Rexroth Robotics 2.0 Planning Manualkvtco.co.kr/catelogue_download.html?uid=RHS_Plan_en.pdf · Rexroth Robotics Planning Manual 2. 0 Industrial Hydraulics Electric Drives and Controls

Rexroth RoboticsPlanning Manual

2.0

IndustrialHydraulics

Electric Drivesand Controls

Linear Motion andAssembly Technologies Pneumatics

ServiceAutomation

MobileHydraulics

Version

turboscara SR4/6/8plus, turbo AR6/8

1.1 Overview ......................................................................................................................... 51.2 System overview ............................................................................................................. 6

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4.1 Variants ......................................................................................................................... 124.1.1 SR4/6/8plus standard version ....................................................................................... 124.2 Working area and dimensions ...................................................................................... 144.2.1 SR4plus with stand ....................................................................................................... 144.2.2 SR4plus with console .................................................................................................... 154.2.3 SR6plus with stand ...................................................................................................... 164.2.4 SR6plus with console .................................................................................................... 174.2.5 SR8plus with stand ...................................................................................................... 184.2.6 SR8plus with console ................................................................................................... 194.2.7 SR6/8 dustproof (SR-DP) ............................................................................................. 204.2.8 SR6/8 cleanroom (SR-CL) ............................................................................................ 204.2.9 Base plate .................................................................................................................... 214.2.10 Console ........................................................................................................................ 224.2.11 Gripper flange .............................................................................................................. 234.2.12 User interface ............................................................................................................... 244.2.13 User installation ............................................................................................................ 284.2.14 Driveless teaching......................................................................................................... 294.2.15 Tool Connector ............................................................................................................. 304.3 Mounting of auxiliary equipment .................................................................................. 344.4 Technical data of the swivel-arm robots .................................................................. 36

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5.1 Variants ......................................................................................................................... 395.1.1 AR6/8 standard type ..................................................................................................... 395.2 Working area and dimensions....................................................................................... 395.2.1 Working area AR6 ........................................................................................................ 405.2.2 Working area AR8 ........................................................................................................ 425.2.3 Base plate ..................................................................................................................... 445.2.4 Gripper flange .............................................................................................................. 455.2.5 Electrical and pneumatic interfaces .............................................................................. 465.3 Technical Data of the Articulated Robots ..................................................................... 52

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6.1 Controller rho4 ............................................................................................................. 586.1.1 rho4.0 ............................................................................................................................ 58

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6.1.2 rho4.1 ........................................................................................................................... 606.2 Power supply and safety module EVS201 ................................................................... 636.3 Drive amplifier .............................................................................................................. 656.3.1 Drive amplifier AV201 for SR4/6/8plus ......................................................................... 656.3.2 Drive amplifier AV206 for turbo AR6/8.......................................................................... 656.4 Technical data of the controller .................................................................................... 666.4.1 Arrangement of the components ................................................................................. 686.5 Control cabinet ............................................................................................................. 696.6 Operating block ............................................................................................................ 706.7 Field bus connection .................................................................................................... 716.8 I/O extension ................................................................................................................ 726.8.1 CANopen ...................................................................................................................... 746.8.2 PROFIBUS-DP ............................................................................................................ 776.8.3 I/O-Gateway ................................................................................................................. 806.9 PHG2000 hand-held programming device ................................................................... 816.10 Programming environments ......................................................................................... 826.10.1 easyrobot Suite (standard delivery) .............................................................................. 826.10.2 BAPSplus (option) ........................................................................................................ 846.11 Software tools .............................................................................................................. 856.11.1 OPC-Server4 (standard delivery).................................................................................. 856.11.2 WinSPS (option) ........................................................................................................... 856.11.3 WinDP/ WinCAN (option) .............................................................................................. 856.11.4 GateWay ....................................................................................................................... 856.12 robotvision .................................................................................................................... 876.12.1 Functions of robotvision ................................................................................................ 876.12.2 Characteristics and performance of robotvision ........................................................... 88

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7.1 Cycle time of swivel-arm robots .................................................................................... 897.2 easyrobot Suite ............................................................................................................ 917.3 Simulation with COSIMIR ............................................................................................. 927.4 3D-CAD......................................................................................................................... 92

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8.1 Load capacity................................................................................................................ 938.2 Mass moment of inertia................................................................................................. 938.3 Reaction forces ............................................................................................................. 938.4 Permissible load at the gripper flange .......................................................................... 948.5 Working area ................................................................................................................ 958.5.1 Planning sheet SR4plus with stand ............................................................................. 968.5.2 Planning sheet SR4plus with console .......................................................................... 978.5.3 Planning sheet SR6plus with stand ............................................................................. 988.5.4 Planning sheet SR6plus with console .......................................................................... 998.5.5 Planning sheet SR8plus with stand ........................................................................... 1008.5.6 Planning sheet SR8plus with console ........................................................................ 1018.6 Ambient conditions ..................................................................................................... 1028.7 Other limits ................................................................................................................. 103

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9.1 Load capacity .............................................................................................................. 1059.2 Mass moment of inertia ............................................................................................... 1059.3 Permitted load at the gripper flange .......................................................................... 1069.4 Working area............................................................................................................... 1079.4.1 Room requirements..................................................................................................... 1079.4.2 Planning sheet AR6, side view ................................................................................... 1089.4.3 Planning sheet AR6, top view .................................................................................... 1099.4.4 Planning sheet AR8, side view ................................................................................... 1109.4.5 Planning sheet AR8, top view ................................................................................... 1119.5 Ambient conditions ..................................................................................................... 1129.6 Other limits ................................................................................................................. 113

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12.1 Sales partners ............................................................................................................. 12512.2 Technical support ........................................................................................................ 12512.3 Training ...................................................................................................................... 12612.3.1 Brief explanation of the courses ................................................................................. 12712.4 Customer hotline ......................................................................................................... 12912.5 Further components of the Bosch Rexroth program ................................................... 129

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- SR4/6/8plus- SR6/8 dustproof, cleanroom- AR6/8

--SR CAN module in robot

8 digital inputs8 digital outputs4 analog inputsup to 13 ASi slaves

-1Online programmingOperationDiagnosticsSetting the machineparameters (MPP)

)

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Operation Diagnostics

TCP/IP

-- sensors- actuators- I/O modules

e. g. B~IO module with 16I/16OASi gateway(s)

Offline programmingOnline programmingPCL programmingOperationDiagnosticsSetting the machine parameters (MP tool)

OPC serverExternal picture processing

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The turbo SR4/6/8plus robot systems consist of a four-axis swivel arm mechanics, the turbo AR6/8 robot systems consist of a six-axis articulated mecha-nical system and the IQ200 control with the control core rho4, the drive amplifier and the power supply and safety module.

For the use of a robot, in addition to the control block, the programming manual device (PHG2000), a control panel (e.g. Touchscreen) or any PC can be used.

For the programming, an external PC or in the IPC variant, the rho4.1 are conve-nient possibilities. Data or programs are exchanged via the serial interface or the internet protocol TCP/IP.

The PHG is used mainly for the teaching of the robot and for fault diagnosis. Robot programs can also be modified and edited via the PHG2000.

The field bus (CAN, Profibus, Interbus) enables to control decentralized input and output modules or other peripherals and therefore actuators and sensors.

Make use of the following advantages for your application:

• The with (( is predetermined for mounting tasks and rapid Pick-&-Place movements.

• 20 at high precision ensure high productivity.

• A 34(3 and ( ensure high flexibility in the integration.

• /(( reduce the work for the appli-cation.

• (, optional up to the gripper for the connection of a Tool Connector, simplifies the gripper installation.

• ,-*& ((-*% offers safe movement control and large, easy communication possibilities.

• !0(0 (safety class III according to EN954) makes it possible to operate the robot safety and comfortably for teaching, setup and test mode. Its benefits are: Fast and well arranged processes with highest personal safety. Teaching a robot with opened guard doors is possible with highest personal safety.

• Additional 0 options are 400 V A.C., 480 V A.C. or 115 V A.C. instead of 230 V A.C., a (24 V) is included as standard.

• The 5'-! is similar to PASCAL and can be rapidly learnt to enable the creation of clear programs via the 0!. The % BAPSplus is also available.

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• Extension through ( "(: B~IO modules or decentralised CAN-I/O modules (depending on the application).

Round the turboscara SR4/6/8plus and turbo AR6/8 robot systems, we have a large range of services, at Bosch Rexroth as well as at our sales partners in your vicinity:

• Comprehensive hotline service for all of your questions concerning the robots

• Feasibility studies

• Practical training of your employees in our training center

• Fast on-site service from Bosch Rexroth's customer service department or one of our contract partners

Up-to-date information and downloads in internet under: (" or " .

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You can find further information about ’Safety regulations’ on the documentation CD, order No. 3842 524 619, or in Internet under:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots.

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The planning manual has been prepared with great care. However with the today’s technical standard, it cannot be guaranteed that the contents of this version are absolutely topical.

You can find further information on the documentation CD, order No. 3842 524 619, or in Internet under:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots.

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For the configuration of a robot system and the choice of accessories, you can use the order sheets in chapter 11. They contain all standard components and the corresponding options and accessories.

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The planning manual is copyrighted. All rights are reserved.

The planning manual may not be copied, reproduced or translated neither completely nor in parts or transferred on another medium without the authorization of Bosch Rexroth AG.

The Rexroth turboSR4/6/8plus replace the Bosch turboSR4/6/8 systems. Decisive improvements in mechanics and control make the integration in systems easier and their use safer and easier. The possibilities of use are also improved:

• 2& (0are standard equipment for all three product sizes. A referencing is not necessary. This enables to realize more compact cells and arrange process stations in the robot workspace more freely.

• ,'is accessible for all systems more easily. The ASi bus available as an option at the Tool Connector is suited above all for applications with rapid gripper change.

• The (%is standard for all robots. This enables to shift the lift- turn spindle manually.

The AR6 and AR8 articulated robots from Bosch Rexroth expand the robot technology by two degrees of freedom. This allows the robot tool to take any orientation in the working area. The slim and modern mechanical system as well as table and ceiling mounting characterize the robots. Further features are:

• User-friendly installation technology through the (!*'( with electric and pneumatic I/Os as well as an electronic name plate.

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Following features apply to both robot systems:

• The robots are delivered with the as a standard. It contains all robot specific functions, the SoftSPS and the optional field bus extensions. The rho4.1 control - now with 128 MB for faster performance of windows applications - is still available.

• Both robot systems have been extended by the inclusion of .-*% as a standard.

• 89!, the new power supply and safety module is standard for all „plus“-systems. The 0& enables to integrate the EVS201 very easily into higher safety systems, and makes also all required safety functions and interfaces available for the use of the IQ200 as cell control according to the safety class III. For the automatic and manual operations, there are now 4 operating modes through an additional key switch for maximum and reduced power.

• The comfortable %0!ensures easy implementation.

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• The new 5(follows the united manufacturing strategy for products of the Bosch Rexroth AG (100% subsdiary of Robert Bosch GmbH). Behind this name, the same team works in development, production, sales and service of the robots. Our efforts are turned to the constant improvement of the system in functionality and quality.

