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3.0 Mechatronics Standard System
Workpiece Storing and Sorting Station LA

Rexroth didactic
2 Table of Contents Rexroth didactic

Table of Contents Page

Systems and Stations 3

Work Safety 3

Function 4

Construction 5

Ready for Operation 5

Adjustment Specifications 6

Process Test 7

Training Topics 8

Specifications 8

Operating Instructions 9

Annex A Item Designation (ID) 12

Annex B Pin Configuration of PLC 15

Annex C Pneumatic Circuit Diagram 18

Annex D Circuit Diagram 19


Module descriptions DG-5S, LF400EO-2S, LAG, SK, MPF and VTS.

(Optional BP-03, CL200)

Rexroth didactic Station Description LA 3

In the Mechatronics Standard System MSS, stations are a combination of Systems and Stations
several modules on a mounting platform. The mounting platform supplies the
mechanical, electrical, electronic and pneumatic interfaces for the operation
of the modules.
Stations can be operated individually or also combined to make up a system.

1. Normal Operation Work Safety

The product described was developed, manufactured, tested and documented
according to safety standards. When following the handling regulations and
safety instructions for project planning, assembly and normal operation, the
product generally poses no danger to personnel or material.
All those responsible for the assembly, operation and maintenance must have
read and understood the station and module description including attachments,
especially those sections dealing with safety, before working with the module.

2. Qualified Personnel
The product is only to be used in presence of qualified personnel, or by
persons who have received instructions from such.
Qualified personnel are instructors who have received instruction on the function
of the components involved and their interaction and understand it, either from
having read the manual or having had it demonstrated to them.

Any interferences to the hard or software of the product by non-skilled personnel,

or if the warnings stated in the manual are not heeded, can lead to major
damage to persons or material.

There is an EMERGENCY-STOP switch at every station for simple drives of
the 0 category according to the machine safety standard EN 60204-1 with an
The EMERGENCY-STOP function is intended to fend off or reduce arising or
existing dangers for persons and damages to the machine.
Dangers include functional irregularities, malfunctions of the machine and
human errors.
The power supply for the actuators is shut down with EMERGENCY-STOP.

The complete system, with the exception of the components of the AS-i on the
PASI station, is operated with safety extra-low voltage (SELV) of 24 VDC.
The connection to power supply is produced by a connection cable with a
earthing-pin plug.
Operation is only permitted at 230V 50/60Hz according to DIN VDE 0100.
Damages to the cable, plug or power supply unit may only be repaired by
authorized personnel (electricians).
The mains plug is to be unplugged before working on the switch box.

4. Instructions
Mechanical, pneumatic or hydraulic components can cause injuries (contusions)
when handled improperly or if interference is made to the running station or
system. Therefore instructions are always to be given by qualified personnel
before work at the station begins.
Serious injuries can be caused at the TBH station due to the powerful forces
of the hydraulic components.
Therefore no handling is permitted at the station when the pneumatics or
hydraulics are in operation.
Before any handling takes place at the station, instructions must be given to
the users. The relevant safety rules when dealing with current circuits and
pneumatic components and their circuits are to be explained in detail.
4 Station Description LA Rexroth didactic

Function The LA station is used in the Mechatronics Standard System as the last station
in a system.
By combining it with the functional modules linear conveyor LF400EO-2S,
rotary/lift gripper DG-5S and workpiece store LAG, it allows handling and a
sorted depositing of workpieces with suitable dimensions.

The function in the following description applies only when the station is con-
trolled with a BOSCH PLC CL200 32E/16A 1 827 003 495 and the func-
tional program A140_v1.xx that is delivered with it.

There are three operating modes to choose from:

Operating mode 1 – System operation

The initial position (receiving position at the left) of the station is to expect the
information from the previous station that a workpiece is ready for transfer
(gear wheel).
The interaction with neighboring stations is realized by means of an I/O con-
trol. One digital input and one digital output of the PLC are required for each
neighboring station.
The ‘Ready’ signal from the previous station (BAF) starts the rotary/lift gripper.
The rotary/lift gripper fetches the wokpiece from the BAF station and puts it
onto the transport slide of the linear conveyor LF400EO-2S (swivel-lower-
After depositing the workpiece, the transport slide travels to one of the six
possible deposit tracks of the three pallets on the workpiece store module.
The programmed logistic determines which track is chosen by analysing the
data transmission lines and the filling status of the pallets.
The following logistic is programmed:
With or without plain bearing is not taken into account.
Deposit plastic on pallet 1 (tracks 1 and 2)
Deposit plastic on pallet 2 (tracks 3 and 4)
Deposit plastic on pallet 3 (tracks 5 and 6)
The first track of a pallet is always filled first. If it is full, then the second track
is filled.

