Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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Functions ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Axis Motion with Cam
Absolute Master Encoder (SSI)
Moving a particular length using a cam in a defined angle range for the
SSI encoder. Processing the cam occurs each time the angle range is
entered, in case this function is not deactivated using the CSY command.
Outside of this range, it is possible to move the axis using normal
positioning commands.
Multiple cams can also be processed within one master rotation. If the
master axis is within the current angle range, the next angle range can be
determined using the CAN command. The cam stroke and type can also
be pre-set in commands.
Velocity and acceleration of the slave axis are defined using the master
velocity, length of movement and angle range.
Commands:
CAN Angle range
CLG Movement length
CMM Activating this function with mode = 3
CSY Activating a function
Program Example for Positioning of Mechanical Hand:
In the 50°-150° range for the master encoder (SSI), a mechanical hand is
to push the material 10mm forward. After reaching 200°, the open hand
moves back again, without using a cam.
Syntax
Description
CMM 1 01 02 3 0 Activate this function
CLG 1 +10.000 Stroke for cam
CAN 02 50 150
Set angle range
CSY 1 0 0 0 00.00.0
Turn function on
W_End
CPJ V023 < +200 0 W_Endt Wait until cam complete
PSA 1 +0 999 Return
W_360
CPJ V023 < 40 0 W_360
Wait until over 360 degrees
JMP W_End