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9

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Optional versions, see following chapters.

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Fixture Standlength 500 mm

Standlength 500 mm

Standlength 500 mm

Stroke (sleeve)

200 mm (Ø 20 mm)

200 mm (Ø 20 mm)

200 mm (Ø 20 mm)

Connection cable plugged 2 m connection cablecontinous

2 m connection cablecontinous

User installation User installation in installation area on arm 2

User installation in installation area on arm 2

User installation in installation area on arm 2

Bellows without

Control cabinet 19“-rack

Control IQ200 standard version with rho4.0 optional with rho4.1

Protection type/environment

IP54optional:IP65: SR6/8 DP (with incremental encoders) for severe conditionsIP65: SR6/8 CL (with incremental encoders) for areas where cleanromm con-ditions are required. Clean air class 1 according to US Federal Standard 209E.

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Sleeve

Stroke

Connectioncable

Bellows (FB)

Stand

Console

Connection cable

User installation (AWI)

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You can find further information about dimensions in the product documentation ’SR4/6/8plus’, Order No. 3842 524 619, and on the CAD drawings, which you can download in internet under:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots

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650

S

30

A1 A4

170230

P

HA3F

A2

I

horizontal

forbidden areastand (r=78,5)

AWI

R400

452

R170

R230R139

143°

105°

50

537

All data in [mm]

Stand length S Standard 500optional250 to 700

Stroke axis 3 H 200

Sleeve-Ø 20

Standard Sleeve length P 471

Flange height F 87,5

With bellows (FB) Sleeve length P 555


With horizontaluser installation (AWI)

Userinstallationheight

I 550

With horizontaluser installation (AWI) and bellows (FB)


I 589

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246 230 170

A1 A2 A4

A3H

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F

P

550

horizontalAWI

4360

R400

452

R170

R230R139

143°

105°

All data in [mm]

Stroke axis 3 H 200

Sleeve-Ø 20

Standard Sleeve length P 471


With bellows (FB) Sleeve length P 555




I 550



I 589

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R600

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R330

R270

140°

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A3 H

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580

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AWI vertical

All data in [mm]on call: axis 3 also with stroke up to 600 mm

Stand length S Standard 500optional 250 to 700

Stroke axis 3 H 200 200 400

Sleeve-Ø 20 25 25

Standard Sleeve length

P 471 471 671

Flange heihgt

F 50 50 50

With bellows (FB)

Sleeve length

P 555 555 805

Flange heihgt

F 11 11 -14

With verticaluser installation (AWI)


I 620 620 861



I 591 581 775

With verticaluser installation (AWI) and bellows (FB)


I 650 650 890



I 630 620 840

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5073,1898

R166

R270

R600140°

150°

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R330

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R270

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150°

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R330

A3 H

P

270330

A1 A2 A4

F

I

580

246

All data in [mm]


Sleeve-Ø 20 25 25


P 471 471 671

Flange height

F 148 148 148

With bellows (FB)

Sleeve length

P 555 555 805

Flange height

F 187 187 212



I 620 620 861



I 541 581 775



I 650 650 890



I 630 620 840

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155°

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R800

R370

R430

R183 187

615

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370430

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forbidden areastand(r=78,5)

All data in [mm]on call: axis 3 also with stroke up to 600 mm

Stand length S Standard 500optional 250 to 700


Sleeve-Ø 20 25 25


P 471 471 671

Flange height

F 60 60 60

With bellows (FB)

Sleeve length

P 555 555 805

Flange height

F 21 21 -4



I 620 620 861



I 604 594 788



I 650 650 890



I 643 633 852

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R370

R800

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R430

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370430

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All data in [mm]


Sleeve-Ø 20 25 25


P 471 471 671

Flange height

F 148 148 148

With bellows (FB)

Sleeve length

P 555 555 805

Flange height

F 187 187 212



I 620 620 861



I 604 594 788



I 650 650 890



I 643 633 852

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!#"$( is for use in especially severe conditions. This robot is completely sealed and uses the full scope of the robot family performance characteristics in dusty or wet work areas. Protection type is IP 65.

This variant is only available with incremental encoders. For details concerning these components, see the product documentation in internet.

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For the use in the cleanroom, robotic!#"$ is available. The independent institute IPA has certified the robots up to clean air class 10 according to US Federal Standard 209E. The clean air class 1 is reached with additional suction. All rotating parts and drive elements of the SR6 and SR8 cleanroom are completely encapsulated. The electrical and pneumatic cables are laid through the sleeve to the gripper. The sleeve itself is encapsulated with special, tested bellows.

This variant is only available with incremental encoders. For details concerning these components, see the product documentation in internet.

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5

The standard’s base plate is fastened by M12 bolts.

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The robots can be mounted on the wall or at a pillar. In this case a console replaces the stand.

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The gripper flange is mounted on the sleeve and serves as a mount for a Tool Connectors and/or other various gripper tools.

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B

As a standard the following is included on arm 2:

• two connections for pneumatics LW4 Sleeve 25 6 AD LW4

Sleeve 20 4 AD LW2

• connections for 8 digital inputs and outputs

• connections for 4 analog inputs

• ASi-Bus (optional, if SRCAN/ASi is ordered)

8

Following interfaces are provided:

• 8 inputs

• 8 outputs

• 4 analog inputs

• 24 V D.C. (2 A)

• ASi bus, 4 slaves (16 I/O) without external power supply, 13 slaves (corresponds to 52 I/O) with external power supply

including LED’s for error diagnosis

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External/internalASi supply

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X11

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1 ASi-

2 ASi+

3 A0

4 A1

5 A2

6 A3

7 A4

8 A5

9 A6

10 A7

11 +24 V D.C.

12 0 V

13 ASi bridgeremove bridge if Asi power supply is external

14

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14 E0

13 E1

12 E2

11 E3

10 E4

9 E5

8 E6

7 E7

6 Analog E3

5 Analog Ground PE

4 Analog E2

3 Analog E1

2 Analog Ground PE

1 Analog E0

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C 2

JP1, JP2active internal ASi power supply active

JP1, JP2not active external ASi power supplyl

A8/&(0 2

LED1

greenred

logic voltage supply is okoverload sensor supply

LED2

greenred

on-load voltage is okoverload outputs

LED3

redred flashingred fast flashinggreengreen flashing

module in stateinvalid Node-IDmodule in statemodule in statemodule in state

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B

Through the ’User installation’, these connections will be installed clean and closed directly up to the gripper flange (not for 600 mm stroke).

The connection of sensors and the supply of vacuum or compressed air is ensured at the place where it is typically required.

A4 DD

The connections are provided with sockets of type molex 2.50 mm SPOX (2 x 8-pin, order no. 22-01-1084 and 1 x 4-pin, order no. 22-01-1044).

At the 25-mm sleeve the two pneumatic lines LW2 are extended to two pneumatic lines LW4.

In case of restricted height the variant with horizontally offgoing, corrugated cable duct (so-called horizontal user installation) is available.

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horizontal vertical

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With the SR6/8plus the new horizontal user installation is available. In the delivery status it juts out on the left side beyond the arm (values, see table). A change over to the right side is possible.

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With this option it is possible to bring the robot flange into the desired position and release the brakes of the axes 3 and 4 directly on the robot with switches. This can move the robot out of an area or teach points without the drive. The controller must be on in order to activate the brakes.

B B B

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200 B 150 175 -

400 B - 165 200

button

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The Tool Connector (TC) has user I/Os and up to four 5/2 directional control compressed air valves directly on the gripper flange. The cables/lines are completely integrated into the robot. The TC enables ultra-short cycle times via the short supply line between the valves and the gripper. It also enables a simple and fast application and start-up via the clear installation procedure.

The TC has 5 inputs and 8 outputs. The user installation guides the 8 inputs and 8 outputs through the turboscara’s sleeve down to the TC. 5 inputs and 8 outputs are connected directly to the TC. The 3 additional inputs are available on a separate plug.

The mounting of the Rexroth gripper PPG11/21/31 is achieved very quickly with intermediate flanges. Valve sets with 4 valves each - electrical (impulse) - are not included in the delivery scope of the Tool Connector

and must be ordered separately.

Order number:

• Tool Connector: 3 842 521 300

• 5/2 Valves (double solenoid): 3 842 521 297

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Housing dimensions 94×127×80 mm

Interference cicle diameter 155 mm

Weight 0,85 kg

Power supply 24 V, 0 V, PE

Max. current 2 A

Protection type IP54

Outputs 8

Inputs 5

Operating pressure 1,5 to 7 bar

Compressed air filtered 5 µm

Rated flow per valve at 6 bars 96 l/min

Valve switching response time < 15 ms

Switching frequency 5 Hz

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Y56

Y54

R

Y57

Y55

Y52

Y50Y51

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TC

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x 10

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x x xx

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4x ø5H7;8

4x M5;10

4x M6;8

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4x M6;8 deep

TK ø63

PG7 PG7 PG7 PG7

forbidden circle ø155

113

127104

94

80

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3

gripper flange

robot flange

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AB

AB

AB

AB

Anw

enderstecker X11

Anw

enderkabel

TC

user cable

0V

66

66

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77

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S61

S60

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user plug X11

gn/ge

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X 11 - 5

ws

ws/sw

ws/vio

bn

bl

sw

ws/gr

ws/bl

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ws/or

ws/bn

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X 11 - 10

X 11 - 9

X 11 - 8

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X 21-13

X 21-14

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AS-I +X 11 - 2

X 11 - 1

BAPS-Analog-Input 401

BAPS-Analog-Input 402X 21 3

X 21 1

X 21 6

X 21 4 BAPS-Analog-Input 403

BAPS-Analog-Input 404

Digitale E

ingänge digital inputs

Digitale A

usgänge digital outputs

Analoge E

ingänge analog inputs

X14-1

X14-2

X14-3

X 21 2

X 21 5 Geh. CAN

Analog Ground

8

(n.c.)

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M5

M5

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M5

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1214

24

31

5

M5

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On turboscara SR4/6/8plus it is possible to mount attachments on the left and right sides of arm 2. For this purpose there are 4 threaded holes M5 (2 right, and 2 left) on arm 2.

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Rated load 2 2 2 kg

Maximum load (sleeve Ø 20 mm)

5 5 5 kg

Maximum load (option)(sleeve Ø 25 mm)

- 8 8 kg

Rated maximum mass moment of inertia (axis 4)

500 500 500 kgcm2

Max. mass moment of inertia (axis 4)

1000 1000 1000 kgcm2

Horizontal force, conti-nous/max. (axis 1, 2)

90/225 60/150 60/150 N

Vertical force, continous/max.

200/300 200/300 200/300 N

Torque (axis 4), rated/max.

