Bosch Rexroth SMART Flex Effector Manual
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Bosch Rexroth SMART Flex Effector Manual

Bosch Rexroth SMART Flex Effector Manual

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R320103228
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Summary of Contents for Bosch Rexroth SMART Flex Effector

  • Page 1 SMART Flex Effector R320103228...
  • Page 2 It should be noted that our products are subject to a natural process of aging and wear. © Bosch Rexroth AG. All rights reserved, including rights of disposal, utilization, reproduction, processing, circulation and application for industrial property rights.

  • Page 3: Table Of Contents

    Table of contents Table of contents About this documentation Validity of the documentation 1.1.1 This documentation applies to the following products: 1.1.2 SFE material numbers Structure of safety information Abbreviations Safety Intended use 2.1.1 The following applications are approved for the product: Improper use Residual risks General safety instructions...
  • Page 4 Table of contents Interface description Pin assignment Protocol 6.2.1 System connection and application concept 6.2.2 Serial interface RS-485 Structure of the commands 6.3.1 Fundamental structure of the commands 6.3.2 CRC checksum 6.3.3 Handling the checksum when working with the SFE tool GET functions 6.4.1 Locking...
  • Page 5 Table of contents BSD 2-clause FreeBSD License BSD (Three Clause License) RSA MD4 or MD5 Message-Digest Algorithm License MIT License Appendix Table of figures Table of figures...

  • Page 6: About This Documentation

    About this documentation About this documentation Validity of the documentation 1.1.1 This documentation applies to the following products: This product is a mechatronic component which is expanded by using firmware. The SFE is a sensor-based compensation module with independent kinematics in six degrees of freedom.

  • Page 7: Sfe Material Numbers

    About this documentation 1.1.2 SFE material numbers with standard bolt circle flange ISO 9409-1 31.5-4-M5 on the effector side and with a selectable robot flange: • R124300001 robot flange: ISO 9409-1 31.5-4-M5 • R124300002 robot flange: ISO 9409-1 40-4-M6 • R124300003 robot flange: ISO 9409-1 50-4-M6 •...

  • Page 8: Structure Of Safety Information

    About this documentation Additional materials available to order separately • Material numbers (flange cover) R124000010 ISO 9409-1 50-4-M6 R124000011 ISO 9409-1 40-4-M6 R124000012 ISO 9409-1 31.5-4-M5 R124000013 Blank • Optional: Material numbers (adapter plate): R124000020 ISO 9409-1 50-4-M6 R124000021 ISO 9409-1 40-4-M6 R124000022 Blank This documentation is intended for assembly personnel and service technicians.

  • Page 9: Abbreviations

    About this documentation Warning This warning notice indicates a hazard with moderate risk. If the safety regulations are not observed, the hazard may result in death or serious injury. Warning Type and source of hazard Hazard consequence  Remedy Caution This warning notice indicates a hazard with low risk.

  • Page 10: Safety

    Safety Safety Intended use As a sensor-supported compensation element for robots and Cartesian systems, the SFE serves as a process-related offset in the translations X, Y, Z and the rotations Rx, Ry, Rz. Intended use also includes compliance with the applicable legal provisions and safety regulations, and the operating, maintenance, and servicing requirements prescribed by the manufacturer.

  • Page 11: Improper Use

    Using the product in any other way than as described under "Intended use" is considered to be misuse and is therefore not permitted. Bosch Rexroth AG will not accept any liability for injury or damage caused by misuse of the product. The risks associated with any misuse of the product shall be borne by the user alone.
  • Page 12 Safety Caution Inactive protective measures The transmission and processing of incorrect sensor data may lead to contact and unexpected system behavior.  When using the SFE, limit the machine movement by using suitable protective measures.  The SFE may only be used on systems and equipment with the protective measures intended for the system.
  • Page 13 Safety Caution Non-observance of the technical specifications regarding voltage If the connection data is not observed, the SFE and the locking mechanism may become damaged or malfunctions may occur.  Observe the maximum DC supply cable length defined in the technical data. ...

  • Page 14: General Safety Instructions

    IEC 62443-4-2. • Only firmware or a GUI (SFE tool) provided by Bosch Rexroth may be used. This is provided by the Bosch Rexroth service team or via the Bosch Rexroth website.

