Program Start; Control Of Pneumatic Gun Via Mgdm - Bosch Rexroth PRC 7 00 L/W 1300 Serie Typspezifische Anleitung

R911407348 | PRC 7x00-Lx/Wx-1300 Bosch Rexroth AG | Electric Drives and Controls
8.1.1 New spot selection
The robot first selects a new spot number at the relevant control inputs. It then
sets the "New spot selection" input.
This input prompts the controller to read out the new spot number, prepare the
associated welding program and set the program-dependent and electrode-
dependent controller outputs accordingly.
If the controller was able to find the spot number in the spot table or a program
was selected directly (0..255), the weld controller sets output "Data for spot
selection valid" as soon as the outputs dependent on the spot selection have
been updated.
If no valid spot number is present, the last valid spot selection is retained.
When the robot detects the "Data for spot selection valid" output, it can evaluate
the relevant outputs of the weld controller. In addition, it must remove the "new
spot selection" input.
In response, the weld timer will remove the "Data for spot selection valid" output
again.
8.1.2

Program start

The actual program start is triggered by the robot via the "start" input. At the end
of the sequence, the controller sets the following outputs:
 "end of sequence", if the sequence was OK or ended with a welding warning.
 "welding fault", if the sequence was aborted or ended with a welding error.
The "timer ready" output is taken away if there is a welding error or a general
error.
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 via MGDM

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. In
addition, an MGDM must be activated in the gun, otherwise it is assumed that the
gun is controlled by an external PLC and neither control nor monitoring takes
place via the PRC7000.
The pneumatically operated gripper is controlled via the outputs:
 XGD1 DO_00 "Close Gun",
 XGD1 DO_01 "Open Gun",
 XGD2 DO_02 "Compensation Lift" and
 XGD2 DO_03 "Compensation Back".
The following inputs are available to control the movement:
 XGD3 DI_04 "Gun opened",
 XGD3 DI_05 "Gun not opened".
 XGD4 DI_06 "Compensation home".
 XGD4 DI_07 "Compensation not home
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