5/10 5/10 5/10 Nm

0 ! !# !$ B

x, y ±0,025 ±0,025 ±0,025 mm

Axis 3 ±0,05 ±0,05 ±0,05 mm

Axis 4 ±0,05 ±0,05 ±0,05 °

- ! !# !$ B

±0,5 ±0,5 ±0,5 mm

3842 530 881 (03.08) en

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<3 ! !# !$ B

Reach 400 600 800 mm

Inside radius 139 167 183 mm

Swivel angle axis 1 ±105 ±140 ±140 °


Lift sleeve Ø20 mm 200 200 200 mm

Lift sleeve Ø25 mm (optional)

- 200 200 mm

Lift sleeve Ø25 mm (optional)

- 400 400 mm

Lift sleeve Ø25 mm (on call)

- 600 600 mm


Swivel angle axis 4 with user installation

±180 ±180 ±180 °

*0 ! !# !$ B

Cycle 25-300-25 - <450 <490 ms

Cycle 25-150-25 <300 - - ms

B ! !# !$

Digital inputs 8 8 8

Digitale outputs 8 8 8

Analog inputs 4 4 4

ASi bus (max. 200 mA)without external power supply

4 Slaves 4 Slaves 4 Slaves

ASi bus with external power supply

13 Slaves 13 Slaves 13 Slaves

pneumatic lines 2 x LW4

3842 530 881 (03.08) en

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with stand 41 48 51 kg

with console 32 40 43 kg

< !# !$

Variant dustproof 52 55 kg

Variant cleanroom 52 55 kg

-0 ! "#"$ !#"$(

!#"$

IP54 IP65 IP65

3842 530 881 (03.08) en

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You can find further information about dimensions in the product documentation ’turbo AR6/8plus’ on the documentation CD, Order No. 3842 524 619, and on the CAD drawings, which you can download in internet under:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots.

; '# '$

Fixture Baselength 203 mm

Baselength 203 mm

Contact termination Connection plugs in the base Connection plugs in the base

User installation In the robot base, up to the wrist (in delivery condition)

In the robot base, up to the wrist (in delivery condition)

Control cabinet 19“-rack

Control IQ200 standard with rho4.0 option with rho4.1

Protection type/environ-ment

IP40Option:AR6/8 DP, for severe conditions and areas where cleanroom conditi-ons are required.Up to joint 3: IP54After joint 4: IP65

3842 530 881 (03.08) en

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Working area,defined by Point P

Point PPoint TCP


Point P

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Point P

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Point P

Point TCP


Point P

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Point P

3842 530 881 (03.08) en

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The base plate is fastened by M10 x 30 mm bolts (strength class: 12.9).1

60

66 0.0

160

20

0

200

R20

200

500 Raumbedarf für Kabel

140

4x12

4

2x6 H7

4

18

40

.0

500 mm space for cable

3842 530 881 (03.08) en

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The gripper flange (in accordance with DIN EN ISO 9409-1-A31,5) fastens the gripper.

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deep

deep

deep

3842 530 881 (03.08) en

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As a standard, there are available:

• User interface on the wrist, see chapter 5, Interface valves

with 3x5/2 impulse valves (pre-assigned with BAPS output 1 to 6) and 10 0 freely available lines (pre-assigned with 24 V, 0 V, BAPS input 1 to 6, ASi+ and ASi-)

• Interface on the robot base, see following pages

JC1 - Central connection plug to the control unitJC3 - I/O interface to peripherals, ASi bus termination is availableJC4 - Interface for brake box

User interface on the wrist

Interface on the robot base

3842 530 881 (03.08) en

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JC1 creates the electrical connection between IQ200 and AR6/8. For detailed information, see wiring diagram.

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3842 530 881 (03.08) en

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Assignment at delivery:

C* & 3 3

, 3 % (05

C*&- ' -&(

1 CN21 - pin 1 +24 V

2 CN21 - pin 2 0 V

3 CN21 - pin 3 ASi+ (for SR-CAN-ASi option, otherwise open)

4 CN21 - pin 4 ASi- (for SR-CAN-ASi option, otherwise open)

5 CN21 - pin 5 BAPS input 1






11 Valve output Y1A BAPS output 1

12 Valve output Y1B BAPS output 2





17 BAPS input 7

18 BAPS input 8

19 BAPS output 7

20 BAPS output 8

21 Analog input 401

22 Analog input 402

23 Analog input 403

24 Analog input 404

25 Analog GND

3842 530 881 (03.08) en

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A8/(0 2

red

green

Overload sensor supply(only for Asi option)

Logic voltage supply OK (only for Asi option)

red

flashes red

rapidly flashes red

Module in condition

invalid node ID

Module in mode

green

flashes green

Module in condition

Module in condition

red

green

Outouts overload

24 V D.C. supply OK

AS

iC

AN

Pow

er

3842 530 881 (03.08) en

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On the wrist in the installation chamber, the following interfaces are available:

• 3x5/2 impule valves, M5 connection thread, pre-assigned with BAPS output 1 to 6

• 10 freely available lines (pre-assigned with 24 V, 0 V, BAPS input 1 to 6, ASi+ and ASi-)

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1 +24 V

2 0 V

3 ASi+

4 ASi-

5 BAPS input 1

6 BAPS input 2

7 BAPS input 3

8 BAPS input 4

9 BAPS input 5

10 BAPS input 6

3842 530 881 (03.08) en

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AIR2

transparentLW4

Y2A Y 2B

2A 2B

SPR

Y3A Y 3B

3A 3B

SPR

Y1A Y 1B

1A 1B

SPR

R

AIR1

blackLW4

BAPSOutput 1

BAPSOutput 4

BAPSOutput 6

BAPS Valves

A1A2A3A4A5A6

Y1AY1BY2AY2BY3AY3B

BAPSOutput 2

BAPSOutput 3

BAPSOutput 5

AIR2

At the robot base

Air connection on the wrist

/ 9

Operating pressure 1,0 bar to 3,9 bar

Maximum pressure 4,9 bar

Valves 3x5/2 impulse valves

Maximum flow rate 30 N/min

Reaction time at 4,9 bar ≥15 ms

Maximum switching frequency 10 Hz

Operating temperature -5° to 50 °C, no condensation formation per-mitted

3842 530 881 (03.08) en

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653 854 mm

2%(= ,*->

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733 934 mm

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270 (lower arm) + 295 (upper arm and wrist)= 565

365 (lower arm) + 405 (upper arm and wrist)= 770

mm

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axis 1 ±170 ±170 °

axis 2 +100 / -135 +100 / -135 °

axis 3 +209 / -76 +209 / -79 °

axis 4 ±190 ±190 °

axis 5 ±120 ±120 °

axis 6 ±360 ±360 °

3842 530 881 (03.08) en

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axis 1 300 200 °/s

axis 2 270 225 °/s

axis 3 330 225 °/s

axis 4 330 330 °/s

axis 5 330 330 °/s

axis 6 540 540 °/s

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axis 1 1585 1056 °/s2

axis 2 1268 1056 °/s2

axis 3 1585 1056 °/s2

axis 4 2308 2000 °/s2

axis 5 2308 2000 °/s2

axis 6 3692 3200 °/s2

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at the TCP 8200 7600 mm/s

0 '# '$ B

in x, y and z directions ±0,02 ±0,03 mm

-0 '# '$ B

±0,5 ±0,5 mm

3842 530 881 (03.08) en

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Maximum load capacity 5 5 kg

Maximum permitted moments of inertia for rotation of axis 4 and 5

0,295 0,295 kgm2

Maximum permitted moments of inertia for rotation of axis 6

0,045 0,045 kgm2

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Mechanical system 28 29 kg

B B=(%0(>

Digital inputs 8 6

Digital outputs (max. 24 V, 0,5 A per output, 50 % simulta-neity)

8 -

Analog inputs 4 -

Pneumatic lines 2xLW4 3x5/2 solenoid valves1x arbitrary clearance

ASi bus (option) CAN ASi transducer, max. 13 slaves200 mA internal ASi power pack, 2 A max. with external power pack

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IP40 IP40

3842 530 881 (03.08) en

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Encoder system Encoder with battery buffer

Motors A.C. servo motors (Uzw = 325 V D.C.)

Brakes in axis 2 to 6 (supply of 24 V D.C. via control unit)

3842 530 881 (03.08) en

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3842 530 881 (03.08) en

+)*

# )*The IQ200 robot controller was designed to control the Rexroth robots SR4/6/8plus and AR6/8. With its expanded capabilities in parallel processing, even additional tasks can be solved, as for example peripheral control, diagnosis, operator guidance and much more.

The IQ200 is a powerful controller on the basis of standard components of PC technology and integrated safety technics with safety class III and intelligent servo amplifiers.

The IQ200 gives the optimal answer to the corresponding application require-ments through the scalable control core with rho4.0 or rho4.1.

The controller is programmed with the pascal similar programming language BAPS3 (Bewegungs- und Ablauf-Programmiersprache, Motion and flowchart programming language, Version 3). The real-time operating system enables the parallel control of independent kinematics, the cell periphery and other processes. Even data exchange with external computers, vision systems or other sensor systems via interfaces is possible from the application program. Several data transfer protocols are available for this, among others the TCP/IP protocol.

Easy and comfortable programming and commissioning is possible via the programming environment easy Suite. Programs can be developed, tested and visualized offline.

With the interfaces OPC (OLE for Process Control), DDE (Dynamic Data Exchange) and DLL (Dynamic Link Library), the data exchange between user process and Windows applications is standardized. In addition to the creation of your own process surfaces, it is also possible to execute remote-controlled functions and status inquiries via the Windows applications.

The programmable logic controller PCL (Soft SPS) integrated as a standard makes a high functionality available for extensive peripheral control.

The IQ200 makes all internally required supply voltage available. Additionally, an uncontrolled supply voltage of 24 V D.C./15 A (EVS201) for the system periphery is available. The electrical connections are realized in plug-in or clamp techniques.

3842 530 881 (03.08) en

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#*

#

-

The rho4.0 has a high-performance PC microprocessor as well as a 1,8 MB memory for BAPS applications.

Following robot control interfaces are provided on the rho4.0:

• three serial interfaces V24_1 bis V24_3

• one network interface Ethernet

• two CAN (Controller Area Network) interfaces CAN1 and CAN2

• a further interface for SERCOS drives

• 16 digital inputs and 8 digital outputs

V24_3 can also be used as a serial 20 mA interface.

In addition, there are four virtual TCP/IP interfaces WIN1 to WIN4 available. These interfaces can be reserved and parametrized depending on the application.

3842 530 881 (03.08) en

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Maximum transfer rate 1 MBaud

Maximum cable length 25 m with 1 MBaud200 m with 128 kBaud

Data driver short circuit protected,ungalvanized

Bus terminator 120 Ω internal, activated through connectors

Maximum transfer rate 215 kBaud

Maximum cable length 15 m


Handshake signals channels 1, 2 DSR, DTR

Maximum transfer rate 19200 Baud



Receiver low is recognised up to 4,5 mAhigh is recognised up to 7,5 mA

Handshake signals channel3 DSR, DTR, optionalchannel 3 has a 20 mA control signal (DTR) for the connection of a mem-ber, which needs Hardware control

3842 530 881 (03.08) en

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#

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-

The rho4.1 has a high-performance PC microprocessor as well as a 4 MB memory for BAPS applications and a 128 MB working memory for Windows applications.

PC interfaces and robot control interfaces are provided on the rho4.1.