The transport slide is stopped at the track that has been determined, whereby
the positioning occurs via a perforated plate by means of a hybrid light barrier.

A feeder unit mounted on the transport slide carries out the transfer of the

If all pallet tracks are filled, the program goes into HALT. The pallet can be
emptied and the process continued with the RELEASE button.
If the program is interrupted by STOP, then all pallets are to be emptied, as the
filling status information is deleted in STOP.

After depositing the workpiece, the transport slide returns to its receiving
The previous station receives information via the I/O control that the workpiece
has been deposited.

Operating mode 0 – Station operation

This mode of operation enables the LA station to operate individually without a
following station. The procedure is identical to the system operation, however,
since there are no I/O control signals available, they must be simulated.
Whenever a signal is required, the blue indicator light of the RELEASE button
is blinking.
The control signal required is simulated by actuating the RELEASE button.
Because there is no data transmission line available to evaluate, it will always
recognize material ‘plastic’ (low signal) and in turn always runs to pallet 1.
Rexroth didactic Station Description LA 5

Operating mode 2 – Setting-up operation

This mode of operation works like operating mode 0, with the difference being
that this program simulates the condition ‘steel’ (high signal) to the data line.
In accordance, the transport slide runs to pallet 3.

The functional modules are mounted on the T-grooved plate of a mounting Construction
platform MPF with wheels.

The following supply units are located on the MPF:

· Switch box with power supply
· Valve block
· Maintenance unit (optional)
· PLC (optional)
· Control console (optional)

All components are required when a station is operated individually.

Further details can be found in the module descriptions.

All modules have been installed, adjusted and function-tested upon delivery.
The location on the MPF corresponds to the following diagram:

1 Rotary/lift gripper DG-5S

2 Linear conveyor LF400EO-2S

3 Workpiece store LAG

Before setting up a station, its operating condition should be tested. Ready for Operation
It is ready for operation when the following prerequisites have been fulfilled:

The location of the modules on the mounting platform corresponds to the

dimensions in the diagram above.

The system voltage is applied (indicator light of the OFF button is ON)

The compressed air supply is on (pneumatic components are in the initial

The proper functioning of the cylinders and valves is to be tested with the
auxiliary manual control on the valves
6 Station Description LA Rexroth didactic

• Extend feed cylinder on valve 4Y06

• Lower rotary gripper on valve 4Y07
• Swivel rotary gripper on valve 4Y10
• Close rotary gripper on valve 4Y11
Please observe whether or not the limit position sensors respond.

The program is loaded and the PLC is in RUN.

After switching on the actuator voltage with the key switch, the indicator light
OFF must go off and the indicator light STOP must go on.

Remove any workpiece that may be in the LF400EO-2S or in the workpiece

store LAG.

Adjustment Specification The functional test and the adjustment specification are based on a complete
station integrated in an MSS system with control console, PLC CL200 and
the functional program delivered with it.

1. Positioning the rotary gripper

It is to be assumed that the right position of the transport slide of the pneumatic
linear conveyor LF400PMS has been finally set up on the BAF station.
The location of the DG-5S on the mounting platform or on its base plate is to
be corrected in such a way that when swiveling, it crosses the circular path
running through the middle of the workpiece pick-up of the transport slide of
the LF400PMS.
When the compressed air supply is switched off, the adjustment can be carried
out via swiveling by hand.

2. Location of the LF400EO-2S and the workpiece store LAG

Both modules are to be placed on the mounting platform according to the
dimensions given in the figure above. The transport slide of the LF400EO-2S
should keep a distance of approx. 2 mm over the complete length of the
workpiece store.
The adjustment can be carried out in operating mode 2, because it is not
allowed to move the transport slide by hand with the toothed belt installed
(damage of the gear-motor combination).

3. Adjustment of the sending position

Afterwards the sending position of the LF400EO-2S is to be adjusted. The
microswitch 4S06 should be repositioned for this position in such a way that
the middle of the workpiece pick-up on the transport slide is under the circular
path of the gripper.
To set things up, this position is repeatedly to be traveled to in the operating
mode 2.

