36 43 Tel.: +55 11 4414 56 92 Tel./Fax: +55 47 473 58 33
+54 11 4756 02 40 Fax: +54 11 4768 24 13 +55 11 4414 56 84 Mobil: +55 47 9974 6645
+54 11 4756 03 40 Hotline: +54 11 155 307 6781 Fax sales: +55 11 4414 57 07
+54 11 4756 04 40 nakase@usa.net Fax serv.: +55 11 4414 56 86 sergio.prochnow@boschrexroth.com.br
Fax: +54 11 4756 01 36 nakase@nakase.com alexandre.wittwer@rexroth.com.br
+54 11 4721 91 53 gerencia@nakase.com (Service)
victor.jabif@boschrexroth.com.ar
Columbia - Kolumbien
Reflutec de Colombia Ltda.

Calle 37 No. 22-31
Santafé de Bogotá, D.C.
Colombia
Tel.: +57 1 368 82 67
+57 1 368 02 59
Fax: +57 1 268 97 37
reflutec@etb.net.co
Rexroth IndraDrive Index 13-1
13 Index
1
1 Vpp 7-19
5
5 V-TTL square-wave encoder
EN2 7-30
ENS 7-19
A
accessory
HAS05.1-005 10-5
Accessory
HAS05.1-003 10-1
ADVANCED
options 6-33, 6-38
Analog I/O extension 7-42
Analog inputs
technical data 8-5
type 1 8-5
type 3 8-7
type 4 8-8
Analog outputs
technical data 8-9
type 1 8-9
type 2 8-9
type 3 8-10
Applications 4-1
appropriate use 2-1
B
BASIC ANALOG 6-16
Basic circuit board 4-1
BASIC PROFIBUS 6-14
BASIC SERCOS 6-12
BASIC UNIVERSAL
double-axis 6-22
double-axis - options 6-25
single-axis 6-18
single-axis - options 6-20
Box with project planning manuals 1-3
Brief description 4-1
Bus lengths
CANopen 7-14
DeviceNet 7-14
C
cable
RKB 00010 10-9
Cable
IKB 0041 8-12
IKS 4038 7-33
IKS 4042 7-29
IKS 4043 7-29
RKG 0014 7-33
RKG 4200 7-22
RKG 4400 7-51
RKG 4401 7-51
RKS 0003 7-44
RKS 0004 7-49
CANopen 7-12
13-2 Index Rexroth IndraDrive
CCD
cross communication 7-17
CDB01 4-2
CO 7-12
Comfort control panel 7-55
Comfort display 7-55
Configurability 6-2
Configuration 4-1
Connection diagrams
EN1 7-29
EN2 7-33
ENS 7-22
ENS with Third-Party Encoder 7-23
RS 232 8-12
serial interface 8-12
Connections
with screw terminal blocks 9-3
with spring terminals 9-3
Control panel
comfort control panel 7-55
standard control panel 7-54
control sction
type code ADVANCED CSH02 6-29
Control section
ADVANCED 6-27
basic circuit board 4-1
configurability 6-2
mounting and dismounting 1-5
overview - functions and interfaces 6-2
overview - types 6-1
power consumption 9-1
term 4-1
type code ADVANCED 6-27
type codes BASIC 6-3
type plate 5-2
Cross communication CCD 7-17
CSB
type code 6-3, 6-4
CSB01 4-2
CSH01 4-2
CSH02
type code 6-29
D
DeviceNet 7-12
Digital I/O extension
MD1 7-45
MD2 7-47
Digital inputs
technical data 8-3
Digital outputs
technical data 8-4
Dimensional drawing
control section double-axis 6-8
control section single-axis 6-7
Dimensions
ADVANCED 6-29
BASIC double-axis 6-8
BASIC single-axis 6-7
Display
comfort display 7-55
standard display 7-54
Disposal 11-1
Document structure 1-1
Documentation
structure 1-1
Documentations
overview 1-2
Drive controller
basic design 1-4
control section, power section 1-4
E
EN1 7-26
EN2 7-30
encoder emulation
optional module MEM 7-37
Encoder emulation
signal level converter 10-1
Encoder evaluation
5 V-TTL 7-30
EN2 7-30
EnDat2.1 7-30
ENS 7-19
HSF 7-26
resolver 7-26
sine encoder 7-30
SSI 7-47
Encoder systems
1 Vpp 7-19
5 V-TTL 7-19
EN1 7-26
HIPERFACE® 7-19
HSF 7-26
IndraDyn 7-19
resolver 7-26
EnDat2.1 7-30
Engineering Interface 8-13
ENS 7-19
Environmental protection 11-1
F
Fiber optic cables 7-2
Fields of application
drive system Rexroth IndraDrive 4-2
Firmware
type plate 5-2
Functions
technical data 8-1
Functions and interfaces 6-2
H
HAS01 7-1
HAS05.1-003 10-1
HAS05.1-005 10-5
HCC01 7-1, 7-8
HCC02 7-1
HCC03 7-1
HCC06 7-1
HCC07 7-1
HCC08 7-1
HEA01 7-1
HEA02 7-1
HFE01 7-1
HFI01 7-1
HFI02 7-1
HFI03 7-1
HIPERFACE® 7-19
HMC01 7-1
HSF 7-26
HSI01 7-1
HSI11 7-1
I
I/O extensions
analog 7-42
digital 7-45
Identification 5-1
inappropriate use 2-2
IndraDyn 7-19
Industrial sectors 4-2
L
L1 7-52
LED H20 7-2
M
MA1 7-42
Marking the components 5-1
Master communication 4-1
CANopen 7-12
DeviceNet 7-12
parallel interface 7-8
PROFIBUS interface 7-4
SERCOS III 7-15
SERCOS interface 7-2
Materials 11-1
MD1 7-45
MD2 7-47
MEM 7-37
Memory 7-56
MMC 7-56
O
Optional module
term 4-1
Optional modules
overview 7-1
Optional slot
term 4-1
P
Parallel interface
master communication 7-8
PB 7-4
PFM02.1 7-56
PL 7-8
Power consumption 9-1
Power dissipation
control section 9-1
PROFIBUS 7-4
PROFIBUS interface 7-4
Project planning manuals
box 1-3
R
Recycling 11-2
Relay contacts 8-1
type 1 8-1
type 2 8-1
type 3 8-2
Resolver 7-26
RS232 8-11
S
S1 7-53
S3 7-15
safety instructions for electric drives and controls 3-1
Safety technology 7-52
Safety technology S1 7-53

