Rexroth Indramat CLM1.4 Manual Download Page 4

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CLM01.4-LAP-01VRS

Table of Contents

DOK-CONTRL-CLM01.4LAP1-FK01-EN-P

Table of Contents

System Setup

1-1

1.1

The CLM at a Glance ..................................................................................................................... 1-1

1.2

Mechanical Data ............................................................................................................................ 1-2

1.3

Saving Data.................................................................................................................................... 1-3

1.4

System Overview ........................................................................................................................... 1-4

Important directions for use

2-1

2.1

Appropriate use .............................................................................................................................. 2-1

Introduction .............................................................................................................................. 2-1

Areas of use and application.................................................................................................... 2-2

2.2

Inappropriate use ........................................................................................................................... 2-2

Safety Instructions for Electric Drives and Controls

3-1

3.1

Introduction..................................................................................................................................... 3-1

3.2

Explanations................................................................................................................................... 3-1

3.3

Hazards by Improper Use .............................................................................................................. 3-2

3.4

General Information ....................................................................................................................... 3-3

3.5

Protection Against Contact with Electrical Parts ............................................................................ 3-5

3.6

Protection Against Electric Shock by Protective Low Voltage (PELV)........................................... 3-6

3.7

Protection Against Dangerous Movements.................................................................................... 3-7

3.8

Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting .......... 3-9

3.9

Protection Against Contact with Hot Parts ................................................................................... 3-10

3.10 Protection During Handling and Mounting ................................................................................... 3-10

3.11 Battery Safety............................................................................................................................... 3-11

3.12 Protection Against Pressurized Systems ..................................................................................... 3-11

Summary of Contents for CLM1.4

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...Functional Description LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P CLM1 4 2 4 Axis Positioning Control with Profibus...

Page 3: ...ty are forbidden Offenders are liable for the payment of damages All rights are reserved in the event of the grant of a patent or the registration of a utility model or design DIN 34 1 The specified d...

Page 4: ...c Drives and Controls 3 1 3 1 Introduction 3 1 3 2 Explanations 3 1 3 3 Hazards by Improper Use 3 2 3 4 General Information 3 3 3 5 Protection Against Contact with Electrical Parts 3 5 3 6 Protection...

Page 5: ...5 2 General Information 5 3 5 3 Program Input 5 4 Input via the Keypad 5 4 Loading via the Serial Port 5 6 5 4 Starting the User Program 5 6 5 5 Stopping the User Program 5 6 5 6 Variables 5 7 Availa...

Page 6: ...K Program Jump in Parallel Task 5 32 MAT Mathematics 5 33 NOP No Operation 5 33 PBK Stop Motion 5 34 POA Positioning Absolute 5 35 POI Positioning Incremental 5 36 PSA Positioning Absolute with In Pos...

Page 7: ...g Input 7 3 Override via Gray code Inputs 7 4 Override via Binary code Inputs 7 5 7 4 Vector Programming 7 6 Manual Vector 7 6 Interrupt Vector 7 7 7 5 Multitasking 7 8 7 6 Slave Axis 7 10 7 7 Mechani...

Page 8: ...Axis x Encoder Difference 8 19 Ax17 Axis x Absolute Encoder Monitoring Window 8 19 Ax18 Reserved Free 8 19 Ax19 Axis x Encoder Data 8 20 Ax20 Axis x Encoder Type 8 20 Ax21 Axis x Drive Direction 8 21...

Page 9: ...Encoder Feed Constant VK 8 42 C003 Master Encoder 1 Measuring Wheel Offset 8 42 C004 Master Encoder 2 Measuring Wheel Encoder Data 8 42 C005 Master Encoder 2 Measuring Wheel Encoder Type 8 42 C006 Mas...

Page 10: ...nection Diagrams 12 1 12 1 Overview 12 1 12 2 CLM1 4 Dimensions 12 2 12 3 Power Supply and System Signals for Axes 1 and 2 12 3 12 4 System Signals for Axes 3 and 4 12 3 12 5 System Signals for Axes 1...

Page 11: ...ral Information 13 6 Protection Against Contact with Electrical Parts 13 7 Protection of Safety Separated Extra Low Voltages 13 8 Protection Against Dangerous Movements 13 8 Protection During Handling...

Page 12: ...tem availability and higher roll feed capacity markedly increased quality through incremental control of position velocity and acceleration eliminating the need for an additional PLC control through m...

Page 13: ...e 4ms System flags 320 marker flags parallel interface 24 permanent system inputs and 18 permanent system outputs 88 inputs and 51 outputs available freely programmable in the user program 4 analog in...

Page 14: ...important to back up this data in another place outside the control e g external computer that contains the MotionManager PC program or as a hard copy Buffering occurs with the help of a battery back...

Page 15: ...1 4 System Setup CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P 1 4 System Overview Kompo1_AE WMF Fig 1 1 System Overview...

Page 16: ...ases the guarantee and the right to payment of damages resulting from inappropriate use are forfeited The user alone carries all responsibility of the risks Before using Rexroth Indramat products make...