4. Swiveling range of the rotary gripper

The limit stoppers available on the pneumatic swivel cylinder are to be used to
limit the swiveling range so that the workpieces can be picked up from the
LF400PMS and placed on the LF400EO-2S without any problems.
When carrying out this adjustment, again switch off the compressed air sup-
ply, place a gear wheel on the respective transport slide and lower the rotary
gripper manually. The gear wheel should be in the middle between the opened
gripper fingers at the stopper of the swiveling range.
Test the adjustment during dynamic operation in the operating mode 0 or 2.

5. Adjusting the gripper fingers

When adjusting the swiveling range, the location of the gripper fingers should
also be examined. The height is correct when - in the lowered position - the
upper edge of the jaws on the closed gripper coincides with the upper edge of
the gear wheel.
Rexroth didactic Station Description LA 7

After setting things up, the STOP status is to be established at the station Process Test
(actuate STOP button) and operating mode 0 is to be set.
Check the following sequence:

1. Actuate the start button –> The initial position is taken, i.e. the transport
slide of the LF400EO-2S travels to the sending position (left), the rotary
gripper is in the top position at the right, open, and the feed cylinder is
The GREEN indicator light is blinking.

2. Actuate the start button for 2 s –> The process starts – Only the BLUE
indicator light is still blinking. The station is waiting for a control signal.

3. Actuate the release button –> The rotary/lift gripper fetches a workpiece
from the BAF station and puts it onto the LF400EO-2S conveyer.
The BLUE indicator light is blinking

4. Actuate the release button –> The pallet track is traveled to (operating
mode 0 pallet 1 or operating mode 2 pallet 3), the workpiece is transferred
and the sending position is taken again.
The BLUE indicator light is blinking

5. Repetition is possible from point 3 on.

8 Station Description LA Rexroth didactic

Training Topics This station focuses on:

„ Handling processes – Moving and transporting workpieces with various

methods (transporting, pushing, lifting, swiveling, gripping).
„ Electric drives – d.c. geared motor with reversing contactor circuit and
plug brake
„ Mechanics – profile systems, linear units, toothed belt drive
„ Positioning – with mechanically operated switches or light barrier.
„ Pneumatics – double-acting cylinders, swivel cylinders, spring-actuated
return valves, throttle valves
„ Sensor systems – cylinder switches, light barrier.
„ Work safety

Specifications Dimensions 500x550x1100 mm (WxDxH)

Weight 41 kg
Required workpiece dimensions cylindrical Ø 30, height 10
Mains supply 230 VAC 50/60 Hz, 100 VA
Compressed air supply 5...6 bar, filtered 8 µm

Operating voltage SELV circuit 24 VDC 2.5 A

Logic positive-switching

Required PLC resources:

Inputs for digital signals 23

Digital inputs for communication lines 4
Digital inputs for monitoring operating voltage 1

Digital outputs for actuators, per actuator, I <0.5 A 10

Digital outputs for communication lines 2
Rexroth didactic Operating Instructions MSS 9

These operating instructions apply only when operating the MSS with a Achieving Operating Condition
BOSCH PLC CL200 and the program version A140_v1.02.
For system operation: All stations are to be set up according to the installation
guidelines and commissioning instructions and linked together tightly. The data
cables for the 9-pin interfaces X4 and X5 are to be plugged in. Switch on the
switch box should be set to the ‘system’ (Anlage) position.
For individual station operation: no data cable to X4 and X5. Switch on the
switch box should be set to the ‘station’ position.

Compressed air supply:

Connect the compressor or service line to the maintenance unit or the valve
modules and set operating pressure to 6 bar.

If the TBH station is included in the MSS, a suitable hydraulic pump unit must
be connected to it.

There is no mains switch available. All stations are to be connected via the
earthing-pin plugs with the 230 VAC power system. We recommend using a
power bar that can be switched off for connecting to the power system.

After applying the system voltage, the RED indicator light of the OFF button Mains supply ON (1L+)
on the control consoles lights up at each station.

The power supply (230VAC/24VDC) is now switched on. The operating voltage
1L+ of 24 VDC is applied to the power supply unit of the PLC, to the input
modules and to the PNOZ (Emergency-stop switching device).

