Bosch Rexroth PRC 7 00-L-0301-Serie Typspezifische Anleitung Seite 66

66/92 Bosch Rexroth AG
Input/output array
Number PRC7000 inputs
48
Positioning enable
Programmed stroke position valid
49
50..56
Not used
57 Robot manual mode
58 Robot automatic mode
59
Brake close axis 1
60
Open tip mode
61
Close tip mode
62
Live Bit Robot
63 Not used_Byte_7_Bit7
Description
• Input "Positioning enable" = TRUE
• the "Positioning enable" input is used to set whether it is allowed to
execute jobs such as opening/closing the gun independently.
• The " Positioning is active " output indicates the status of the
positioning enable.
• In this case the servo gun can execute movement commands. (e.g.:
service program for referencing, etc.)
• Input "Positioning enable" = FALSE
• The positioning follows the position specifications of the inputs
"Gun_command position", if the input "Programmed stroke position
valid" is set.
• No movement command or welding process can be started in this
operating mode.
• When switching over to 7th-axis operation, all internally pending
positioning commands are deleted.
• This signal indicates to the timer that the target position applied by the
robot is valid.
• Only if this signal is "1" shall the gun start this target position.
• If the signal = 0, then the opening dimension of the selected weld job
is approached after sequences.
• If the signal = 1, then the current position setpoint value is used as
opening dimension at the beginning of a sequence.
See chapter 9.8 Manual/Automatic operation
See chapter 9.8 Manual/Automatic operation
• When the "Activate brake" bit is set, the enabled drive is set directly to
the "Down" state (Ready for enabling).
• Movement commands that have been started are canceled and the
gun is stopped.
• After stopping, the motor brake is closed by removing the brake
voltage.
• In this state, the gun is not ready for (mechanical) undocking because
the motor encoder continues to be supplied with voltage.
• The bit "Servocontroller ready" is reset to FALSE in energy saving
mode.
• As long as this signal is "1", the gun is opened with an internal preset
velocity (teach velocity).
• The function can also be executed with non-referenced gun.
• With "Tip +" the gun can only be opened up to 10mm before the
mechanical end stop.
• The "Positioning enable " must be set, or must be set within 500ms
after request "Tip +".
• As long as this signal is "1", the gun is closed with an internal preset
velocity (teach velocity).
• The function can also be executed with non-referenced gun.
• With "Tip -" the gun can be closed to the current tip/tip position.
• The "positioning enable" must be set, or must be set within 500ms
after request "Tip -".
• The life bit is toggled by the robot at this input in regular cycles and
mirrored back by the weld controller.
Reserved
R911405013 | PRC 7x00-Lx/Wx-0301