Page 17: ...CLM1 4 LAP has been developed for use in single or multiple axis drives and control tasks Typical applications of CLM1 4 LAP are Handling and assembly systems Roll feeds Automatic bending machines and...

Page 18: ...the person or persons responsible for the safe operation of this equipment If the equipment is resold rented or transferred or passed on to others then these safety instructions must be delivered with...

Page 19: ...ts WARNING High electrical voltage due to wrong connections Danger to life or bodily harm by electric shock WARNING Health hazard for persons with heart pacemakers metal implants and hearing aids in p...

Page 20: ...spare parts and accessories approved by the manufacturer Follow all safety regulations and requirements for the specific application as practiced in the country of use The equipment is designed for in...

Page 21: ...nstructions for installation in accordance with EMC requirements can be found in the documentation EMC in Drive and Control Systems The machine or installation manufacturer is responsible for complian...

Page 22: ...e even for brief measurements or tests if the ground wire is not permanently connected to the points of the components provided for this purpose Before working with electrical parts with voltage highe...

Page 23: ...conductor connection Prior to startups even for brief tests always connect the protective conductor or connect with ground wire Otherwise high voltages can occur on the housing that lead to electric s...

Page 24: ...mponents software or firmware errors Dangerous movements can occur immediately after equipment is switched on or even after an unspecified time of trouble free operation The monitoring in the drive co...

Page 25: ...esist maximum possible momentum especially if there is a possibility of loose parts flying off Mount the emergency stop switch in the immediate reach of the operator Verify that the emergency stop wor...

Page 26: ...rying conductors and permanent magnets in motors represent a serious health hazard to persons with heart pacemakers metal implants and hearing aids WARNING Health hazard for persons with heart pacemak...

Page 27: ...ounting Under certain conditions incorrect handling and mounting of parts and components may cause injuries CAUTION Risk of injury by incorrect handling Bodily harm caused by crushing shearing cutting...

Page 28: ...rs corresponding to the information in the respective Project Planning Manual must be provided with pressurized media such as compressed air hydraulic oil cooling fluid and cooling lubricant supplied...

Page 29: ...3 12 Safety Instructions for Electric Drives and Controls CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P Notes...

Page 30: ...CD is located on the front panel of the CLM The display consists of 4 lines of 16 characters each Below the display is a keypad with pressure sensitive keys for data entry and manipulation of the disp...

Page 31: ...0 S 3 000000 200 T 4 000000 000 Remaining Feed Speed RPM 1 0100 2 2431 3 1500 4 1050 Actual Speed Axes 2 3 und 4 are displayed only if they are activated in the parameters E Progr Status Task4 1500 JS...

Page 32: ...position of the data field and then to the second digit of the parameter number These keys move the cursor by one space to the right or left When loading the program the cursor can be moved within th...

Page 33: ...operating mode determines the available quantity and types of display modes The following operating modes exist Parameter Manual Automatic Depending on the operating mode the following displays are po...

Page 34: ...more simply by pressing Then the display mode can be changed using the and keys For some display modes no blinking cursor is shown In such cases the cursor is in its base position but it is not visib...

Page 35: ...present Program running S t o p A c t i v e Control Status Immediate Stop at 0V Material Velocity This display is only valid in conjunction with the function Flying Shear Device The test velocity can...

Page 36: ...truction Number M 1 2 3 4 C o u n t e r A c t T o t a l In this display mode the current status of any programmed counter can be viewed The desired program instruction number must be entered in the fi...

Page 37: ...is displayed if the drive is not set to absolute while detecting a position using an incremental encoder The actual position display can be reset to zero by pressing so that a new relative zero point...

Page 38: ...played speed is a message about the last 32 cycles in order to keep the contents of the display consistent Speed values are rounded to the nearest whole number For axes that are not programmed no info...

Page 39: ...are also programmed these can be displayed by pressing or The display in Automatic Mode is also valid for Manual Mode Operating Mode A Automatic E Manual F Fault M P r o g S t a t u s T a s k 1 0 0 0...

Page 40: ...Enable Connector 3 Pin 6 or 7 or Connector 22 Pin 1 or 4 must be set to 24V Program Input Display Mode Operating Mode Base Cursor Position Program Instruction Number User Command E 0 1 2 3 P O I 1 0 0...

Page 41: ...l A 1 A x 0 4 1 2 3 4 5 6 7 8 0 Parameter Data Parameter Number Relationship to Axis This display mode is available only in the operating mode Parameter Here all rating data of a system is input in pa...

Page 42: ...IO Branch Conditional on Byte Compare 5 17 BPA Branch Conditional on Byte 5 18 CID Change Instruction Data 5 19 CIO Copy Bit Fields 5 19 CLC Clear Counter 5 20 CON Continuous Operation 5 21 COU Count...

Page 43: ...In Position 5 36 PSI Positioning Incremental with In Position 5 36 REP Jump on Max Search Limit Reached 5 38 RMI Registration Mark Interrupt 5 38 RSV Restart Vector 5 41 RTM Rotary Table Mode 5 42 RTS...

Page 44: ...In both cases program loading can occur in any operating mode A running program should not be interrupted The processing time for an instruction depending on the selected cycle time is 2 4 ms After th...