The PNOZ (EMERGENCY-STOP switching device) carries out the switching Key button (2L+)
on and off of the operating voltage for all actuators. It is switched on with the
key button and off with the EMERGENCY-STOP button or with the OFF

After having been switched on, all stations are ready for operation.

Each station must be switched on individually.

RED indicator light of the OFF button on the control console is switched off.

!!! ATTENTION !!! – Power supply and Emergency-Stop Important note on the
There is a tumbler switch at the switch box of each station with the positions
‘system’ (Anlage) and ‘station’.
The position of this switch is decisive for the EMERGENCY-STOP function.

In the ‘system’ position the buttons EMERGENCY-STOP are connected in

series. The series connection is realized via the 9-pin interface X4 and X5 at
the switch box. The connecting cables must be plugged in.
The circuits 2L+ for the actuators are switched off with the buttons
EMERGENCY-STOP or OFF. Every time either of these buttons are pushed,
the complete system shuts down.
The EMERGENCY-STOP loop must be jumpered on the first and last stations
of a MSS system (see circuit diagrams).

In the station position, the 9-pin connecting cable of the stations is not allowed
to be plugged in, otherwise it is not possible to switch it off with the
EMERGENCY-STOP button. The station can be operated individually with all
functions in this position.
10 Operating Instructions MSS Rexroth didactic

Choose mode of operation Three operating modes are programmed. The choice is made with the toggle
Switch for mode of operation switch ‘Betriebsart’ (Operating mode) at the control console.

Operating mode 1 – System operation

In this mode of operation, the process described in the Function section

runs automatically. Prerequisite is a system consisting of the 4 stations TBE
or TBH, PSV or PASI, BAF and LA.
The interaction of the stations is realized via the 9-pin interface X4 and X5
at the switch box by an I/O control.
Each station has the possibility of sending a signal to the previous and
following station with two digital outputs of the PLC and via two PLC inputs
of receiving a signal from each of these stations.

Operating mode 0 – Station operation

In this mode of operation, the communication between stations via the I/O
control (9-pin interface) is substituted by the manual switching with the
RELEASE button. The station can thus repeat the complete cycle by having
been manually switched without the presence of neighboring stations.
This operating mode and operating mode 2 are thus well-suited for adjustment
work on the modules and stations.

Operating mode 2 – Setting-up operation

Special functions can be tested in this operating mode (see operating mode
2 in the Function section).

Program sequence Starting the programmed process

PLC RUN When the PLC is switched on, it begins to cyclically process the program.

Program status STOP The STOP status goes on at every station. STOP is the start position for a
restart of the process and is always shown by the red indicator light STOP.
The green indicator light START signalizes by blinking that the process can
be continued by pressing the START button.

Actuate START button This operation always causes a basic initialization of the hardware. The
Basic initialization is running stations take their initial positions. During this operation all indicator lights
are turned off.

The basic initialization is programmed in sequence (step-chain) 3. By checking

the monitoring time (30 sec. for each step) it is possible to determine
possible errors.

Error If the control remains in one step longer than 30 seconds, the program
Program status STOP status STOP is taken on again.

Error sources can be: missing or too little air pressure, defect sensors or
other parts, etc.
The cause is to be determined and eliminated. Afterwards restart is possible.

Initial position has been achieved If all modules have reached their initial position, then the station is ready for
GREEN light is blinking operation.
The initial position of the stations is defined as follows:

TBE: The pusher of the feeder unit is retracted

The table of the lifting platform is in the bottom end position
The chute is in position track 1

TBH: The pusher of the feeder unit is retracted

The table of the lifting platform is in its top end position
The chute is in position track 1
Rexroth didactic Operating Instructions MSS 11

PSV: Transport slide is in the left position (sending)

Rotary gripper is in the top left position and open
Displays are off

PASI: Transport slide is in the left position (sending)

Rotary gripper is in the top left position and open
Displays are off

BAF: Transport slide is in the left position (sending)

Presses are up
Feeder units are extended
Stoppers are switched off

LA: Rotary gripper is in the top right position and open

Transport slide is in the left position (sending)

In order to start the processing procedure, the START button must be Start process
actuated in the initial position for 2s. with START button
The green indicator light is switched to steady light when the process Display: Steady light GREEN

Depending on the operating mode chosen, the process programmed and Process sequence
described in the Function section will run.