  • Page 15: Personnel Qualifications

    Safety Personnel qualifications The activities described in this document require fundamental knowledge of mechanical and electrical engineering principles and familiarity with the associated technical terminology. In order to ensure safe use, these activities may therefore only be performed by appropriately trained specialists or instructed persons working under the supervision of a trained specialist.

  • Page 16: Product Description

    Product description Product description The SFE is a compensation element to compensate for deviations in alignment or tolerance, for example, during a joining process with a robot or Cartesian system. This compensation is generated passively via a freedom of movement of the compensation of elements in all 6 degrees of freedom.

  • Page 17: Data Sheet

    Product description Data sheet Designation Unit Value Housing material Aluminum, anodized Protection class IP54 Maintenance Lifelong lubrication Mass of system (without adapter plate) [kg] Manipulator connection Standard: ISO 9409-1 31.5-4-M5 / 40-4-M6 / 50-4-M6 Permissible ambient temperature during [°C] 5 – 50 operation Permissible ambient temperature during [°C]...
  • Page 18 Product description Designation Unit Value Restoring forces in the unlocked state: Breakaway force spring Spring rate path compensation in axial [N/mm] direction XY of 0-2 mm Spring rate path compensation in axial [N/mm] direction Z Max. spring rate path compensation in axial [Nm/°] direction rX, rY Max, spring rate in stroke range (path...

  • Page 19: Scope Of Delivery

    Product description Scope of delivery Graphical representation Description • SFE (1) • Screws M4x10 (6x) TORX ISO 14583 for fastening the flange (3) • Connection cable M8x1, 8-pin • Flange (3), the required version must be selected: ISO 9409-50-4-M6 / R124000010 ISO 9409-40-4-M6 / R124000011 ISO 9409-31,5-4-M5 / R124000012 Blank / R124000013 •...

  • Page 20: Product Marking

    Product description Graphical representation Description • Adapter plate (4) optional; various versions available: ISO 9409-50-4-M6 / R124000020 ISO 9409-40-4-M6 / R124000021 Blank / R124000022 • Screws and cylinder pin included in the scope of delivery • Assembly on the SFE (core module) (1) by the customer Brief instructions Product marking...

  • Page 21: Assembly

    Assembly Assembly Warning SFE falling during assembly If the SFE falls during assembly, this may lead to personnel injury.  Always carry out assembly with 2 persons present. Caution Damage to the SFE during assembly SFE assembly in an unlocked state may lead to damage to the SFE. ...

  • Page 22: Fitting The Adapter Plate

    Assembly Fitting the adapter plate Required components: • Adapter plate • Cylinder pin Ø5 • 3 x screws M6 x 12 Fitting the adapter plate  Position the adapter plate (1) with the cylinder pin Ø5 (2) at the SFE (3). ...

  • Page 23: Fitting The Sfe Flange Cover On The Flange

    Assembly Fitting the SFE flange cover on the flange Required components: • Flange cover • Screws M6x12 or M5x10 • Cylinder pin Ø6 or Ø5 Flange cover assembly on counter flange  Position the flange cover (3) on the counter piece using the cylinder pin (1). ...

  • Page 24: Sfe Assembly On Flange Cover

    Assembly SFE assembly on flange cover Required components: • Flange cover • 6 x screws M4x10 SFE assembly on flange cover  Position the SFE (1) using the pre-mounted cylinder pin on the flange cover.  Fasten the SFE (1) onto the flange cover using the screws (2). Tightening torque of 3.13 Nm (bit TX20).
  • Page 25 Assembly Caution Short-circuit due to connecting the live connector If the connector is live, connecting it may cause damage to the SFE and short- circuits.  Ensure that the SFE is disconnected from power before connecting or disconnecting the cable. Assembly: Once mechanical assembly of the SFE is complete, the power cable is attached to the intended connector.

  • Page 26: Desktop Software: Sfe Tool As A File For Download

    Desktop software: SFE tool as a file for download Desktop software: SFE tool as a file for download The program allows you to visualize the possible SFE functions and also to update the software.  Download the desktop software via the Rexroth homepage: ...

