Rexroth Indramat CLM1.4, Manual

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CLM01.4-LAP-01VRS Functions
7-19
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
7.11 Restart
The Restart function continues a program interrupted by a loss of power,
an error message or a switch from Automatic to Manual Mode.
Restart is only possible following one of the situations mentioned above.
The condition is that a program was running in Automatic Mode.
For each of these situations, the current status of Task 1, 2, 4 and 5
(feedrate, absolute target position, status of the outputs, etc.) is saved
temporarily.
A Restart is initiated by a rising signal edge (jump from 0V to +24V) at the
system input ’Re-Start’ (CLM connector X3 / pin 15) in Automatic Mode.
If no Restart is possible at the time, this input has the same functionality
as the system input ’Start.’
The functionality of this input can be determined by considering the status
of the output described below.
Restart is not possible when, for example:
a) power loss, error or E-Stop occurred during a program stop or in
Manual Mode.
b) the error message ’Position Lag’ or ’Drive Runaway’ was issued
during position evaluation with an incremental encoder.
The system output ’Restart possible’ (CLM connector X4 / pin 9) indicates
whether or not a Restart can be executed.
Output set to: 0 Volts = no Restart possible
+24 Volts = Restart possible
With a Restart program, the Restart process can be controlled.
It can be activated by inputting a Start instruction for the Restart program
in Parameter B016.
When the parameters are set, this program is called by a rising edge at
the ’Re-Start’ input. The actual Restart process is not initiated until the
end of the program.
The ’RSV’ command affects the execution of the Restart program. It
allows selective restoration of the interrupted program’s status.
The Restart program ends with another ’RSV’ command.
See also descriptions of the ’RSV’ command and Parameter B016.