Bosch Rexroth PRC 7 00-L-0301-Serie Typspezifische Anleitung Seite 70

70/92 Bosch Rexroth AG
Input/output array
Number PRC7000 outputs
Electrode tip wear_Bit0..15
32..47
48
Positioning active
49
Actual position is valid
50
Gun is referenced
Tip position known
51
52
Gun open
53 Force reached
54, 55 Not used_Byte_6_Bit6, 7
56
Servo control ready
57
Control in manual
58
Control in automatic
59
Brake closed axis 1
60..61 Not used_Byte_7_Bit4, 5
62
Life bit of servo gun control
Description
• Output of the current electrode tip wear of the active servo gun with a
resolution of 0.1 mm.
• The value can take positive and negative values and is output in two's
complement.
• Is set if the pincer control of the PRC7000 has the motion authority (input
"Positioning enable"="1"), or if the robot takes back the enable, but the gun
control is not yet ready to follow because an active job is still being processed.
• The output "Positioning active" is/remains set if the input "Positioning enable"
is set or as long as a gun movement guided by the PRC7000 is executed.
• The system reports that the value of the actual position that is present at the
interface is valid.
• If the gun is not referenced or not registered, the signal remains FALSE.
• The system reports that the gun is referenced.
• When the referencing process is initiated, the signal is initially "FALSE" and is
set as soon as the gun has determined their reference point (gun completely
open).
• After restarting and logging in the gun.
• Is set, if the gun is referenced and the tip/tip position is known.
• This would not be the case, for example, if the tip was changed or dressed, but
no successful position reset has been performed.
• The signal is set when the axis is at the target position. Independent of the
operating mode (manual/automatic or 7th axis/gun) and load voltage on/off.
• Output "Gun open" in 7th axis mode
• The output "Gun open" is set in the 7th axis mode, if the target position, which
is currently specified via the I/O field, has been reached (tolerance +/- 2mm)
• The bit is operated when the drive is in control. (Tolerance nominal/actual
position +/-2mm)
• If there is no valid target position on the I/O field (bit "Programmed stroek
position valid" is not set), the opening position stored in the world job is
approached after a movement command and this bit is also set then. If the
external setpoint is made valid again in this case, this bit is only updated with a
new movement command.
The system signals that the gun has reached the applied force setpoint.
• The system reports that the servo gun is ready to move. (drives in control) ->
no drive errors, gun is activated, no emergency stop,...
• Indicates that the welding controller is in manual mode.
• See function description chap. 9.8 Manual/automatic mode.
• Indicates that the welding controller is in automatic mode.
• See function description chap. 9.8 Manual/automatic mode.
• The system reports that the gun drives have been disabled with the "brake
closed" control bit.
• The brakes are closed.
• The bit remains - if it was active - independent of the control input, even if the
gun is undocked, until the gun is activated again.
The life bit is toggled by the robot in regular cycles (500ms) and fed back by the
welding controller via this output.
R911405013 | PRC 7x00-Lx/Wx-0301