  • Page 27: Screen Settings

    Desktop software: SFE tool as a file for download Screen settings Note  If the SFE tool cannot be shown completely on the screen of a few devices, this problem can be rectified using the settings explained in the following. Screen Action steps ...
  • Page 28 Desktop software: SFE tool as a file for download Screen Action steps  Click on Change high DPI settings.  Activate the checkbox in the Override field. Screen settings...

  • Page 29: Setting Up The Connection

    Desktop software: SFE tool as a file for download Setting up the connection Screen Action steps  Connect the SFE with the Windows computer via a USB-A adapter. The following RS485 adapter has been  tested and may be used to connect the SFE to the PC.
  • Page 30 Desktop software: SFE tool as a file for download Screen Action steps  Select a port.  Navigate to the Settings (1) tab.  Select COM port (2). When selecting, be aware that a different  port applies depending on the device. ...

  • Page 31: Changing The Language

    Desktop software: SFE tool as a file for download Changing the language Screen Action steps  Navigate to the Settings (1) tab.  Select the desired language in the drop- down menu (2).  Close the SFE tool (3).  Restart the SFE tool. ...

  • Page 32: Updating The Firmware

    Desktop software: SFE tool as a file for download Updating the firmware Screen Action steps  Navigate to the Settings (1) tab.  Click on Update Firmware (2).  Click on the folder symbol to select the firmware file.  An Explorer view opens. ...
  • Page 33 Desktop software: SFE tool as a file for download Screen Action steps The FastFlash (1) setting is activated as  standard. Keep this as it is to speed up the firmware update. Note  If there are Flash problems, FastFlash can be deactivated.

  • Page 34: Export Sfe Configuration

    Desktop software: SFE tool as a file for download Export SFE configuration Screen Action steps  Navigate to the SFE config tab.  Click Read from Device (1).  The configuration data is shown (2). Note  The configuration data for each of the six position sensors can be shown by clicking on the respective sensor number (3).
  • Page 35 Desktop software: SFE tool as a file for download Screen Action steps The SFE configuration can be exported without calibration data (checkbox deactivated at Export Calibration Config) or with calibration data (checkbox activated at Export Calibration Config). • Exporting without calibration data: Only fundamental user settings are exported (baud rate, LED quality threshold, motor lock timeout, motor velocity, temperature...

  • Page 36: Import Sfe Configuration

    Desktop software: SFE tool as a file for download Screen Action steps  A path to save (1) the export file in JSON format can be selected. Note  We recommend that you do not change the name of the export file as the suggested file name contains information about the scope of data, save date and time (2).
  • Page 37 Desktop software: SFE tool as a file for download Screen Action steps  A file path (1) and an import file in JSON format stored in the path can be selected (2).  Click Open (3).  The import is displayed. ...

  • Page 38: Using The Console

    Desktop software: SFE tool as a file for download Using the console Screen Action steps  Navigate to the Console (1) tab.  Here, there are buttons for selected commands (2) as well as a line for entering commands via keyboard (3). ...

  • Page 39: Recording Measurements

    Desktop software: SFE tool as a file for download Recording measurements Screen Action steps  Navigate to the Graph (1) tab.  If necessary, adjust the DISPLAY DURATION (2) and REFRESH RATE of the display (3). Note  If the checkbox at “Auto Range (Y)” (4) is activated, the minimum and maximum values of the Y axis are adjusted to the current measurement.
  • Page 40 Desktop software: SFE tool as a file for download Screen Action steps  If necessary, click Stop (2) to terminate an ongoing measurement (1).  If necessary, click Reset (1) to clear the shown measurement.  If necessary, click Export (.csv) (2) to save the measurement in csv format.

  • Page 41: Viewing And Exporting Service Data

    Desktop software: SFE tool as a file for download Screen Action steps Note  This option should be used for long-term measurements, as otherwise this can lead to too high a load when visualizing the measurement data. Recording measurements Viewing and exporting service data Screen Action steps ...

