3−10 Electric Drives
and Controls
Bosch Rexroth AG RhoMotion 1070072367 / 04
Structure of the rho4.0
WAIT UNTIL SL_INP_1=1
MOVE TO DEST_POS_1 ;PORTAL (Default-Kinematic) moves
;immediately if SL_INP_1=1
MOVE_REL SUPPLIER (0) ;ensures that WAIT-UNTIL instruction
;is working on SUPPLIER
WAIT UNTIL SL_INP_2=0
MOVE SUPPLIER TO MAGAZIN ;SUPPLIER begins to move when SL_INP_2=0
MOVE_REL (0,0,0) ;ensures that WAIT-UNTIL instruction
;is working on PORTAL
WAIT UNTIL SL_INP_5=1
MOVE UNTIL I1=1 TO DEST_POS_2 ;PORTAL (Default−Kinematic)
;moves immediately if SL_INP_5=1 and
;I1=0 (with I1=1 there is no movement)
PARALLEL
MOVE_REL SUPPLIER (0)
WAIT UNTIL SL_INP_7=1
MOVE SUPPLIER TO MAGAZINE_3 ;SUPPLIER and PORTAL begin to move
;immediately if SL_INP_7=1
ALSO
MOVE_REL (0,0,0)
WAIT UNTIL SL_INP_7=1
MOVE TO DEST_POS_3
PARALLEL_END
JUMP BEG
PROGRAM_END
high-speed inputs in the BAPS program
Under the input channel numbers 801 to 816, the digital inputs can be
processed as high-speed inputs in the BAPS program.
The high-speed inputs can be used as normal user inputs in the BAPS
program, but they are acquired much more high-speedly since they are
not in relation with PCLrho4.0 running times and do not depend on inter-
polation cycle (machine parameter P5).
Exception: the WAIT-UNTIL instruction. When there is no signal yet, the
signal change is only recognized in the next interpolation cycle (P5).
Possible BAPS instructions are:
D IF input THEN
D WAIT UNTIL input
D MOVE UNTIL input
D BinaryVar=input
D SYNC Belt input
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