PC Interfaces:

• four serial PC interfaces COM1 to COM4 (COM4 is planned for the uninterruptable power supply (UPS))

• a parallel interface LPT1

• a network interface Ethernet

Robot control interfaces:

• four serial interfaces V24_1 to V24_4

• two CAN (Controller Area Network) interfaces CAN1 and CAN2

V24_1 and V24_2 can also be used as a 20 mA interface.

In addition, there are still four virtual TCP/IP interfaces WIN1 to WIN4 available. These interfaces can be reserved and parameterized depending on the application

3842 530 881 (03.08) en

#)*

Longer cables can be used via the external power supply of the sensor. The possi-bility of a limit depend in this case on the specification of the sensor.

2

Fast 24 V input, galvanically separated by OPTO photo coupler and an incre-mental sensor interface.

*'

Maximum permitted input frequency 800 kHz

Minimum flank distance between active counting pulse

≥250 ns

Input resistance 120 Ω

Minimum voltage difference ≥600 mV

Maximum cable length 20 m with an internal power supply and maximum 350 mAsensor power supply

Sensor power supply 5 V ±5 % in case of a short circuit, the PC shuts down completely

Maximum permitted sensor current consumption

350 mA

Voltage range 0 -3 V to 5 V, maximum 0,5 A

Voltage range 1 11 V to 30 V, 4 mA to 30 mA

Switching response time (delay) maximum 1,5 µs

Maximum transfer rate 1 MBaud

Maximum cable length 25 m with 1 MBaud200 m with 128 kBaud


Bus terminator 120 Ω internal, not disconnectable

3842 530 881 (03.08) en

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Handshake signals channels 1, 2 DSR, DTR

Handshake signals channels 3, 4 none



Data driver short circuit protected,ungalvanizedidle speed voltage: 12 Vinternal resistance: 464 Ωshort circuit current maximum: 26 mA

Receiver low is recognised up to 4,5 mAhigh is recognised up to 7,5 mA

Handshake signals channel3 nonechannel 1 has a 20 mA control signal (RTS) for the connection of a PHG

3842 530 881 (03.08) en

#)*

#-0(0(89!

The EVS201 provides the necessary power supply of the IQ200 and the periphery. The system signals of the IQ200 for operating block, releases, user signals etc. are distributed via pre-assembled connection lines. The earthing point is in the lower right corner. Another component of the EVS201 is the complete emergency-stop wiring and the safety door monitoring in two-channel design. The integration of further emergency stop switching elements of higher systems is possible.

The requirements of safety class III according to EN 954 are met. This serially integrated safety technics makes it possible to operate the robot safety and comfortably for teaching, setup and test mode. Its benefits are: Fast and well arranged processes with highest personal safety.

The component EVS201 is located between rho4 and drive amplifier. A voltage of 24 V D.C. is available at the connection XE14 for user periphery.

'(%

• Worldwide use through transformator modules

• 24-V power supply, capacity of up to 15 A maximum

• Diagnosis function via LEDs, potential-free user interface

• Separation of safety stages Emergency stop, safety guard and power off.

• Variable input voltages through transformator module

• Potential free 2-channel outputs for Emergency-stop and safety door with a capacity of up to 4 A, safety class III through 3-protective circuit

• Potential free 2-channel outputs for power-Off with a capacity of up to 4 A

• 4 operating modes that can be freely selectable (AUTOMATIC/MANUAL - MAXIMUM/REDUCED)

• 2 function keys on the operating block that can be freely programmed

5H.(4

3842 530 881 (03.08) en

# )*

• 3 free PLC outputs

• 1 free potential free relay contact, with a capacity of 2 A

• Introduction of standard 5*20 mm glass tube fuses

3842 530 881 (03.08) en

#)*

#/%

The IQ200 drive unit consists of a card rack, which contains the servo power supply and amplifier cards Servodyn-D (four at AV201, six at AV206) and the end stage component. The data are exchanged between the different amplifier cards and the robot control rho4 via the digital drive interface CAN.

The drive unit is supplied from the EVS.

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3842 530 881 (03.08) en

## )*

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External dimension (rack) w = 19" (482,6 mm)d = 222 mmh (rho4.0) = 1 HEh (EVS) = 3 HEh (AV201) = 4 HEh (AV206) = 5 HE

-> overall with AV201 = 8 HE (355,6 mm)-> overall with AV206 = 9 HE (400,05 mm)

100 mm of installation space should be planned in front of the rack for wiring!

w = 19" (482,6 mm)d = 300 mmh (rho4.1) = 3 HEh (EVS) = 3 HEh (AV201) = 4 HEh (AV201) = 5 HE

-> overall with AV201 = 10 HE (444,5 mm)-> overall with AV206 = 11 HE (488,95 mm)

100 mm of installation space should be planned in front of the rack for wiring!

Power supply EVS201 115 V A.C., 50/60 Hz, max. fuse rating 32 A slow-blowing230 V A.C., 50/60 Hz, max. fuse rating 16 A slow-blowing400 V A.C., 50/60 Hz, max. fuse rating 16 A slow-blowing480 V A.C., 50/60 Hz, max. fuse rating 16 A slow-blowing

Power consumption 2kVA

interfaces: on SR4/6/8plus on arm 2- digital inputs

- digital outputs

- analog inputs-ASi bus

8 (SRCAN, arm 2)

8 (SRCAN, arm 2)

4 (SRCAN, arm 2)with ASi bus additionally 13 ASi slaves (52 I/O), 4 slaves without external power supply

Interfaces: on AR6/8, base and wrist- digital inputs

- digital outputs

- analog inputs- ASi bus

8 (24 V input)

8 (max. 0,5 A per output, 50 % simultaneity)

4 (±10 V)with ASi bus additionally max. 13 ASi slaves (52 I/O), 4 slaves without external power sup-ply

TCP/IP 4 channels (WIN_1 to WIN_4)

Serial robot control interfaces 3, one for the PHG2000

3842 530 881 (03.08) en

#+)*

CAN/CANopen 2 for drives and fieldbus I/O 2 for drives and fieldbus I/O

SERCOS interface standard optional

PC interface:- serial

4 (COM1 to COM4), one for the integrated UPS (uninterrupta-ble power supply) and one for the Touchscreen

- parallel 1 (LPT1)

- Ethernet serial network interface

Processor Pentium MMX

RAM 1,8 MB BAPS memory 128 MB4 MB BAPS memory

Operating system VxWorks VxWorks/WindowsNT

Robot programming BAPS3 language

Power supply for process periphery

24 V D.C., 15 A, uncontrolled according to DIN 19 240

Protection type IP20, IP54 in control cabinet

EMV interference immunity DIN/EN 50081 part 2

EMV interference emission DIN/EN 50082 part 2

Operating temperature for the control cabinet

5 to 40 °C

Maximum power loss 500 W

Number of amplifiers 4 amplifiers in the AV201 drive unit for SR4/6/8plus6 amplifiers in the AV206 drive unit for AR6/8

3842 530 881 (03.08) en

#$ )*

# '

rho4.0

rho4.1

EVS201

AV206

1 2 3 41 2 3

AV201

3842 530 881 (03.08) en

#)*

#*

A 19" control cabinet is available for the installation of the IQ200 components. It has a cut-out for the operating block and an installed main switch assembly. Additionally, a PE kit for the necessary ground connections is added next to the ventilation assembly.

8(

• Width: 600 mm

• Height: 620 mm

• Depth: 600 mm

Protection type: IP54

All combinations can be fitted in this cabinet.

3842 530 881 (03.08) en

+ )*

##. 3

The operating block with its switches and LED enables the operation of the basic functions of the IQ200:

• Operating mode selection (automatic/manual)

• Selection of the power type (maximum/reduced)

• Start, stop and continuation of user programs

• On and off switching of the drive performance

• Reset

• Display of operating conditions

• Emergency switch

• Two keys that can be assigned freely

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48

201

103,5 ∅4 4

52

207

3842 530 881 (03.08) en

+)*

#+;(

Additional bus connections can be achieved with optional plug-in cards. The bus cards are inserted directly in the rho4 and delivered configured. The signals are evaluated in the PLC program.

When making configurations with an additional bus card, an additional 16 byte I/O is available.

This number can be expanded by upgrading the PCL version from PCL-S to PCL-L or PCL-X:

• PCL-S: 128 I + 128 O 16K instructions in AWL

• PCL-L: 256 byte I/O 64K instructions in AWL

• PCL-X: 8192 byte I/O 128K instructions in AWL

The configuration of the modules occurs with WinDP or WinCAN.

- &/-(

With the Profibus-DP master card it is possible to connect I/O modules as Profibus-DP slaves to the controller.

*'

With this card it is possible to connect CANopen I/O modules to the controller.

5&!

With this card it is possible to connect InterBus-S I/O modules to the controller.

'!5

With the SRCAN ASi Gateway on the SRplus series it is also possible to connect max. 13 ASi Slaves (corresponding 52 I/O) or 4 Slaves without external power supply.

3842 530 881 (03.08) en

+ )*

#$".

The number of available inputs and outputs can be extended with the IQ200 via a decentralised I/O module.

5H.(= H".(>

Rexroth has suitable modules in various versions available, see ordering sheets in chapter 11. The inexpensive compact B~IO versions offer all common combina-tions of inputs and outputs and integrate the fieldbus switch. There are also modular B~IO versions with analog I/O combined digital outputs or with relay combined digital outputs.

It is possible to order a compact B~IO K-16DI/16DO with 16 digital inputs and outputs and already integrated into the IQ200.

(5H.F&#/"#/.

Input voltage at 0 3 V..5 V

Input voltage at 1 11 V..30 V

Input current at 0 2,5 mA

Input current at 1 2,8 mAi6mA

3842 530 881 (03.08) en

+)*

.

electrically separated CAN interface

Further work to be carried out by the customer enables the I/O configuration to be extended:

• The maximum total number of CAN-E/A in the PLC program is 48 Bytes of inputs and 48 Bytes of outputs, where a digital input or output engages 1 bit and an analog input or output engages 2 bytes.

• From these I/O, up to 199 inputs and 199 outputs or 8 analog inputs and 16 analog outputs can be addressed in the BAPS program.As a default, in the PLC program for the BAPS programs, the following is provided:

-199 CAN-I/O for BAPS

-4 analog inputs of the SRCAN module in Arm 2, filtered on 8 bits.

• When a higher number of I/O is to be used, the configuration of the B~IO-modules must be taken into account (maximum number of nodes on the CAN2). Please contact your system integrator.

*(%04(

Output voltage 24 V

8 outputs 0,5 A

4 outputs 1 A

4 outputs 2 A

3842 530 881 (03.08) en

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#$*'

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• 16 intputs 24 V D.C. according to type 1

To both output bytes Q0 and Q1 apply:

• 0,5 A outputs, bit 0 to 3

• 1 A outputs, bit 4 and 5


Bus plug BL-SET-SA-K32

3842 530 881 (03.08) en

+)*

5H.2&*'((

B~IO M-CAN is the modular representative of the B~IO family for the CANopen. Starting from the basic model of bus switching, it is possible to compose, at any time modify and extend a decentralized slave with the different I/O modules according to the individual requirements. Even the change-over of the complete slave onto another bus system is easily possible through the change of the module ’Bus switching’.