  • Page 42: Using The Testcases

    Desktop software: SFE tool as a file for download 5.10 Using the testcases The structure of Testfiles in .json format is explained using the following examples. Using the testcases The entire test process must be placed in square brackets. Individual test stages are written in curly brackets and separated from one another using commas.
  • Page 43 Desktop software: SFE tool as a file for download Using the testcases – "type" type A defined delay of the subsequent test stages can be implemented using the "type" type.
  • Page 44 Desktop software: SFE tool as a file for download Screen Action steps  Navigate to the Test (1) tab.  Select the desired testcase using the checkboxes (2).  Set the desired number of repetitions (3).  Click Start Testrun (4) to start the tests. ...

  • Page 45: Opening The Smart Flex Effector Website

    Desktop software: SFE tool as a file for download Screen Action steps The selectable test cases are stored in the Testfiles folder. In this folder, you can also create your own Testfiles. These can be selected and opened via the tool after restarting the SFE tool.

  • Page 46: Viewing Open Source License Texts

    Desktop software: SFE tool as a file for download 5.12 Viewing open source license texts Screen Action steps  Navigate to the About (1) tab.  Select a package from the list of all open source software packages used in the SFE tool GUI.

  • Page 47: Interface Description

    Interface description Interface description Pin assignment The following part describes the pin assignment of the supplied cable: Cable Wire color Signal Input/output Description White RS485+ RS485 communication: non- inverted signal Brown RS485- RS485 communication: inverted Signal Green Ground (I/O) Power supply IO interface mass Digital Out (Lock Yellow...

  • Page 48: Protocol

    Interface description Key data for digital inputs Specification Vil (Volt in low) < 3.3 V Vih (Volt in high) > 9.7 V Key data for digital inputs Protocol 6.2.1 System connection and application concept System connection figure The above figure shows a schematic connection of the SFE to a robot controller. For this, the SFE is mounted on the robot flange.

  • Page 49: Serial Interface Rs-485

    Interface description 6.2.2 Serial interface RS-485 Communication takes place via a serial interface (RS-485). To simplify commissioning and incorporation into the customer's application, the SFE uses a text-based communication protocol. This interface is used to communicate using ASCII strings. Each string transmission ends with a line feed (/n oder LF).

  • Page 50: Crc Checksum

    Interface description 6.3.2 CRC checksum The cyclic redundancy check (CRC) is a method for determining a checksum for data in order to identify errors during transmission or saving. As an option, the SFE also allows you to use this procedure to ensure the correctness of the data which is sent by the user to the SFE unit, or from the SFE unit to the user.
  • Page 51 Interface description The checksum calculated by the user can now be compared with the checksum sent by the SFE unit. Examples: Command Response from Checksum calculated Result of the check SFE unit by the user GET;BAUD GET;BAUD;921600 crc_modbus(GET;BAUD;9 The checksum calculated by the ! 37EF 2 1600) = 0x37EF user is identical to the...

  • Page 52: Handling The Checksum When Working With The Sfe Tool

    Interface description 6.3.3 Handling the checksum when working with the SFE tool As standard, the SFE tool attaches the checksum Modbus CRC16 to every command and checks the response of the SFE unit for correctness using the checksum. Important note! ...

  • Page 53: Get Functions

    Interface description GET functions 6.4.1 Locking Functional description Querying the lock state. Example application case, query whether the SFE is locked before the robot will move. GET;MOT_LOCK_STATE Send Description of transmission parameters Transmission type Receive GET;MOT_LOCK_STATE;LOCKED Lock state Description of response parameters Response type ENUM(LOCKED,UNLOCKED;TIMEOUT,RUNNING, ERROR)

  • Page 54: Sensors

    Interface description Functional description Querying the maximum duration for a locking procedure. If the locking procedure is not completed within the time, an entry is made in the error history. Send GET;MOT_LOCK_TIMEOUT Description of transmission parameters Transmission type Receive GET;MOT_LOCK_TIMEOUT;500 Description of response Motor Lock Timeout parameters...
  • Page 55 Interface description Functional description Querying the length of the moving average filter for actual position values Send GET;POSE_FILTER Description of transmission parameters Transmission type Receive GET;POSE_FILTER;(filter length) Description of response z.B. GET;POSE_FILTER;10 parameters Filter length = number of actual position values which are used as Response type filters Querying the activation of compensation...

