Sequence With Pneumatic Gun Via Mgdm; Error Messages; Status Codes - Bosch Rexroth PRC 7 00 L/W 1300 Serie Typspezifische Anleitung

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8.2.1

Sequence with pneumatic gun via MGDM

 "Program start" from robot (fieldbus input)
 If activated, check if FlowSensor1 and/or FlowSensor2 show sufficient flow.
 Activate force sensor via "Operate Force Sensor" (general MGDM output).
 Query via "Gun opened" (MGDM input) whether gun is open.
100ms waiting time.
 If activated, query via "Compensation home" (MGDM input) whether gun
compensation is in home position.
 Close gun via "Close Gun" (MGDM output).
 If activated, activate gun compensation via "Compensation Lift".
 Start Arplas welding process and wait until it is finished.
 After the end of the welding process, the "Close Gun" signal is cancelled and
the gun is opened via "Open Gun" (MGDM output).
 If activated, bring gun compensation to home position via "Compensation
Home".
 Wait until the MGDM inputs "Gun opened" and "Compensation Home" signal
that the gun compensation is fully open and has reached the home position.
 Reset the "Close Gun" and "Operate Force Sensor" signals.
 Setting of the "Progress contact" (fieldbus output) and thus signaling of a
successful welding process.
8.3

Error messages

During the described sequence, errors may occur if, for example, the gun is not
opened when the corresponding checks take place or the gun compensation is
not in the home position or one of the flow sensors reports too little flow.
In these cases the errors
 "ERROR_PLC_WELD_GUN_COMPENSATION_POSITION_FAULT",
 "TIMER_ERROR_PLC_WELD_GUN_NOT_OPENED",
 "TIMER_ERROR_PLC_INCORECT_FLOW_FLOWSENSOR_1" or
 "TIMER_ERROR_PLC_INCORECT_FLOW_FLOWSENSOR_2"
are reported.
In all cases it should be checked whether a mechanical defect is the reason for
not reaching the required position.
The error message can be acknowledged via the GUI or by the robot.
9

Status codes

Output of PRC7000 errorcodes see PRC7000 outputs 144..159 Statuscode Bit
0..15.
Example: errorcode > 65535 is output the value 65535 at the PRC7000
Statuscode outputs Bit 0..15.
(See also PRI7000 Error Configuration and Online Help Messages)
R911407348 | PRC 7x00-Lx/Wx-1300