Bus control

Modular plug connector

I/O modules

BL-SET-SA-8DI/DO/RVBL-SET-SA bus contr. B~IO MBus cable CANopen,piece goods CANopen,bus plug

3842 530 881 (03.08) en

+# )*

55H.2&*'

As the basis for the assembly of a modular bus participant at the CANopen, Rexroth makes the bus wiring B~IO M-CAN available.

/(/(

8DO 8DI

3842 530 881 (03.08) en

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F&/-#/"#/.

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• 16 intputs 24 V D.C. according to type 1

To both output bytes Q0 and Q1 apply:

• 0,5 A outputs, bit 0 to 3



-D@, -.;5B!&/-(=0/->

Bus plug BL-SET-SA-K32

3842 530 881 (03.08) en

+$ )*

5H.2&/-((

B~IO M-DP is the modular representative of the B~IO family for the Profibus-DP. Starting from the basic model of bus switching, it is possible to compose, at any time modify and extend a decentralized slave with the different I/O modules according to the individual requirements. Even the change-over of the complete slave onto another bus system is easily possible through the change of the module ’Bus switching’.

-D@, -.;5B!&/-(=0/->

Bus control

Modular plug connectorI/O module

BL-SET-SA-8DI/DO/RVBL-SET-SA bus contr. B~IO M

Bus cable Profibus-DP, piece goodsProfibus-DP, bus plug

3842 530 881 (03.08) en

+)*

55H.2&/-

As the basis for the assembly of a modular bus participant at the PROFIBUS, Rexroth makes the bus switching B~IO M-DP available.

/(/(

8DO 8DI

3842 530 881 (03.08) en

$ )*

#$".&0

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The I/O-Gateway enables to transfer data between two different field bus systems (Profibus-DP, CANopen, CANrho, DeviceNet and INTER-BUS-S). It is even possible to use the I/O gateway between bus systems of the same type. 20 bytes of input information and 20 bytes of output information are exchanged between the coupled systems (Reduction to 8 bytes I/ 8 bytes O possible).

BL-SET-SA bus contr. B~IO M

Bus plug

BL-SET-SA bus contr. B~IO M

Bus plug

Modular plug connector

3842 530 881 (03.08) en

$)*

#-1(&((%

With the PHG, it is possible

• to test programs

• to patch programs

• to modify parameters

Additional functions:

• Diagnosis of robot systems

• Teaching points via manual robot movement

• Release brakes manually

The PHG2000 is equipped with a separate microprocessor, enabling to create your own user masks and menu levels. As a further property, it is possible to access to system variables of the rho4 with the PHG2000.

The PHG2000 is equipped with a two-channel emergency-stop switch and a two-channel confirmation key. This enables to move the robot even with safety doors opened in the power mode ’Reduced’.

:( 2-1/&*/4.($ #(@"" &(" @"" "

3842 530 881 (03.08) en

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#-%

Two different programming methods are available. With the first one, the comfortable programming environment easy Suite fulfills all functional wishes with the language BAPS3. With the second one, the graphical programming environment BAPS+ enables to create sequences of movement rapidly and easily.

#0!=(((%0>

easy Suite is the comfortable programming environment for the Bosch Rexroth AG robot technology. Advantages:

• Creation of sequence programs offline in BAPS3. ( BAPS3 means in German Process Programming Language, Version 3. It is a task-oriented, pascal similar programming language similar to PASCAL for the programming of the rho4 control family.)

• Test and startup with debug-function, offline

• Visualisation of the robot movement

3842 530 881 (03.08) en

$)*

The programming environment compromises the following functions:

• Windows application orientated user interface which enables the user to work intuitively and effectively.

• Project management which allows the creation and the editing of several HoldProjects.

• Text editor to write, check and debug user programs in the programming language BAPS.

• Compiler and debugger

• Visualisation of digital bit and byte inputs/outputs in dockable windows.

• Point editor to enter, clear and change points.

• File transfer via Windows Explorer. The control is addressable as an additional drive. Files can be transferred to the control unit and can be deleted or renamed there.

• Control diagnosis with control information in table form.

• Virtual robot operator control elements: Virtual panel and virtual PHG.

• 3D visualisation to illustrate the movement of the robot.

3842 530 881 (03.08) en

$ )*

#5'-!=>

BAPSplus is a graphic, structure oriented programming system, with which sequence programs can be rapidly and easily created, documented and tested in the Top-Down draft. Advantages are the automatic code generation and the possibility of the process observation. The program process is composed in form of a program process plan from picture symbols.

• Integrated BAPS translator translates the created motion programs with help of the ASCII editor.

• Program archiving (load, save, list, delete, name etc.)

• Remote control functions: program start, display of axis position, I/O status etc.

• Coupling functions: transfer of files from/to rho4, connection to the rho4 via serial interface or TCP/IP.

• Offline/online points editor

• Process functions: process selection, process start, process stop etc.

Through the conversion of the BAPS source code into the graphic programming system, the advantages of BAPSplus - easy, graphic programming, clear documentation, debugger for rapid startup - can be used.

3842 530 881 (03.08) en

$)*

#!

#.-*&!% =(((%0>

With the OPC Server 4, the robot controller IQ200 has a system-overlapping interface.

OPC (OLE for Process Control) is an established standard in the automation technique and defines interfaces. They enable interoperability between the robot controller IQ200 and communication and visualisation systems of different manufacturers, such as Indusoft, InTouch, LabView, Visual Basic, Visual C++ etc.

The Microsoft component model DCOM based on the OPC allows the realization of distributed applications. Not only does OPC enable to exchange data on a robot controller, but all data of all OPC servers of the network are available to a OPC client.

VBA or Delphi as OPC clients enable the data access for office programs such as Excel, Access etc. Multi-client access is possible, i.e. requests from different OPC clients can be answered at the same time.

#<!-!=>

The integrated software SPS (PCL) can be programmed with WinSPS. As a future programming tool WinSPS offers the famous Windows Look & Feel for instruction lists (AWL), operation language (AS), function plan (FUP) and contact plan (KOP).

Optionally, a WinSPS license can be directly ordered when ordering the robot system. This license contains:

• Basic WinSPS license

• License for the PCL

• License for the central programming (enables the SPS programming on another computer that is connected with the rho4).

#</-"<*'=>

WinDP resp. WinCAN are used for the configuration of inputs and outputs that are connected to the optional Profibus-DP-Master card or CANopen card.

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GateWay is a Windows application for Windows95 or WindowsNT. It serves the TCP/IP communication between the rho4 and all external clients and Servers.

3842 530 881 (03.08) en

$# )*

-(((

A TCP/IP address consist of 2 components: the IP address of the computer (host) and a port number. The IP address is the world wide definitive address of the PC. The address is comparable to a normal house address with country, city, street and house number. The port number is the number of a server or client on the computer. This is comparable to the name of the person at the address. The port numbers 6000 to 6200 and 5000 to 5200 are reserved for Bosch Rexroth.

8

GateWay can be started after the controller is up and running. During the initiali-sation GateWay builds a TCP/IP link to the corresponding server for all adjusted connections in the file GateWay.ini. At the same time a GateWay server branch is started for each of these connections. It is available for the linking of a client. Since GateWay runs under the Windows part of the PC, the IP address is the IP address of the physical Ethernet card.

3842 530 881 (03.08) en

$+)*

#

#;

robot , the image processing system for Rexroth robotics, solves object recognition tasks according to the position of the object. So the robot is able to grip defined unsorted objects, among other things from the running conveyor belt (tracking). In a very short time, new objects are taught-in. robot is entirely integrated into the programming and testing field of the robot control. In the Windows environment you configure and calibrate your system, the control of the processes takes over the robot program.

'(%@

• Stationary camera (SR4/6/8plus and AR6/8)

• Moving camera (SR4/6/8plus only)

• Easy camera calibration

• Comfortable ’Teaching’ of the object characteristics

3842 530 881 (03.08) en

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#*(

robot is an image processing system specially adapted to applications with the Rexroth robot family. It distinguishes itself by the following advantages:

B&(

Camera calibration, teaching of object characteristics, system configuration and operation are done in the Windows environment. The sequential control is entirely integrated in the robot programming BAPS.

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During the processing of the image acquired by the camera it is possible to integrate three powerful tools:

• Comparison of characteristics in the pattern recognition

• Segmentation in the binary image analysis

• Location of grey value skips in the edge detection

(

Up to four stationary cameras or moving at the robot arm (Sr4/6/8plus only) are supported.

The hardware of the robot is designed as plug-in card. The software is entirely installed on the rho4.1. The access to robotvision through several control systems at the same time is possible via TCP/IP links.

The scope of delivery of robot includes the robot card with an upgrade of the rho4.1 to 128MB RAM and Windows NT, a calibration help and the installed robot software. The software variant patmax differs from the variant patquick in a higher recognition accuracy and additional evaluation possibilities of the image processing. Moreover, it is possible to commute to the more rapid variant patquick.

If more than 2 camera connections are required, a further adapter is necessary. Accessories such as cameras and lighting equipment are not included in the delivery.

Optionally you can get the rho4.1 with a Pentium III 400 MHz processor.

:( (*/4.($ #(@"" (" @"" "

3842 530 881 (03.08) en

$-

+ -Three different tools are available to aid your application planning. A simple PC software tool is available for an early and rapid calculation of movements of SRplus swivel-arm robots. The cycle times have accuracy of ±15 %. We recommend easy Suite for accurate statements. COSIMIR enables the simulation of all processes in your robot cell including peripherals; thereby assisting in collision avoidance, and estimation of cycle time.

+*0%&

The cycle time program gives a very good estimation of the turboscara SR4/6/8plus cycle time without using a robot control, which can be downloaded from our internet homepage:

www.boschrexroth.de/roboter or www. boschrexroth.com/robots

Take also necessary processing times (e.g. grip times) into account for the deter-mination of the cycle time and remember that not every process allows maximum acceleration and velocity.

Remember that very high angular accelerations can occur when swivel arm robots move with maximum velocity. As a result, the piece may disengage from the gripper.

3842 530 881 (03.08) en

-

Procedure for the use of the cycle time program:

• Select the configuration of the robot mechanics and define its load.

• Define starting, intermediate and final points in the robot coordinate system for the part motion. Take also into account from which side the arm should negotiate the point.

The movement theoretically calculated in the cycle time program goes to all these points directly. Practically, movement time can be saved through spatial curving at the intermediate points.

• With the modification of the robot position, it is possible to optimize the cycle time of your application, since the best cycle times are reached when both axes run the same paths.

Start point

Intermediate point Intermediate point

End point

Robot position

Robot coordinate system

Original coordinate system

3842 530 881 (03.08) en

-

+0!

Programs can be executed via the %0!. Robot movements can be visualized at the same time and it can be checked logically if then can be performed. Statements on cycle times are possible with great accuracy. A robot is not required. The connection to a control is necessary for executing the programs.