  • Page 56: Diagnostics

    Interface description Functional description Querying the actual acceleration values Send GET;ACC Description of transmission parameters Transmission type Receive GET;ACC;x|y|z, e.g. GET;ACC;0.035|-0.027|-1.053 Actual acceleration value in x, y and z direction in the unit g (=9.81 Description of response m/s2) parameters Response type FLOAT|FLOAT|FLOAT 6.4.3...

  • Page 57: Led Modes

    Interface description Functional description Querying the error history, the last 100 errors are saved. The structure of an error is described in GET;ERROR_LAST. If the list is empty, NONE is output Send GET;ERROR_HISTORY Description of transmission parameters Transmission type Receive GET;ERROR_ HISTORY;...
  • Page 58 Interface description Functional description Reading the min/max threshold values for quality mode Send GET;QUALITY_THRES Description of transmission parameters Transmission type Receive GET;QUALITY_THRES;0.000|0.000|0.000|0.000|0.000|0.000|0.000|0. 000|0.000|0.000| 0.000|0.000 Description of response min_x, min_y, min_z, min_Rx, min_Ry, min_Rz, max_x, max_y, max_z ,max_Rx, max_Ry ,max_Rz, Status parameters FLOAT(mm)|FLOAT(mm)|FLOAT(mm)|FLOAT(°)|FLOAT(°)|FLOAT(°)| Response type...

  • Page 59: System

    Interface description 6.4.5 System Functional description Querying the firmware version Send GET;VERSION Description of transmission parameters Transmission type Receive GET;VERSION;1.17.4 Firmware version Description of response parameters Response type STRING Functional description Querying the baud rate Send GET;BAUD Description of transmission parameters Transmission type Receive...
  • Page 60 Interface description Functional description Querying the serial number Send GET;SNO Description of transmission parameters Transmission type Receive GET;SNO;20100000000 Serial number Description of response parameters Response type STRING Functional description Querying the operating time Send GET;SYS_UP_TIME Description of transmission parameters Transmission type Receive GET;SYS_UP_TIME;11052230 Description of response...
  • Page 61 Interface description Functional description States the system temperature Send GET;SYS_TEMP Description of transmission parameters Transmission type Receive GET;SYS_TEMP;21.5 System temperature Description of response parameters Response type FLOAT(°C) Functional description States the number of lock/unlock procedures Send GET;SYS_LOCK_COUNT Description of transmission parameters Transmission type Receive...

  • Page 62: Set Functions

    Interface description SET functions 6.5.1 Locking Functional description Setting the lock mode, via serial interface or digital input. If the digital input is selected as the lock mode, the functions SET;MOT_LOCK_STATE_A;LOCK and SET;MOT_LOCK_STATE;LOCK are without function. Send Locking/unlocking can then be started using pin 6. Example application case, locking the SFE before the robot will move.
  • Page 63 Interface description Functional description Triggering the locking/unlocking procedure asynchronously via the serial interface. Asynchronous means that the further command processing does not way for the lock state to be reached, the response to this command is given immediately. If necessary, the lock state can be queried via the command GET;MOT_LOCK_STATE.

  • Page 64: Sensors

    Interface description Functional description Setting the maximum time for the locking procedure. If the maximum time for a locking procedure is exceeded, the motor stops the process and the unit goes into an error status. Send SET;MOT_LOCK_TIMEOUT;500 Description of Maximum time for the locking procedure transmission parameters Transmission type...

  • Page 65: Led Modes

    Interface description Functional description Setting the length of the moving average filter for actual position values Send SET;POSE_FILTER;(filter length) Description of z.B. SET;POSE_FILTER;10 transmission parameters Transmission type Filter length = number of actual position values which are used as filters Receive UINT32 Description of response...
  • Page 66 Interface description Functional description Setting the min/max threshold values for quality mode, these may vary depending on the application. Send SET;QUALITY_THRES;-1.000|-1.000|-2.000|-1.000|-1.000|- 3.000|1.000|1.000|0.100| 1.000|1.000|3.000 min_x, min_y, min_z, min_Rx, min_Ry, min_Rz, max_x, max_y, Description of max_z, max_Rx, max_Ry, max_Rz transmission parameters Transmission type FLOAT(mm)|FLOAT(mm)|FLOAT(mm)|FLOAT(°)|FLOAT(°)|FLOAT(°)| FLOAT(mm)| FLOAT(mm)| FLOAT(mm)|FLOAT(°)|FLOAT(°)|FLOAT(°)
  • Page 67 Interface description Functional description Setting all LEDs to a defined RGB value SET;LED_SINGLE;(R|G|B) Send Description of z.B. SET;LED_SINGLE;255|255|0 transmission parameters Transmission type UINT8|UINT8|UINT8 Receive SET;LED_SINGLE;OK Description of response Status value Response type ENUM(OK,ERROR) Persistence Not persistent Comment This user-defined mode can be left by changing into a defined LED mode with SET;LED_MODE;(desired LED mode) Functional description Setting each one of the 46 LEDs to a defined RGB value...