The program sequence can be stopped at the end of the cycle at any point Program stop with
with the HALT button. HALT button at the
This program stop only involves the station where the button was pushed. end of the cycle
The indicator light is steady YELLOW in this status and the BLUE indicator YELLOW lamp
light is blinking.
It is possible to continue operation by pushing the RELEASE button.

Actuating the STOP button during the program sequence causes Program interruption with
discontinuation of the program. It is only possible to leave STOP status by STOP button
pushing the START button. This causes a basic initialization. When this has RED lamp
been done, processing can be restarted again.

Actuating the OFF button or the EMERGENCY-STOP button causes imme- Program interruption with
diate discontinuation of the program and simultaneously switches off the EMERGENCY-STOP button
power supply of all actuators. or OFF button
It is only possible to continue processing when first switching on the power
supply with the key button. Therefore it is to be executed as when

TOUCH button – There are no functions programmed for this button.

12 Annex A Item Designation Rexroth didactic

ID Designation ID Designation

4B07 Sensor STORE TRACK LF400EO-2S 4S33 Toggle switch OPERATING MODE 2
4B10 Workpiece feed EXTENDED LF400EO-2S 4S35 EMERGENCY-STOP switch
4B11 Workpiece feed RETRACTED LF400EO-2S 4S42 Tumbler switch System/Station
4B12 Rotary gripper DG TOP 4S43 Limit switch RIGHT LF400EO-2S
4B13 Rotary gripper DG BOTTOM 4S44 Limit switch LEFT LF400EO-2S
4B14 Rotary gripper DG LEFT 4S45 Switch for operating voltage 2L+
4B15 Rotary gripper DG RIGHT 4XVTS Plug VTS 02
4B16 Rotary gripper DG CLOSE gripper 4Y1 Maintenance unit, filling valve
4F1 Fuse 2A 4Y06 Feed cylinder LF400EO-2S EXTEND
4G1 Power supply unit 24V DC 4Y07 Rotary gripper DG LOWER
4H00 Indicator light STOP (red) 4Y10 Rotary gripper DG SWIVEL
4H01 Indicator light START (green) 4Y11 Rotary gripper DG GRIP
4H02 Indicator light HALT at end of cycle (yellow) 4Z071 Short-stroke cylinder lift/lower DG
4H03 Indicator light RELEASE (blue) 4Z072 Rotary cylinder DG
4H40 Indicator light OFF (red) 4Z073 Gripper DG
4K1 Emergency-stop switching device (PNOZ X1) 4Z15 Feed cylinder LF 400 EO-2S
4K04 Relais for motor LF400EO-2S to the RIGHT X1 Data interface control console
4K05 Relais for motor LF400EO-2S to the LEFT X2 Data interface PLC outputs
4M15 Motor LF400EO-2S X3 Data interface PLC inputs
4S00 Lighted pushbutton STOP X4 9-pin interface to the following station
4S01 Lighted pushbutton START X5 9-pin interface to the previous station
4S02 Button TOUCH X6 CPU voltage supply
4S03 Lighted pushbutton HALT at end of cycle X7 Pin terminals for operating voltage 2L+
4S04 Lighted pushbutton RELEASE XBG07 Module terminal rotary gripper DG
4S05 Toggle switch OPERATING MODE 1 XBG11 Module terminal store LAG
4S06 Position Transport LEFT LF400EO-2S XBG15 Module terminal linear conveyer LF400EO-2S
4S17 Sensor STORE TRACK 1 FULL XK1 Terminal block PLC inputs
4S20 Sensor STORE TRACK 2 FULL XK2 Terminal block PLC outputs
4S21 Sensor STORE TRACK 3 FULL XK3 Terminal block installation of I/O, Data +
4S22 Sensor STORE TRACK 4 FULL XK4 Terminal block mains supply
Rexroth didactic Annex A Item Designation 13

A Modules, submodules
Modules and submodules which make up a constructive unit, but cannot clearly be assigned
to another identification letter; appliance combinations, plug-in/withdrawable modules,
plug-in cards

B Converters from non-electrical to electrical quantities or vice-versa

Thermoelectric sensors, photoelectric cells, microphone, loudspeaker, tachometer,
pulse generator, tacho-generator, optical, capacitive and inductive sensors, proximity initiators,
path and angle transmitters

C Capacitors

D Binary elements, delay devices, memorizing devices

bistabile elements, monostabile elements, registers/indexes, receivers, devices of binary and digital
control and automatic control engineering, signal blockers, timers

