Control Of Pneumatic Gun; Sequence With Pneumatic Gun Via Mgdm; Error Messages - Bosch Rexroth PRC 7 00L Serie Typspezifische Anleitung

R911407348 | PRC 7x00-Lx/Wx-1300 Bosch Rexroth AG | Electric Drives and Controls
If the robot takes away the "Program start" input, the controller will take away the
"end of sequence" output.
After an erroneous sequence, the "Welding fault" output remains set until the error
is acknowledged.
If a different spot number is present at the start than previously in the spot
selection function, the welding sequence is not started. An error is set.
8.2

Control of pneumatic gun

If no servo gun is assigned in the parameters of a gun, it is assumed that the gun
is a pneumatically operated gun. This is determined during spot selection.
The pneumatically operated gun is controlled via the outputs
• XGD1 DO_00 "Close Gun"
• XGD1 DO_01 "Open Gun"
• XGD2 DO_02 "Compensation Lift"
• XGD2 DO_03 "Compensation Back"
To control the movement are the inputs
• XGD3 DI_04 "Gun opened",
• XGD3 DI_05 "Gun Not opened"
• XGD4 DI_06 "Compensation Home"
• XGD4 DI_07 "Compensation Not Home"
8.2.1

Sequence with pneumatic gun via MGDM

• "Start" from robot (fieldbus input)
• Force sensor via "Operate Force Sensor" (general MGDM output) activate
• Query via "Gun opened" (MGDM input) whether the gun is opened
approx. 100ms waiting time
• Query via "Compensation Home" (MGDM input) whether the gun
gun compensation is in rest position
• Close gun via "Close Gun" (MGDM output).
• Arplas- Start welding process and wait until it is finished.
• After the end of the welding process, the signal "Close Gun" is reset
and the gun is opened via "Open Gun" (MGDM output).
• Wait until the MGDM inputs "Gun opened" and "Compensation Home" indicate
signal that the gun is fully open and that the home position of the
gun compensation has reached its rest position.
• Reset the "Close Gun" and "Operate Force Sensor" signals
• Setting of the "Weld complte" (field bus output) and thereby signaling
of a successful welding process.
8.3

Error messages

During the described procedure, errors may occur if, for example, the gun is not
closed when the corresponding check takes place or the gun compensation is not
in the rest position.
In these cases the error "Customer_Error_1" is reported.
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