Bosch Rexroth PRC 7 00-L /W -0200 Serie Typspezifische Anleitung Seite 83

R911405944 | PRC 7x00-Lx/Wx-0200 Bosch Rexroth AG | Electric Drives and Controls
8.14 Learn teach position
Movements of the gun actuators!
Bruises possible!
Therefore, make sure that can be damaged by movements of the gun

actuators no one.
8.14.1 Functional description
• The teach travel is triggered via the "Accept request for teach position" input.
• The welding controller closes the gun and moves back to the position from
which the welding sequences are to be started for this spot (search
range+sheet thickness).
• As soon as this actual position is applied to the outputs, the "Teach position
valid" output is set.
• This output is reset again as soon as
• the input "Accept request for teach position" is reset
• or the "Teach position taken over" input is set.
• Note:
The teach position (search range, sheet thickness) is taken from the applied
point/field job.
Setting the "Teach position valid" output prevents switching from positioning to
7th axis mode until the "Teach position taken over" input is set. This enables
the robot to move to the new opening position of the gun.
• Prerequisite for triggering teach-in:
the "Positioning enable" is set
•
no other service program is active
•
The "Teach position taken over" signal is FALSE.
•
• If one of these prerequisites is not met, a corresponding error message is
output when the edge of the signal changes from 0->1.
8.14.2 Signals involved
• Positioning enable
• Accept request for teach position
• Teach position taken over
• Positioning active
• Teach position valid
• Actual position gun stroke
• Gun stroke
Note: Signal diagrams can be provided after consultation.
CAUTION
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