E Miscellaneous

F Safety devices
Fuses, protective relays, bimetallic trip elements, pressure-operated switches, centrifugal switches

G Generators, power supply

Batteries, power supply units, converters, charging units; power supply units,
converter equipment

H Signalling devices
Optical and acoustic signalling devices, signal lamps

K Relays, contactors
Power contactors, auxiliary contactors, auxiliary relays, time relays, reed relays

L Inductivities

M Motors
D.C. and A.C. motors, geared motors

N Amplifiers, controllers
Units of analog control and closed-loop control, electronic and electromechanical controllers,
operational amplifiers, impedance transformers

P Measuring instruments, testing units

Measuring units that display, record and count, pulse encoders, mechanical registers/counters,
binary status displays, points for measuring, testing and infeed.

Q Switching devices for power circuits

R Resistances
Potentiometers, regulating resistors, NTC thermistors, PTC thermistors, measuring shunts

S Switches, selectors
Buttons, limit switches, position switches, selector switches, control switches, control units,
pushbuttons, momentary-contact twist switches, lighted pushbuttons, external measuring-
circuit selectors, function keys

T Transformers
Voltage transformers, current transformers, mains transformers, isolating transformers and
control-power transformers

U Modulators, converters from electrical in other electrical quantities

A/D converters, D/A converters, d.c. converters and d.c.-d.c. converters, signal buffer stages,
frequency modulators

V Electronic valves, semiconductors

Electrode valves, diodes, transistors, thyristors, display elements
14 Annex A Item Designation Rexroth didactic

W Transmission paths, hollow conductors, aerials

Interconnecting wires, cables, light guides, coaxial conductors, telecommunication lines

X Terminals, plugs, socket-outlets

Terminal blocks, solder tag strips, test plugs, isolating plugs and sockets, bushings,
measuring sockets, multiple plugs, push-on plug distributors, connectors

Y Electrically operated mechanical units

Brakes, clutches, pressure valves, actuators, lifting devices, blocking magnets,
mechanical blocks, motor-actuated potentiometers

Z Terminators, hybrid transformers, yokes, filters, equalizers, limiters

Compensating units, yokes, cable replicas, simulating networks, active filters,
RC and LC filters, dividing filters, attenuation devices buffers
Rexroth didactic Annex B Pin Configuration of PLC 15
16 Annex B Pin Configuration of PLC Rexroth didactic

Pin configuration of PLC CL200 32E(I)/16A(O) for the Workpiece Storing and Sorting Station LA
PLC Input module

Module Switch box PLC

ID Designation Terminal X1,X4,X5 XK1 X3 Terminal ADDR

4S00 STOP button BP-03 X1.2 XK 1.1 X3.2 X21.0 E 0.0

4S01 START button BP-03 X1.3 XK 1.2 X3.3 X21.1 E 0.1
4S02 TOUCH button BP-03 X1.4 XK 1.3 X3.4 X21.2 E 0.2
4S03 HALT button at end of cycle BP-03 X1.5 XK 1.4 X3.5 X21.3 E 0.3
4S04 RELEASE button BP-03 X1.6 XK 1.5 X3.6 X21.4 E 0.4
4S05 Switch for operating mode 1 BP-03 X1.7 XK 1.6 X3.7 X21.5 E 0.5
4S06 LF 400 Position Transport LEFT XBG 15.1 XK 1.7 X3.8 X21.6 E 0.6
4B07 LF 400 Sensor STORE TRACK XBG 15.2 XK 1.8 X3.9 X21.7 E 0.7

4B10 LF 400 workpiece feeder EXTENDED XBG 15.4 XK 1.09 X3.10 X22.0 E 1.0
4B11 LF 400 workpiece feeder RETRACTED XBG 15.5 XK 1.10 X3.11 X22.1 E 1.1
4B12 Rotary gripper TOP XBG 07.1 XK 1.11 X3.12 X22.2 E 1.2
4B13 Rotary gripper BOTTOM XBG 07.2 XK 1.12 X3.13 X22.3 E 1.3
4B14 Rotary gripper LEFT XBG 07.3 XK 1.13 X3.14 X22.4 E 1.4
4B15 Rotary gripper RIGHT XBG 07.4 XK 1.14 X3.15 X22.5 E 1.5
4B16 Rotary gripper CLOSE gripper XBG 07.5 XK 1.15 X3.16 X22.6 E 1.6
4S17 Sensor TRACK 1 FULL XBG 11.1 XK 1.16 X3.17 X22.7 E 1.7