  • Page 68: System

    Interface description 6.5.4 System Functional description Setting the baud rate Send SET;BAUD;115200 Description of Baud rate transmission parameters UINT32(Bd) Transmission type Valid range Option1=9600, Option2=38400, Option3=115200, Option4=921600 Default=38400 SET;BAUD;OK Receive Description of response Status value Response type ENUM(OK,ERROR) Persistent Persistence...

  • Page 69: Ctr Functions

    Interface description CTR functions Functional description Comparing the position calculation with the origin Send CTR;ZERO Framework conditions The compensation must be shown; the SFE must be locked to consider Description of transmission parameters Transmission type Receive CTR;ZERO;OK Description of response Status value Response type...

  • Page 70: Example Communication

    Interface description Example communication Received position: Sent Received GET;POSE GET;POSE;-0.004|0.003|0.003|- 0.003|0.003|0.005;OK If this command is listed in a loop, a constant deflection or position monitoring of the SFE Tool Centre Point may take place. With this command, you can write many different programs, e.g. for joining. Checking the version The following communication may serve as an example for checking the current version of the embedded software:...

  • Page 71: Range Of Functions

    Range of functions Range of functions Transformation chain For the supplied SFE position values to be used correctly in the controller, the tool information cannot be described as a transformation. The transformation must be described from a chain of several transformations.
  • Page 72 Range of functions In the Displacement figure, you can see the SFE without affixed flange plates. The transformation chain must then contain the respective mounted flange. The following transformations must be entered for the supplied flanges: Adapter plate Transformation Z R124500039 13.50 mm R124500041...
  • Page 73 Range of functions The values in 3. are obtained from the response values of GET;POSE. Any installed intermediate plates, gripper jaws or components must then also be included in the transformation chain, depending on the application. In the following figures, you can see how an SFE deflection occurs. Here, you can see a rotation on the X axis.

  • Page 74: Handling

    Range of functions In the last figure, you can clearly see why you must update the transformation chain cyclically with GET;POSE, as the TCP experiences a displacement when contact is made with a component. The blue line represents the undeflected SFE, the red line shows the displacement. Handling 7.2.1 Initial temperature compensation when starting up and after each restart...
  • Page 75 Range of functions Error category 2: Error during ongoing operation, even without a previously set command. For example, an internal electronics defect may be determined and reported during operation. This leads to an entry in the error history (error log). The digital output at pin 5 is also set to True. Pin 5 must be connected to the controller so that this can also be detected by the controller.
  • Page 76 Range of functions Error module Module Error code Possible error sources Comments number F4_Bootloade r Internal electronics F4_Bootloade r RS485 F4_Bootloade r F4_Bootloade r RS485 F4_Bootloade r RS485, internal electronics F4_Bootloade r RS485 F4_Bootloade r RS485, internal electronics F4_Bootloade r 24-25 Internal electronics F4_Bootloade r...
  • Page 77 Range of functions Error module Module Error code Possible error sources Comments number F1_Bootloade Internal electronics r_Jumping F1_Motor Motor, internal electronics F1_Motor Motor F1_Motor Motor Error when performing a locking/unlocking procedure (target state was not reached) First, increase timeout with SET;MOT_LOCK_TI MEOUT (lock process can take...
  • Page 78 Range of functions Error module Module Error code Possible error sources Comments number F4_System See error sources of the A large number of other errors errors with one or more error sources has occurred within a short time F4_Motor_ Motor, internal electronics Handler F4_Motor_ Motor...
  • Page 79 Range of functions You can now take measures to rectify the error, depending on the possible error sources: Error source Error pattern Possible cause Rectification/measures Internal Error in EEPROM defective, electronics communication position sensor defective, with the temperature sensor EEPROM, with defective, F100 MCR position sensors, defective, cold solder joint,...