3842 530 881 (03.08) en

-

+!*.!2

The 0*.!2 enables the complete modeling of a robot cell. Programs created in BAPS can be executed and it can be reliably checked if a sequence of movements can be performed. Robot movements are visualized, cycle times can be calculated. A controller is required for the simulation. The complex simulation system COSIMIR enables to simulate complete cells and systems. COSIMIR is recommended especially for complex applications as well as for the use of the turbo AR6/8. The simulation helps the visualisation of collision and cycle time problems.

+ /&*'/

/&( *'/0 make it possible to check geometrically if movements can be performed and 3D-data can be used directly in the mechanical construction environment. Statements on the cycle time and the execution of programs are not possible..

3842 530 881 (03.08) en

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Load is defined as all attached mass (e.g. gripper, workpiece, tool) on the flange surface as well as attached periphery on arm 2.

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The effective mass moment of inertia around the fourth axis is a combination of the moments of inertia of the individual masses attached to the flange surface.

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3842 530 881 (03.08) en

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The diagram contains the permissible transverse forces acting on the lift/rotation axis. A distinction is made between the continuous value and the maximum value:

The continuous value arises out of the permissible thermal stress on the motor. If the continuous value is exceeded for a significant length of time, the drives shut down. This, however, does not lead to any damages of the device.

The maximum value takes into account the maximum torque of the motor and the permissible loading capacity of the bearings. If this value is exceeded, it leads to large positional deviations in the X Y planes and the drives shut down after approx. 2 seconds. Repeatedly exceeding the maximum values will cause damage to the device.

0

50

100

150

200

0 50 100 150 200 250 300 350 400 450 500

Distance to upper final position in mm

Late

ral f

orce

Fxy

in N Maximum value

Continuous value

3842 530 881 (03.08) en

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The working area shown in the dimensioned diagrams is valid for the Tool Center Point: the center of the flange surface. During the layout, take into consideration that attachments and bulky tools do not cause collisions with the robot stand. If this should be the case, you can limit the working area via the software limit switch.

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3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±105° axis 3: 200 mm

axis 2: ±143°

axis 4: ±180°

3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±105° axis 3: 200 mm

axis 2: ±143°

axis 4: ±180°

3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±140° axis 3: 200 mm

axis 2: ±150°

axis 4: ±180°

3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±140° axis 3: 200 mm

axis 2: ±150°

axis 4: ±180°

3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±140° axis 3: 200 mm

axis 2: ±155°

axis 4: ±180°

3842 530 881 (03.08) en

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Not to scale

Swivel angle: Lift:

axis 1: ±140° axis 3: 200 mm

axis 2: ±155°

axis 4: ±180°

3842 530 881 (03.08) en

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Ambient conditions must be considered in order to receive the full functionality with the given technical data. Observe the given temperature ranges. Provide for a shock-reduced set-up. Protect the system from contact with aggressive substances and from condensation.

If the robot will be used in severe conditions, e.g. in areas with machine tools, it is recommended to use the option with bellows for the sleeve in order to protect the sleeve from wear and tear or the dustproof variant with protection type IP65.

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3842 530 881 (03.08) en

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The position of the stand/the console in a station is to be chosen in such a way that feeding and discharging units and the real workspace are positioned in the workspace of the robot. As a result, a smaller swivel angle must be covered and the cycle time is minimized.

When the variant and stand length of 250mm are to be used, it must be taken into account that the cable can be lead through the ground plate. A cable leading through the opening on the back is only possible with stand lengths >250 mm.

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Different lengths are available as standard as Z-stroke. Unnecessary lengths should be avoided since it causes restrictions in stability, accuracy and therefore also in velocity. For 600 mm stroke or stroke lengths deviating from standard program, there are no user installation or expansion bellows available.

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3842 530 881 (03.08) en

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The connection cable between the robot and control must be long enough. Besides a variant with fixed cable connection, there exists a variant with plugged cable. Moreover, the cable can be led either to the back from the stand or through the ground plate. A cable leading through the opening on the backside is only possible with stand lengths >250 mm.

There are cables available with following lengths: 3 m, 6 m, 10 m and 20 m.

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Interfaces for user installations in the installation room on arm 2 are offered as a standard. If they are required at the front at the gripper flange, this is realized through an optional user installation in closed cable hose and through the sleeve up to the flange.

2 #

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Digital inputs 8 8 8

Digital outputs 8 8 8

24 V D.C./0 V D.C. 3 3 3

Ground wire PE 1 1 1

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Pneumatic lines 2xLW2 2xLW4

3842 530 881 (03.08) en

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Load is defined as all attached mass (e.g. gripper, workpiece, tool) on the flange surface as well as attached periphery on arm 2.

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The effective mass moment of inertia around the fourth, fifth and sixth axis is a combination of the moments of inertia of the individual masses attached to the flange surface.

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3842 530 881 (03.08) en

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x

Z

Y

400 mm

500 mm

600 mm

700 mm

62,3 kg

49,0 kg

41,7 kg

34,5 kg

3842 530 881 (03.08) en

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The working area shown in the diagrams is valid for the Tool Center Point: the center of the flange surface. During the layout, take into consideration that attachments and bulky tools do not cause collisions with the robot stand. If this should be the case, you can limit the working area via the software limit switch.

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x

Z

Y

Y = 500 mm

Y = 600 mm

Y = 700 mm

Y = 800 mm23,8 kg 25 kg 28 kg 40 kg

550 mm

x

Z

Y

Z = 100 mm

Z = 400 mm

Z = 550 mm

Z = 700 mm

36 kg

28 kg

20 kg

15 kg

600 mm

3842 530 881 (03.08) en

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Not to scale

Swivel angle:

axis 1: ±170° axis 4: ±190°

axis 2: +100° / -135° axis 5: ±120°

axis 3: +209° / -76° axis 6: ±360°

3842 530 881 (03.08) en

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Not to scale

Swivel angle:

axis 1: ±170° axis 4: ±190°

axis 2: +100° / -135° axis 5: ±120°

axis 3: +209° / -76° axis 6: ±360°

3842 530 881 (03.08) en

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Not to scale

Swivel angle:

axis 1: ±170° axis 4: ±190°

axis 2: +100° / -135° axis 5: ±120°

axis 3: +209° / -79° axis 6: ±360°

3842 530 881 (03.08) en

3 )!* 7 ";

Not to scale

Swivel angle:

axis 1: ±170° axis 4: ±190°

axis 2: +100° / -135° axis 5: ±120°

axis 3: +209° / -79° axis 6: ±360°

3842 530 881 (03.08) en

.* '#"$

' (

Ambient conditions must be considered in order to receive the full functionality with the given technical data. Observe the given temperature ranges. Provide for a shock-reduced set-up. Protect the system from contact with aggressive substances and from condensation.

If the robot will be used in severe conditions, e.g. in areas with machine tools, it is recommended to use the dustproof variant with protection type IP54 up to axis 3 and protection type IP65 from axis 4.

( !")"*+

, -..

3842 530 881 (03.08) en

.* '#"$

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The position of the stand/console in a station is to be chosen in such a way that feeding and discharging units and the real workspace are positioned in the workspace of the robot. As a result, a smaller swivel angle must be covered and the cycle time is minimized.

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The connection cable between the robot and control must be long enough.

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3842 530 881 (03.08) en

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Interfaces for user installations on the base and on the wrist are offered as a standard (delivery condition).

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5 <

Digital inputs 8 5

Digital outputs 8 -

Analog inputs 4 -

Analog Ground 1 -

24 V D.C. / 0 V D.C. 1 1

Pneumatic lines 2xLW4 3x5/2 solenoid valves1x arbitrary clearance

ASi bus (option) with ASi bus additionally max. 13 slaves (52 I/O),4 slaves without external power supply

3842 530 881 (03.08) en

/

/You can find further information about the documents on the documentation CD that can be made available by your sales partner or in Internet under:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots

The documentation for the robot system is delivered with the CD-ROM, the safety instructions and the wiring diagrams.

On the documentation CD, order No. 3842 524 619 you can find manuals and CAD drawings and example programs on the following subjects.

-

> Basic information: Planning manual 2.0 order number 3842 530 880 (German)order number 3842 530 881 (English)

> Detailed information: Mechanic manual turbo SR4/6/8plus, chapter 2,3

Mechanic manual turbo AR6/8, chapter 2,3, 4

Manual robot for Rexroth robots

Service manual turbo AR6/8

(

> Mechanics: Mechanic manual turbo SR4/6/8plus, chapter 2,3

Mechanic manualturbo AR6/8, chapter 2,3, 4

> Control system: Manual IQ200 Robot Control SystemSR4/6/8plus, chapter 3, 5

Manual IQ200 Robot Control SystemAR6/8plus, chapter 3, 5

3842 530 881 (03.08) en

# /

-

> Introduction: Manual IQ200 Robot Control SystemSR4/6/8plus, chapter 8

Manual IQ200 Robot Control SystemAR6/8plus, chapter 8

> Programming environment: easySuite

ROPS4 Online

> Programming language: BAPS3 Programming

BAPS3 Short description (only syntax)

BAPSplus

BAPS - BAPSplus Converter(ReCompiler)

> IQ200-PCLproject description:

Manual IQ200 Robot Control SystemSR4/6/8plus, chapter 7

Manual IQ200 Robot Control SystemAR6/8plus, chapter 7

> PCL: Introduction in the software PLC, System description (PCL)

Programming and operating, Software manual (PCL and CL550)

> robotvision: Manual robot for Rexroth robots, chap-ter 5, 6

3842 530 881 (03.08) en

+/

2

> Mechanics: Mechanic manual turbo SR4/6/8plus, chapter 4

Mechanic manual turbo AR6/8, chapter 5

> Control system: Manual IQ200 Robot Control SystemSR4/6/8plus, chapter 8, 9

Manual IQ200 Robot Control SystemAR6/8plus, chapter 8, 9

rho4.0 Connectivity manual

rho4.1/IPC300 Connectivity manua

> Spare parts: Spare parts catalog MTparts

Spare parts overview IQ200

> Maintenance: Service manual turbo AR6/8

;

> Safety: Safety Instructions

> Mechanics: Mechanic manual turbo SR6/8 dustproof

Mechanic manual turbo SR6/8 cleanroom

> Systems: System Description rho4.0

System Description rho4.1

> Control system: Machine Parameters

Signal Descriptions

Control Functions

Status Messages and Warnings

3842 530 881 (03.08) en

$ /

See also further offers in internet such as application reports or FAQ’s.

> Programming: DLL Library

DDE Server 4

> Accessories: K-CAN16DO, K-CAN32DI, K-CAN16DI/16DO, Module Description (B~IO)

K-DP16DO, K-DP32DI, K-DP16DI/16DO, Module Description (B~IO)

Bus Connectors for I/O-Modules B~IO-M,Module Description/Project Engineering

M-DP, 8DO, 8DI, 16DI, Module Description

Input / Output modules for CL150, B~IO,Module Description

PHG2000, Software Manual

Installation Engineering

BF2xxT / BF3xxT,Control Panel Connectivity Manual

;

3842 530 881 (03.08) en

*(.(

*(.(For the configuration of a robot system and the choice of the accessories, you can use the order forms on the following pages. They contain all standard components and the corresponding options and accessories.