4S20 Sensor TRACK 2 FULL XBG 11.2 XK 1.17 X3.18 X23.0 E 2.0
4S21 Sensor TRACK 3 FULL XBG 11.3 XK 1.18 X3.21 X23.1 E 2.1
4S22 Sensor TRACK 4 FULL XBG 11.4 XK 1.19 X3.22 X23.2 E 2.2
4S23 Sensor TRACK 5 FULL XBG 11.5 XK 1.20 X3.23 X23.3 E 2.3
4S24 Sensor TRACK 6 FULL XBG 11.6 XK 1.21 X3.24 X23.4 E 2.4
4AE25 Data line STEEL X5.7 XK 1.22 X3.25 X23.5 E 2.5
4AE26 Data line BRASS X5.6 XK 1.23 X3.26 X23.6 E 2.6
4AE27 Data line plain bearing NO X5.5 XK 1.24 X3.27 X23.7 E 2.7

XK 1.25 X3.28 X24.0 E 3.0

XK 1.26 X3.29 X24.1 E 3.1
XK 1.27 X3.30 X24.2 E 3.2
4S33 Switch for operating mode 2 BP-03 X1.8 XK 1.28 X3.31 X24.3 E 3.3
4AE34 Operating voltage 2L actuators SK XK 1.29 X3.32 X24.4 E 3.4
4S35 Message EMERGENCY-STOP BP-03 X1.9 XK 1.30 X3.33 X24.5 E 3.5
4AE36 Control signal from previous station SK X5.3 XK 1.31 X3.34 X24.6 E 3.6
4AE37 Control signal from following station SK X4.4 XK 1.32 X3.35 X24.7 E 3.7

1L+ Operating voltage SK XK 1.1L+ X3.19 X10.24V

1L+ Operating voltage SK XK 1.1L+ X3.37 X10.24V
M Operating voltage SK XK 1.M X3.1 X10.0V
M Operating voltage SK XK 1.M X3.20 X10.0V
Rexroth didactic Annex B Pin Configuration of PLC 17

Pin configuration of PLC CL200 32E(I)/16A(O) for the Workpiece Storing and Sorting Station LA
PLC Output module

Module Switch box PLC

ID Designation Terminal X1,X4,X5 XK1 X2 Terminal ADDR

4H00 Indicator light STOP BP-03 X1.15 XK 2.1 X2.2 X11A.0 A 0.0
4H01 Indicator light START BP-03 X1.16 XK 2.2 X2.3 X11A.1 A 0.1
4H02 Indicator light HALT at end of cycle BP-03 X1.17 XK 2.3 X2.4 X11A.2 A 0.2
4H03 Indicator light RELEASE BP-03 X1.18 XK 2.4 X2.5 X11A.3 A 0.3
4K04 Relay for motor ON to the RIGHT XBG 15.6 XK 2.5 X2.6 X11A.4 A 0.4
4K05 Relay for motor ON to the LEFT XBG 15.7 XK 2.6 X2.7 X11A.5 A 0.5
4Y06 Feed cylinder EXTEND PL.1/Sp14 XK 2.7 X2.8 X11A.6 A 0.6
4Y07 Rotary gripper LOWER PL.2/Sp14 XK 2.8 X2.9 X11A.7 A 0.7

4Y10 Rotary gripper SWIVEL PL.3/Sp14 XK 2.09 X2.15 X12B.0 A 1.0

4Y11 Rotary gripper GRIP PL.4/Sp14 XK 2.10 X2.16 X12B.1 A 1.1
XK 2.11 X2.17 X12B.2 A 1.2
XK 2.12 X2.18 X12B.3 A 1.3
XK 2.13 X2.19 X12B.4 A 1.4
XK 2.14 X2.20 X12B.5 A 1.5
4AA16 Control signal to the following station SK X4.3 XK 2.15 X2.21 X12B.6 A 1.6
4AA17 Control signal to the previous station SK X5.4 XK 2.16 X2.22 X12B.7 A 1.7

2L+ Operating voltage SK XK 1.2L+ X2.13 X10.24V

2L+ Operating voltage SK XK 1.2L+ X2.25 X10.24V
M Operating voltage SK XK 1.M X2.1 X10.0V
M Operating voltage SK XK 1.M X2.14 X10.0V

PLC CPU ZE 201 and NT 200

Module Switch box PLC

ID Designation Terminal XK1 X6 Terminal ADDR

1L+ Operating voltage SK XK 1.1L+ X6.9 X10.24V

M Operating voltage SK XK 1.M X6.1 X10.0V
18 Annex C Pneumatic Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 19
20 Annex D Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 21
22 Annex D Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 23
24 Annex D Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 25
26 Annex D Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 27
28 Annex D Circuit Diagram Rexroth didactic
Rexroth didactic Annex D Circuit Diagram 29

Robert Bosch AG Robert Bosch Espana S.A Robert Bosch B.V.

