Annex; Firmware Updates; Update From Firmware Version -Aq-117; Update From Firmware Version -Ar -118 - Bosch Rexroth PSI 6 C Serie Typspezifische Anleitung

R911174319 | PSI6xCx.789xx

10 Annex

10.1 Firmware Updates

10.1.1 Update from Firmware Version –AQ-117
• The Firmware variants PSI6xCc.789xx and PSI6xCx.759xx are functional
identical. Therefore the Firmware index of the PSI6xCx.789xx will be set
corresponding to the PSI6xCx.759xx.

10.1.2 Update from Firmware Version -AR -118

• Support of the new parameter „Pre-position at sheet search"
• Ignore of the input „Function test without component" with handling via the
hand held programming terminal or user interface.
• Updates axis controller firmware –AQ -117
The traversing speed with tip setting stroke, measuring or teach
o
will be executed in two-steps. Until „Pre-position at sheet
search" will be driven with positioning velocity.
 only in conjunction with welding timer Firmware since
Version –AR -118
The beam uparching (difference between force attainment
o
position and contact position) will be considered and seprarated
when teaching and measuring (zero point determination).
 If plants have been trained with a previous version, when
using axis controller firmware since version –AQ – 117 then
must be considered an offest in the positions (also in the
„programmed positons cap-cap")!

10.1.3 Update from Firmware Version -AS -119

• If the servo gun error exclusive with the additional code „181-1" („Movement
stopped by user") is present when closing of the stop circuit,
then will the error be acknowledged itself from the control such as the error
circuit „Stop circuit open".
• If the input „weld contactor enable" after the squeeze time will be set to 0, the
schedule will be stopped immediately.
In this case the output „current sensor error" will be set, to signalize the robot,
that a reweld is necessary because not yet weld current has flowed.
• If while a weld schedule after the squeeze time the input „weld contactor
enable" will be set to 0, the weld schedule will be continued.
For this axis controller error will be ignored, because it can be assumed, that
the force remains active while the weld time in conjunction with the axis control
firmware since version –AQ -117.
• The output „Feedback function test without component" will be set inside a weld
schedule, if this run as „function test without component".
Outside a weld schedule mirrors the output „Feedback function test without
component " the input „function test without component".
Bosch Rexroth AG 81/91
Annex