Bosch Rexroth Rho 4.0 - Page 31

Electric Drives
and Controls
3−9Bosch Rexroth AGRhoMotion1070072367 / 04
Structure of the rho4.0
After the WAIT condition is met, the movement of the set 2) with a delay
of 0.15 s (150 ms) is started.
The precision resolution of the MAX_TIME is given through the interpo-
lation cycle.
CAUTION
If the kinematic that has last moved before the WAIT-UNTIL in-
struction another one than the one that is to start high-speedly,
the control unit must be informed via a dummy movement set
which kinematic is to react high-speedly.
1) MOVE kin2 LINEAR TO P0
2) MOVE_REL kin1 LINEAR (0, 0, 0, 0); Dummy movement step
3) WAIT UNTIL condition_met
4) MOVE kin1 LINEAR TO P1
5) MOVE kin2 TO P2
If the kinematic commutation (set 2) is not programmed, the
WAIT-UNTIL instruction acts only for the next movement set of
the kinematic kin2, i.e. only in block 4 and block 5 would be pro-
cessed without waiting.
Example: high-speed constant start
;;CONTROL=RHO4
;;KINEMATICS:(1=PORTAL;2=SUPPLIER)
;;PORTAL.JC_NAMES=A1,A2,A3
;;PORTAL.WC_NAMES=X1,Y1,Z1
;;SUPPLIER.JC_NAMES=BB
;;SUPPLIER.WC_NAMES=XX
PROGRAM FIXSTART
INPUT: 1=I1, ;Normal input
611=SL_INP_1, ;1st high-speed input X21.0
612=SL_INP_2, ;2nd high-speed input X21.1
615=SL_INP_5, ;5th high-speed input X21.4
617=SL_INP_7 ;7th high-speed input X21.6
BEGIN
;;KINEMATICS=PORTAL
;;INT=LINEAR
BEG:
MOVE SUPPLIER TO WAIT_POS
MOVE TO START_POS