Bosch rexroth APAS CT-H Manuel D'utilisation page 40

18/22 APAS test device CT-H | Commissioning, operation and decommissioning
Bosch Rexroth AG, edition 08.2021, 3 842 562 818
During commissioning, the maintenance work according to section 6
must be observed. To connect the APAS test device to the SSKU and the
control, the following steps must be performed, see also fi g. 3 and fi g. 5:
1. Disconnect SSKU and control from the supply voltage.
2. Remove the I/O cable from plug X3 of the SSKU.
3. Insert plug X6 of the connection cable into X3 of the SSKU.
4. Connect plug X8 of the connection cable to X1 of the handle.
5. Clamp crocodile clip X7 to the grounding strap of the SSKU or an
adjacent PE contact with a cross-section ≥ 1 mm².
6. Connect plug PCB:X1 of the connection cable with the previously
removed I/O line.
7. Connect the SSKU and the control to the supply voltage.
5.2 Self-test
During each commissioning, a self-test must be performed according
to the following steps:
1. Attach the smallest spacer (20 mm) to the handle using Velcro.
2. Perform initialization run of the robot system.
3. Ensure that both LEDs on the handle are not lit and that no sensor
skin triggering is reported to the control.
4. Manually place the handle on the sensitive area of the sensor skin.
Avoid false triggering; follow the instructions in section 5.3.
5. At the same time, ensure that both LEDs on the handle are lit and
that a sensor skin triggering is reported to the control.
6. Remove the handle from the sensor skin.
7. Ensure that both LEDs on the handle are no longer illuminated and
that no sensor skin triggering is reported to the control.
If the steps cannot be successfully completed despite proper
commissioning and despite the robot system being used as intended,
the APAS test device must not be operated and an inspection by the
manufacturer in accordance with section 6.2 is required.