Screw terminal blocks
connections 9-3
SE 7-2
SERCOS 7-2
SERCOS III 7-15
SERCOS interface 7-2
Serial interface
technical data 8-11
Signal level converter 10-1
signal level converter RS232/485 10-5
Sine encoder 7-30
Slave 7-6
Spring terminals
connections 9-3
Square-wave encoder
EN2 7-30
ENS 7-19
SSI encoder evaluation
interface 7-50
Starting lockout L1 7-52
T
Technical data
analog inputs 8-5
analog outputs 8-9
digital inputs 8-3
digital outputs 8-4
functions 8-1
power consumption 9-1
relay contacts 8-1
serial interface 8-11
TERM 10-7
Terms 4-1
TTL encoder 7-30
type code
ADVANCED CSH02 6-29
type code
CSH02 6-29
Type code
ADVANCED 6-27
CSB 6-3, 6-4
Type codes
BASIC 6-3
Type plates 5-1
U
use
appropriate 2-1
inappropriate 2-2
Bosch Rexroth AG
Electric Drives and Controls
P.O. Box 13 57
97803 Lohr, Germany
Bgm.-Dr.-Nebel-Str. 2
97816 Lohr, Germany
Phone +49 (0)93 52-40-50 60
Fax +49 (0)93 52-40-49 41
service.svc@boschrexroth.de
www.boschrexroth.com
Printed in Germany
R911295012 DOK-INDRV*-CSH********-PR05-EN-P

Rexroth Indradrive Drive Controllers Control Sections: Project Planning Manual

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Electric Drives Linear Motion and

and Controls Hydraulics Assembly Technologies Pneumatics Service

Rexroth IndraDrive R911295012

Title Rexroth IndraDrive

Document Typecode DOK-INDRV*-CSH********-PR05-EN-P

Internal File Reference 120-2400-B301-05/EN

Purpose of Documentation This documentation provides information on …

Record of Revisions Description Release Date Notes

Copyright  Bosch Rexroth AG 2006

Published by Bosch Rexroth AG

Note This document has been printed on chlorine-free bleached paper.

2 Important Directions for Use 2-1

3 Safety Instructions for Electric Drives and Controls 3-1

4 Brief Description, Applications 4-1

Configuration ........................................................................................................................... 4-1

5 Identifying the Control Section 5-1

6 Rexroth IndraDrive Control Sections 6-1

7 Optional Modules for Control Sections 7-1

7.4 Safety Technology ...................................................................................................................... 7-52

8 Technical Data Functions 8-1

9 Other Technical Data 9-1

11 Disposal and Environmental Protection 11-1

Packaging Materials .............................................................................................................. 11-1

12 Service & Support 12-1

1.1 Guide to the Documentation

Chapter Title Content

Box with Project Planning Manuals on

Order data of the box:

1.2 Basic Design of the Rexroth IndraDrive Controllers

The drive controller consists of two essential parts:

For detailed information on the power sections see Project Planning

Mounting and Dismounting the Control Section

Risk of damage to the control section by

Risk of damage to the control section and

Such exposed conductive parts include:

Control sections may only be stored or dispatched in conductive

Limited Number of Plug-In Actions

Risk of damage to the control section or power

2 Important Directions for Use

2.1 Appropriate Use

Note: Rexroth as manufacturer is not liable for any damages

Areas of Use and Application

Every drive controller has to be programmed before commissioning,

2.2 Inappropriate Use

3 Safety Instructions for Electric Drives and Controls

3.1 General Information

Using the Safety Instructions and Passing them on to Others

Improper use of these devices, failure to follow

Instructions for Use

• The devices have been designed for installation in industrial

Explanation of Warning Symbols and Degrees of Hazard Seriousness

Warning symbol with signal Degree of hazard seriousness according

Death or severe bodily harm will occur.

Death or severe bodily harm may occur.

Bodily harm or material damage may occur.

Hazards by Improper Use

High electric voltage and high working current!

Dangerous movements! Danger to life, severe

High electric voltage because of incorrect