Bosch Rexroth PSI 6 C Serie Typspezifische Anleitung Seite 89

R911174319 | PSI6xCx.789xx
When switching to the 7th axis mode, all internal positioning
o
commands are deleted.
Changed conditions for "Servocontroller ready" output
o
The output "Servocontroller ready" is not already set in drive
status "Down" (DC link loaded), but only in drive status "AF"
(ready for operation, with torque).
• Electrode wear and residual parts also on the basis of the tip dressing length
Based on the dressing length measured since the last tip change, the number
of tip dressing steps and the maximum permissible tip dressing length, the
system calculates how many tip dressing operations can probably still be
performed. If this value is smaller than the value resulting from the "Maximum
tip dressing steps" parameter, it is used for the calculation of the percentage
wear and the remaining parts.
• Limiting the program-related positioning velocity
If, when switching the robot mode to automatic mode or when changing the
program selection (during automatic mode), the program-related positioning
velocity is greater than the electrode-related maximum closing velocity, the
servo gun error "Invalid parameters" is set.
• Troubleshooting drive enable
The drive enable can also be set if no valid spot selection has yet been created.
• Locking of motion commands with invalid spot selection
If, when setting the movement commands
o
Function stroke

Open gun (without valid target position specification

from IO field)
Position reset (without valid target position

specification from IO field)
If there is no valid spot selection, the commands are not executed and the error
"no welding program" is set.
In addition, the output "Spot selection error" is set.
If the sequence lock is active when a function stroke is started, the function
stroke is not executed (error message "Start inihibit"; output "Spot selection
error" is set).
If a welding sequence is not carried out due to an active sequence interlock, the
output "Spot selection error" is set.
• Troubleshooting GDM error message on restore
• Improvement of gun data import
Improved user guidance when deleting actual values without changing
parameters
Note: "Activate data" is set in BOS6000.
Electrode is set to "End of stepper" after import of gun data.
• Reset output "Tip wear fault" at each tip change.
• Updates axis controller firmware –BC/129
Optimization of error handling for position limit value violations
o
in 7th axis.
Error is now no longer thrown directly when switching

to 7th axis, but only if an external setpoint is also
present outside the valid range.
Bugfix during referencing
o
Bit "Open gun" is now set again after homing.

Troubleshooting gun crash
o
Changeover time from AB to AF revised.

When switching from automatic mode to 7th axis, all

pending motion commands are deleted.
Bosch Rexroth AG 89/91
Annex