  • Page 80: Moving At High Travel Speed

    Range of functions When contacting support, please generate the following error analysis information with the SFE tool in advance and have it ready: 7.2.3 Moving at high travel speed The SFE must be locked when moving at high travel speed. Otherwise, the forces generated by the movement may lead to damage.

  • Page 81: Exemplary Application Cases

    Range of functions Exemplary application cases In an example like the one shown below, the following is to be observed: For a movement in the unlocked state, the system must never be brought to the limit stop in order to avoid damage.

  • Page 82: Measuring A Tool Changer

    Range of functions 7.3.5 Measuring a tool changer The drop positions for individual tools can be measures automatically using the SFE. This saves a laborious process of teaching the positions. Displaying various operating states (LED modes) 7.4.1 With the command SET;LED_MODE;OFF, all LEDs are switched off permanently. 7.4.2 STATUS With the command SET;LED_MODE;STATUS, the status mode is changed in the status.
  • Page 83 Range of functions Example 1 for a possible LED pattern The following LED figure visualizes the information that DIGIN was selected as the lock mode, the degree of modulation of the proximity sensors is between 0-66% and that an error has occurred during the locking/unlocking procedure.
  • Page 84 Range of functions 7.4.3 With the command SET;LED_MODE;IO, the mode is switched to IO. The following six states can be identified on the SFE: • Digital output error (DigOut Error) Error (high) red No error (low) white • Digital Output Lock state (DigOut Lock) Locked (high) blue Unlocked (low) white •...

  • Page 85: Graph_Xyz

    Range of functions 7.4.4 GRAPH_XYZ With the command SET;LED_MODE;GRAPH, the mode is switched to graph mode. In this mode, the current deflection of the X, Y and Z axis is displayed in graphic form. The greater the deflection in x/y direction, the more LEDs are lit up.
  • Page 86 Range of functions Example 4 for a possible LED pattern Axis Current deflection in the range between -+2.00 to -2.49 mm -0.15 to -2.00 mm -2.49 to -3.00 mm Deflection of flange plate example 5 Example 5 for a possible LED pattern...

  • Page 87: Quality

    It includes a representation of the sensor deflection with a color shift from minimum sensor value (green) to maximum sensor value (red). This LED mode is only used by the Bosch Rexroth service team for position sensor analyses. This is why this description does not go into more detail.

  • Page 88: Third-Party License Information

    Third-party license information Third-party license information BSD 2-clause FreeBSD License Component name Version Copyright lmfit 8.2.2 Copyright (c) 1980-1999 University of Chicago 2004-2018 Joachim Wuttke, Forschungszentrum Juelich GmbH BSD 2-clause FreeBSD License Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1.

  • Page 89: Bsd (Three Clause License)

    Third-party license information BSD (Three Clause License) Component name Version Copyright STM32Cube HAL 6.2.0 Copyright (c) 2016 STMicroelectronics BSD (Three Clause License) Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: •...

  • Page 90: Rsa Md4 Or Md5 Message-Digest Algorithm License

    Third-party license information RSA MD4 or MD5 Message-Digest Algorithm License Component name Copyright Copyright (c) RSA MD4 or MD5 Message-Digest Algorithm License License to copy and use this software is granted provided that it is identified as the "RSA Data Security, Inc.

  • Page 91: Appendix

    Appendix Appendix Table of figures Axes ............................16 Nameplate ..........................20 Fitting the adapter plate ......................22 Flange cover assembly on counter flange ................23 SFE assembly on flange cover ....................24 Connector for the SFE ......................25 Using the testcases ........................42 Using the testcases –...

  • Page 92: Table Of Figures

    Appendix Table of figures Abbreviations ..........................9 Data sheet ..........................18 Brief instructions ........................20 Nameplate ..........................20 Screen settings ......................... 28 Overview of SFE tool ........................ 30 Changing the language ......................31 Updating the firmware ......................33 Export SFE configuration ......................36 Import SFE configuration ......................

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