Watchdog Robot Control  Servo Gun Control; Activation And Check Of Gun Code; Teach Position; Automatic Force Calibration - Bosch Rexroth PSI 6 C Serie Typspezifische Anleitung

R911174319 | PSI6xCx.789xx
The output „Positioning active" will be set, if the input „Enable positioning" is set or
as long as a gun movement is performed.
7.1.16 Watchdog robot control  servo gun control
The robot control toggles the input „Watchdog signal robot control" every 500 ms.
The timer has to mirror this signal to the output „Watchdog signal gun control".
The servo gun control observes the input „ Watchdog signal robot control ". If an
error is detected, the timer will generate a servo gun error.
In this case, commands concerning a gun movement are only accepted in the
„manual" mode.

7.1.17 Activation and check of gun code

After switch on, the firmware check, if at the inputs „Gun code x" a valid gun code
is present. In this case, the drive will be initialized with the parameters of this
drive. The first selection of a gun after switch on is possible without a falling edge
of the input "Change gun", by setting a code > 0.
After the first activating of a gun code a further activation of a gun code is only
possible with a falling edge of the input "Change gun".
The drive will be initialized with the parameters of the gun code, which is valid in
this moment.
Furthermore it is possible, to activate a gun code via an operating device.
The output "Gun code not valid" will be set, if
• the gun code, which is valid at he inputs, is not equal with the activated gun
code (in this case will be generated a warning message "gun coding invalid").
• the controller-internal verification of the gun ID is activated and has recognized
that a wrong gun has been connected (in this case the error message "Wrong
gun connected" will be generated).
While starting of a welding sequence will be checked, if the activated gun code
correspond with the electrode number which is assigned to the started program. If
not, the sequence will not be started (error message "Incorrect status of servo
gun at program start).
With activation of the gun-ID 0 the error „wrong gun" will be generated and the
drive amplifier change not in drive enable (AF).

7.1.18 Teach position

The teach movement is initiated via the input „Start teaching". The servo gun
control closes the gun and drives back to the position from where the weld
schedules of this program should be started.
As soon as the outputs „Feedback gun stroke" are updated, the output „Teached
position valid" is set. This output is reset as soon as the input „Start teaching" is
reset or the Input „Teached position captured" is set.
As long as the output „Start teaching" is set, there is no additional gun movement.

7.1.19 Automatic force calibration

With the automatic force calibration the force calibrate parameter and the
parameter for the calculation of the expected beam uparching can be defined.
While the automatic force calibration the force actual values are read via the
analog force input. It has to be sure that the calibration values of the force sensor
are set correct.
Bosch Rexroth AG 71/91
Features