Only accessories can be ordered and delivered regardless of the robot system.

3842 530 881 (03.08) en

*(.(

! .(

Customer: already reserved: no / yes, week /

!((! 0)(%0

SR4plus with IQ200

Stand 250 300 400 600 700 Console instead of stand

ASi Gateway on arm 2 plug/connction cable cable 3 m cable 6 m cable 10 m cable 20 m User installation User installation (electric, pneumatic) to flange

Cover, bellows for sleeve ESD version

rho4.1 (rho4.1 instead of rho4.0) Pentium PIII-Processor 400 MHz (instead PI-Processor)

EVS201 - connection voltage EVS201 EU400 EVS201 US115 EVS201 US480 Control cabinet with main switch (operating block must also be ordered) Operating block B~IO CAN compact module 16I /16O, installed, wired, configured, with plug connections

Field buses Profibus DP Master CANopen Interbus-S Language, operating systems in English Trigger input, with rho4.1 available only Additional documentation Touchscreen BF312T incl. set of cables, 10 m (loosely enclosed), with rho4.1 available only

Licenses, additional software ROPS4 incl. BAPSplus ROPS4 incl. BAPSplus DDE-Server4 as well as BAPSplus recompiler WinSPS (basis package + PCL + central programming) PCL-L PCL-X WinDP WinCAN Hardlock (dongle)

robotvision robotvision quick robotvision max

with rho4.1 available only Connection adapter for 3rd/4th camera

Tool Connector (TC) (3 842 521 300)

Valve for TC Pulse (3 842 521 297) Pneumatic spring (3 842 521 298) PHG 2000 hand-held programming device (1 070 918 443) Holder for PHG 2000 (1 070 918 445) Keyboard template in English for PHG 2000 (1 070 918 446)

(Date) (Company stamp and signature)

• Stand 500 mm with plug connection• Sleeve Ø 20 mm (internal 14 mm)• Stroke (axis 3) 200 mm• User installation on arm 2

with digital 8I/ 8O and 4 analog I• Rated load 2 kg (max. 5 kg)• Driveless teaching

• rho4.0 incl. 16 E / 8 A• EVS201• AV 201• Cable set• 19" rack version

• Robot operating system• PCL Software: PCL-S• rho4-SW functionsEnclosed on CD:• easy Suite• ROPS4/Online (w/o license)• DDE-Server4 (w/o license)• WINSPS (w/o license)• WinDP/WinCAN (w/o license)

• CD-ROM• Safety notes

(printed)• Circuit diag.

(printed)

3842 530 881 (03.08) en

*(.(

!#"$.(


!((!#"$ 0)(%0

SR6plus SR8plus with IQ200


ASi Gateway on arm 2 Stroke/sleeve Ø 25 mm, carrying capacity 8 kg 200 mm stroke 400 mm stroke 600 mm stroke Plug/connection cable 3 m cable 6 m cable 10 m cable 20 m cable User installation Vertical user installation (electric, pneumatic) to flange

Horizontal user installation (electric, pneumatic) to flange (for 200 mm stroke only) Cover, bellows for sleeve (already included in DP and CL) ESD version

rho4.1 (rho4.1 instead of rho4.0) Pentium PIII-Processor 400 MHz (instead of PI-Processor)


Field buses Profibus-DP Master CANopen Interbus-S Language, operating systems in Englisch Trigger input, with rho4.1 available only Additional documentation Touchscreen BF312T incl. set of cables 10 m (loosely enclosed) with rho4.1 available only

Lizenz, zusätzliche Software ROPS4 incl. BAPSplus ROPS4 incl. BAPSplus DDE-Server4 as well as BAPSplus Recompiler WinSPS (basis package + PCL + central programming) PCL-L PCL-X WinDP WinCAN Hardlock (dongle)



!


Valve group for TC Pulse (3 842 521 297) Pneumatic spring (3 842 521 298) PHG 2000 hand-held programming device (1 070 918 443) Holder for PHG 2000 (1 070 918 445) Keyboard template in English for PHG 2000 (1 070 918 446)


! >

• Stand 500 mm with plug connection• Sleeve Ø 20 mm (internal 14 mm)• Stroke (axis 3) 200 mm• Perm. conn. cable, length 2 m• User installation on arm 2

with digital 8I/ 8O and 4 analog I• Rated load 2 kg (max. 5 kg)• Driveless teaching

• rho4.0 incl. 16 E / 8 A• EVS201• AV 201• Cable set• 19" rack version

• Robot operating system• PCL Software: PCL-S• rho4-SW functionsEnclosed on CD:• easy Suite• ROPS4/Online (w/o license)• DDE-Server4 (w/o license)• WINSPS (w/o license)• WinDP/WinCAN (w/o license)



(printed)

3842 530 881 (03.08) en

*(.(

!#"$/-"*A.(


!#"$/-"*A 0)(%0

SR6DP SR8DP SR6CL SR8CL with IQ200


Stroke/Sleeve Ø 25 mm, load max. 8 kg 200 mm stroke 400 mm stroke 600 mm stroke Driveless teaching, button to release brakes, axis 3 and axis 4

Plug/Connection cable 6 m cable 10 m cable 20 m cable User installation Vertical user installation (electric, pneumatic) to flange

Horizontal user installation (electric, pneumatic) to flange (only for 200 mm stroke)

Control cabinet with main switch (operating block must also be ordered) Operating block B~IO CAN compact module 16I /16O, installed, wired, configured, with plug connectors

Field buses Profibus DP Master CANopen Interbus-S Language, operating systems in Englisch Trigger input Additional Documentation Touchscreen BF312T incl. set of cables, 10 m (loosely included)

License, additional software ROPS4 incl. BAPSplus ROPS4 incl. BAPSplus DDE Server4 as well as BAPSplus Recompiler WinSPS (basic package + PCL + central programming) PCL-L PCL-X WinDP WinCAN Hardlock (dongle)


Connection adapter for 3rd/4th camera

!"#$


Valve Group for TC Pulse (3 842 521 297) Pneumatic spring (3 842 521 298) PHG 2000 hand-held programming device (1 070 918 443) Holder for PHG 2000 (1 070 918 445) Keyboard template in English PHG 2000 (1 070 918 446)


!"# >

• Stand length 500 mm • Sleeve Ø 20 mm (internal 14 mm)• Stroke (axis 3) 200 mm• Perm. conn. cable length 2 m• User installation on arm 2

with digital 8I / 8O and 4 analog I• Rated load 2 kg (max. 5 kg)

• rho4.0128 MB

• EVS• AV 200• Cable set• 19" rack

• WindowsNT• Software PCL PCL-S• Winrho• rho4 SW functions• easy Suite• ROPS4/Online (w/o license)• DDE-Server4 (w/o license)• WINSPS (w/o license)• WinDP/WinCAN (w/o license)



(printed)

3842 530 881 (03.08) en

*(.(

'#"$.(


'#"$ 0)(%0

AR6 AR8 with IQ200

ASi Gateway in stand Plug/connection cable 3 m cable 6 m cable 10 m cable 20 m cable

rho4.1 (rho4.1 instead of rho4.0) Pentium PIII-Processor 400 MHz (instead of PI-Processor)


Field buses Profibus DP Master CANopen Interbus-S Language, operating systems in Englisch Trigger input, with rho4.1 available only Additional documentation Touchscreen BF312T incl. set of cables 10 m (loosely enclosed) with rho4.1 available only

Licence, additional software ROPS4 incl. BAPSplus ROPS4 incl. BAPSplus DDE-Server4 as well as BAPSplus Recompiler WinSPS (basic package + PCL + central programming) PCL-L PCL-X WinDP WinCAN Hardlock (dongle)



$ !

PHG 2000 hand-held programming device (1 070 918 443) Holder for PHG 2000 (1 070 918 445) Keyboard template in English for PHG 2000 (1 070 918 446)


$ $! >

• Absolute encoders• Plug connection in stand• Rated load 2 kg (max. 5 kg)• Driveless teaching• User installation on arm 2

with digital 8I / 8O and 4 analog I• 3 pulse valves in arm• Plug connection on arm 2

• rho4.0 incl. 16 E / 8 A• EVS201• AV 206• Cable set• 19" rack

• Robot operating system• PCL software: PCL-S• rho4 SW functionsEnclosed on CD:• easy Suite• ROPS4/Online (w/o license)• DDE-Server4 (w/o license)• WINSPS (w/o license)• WinDP/WinCAN (w/o license)



(printed)

3842 530 881 (03.08) en

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$

..... Units B~IO K-CAN 16DI/16DO compact (1070 079 749) .....Units BL-SET-SA-K32, screw terminal (1070 080 343).....Units 9-pin CAN bus plug (1070 919 029).....Units CAN bus cable, 20 m per unit (1070 085 783)

......Units B~IO K-DP 16DI/16DO compact (1070 079 745) .....Units BL-SET-SA-K32, screw terminal (1070 080 343).....Units 9-pin PROFIBUS-DP bus plug (1070 918 539).....Units PROFIBUS-DP bus cable, 20 m per unit (1070 085 782)

......Units B~IO M-CAN Bus control (1070 079 755) .....Units BL-SET-SA bus contr. B~IO M, screw terminal (1070 080 344).....Units 9-pin CAN bus plug (1070 919 029).....Units CAN bus cable, 20 m per unit (1070 085 783)

......Units B~IO M-DP Bus control (1070 079 751) .....Units BL-SET-SA-Busan. B~IO M, screw terminal (1070 080 344).....Units 9-pin PROFIBUS-DP bus plug (1070 918 539).....Units PROFIBUS-DP bus cable, 20 m per unit (1070 085 782)

......Units B~IO modular, Gateway (1070 083 150) .....Units Modular plug connector (1070 079 782)

......Units B~IO 8DI modular (1070 079 757) .....Units BL-SET-SA-8DI/8DO/RV, screw terminal (1070 080 340).....Units Modular plug connector (1070 079 782)

......Units B~IO 8DO modular (1070 079 759) .....Units BL-SET-SA-8DI/8DO/RV, screw terminal (1070 080 340).....Units Modular plug connector (1070 079 782)

......Units Hardlock, instead of Crypkey (1070 919 875)

......Units Touchscreen BF312T (1070 079 484) .....Units rho4.1/BF312T connection cable, 10 m (1070 080 744).....Units rho4.1/BF312T connection cable, 10 m (1070 921 384)


3842 530 881 (03.08) en

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The sales department of the Bosch Rexroth AG as well as your regional partner are at your disposal for questions about the Rexroth robots. You can find their addresses in internet under the following addresses:http://www.boschrexroth.de/roboter or http://www.boschrexroth.com/robots

Or contact:

Bosch Rexroth AGVetrieb Roboter BRL/VROLöwentorstraße 68P.O. B. 30 02 07

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Tel.: +49-(0)711-811-31518

Fax: +49-(0)711-811-7875

E-Mail: [email protected]

,

You can obtain support for the system design and startup from our Technical application support:

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For further services round the robot, such as programming, contact your regional partner (Hotline, see chapter 12.4).

