Bosch Rexroth PRC 7 00-L /W -0200 Serie Typspezifische Anleitung Seite 61

R911405944 | PRC 7x00-Lx/Wx-0200
No. PRC7000 inputs
3 Without Force
4 Not used
5 Accept request for teach position
6 Teachposition taken over
7 Robot Manual
8 Robot Automatic
Request referencing
9
10 Positioning enable
11 Command position gun opening
dimension valid
Bosch Rexroth AG | Electric Drives and Controls
Description
• This signal indicates to the controller that it should execute the
"program start" without force
• To use this function, the gun must be present and activated. A
welding cycle is performed without a closing movement and
without current (the "with current" output is also set to 0
regardless of the "weld on" selection). The sequence is logged
accordingly.
• The outputs Welding o.k. and Welding n.o.k. are not operated
with this function.
• The selection "without force" has a higher priority than the
selection "Function test without component".
Start of the teach travel, for more details see function description
chap. 8.14 "Learn Teach position".
See function description chap. 8.14 "Learn Teach position".
Note: Signal is not processed in the PRC7000.
• The "Robot automatic" input is used to lock the switchover to the
"PRI operator interface" control mode (manual mode).
• If the PRC is in manual mode, this is ended by setting this bit.
• Depending on the "Reference monitoring" input bit, a reference
run is performed with or without measuring.
• The gun reference their position system to the rear fixed stop and
measure the tip/tip position depending on the "Reference
monitoring" bit.
• If a gun is referenced and an order for referencing is
nevertheless issued, this command resets the "Gun is
referenced" feedback and referencing is performed as described.
• This function may be executed if the robot outputs the operating
mode "Manual" or "Automatic".
• For more information, see the "Reference monitoring" signal
description.
With this signal it is indicated to the controller that there are
commands such as e.g.
• Program start
• Open gun
• Reference gun
• Gun tip up/down
may perform measurements.
This signal indicates to the controller that the command position
applied by the robot is valid.
• Positioning mode:
TRUE: In positioning mode, the target position is approached
–
at the end of movement commands.
FALSE: The opening position stored in the current service
–
program is approached.
• 7-axis operation:
only with signal state TRUE the setpoint specifications of the
robot are followed.
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