Rexroth Indramat CLM1.4, Manual

Page: 106 / 274

CLM01.4-LAP-01VRS Functions
7-9
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Task 3 is also enabled in Parameter B011, and the start instruction is
defined. Program execution of Task 3 begins automatically immediately
after power-up (even in Manual Mode).
Task 3 is deactivated only in Parameter Mode. Task 3 continues to run in
the event of a fault or emergency stop.
Lockouts can therefore also be monitored via this cycle.
Note: Axis movements may not be processed in Task 3.
Example: Input in Parameter B011
B011 0000 0800 0
Input in the programming instruction
0800 AKN I1.00.0 1
0801 APE Q1.01.0 00000000
0802 WAI 02.000
0803 AEA Q1.01.0 1
0804 AKN I1.00.00 1
0805 AEA Q1.01.0 0
0806 AEA Q1.01.1 1
0807 WAI 00.100
0808 AEA Q1.01.1 0
0809 JMP 0802
Tasks 4 and 5 are equivalent to Tasks 1 and 2. They can be enabled in
Parameter B012.
Note: Tasks 1, 2, 3, 4 and 5 are equivalent. Within the NC cycle, the
tasks are completed in numerical order (1, 2, 3, 4, 5).
An output set in Task 1 is processed in Task 4 as a set output.
Task 3
Tasks 4 and 5