3842 530 881 (03.08) en

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In addition to the services of your regional partner, the whole course range of our training center in Erbach is also available. All courses are very pratical and include excercise blocks, in which the learnt knowledge will be trained on original systems.

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IQ200-GL Robotic basics X X X X

IQ200-B Basic operating and programming

X

IQ200-I Maintenance of SR,SRplus with IQ200

X X

IQ200-P Programming foradvanced users

X

IQ200-PCL PCL programming inrobot systems

X

SR-E SR setupwith operating device

X X X

AR-E AR setupwith operating device

X X X

robot robot for IQ200 X

easy-P Handling with easySuite X X X

BAPSplus-P The graphic programming tool X X X

rho4.0-I Change from rho4.1 to rho4.0 X X X

AR-I AR robot maintenance X

;5!4

WinSPS PCL programming with WinSPS X

WinDP-I WinDP software,bus configuration

X

FB-GL Field bus basics X

PCL-P Projectingand programming

X X

3842 530 881 (03.08) en

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5

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What is robotics,technical terms and components of robotics

3 daysPrerequisite: Technological knowledge

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Operating the robot system with PHG and easy Suite,interaction of mechanics, electronics, and control

5 daysPrerequisite: rho4 basics, good knowledge of Windows including Explorer

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Servicing of the robot’s mechanical system,control design and hardware

5 daysPrerequisite: Seminar IQ200/rho4-B,good knowledge of Windows including Explorer

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Programming with easy Suite, using important functions of the control, dealing with graphic simulation

5 daysPrerequisite: Seminar IQ200/rho4-B,good knowledge of Windows including Explorer

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Basic knowledge of the design of PC based control technique

3 daysPrerequisite: Seminar IQ200/rho4-I

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Operating the swivel-arm robot via PHG,becoming familiar with SR

2 daysPrerequisite: rho4 basics

3842 530 881 (03.08) en

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Operating the articulated robot via PHG,becoming familiar with SR

2 daysPrerequisite: rho4 basics

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Becoming familiar with robot , setup camerascommunication between robot and BAPS

3 daysPrerequisite: Seminar IQ200/rho4-B / Seminar IQ200/rho4-P

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Becoming familiar with the programming environment easySuite

2 daysPrerequisite: IQ200/rho4-B,good knowledge of Windows including Explorer

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Becoming familiar with the programming environment BAPSplus

2 daysPrerequisite: IQ200/rho4-B, good knowledge of Windows including Explorer

& *

Becoming familiar with rho4 hardware components and rho4 software compon-ents, carrying out maintenance work at the rho4.0

2 daysPrerequisite: IQ200/rho4-B / IQ200/rho4-I

'& '

Carrying out maintenance work,control design and hardware

2 daysPrerequisite: IQ200/rho4-B / IQ200/rho4-I,good knowledge of Windows including Explorer

3842 530 881 (03.08) en

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More detailed information about the current training program can be requested directly at the training center:

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'(( 5'DidacticP.O.B. 11 62

D-64701 Erbach

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Please use our customer hotline, too:

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With products in the fields:

• Linear and assembly technics

• Pneumatics

• Drive and control technology

• Industrial hydraulics,

the Bosch Rexroth AG is a complete supplier in the factory automation. Please send your questions to:

[email protected]

In internet under http://www.boschrexroth.com you can find your regional contact persons.

3842 530 881 (03.08) en

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3842 530 881 (03.08) en

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Active 20 mA interfaces..................... 59, 62Ambient conditions ................................ 102Amplifier, amount .................................... 67Arbeitsraum

SR4/6/8plus ....................................... 95ASi Bus.................................................... 71ASi bus .................................................... 66AV201 for SR4/6/8plus ............................ 65AV206 for turbo AR6/8 ............................ 65

5

B~IO M-CAN and modules...................... 75B~IO M-DP and modules ........................ 78B~IO modules.......................................... 72BAPS3............................................... 67, 82BAPSplus ................................................ 84Base plate

AR6/8................................................. 44SR4/6/8plus ....................................... 21

Bellows .................................................... 12Bus connections ...................................... 71Bus control

ASi bus .............................................. 71CANopen ........................................... 71InterBus-S.......................................... 71Profibus-DP ....................................... 71

Bus Control B~IO M-D............................. 79

*

CAN interface .................................... 59, 61CAN/CANopen ........................................ 67CANopen................................................. 71

K-CAN16DI/16DO ............................. 74Circuit diagram

SR4/6/8plus ....................................... 32Components ............................................ 68Connection cable..................................... 12

SR4/6/8plus ..................................... 104Console

SR4/6/8plus ....................................... 22

Contact terminationAR6/8................................................. 39

Control ............................................... 12, 39Control cabinet ............................ 12, 39, 69Control panel

Installation dimensions ...................... 70Controller rho4

rho4.0................................................. 58rho4.1................................................. 60

Copyright ................................................... 9Customer hotline ................................... 129Cycle time................................................ 37

/

Digital input module ................................. 77Digital output module......................... 76, 80Dimensions.............................................. 14dimensions .............................................. 39Display functions

AR6/8................................................. 49Documentation

Further current manuals .................. 117Installation and startup..................... 115Maintenance .................................... 117Programming ................................... 116Projecting......................................... 115

Driveless teaching ................................... 29

8

Electrical and pneumatical interfacesAR6/8................................................. 46

Electrical interfacesAssignments SR4/6/8plus.................. 25

EVS201 ................................................... 63

;

Fixture...................................................... 12AR6/8................................................. 39

Further components .............................. 129

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GateWay ................................................. 85Gripper flange ......................................... 94

AR6/8 ........................................ 45, 106

I/O gatewayDesign, possible field of application .. 80

I/O interface to peripheralsJC3.................................................... 47

Inputsanalog................................................ 66digital ................................................. 66

Installation ..................................... 103, 113Installation dimensions............................ 70InterBus-S ............................................... 71Interface for brake box

JC4.................................................... 48Interface valves ....................................... 50Interfaces ................................................ 66

A

Lift sleeve ................................................ 37Limits............................................. 103, 113Load capacity .......................................... 93

AR6/8 .............................................. 105

2

Mass moment of inertia........................... 93AR6/8 .............................................. 105

Measurement input ................................. 61

.

OPC-Server 4.......................................... 85Operating block ....................................... 70Operating mode ...................................... 70Operating system .................................... 67Operating temperature ............................ 67Order form

AR6/8 .............................................. 123IQ200 - accessories ........................ 124

SR4plus ........................................... 120SR6/8DP/CL.................................... 122SR6/8plus........................................ 121

Outputsdigital ................................................. 66

-

Path precision.......................................... 36PC interface

Ethernet ............................................. 67parallel ............................................... 67serial .................................................. 67

PC interfacesserial .................................................. 67

Planning sheetAR6, side view................................. 108AR6, top view .................................. 109AR8, side view................................. 110AR8, top view .................................. 111SR4 with console............................... 97SR4plus with stand............................ 96SR6plus with console ........................ 99SR6plus with stand............................ 98SR8plus with console ...................... 101

Pneumatic line......................................... 28Power loss, max. ..................................... 67Power type .............................................. 70Processor ................................................ 67Profibus-DP ............................................. 71

K-DP16DI/16DO................................ 77Protection type .................................. 38, 67Protection type/environment.................... 12

AR6/8 ................................................ 39

RAM ........................................................ 67Reaction forces ....................................... 93Repeatability............................................ 36rho4.0

Interfaces........................................... 58Processor .......................................... 58

rho4.1Interfaces........................................... 60Processor .......................................... 60

Robot programming................................. 67robotvision ............................................... 87

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Scope of delivery ....................................... 9SERCOS interface .................................. 67Sleeve ..................................................... 12SRCAN module ....................................... 73Stroke .............................................. 12, 103

,

TCP/IP..................................................... 66Technical data

AR6/8................................................. 52controller............................................ 66rho4.1 ................................................ 66SR4/6/8plus ....................................... 36

Technical support .................................. 125Tool Connector .................................. 23, 30Training ................................................. 126

B

User installation ......................... 12, 28, 104AR6/8................................................. 39horizontal ........................................... 28SR4/6/8plus ..................................... 104vertical ............................................... 28

User interface .................................... 24, 37

9

V_24 interfaces ....................................... 59VxWorks .................................................. 67

<

Weight ..................................................... 38WinDP/ WinCAN...................................... 85WinSPS ................................................... 85Working area ........................................... 37

AR6/8................................................. 39SR4/6/8plus ....................................... 14

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Notes

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Notes

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Notes

3842 530 881 (03.08) en

+(

DanmarkBosch Rexroth A/SGungevej 1DK-2650 HvidovreTel. +45 36 77 44 66Fax +45 36 77 08 66

SuomiBosch Rexroth OyAnsatie 6bFIN-01740 VantaaTel. +358 (0)9 8 49 11-1Fax +358 (0)9 8 49 11-360

NorgeBosch Rexroth ASBerghagan 1NO-1405 LanghusTel. +47 64 86 41 00Fax +47 64 86 90 62

FranceBosch Rexroth SAS BP 13 - ZI de la TrentaineF-77501 Chelles CedexTel. +33 (0)1 64 72 81 34Fax +33 (0)1 64 72 81 31

BelgiqueBosch Rexroth N.V.Industrielaan 8B-1470 Ternat Tel. +32 (0)2 5 82 31 80Fax +32 (0)2 5 82 43 10

ItaliaBosch Rexroth S.p.A.Via G. di Vittorio, 1I-20063 Cernusco s/N (MI)Tel. +39 02 9 23 65-1Fax +39 02 9 23 65-5 00

ÖsterreichBosch Rexroth GmbHStachegasse 13A-1120 WienTel. +43 (0)1 9 85 25 40-0Fax +43 (0)1 9 85 25 40-29

SchweizBosch Rexroth Schweiz AGHemrietstraße 2CH-8863 ButtikonTel. +41 (0)62 3 91 50 56Fax +41 (0)62 3 86 80 79

Great BritainBosch Rexroth LimitedMeridian SouthMeridian Business ParkBraunstone, Leicester LE3 2WYTel. +44 (0)11 62 81 44 45Fax +44 (0)11 62 89 28 78

USABosch Rexroth Corporation816 East Third StreetBuchanan, MI 49107Tel. +1 800 322 6724Fax +1 616 697 5288

Bosch Rexroth AGLinear Motion and Assembly TechnologiesPostfach 30 02 0770442 Stuttgart, GermanyTel. +49 (0)7 11 8 11-3 15 18Fax +49 (0)7 11 8 11-78 75www.boschrexroth.com/robots

Printed in Germany3 842 530 881 (03.08) en • BRL/VRO

Ihr VertragshändlerYour concessionary

Technische Änderungen vorbehaltenSubject to technical modifications

Documents

Rexroth Robotics 2.0 Planning Manualkvtco.co.kr/catelogue_download.html?uid=RHS_Plan_en.pdf · Rexroth Robotics Planning Manual 2. 0 Industrial Hydraulics Electric Drives and Controls