Moving At High Travel Speed; Using The Locked And Unlocked Transformation Chains - Bosch Rexroth SMART Flex Effector Manual

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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.
The forces which may still act on the unlocked SFE can be found in the data sheet. For forces beyond
this, the SFE must be locked.
Moving the SFE to the position compensation end position is not permitted. In the unlocked state, this
must be observed when selecting the travel speed and acceleration. When setting up in the unlocked
state, we recommend starting with a travel speed lower than 100 mm/s.
An example process may look as follows:
1. The robot is at the home position, the command for locking the SFE,
SET;MOT_LOCK_STATE;LOCK, is sent. The response SET;MOT_LOCK_STATE;OK is returned.
The robot may move to the preliminary position at high travel speed.
2. When the preliminary position is reached, the SFE is unlocked via
SET;MOT_LOCK_STATE;UNLOCK. If the command SET;MOT_LOCK_STATE;OK is sent, the
robot can move to the pickup position at reduced travel speed.
3. Once the product has been picked up, the robot moves back to the preliminary position and the
SFE is locked again. Once locking is complete, the robot can move to the next position with
increased travel speed again.
7.2.4

Using the locked and unlocked transformation chains

 Teach the positions with the locked transformation chain and move to these as well.
 Compare the deviations using the unlocked transformation chain.
 For example, determine the offset of the TCP from the transformation chain with the unlocked
SFEs in the pickup position and carry out a compensatory movement with the robot to eliminate
the offset.
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Range of functions
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