Update From Firmware Version -At -120 - Bosch Rexroth PSI 6 C Serie Typspezifische Anleitung

82/91 Bosch Rexroth AG
Annex
• If positioning commands
teach Joining level,
o
position reset,
o
referencing,
o
mechanical test,
o
setting stroke,
o
lubrication stroke,
o
calibration schedule,
o
reset position gun equalization,
o
determining transmitter offset
o
will be interrupted by axis controller errors, then will be the results of this
positioning commands no longer evaluated.
• Switch off regulation enable
Edges on input 1.02 „Change gun (disable servo gun control)" are only
accepted, if the input 1.10 „Positioning active" is set.
• Energy-saving mode
• Output 1.01 „Close brakes (power save mode on)" can only be set, if the input
1.01 „Close brakes (power save mode on)" is set.
• Output „Positioning active" will be reset, if in the robot operation mode
„automatic" the gun is not yet referenced, to avoid deadlock with the robot
control.
• Updates axis controller firmware -AR -118
With great C-guns it could be happen a problem, that the
o
closed position would not be recognized correct.
Therefore the search window would be adapted for the contact.
Directly switching off of movements if the US2 go off.
o
Except the timer is just in the weld time, then it will be switched
off the drive regulation after 500ms
When switching off the regulation will be via drive stop in the
o
state STO or Ab transferred.
Thereby will be braked active out of motion while switching off,
before the holding brake is activated.
When opening can also be driven positions to -20mm
o
The robot can in 7-axis mode drive positions to -20 mm (until
o
now 0 mm)
The output „Gun opened" will be set reliable after tip setting
o
stroke
Initialization of the internal position „cap-cap to beam
o
uparching" when gun change

10.1.4 Update from Firmware Version -AT -120

Output „Timercode 1 (EMZ/SPZ)" will be set with selection of an electric motor-
driven gun
Position after Referencing
If during Referencing the input „Programmed stroke position valid" is not set,
the gun move with this FW Version no more to the last selected programmed
R911174319 | PSI6xCx.789xx