Hüttenbrennergasse 5 Calle Union Neptunusstraat 71
A-1030 Wien E-08902 L’Hospitalet de Llobregat 2132 JP Hoofddorp
Telefon (00 43) 01-7 97 22-0 Telefon (00 34) 03-3 31 92 50 Telefon (00 31) 0 23-5 65 69 09
Fax (00 43) 01-7 97 22-60 99 Fax (00 34) 03-3 31 68 44 Fax (00 31) 0 23-5 65 69 11

N.V. Robert Bosch S.A Centre de Formation pour Robert Bosch Oy

Henri Genessestraat 1 l’Automation Techniikantie 4 A
Rue Henri Genesse 1 32, avenue Michelet FIN-02150 Espoo
B-1070 Brüssel/Bruxelles 93400 St Ouen Telefon (0 03 58) 09-4 35 99-1
Telefon (00 32) 2-52 55-1 37 Telefon (00 33) Fax (0 03 58) 09-4 35 99-2 10
Fax (00 32) 2-52 55-3 32 Fax (00 33)

Robert Bosch Ltda. Robert Bosch Limited Robert Bosch (SEA) Pte. Ltd
RBBR/SP-GPA Automation Technology Division Center of Competence South East
Divisao Tecnica de Automacao Meridian South Asia
Rua Dr. Rubens Gomes Bueno, 478 Meridian Business Park 38C & 38D Jalan Pemimpin
CEP 04730-901 Braunstone/Leicestershire LE3 2WY SIngapore 577180
BR-04730-901 Sao Paulo Telefon (00 44) 01 16-28-1 44 40 Telefon (00 65) 35 05-545
Telefon (00 55) 0 11-5 47 5820 Fax (00 44) 01 16-28-9 28 78 Fax (00 65) 35 05-313
Fax (00 55) 0 11-5 47 5817

Robert Bosch Bosch Sanayi ve Ticaret A.S.

Robert Bosch AG Industriale e Commerciale S.p.A. Yan San. ve Ticaret A.S.
Industriestr. 31 Via M.A. Colonna 35 Ambarlar Caddesi 4
CH-8112 Otelfingen I-20149 Milano (MI) P.K. 45
Telefon (00 41) 01-8 47 14 72 Telefon (00 39) 02-36 96-1 34761 Zeytinburnu Topkapi-Istanbul
Fax (00 41) 01-8 47 14 99 Fax (00 39) 02-36 96-442 Telefon (00 90) 02 12-55 82-4 70
Fax (00 90) 02 12-55 82-4 49

Robert Bosch A/S Robert Bosch A/S

Telegafvej 1 Trollaasveien 8 Robert Bosch Fluid Power Corp.
DK-2750 Ballerup Postbox 629 7505, Durand Ave
Telefon (00 45) 44-89 84 81 N-1411 Kolbotn Racine, Wisconsin 53406
Fax (00 45) 44-89 87 86 Telefon (00 47) 66 81 71 22 Telefon (001) 414 554 7117
Fax (00 47) 66 81 71 67 Fax (001) 414 554 7100

Technische Änderungen vorbehalten

Subject to technical modifications
Sous réserve de modifications techniques
Soggetto a modifiche tecniche
Modificationes técnicas reservadas
Reservado o direito de alterações técnicas

Ihr Vertragshändler · Your concessionary · Votre concessionnaire · Il vostro concessionario · Vuestro concesionario ·
O seu concessionário

Bosch Rexroth AG
Service Automation
Berliner Straße 25
D-64711 Erbach/Odenwald
Telefon (0 60 62) 78-6 02
Telefax (0 60 62) 78-8 33
1 987 765 946 (2001.10) · de/en/fr/it/es/pt · BRS-DID · Printed in Germany