Bosch Rexroth PRC 7 00-L /W -0200 Serie Typspezifische Anleitung Seite 66

66/88 Bosch Rexroth AG
Functional description KE (Combi-control)
No. PRC7000 outputs
7
Control in Manual
8
Control in Automatic
9
Gun is referenced
10
Positioning active
11
Actual position valid
12
Gun opened
13 Force reached
Description
• The system reports that it is in manual mode.
• The PRC7000 is in manual mode when the bit "Control in Manual"
is set and does not accept any commands via the EA field. The
operation is done via the start simulation of the PRI7000.
• The manual mode can be started and terminated via the global
parameter "Control mode".
• In addition, manual operation is terminated as soon as the bit
"Robot Automatic" is set.
• Movement commands (service programs, welding sequences) are
still completed before the control mode is switched over.
• The system reports that it is in automatic mode.
• The PRC7000 is in automatic mode when the bit "Control in
automatic" is set and accepts commands via the EA field.
Operation via start simulation of PRI7000 is not possible in this
control mode.
• The automatic mode can be started and stopped via the global
parameter "Control mode".
• Movement commands (service programs, welding sequences) are
still completed before the control mode is switched over.
• The system reports that the gun is referenced.
• It can be possible to re-reference the controller even in the
referenced state. The signal is "0" during referencing.
• Note: The signal is only output if a gun has been properly logged
on and referenced. If no clamp is docked, the signal is not output.
• The bit is set during referencing as soon as the gun has
determined its reference point (gun completely open).
• Is active if the gun control has the ("Positioning enable" =1), or if
the robot cancels the "Positioning enable",
• but the gun control is not yet ready to follow because an active job
is still being processed.
• The system reports that the value of the Actual position which is
present on the interface is valid. If the gun is not referenced, the
signal is not available.
• Note: The signal is only output "high" if a gun has been properly
logged on and is referenced. If no gun is docked, the signal is
output "low".
• The signal is set when the axis is at the command position.
Independent of the operating mode (manual/automatic or 7th
axis/gun) and load voltage on/off. Max. deviation +/-2mm
• The bit is operated when the drive is in control. (Tolerance
setpoint-actual position +/-2mm)
• If a "virtual opening position" was approached or move of the gun
via Jog +/-, this bit is reset.
• If there is no valid setpoint position on the IO field ("setpoint
position valid" bit is not set), the opening position stored in the
Weldjob is approached after a movement command and this bit is
also then set. If the external setpoint is set valid again in this case,
this bit is only updated with a new movement command.
The system signals that the gun has reached the applied force
setpoint.
R911405944 | PRC 7x00-Lx/Wx-0200