Page 45: ...er each input Back up by pressing While inputting the instruction number the command assigned to the number is displayed After inputting the last digit of the program instruction number the cursor mov...

Page 46: ...the first position of the instruction number and the previously saved contents of the program instruction are redisplayed Example Instruction 100 Positioning absolute E 0 1 0 0 P O A 2 0 0 0 0 4 5 6...

Page 47: ...input The program start command is received via the Start input refer to chapter entitled Interfaces 5 5 Stopping the User Program The running program can be stopped at any time There are two ways to...

Page 48: ...23456 If a variable is used in a command only the size of the constant that has been placed here is used If the content of the variable is greater or less than the size of the constant an error messag...

Page 49: ...Definition V000 Zyklusz hler 1 Datenumfang 0 99999999 V001 Zyklusz hler 2 nur im Automatikbetrieb 0 9999999 V002 Aktueller Satz Task1 V003 Aktueller Satz Task2 V004 Aktueller Satz Task3 V005 Aktueller...

Page 50: ...e axis variables are read only They exist for each axis and are assigned to variables V1xx V4xx No Definition Vx00 Absolute position value of motor encoder IU Vx01 Position Command Value Vx02 Reserved...

Page 51: ...ogrammed in Parameter Ax09 Example of how to change the acceleration value 0000 ACC 1 999 999 Set acceleration to 100 0001 POI 1 000200 000 999 Position then proceed immediately to next instruction 00...

Page 52: ...or default value 5 In preparation Override value in of Parameter Ax09 001 to 999 only for default value 4 Override update only for default value 4 1 Read override value only once when this command is...

Page 53: ...CC command as soon as any positioning move in process has been completed The new acceleration via the override is calculated as follows Acceleration IU sec 2 1000 2 06 2 09 Factor Scaling Ax Parameter...

Page 54: ...program waits at this instruction until all conditions for proceeding on to the next instruction have been met Three different conditions are possible 0 The bit is checked to see if it is set to 0 1...

Page 55: ...y Three different conditions are possible 0 The bit is set to 0 1 The bit is set to 1 2 The status of the bit remains unchanged Example a 0008_APE_M2 02 _2 1 0 0 2 2 1 0 7 6 5 4 3 2 1 0 Bits 0 4 and 5...

Page 56: ...f the target quantity is reached the actual quantity is reset to zero and the program proceeds to the next instruction Examples a Count following the event 0000 WAI 01 000 0001 PSI 1 000050 000 250 00...

Page 57: ...Evaluate as binary input values 2 through 9 for future expansions e g BCD Gray code etc 1 evaluate BCD Number of bits 1 to 8 Low bit M0 M5 I0 I1 Q0 Q1 Fieldbus Q2 I2 Jump length Maximum value 99 Jump...

Page 58: ...8 64 0 16 8 0 2 0 218 218 02 300 0736 The program proceeds to the target location following the time period of one cycle BIO Branch Conditional on Byte Compare or Assigned bit field Compare byte 2 M0...

Page 59: ...period of one cycle BPA Branch Conditional on Byte or Assigned bit field Compare byte M0 M5 I0 I2 Q0 Q2 Target instruction Here the byte is checked for a met condition At the same time the condition...

Page 60: ...target instruction 4 Addition or subtraction however the result must be positive or else the variable is set 0 5 Addition or Subtraction however the result must be negative following the operation or...

Page 61: ...before 0 0 0 0 0 0 0 0 after 0 0 0 0 1 0 1 1 The program proceeds to the next instruction following the time period of one cycle CLC Clear Counter or Instruction number of the counter to be set to ze...

Page 62: ...sing the current values The program proceeds to the next instruction following the time period of one cycle COU Count or Preset count Preset count reached bit M2 M3 M4 Q1 Fieldbus Q2 02 0 Q2 05 7 Actu...

Page 63: ...al quantity offset with its operational sign is added to the actual quantity 000000 When the operational sign is a 0 the actual quantity is set to zero The actual quantity offset is significant only i...

Page 64: ...xample CPJ V600 V601 0000 00 0400 V600 100 000 V601 090 000 The command branches to instruction 400 CPL Clear Position Error or Axis 1 to 4 The position lag of the axis is set to zero on a one time ba...

Page 65: ...d of one cycle CST Clear Subroutine Stack Level 0 Clear the subroutine stack 1 Correct the subroutine stack by 1 level 2 Correct the subroutine stack by 2 levels and so on until 9 Correct the subrouti...

Page 66: ...conversion Lowest byte of the bit pattern M2 00 M2 12 Variable This command converts a binary or BCD bit pattern to a variable or converts a variable to a binary or BCD bit pattern Binary 1 x operatio...

Page 67: ...ore decimal point M2 03 0 indicates if value is even or odd M2 04 0100 0011 4 3 Before decimal point M2 05 0110 0101 6 5 Before decimal point M2 06 1000 0111 8 7 Before decimal point M2 07 1111 1111 O...

Page 68: ...Select decade 2 10 2 WAI 00 02 Wait until level is stable CIO I1 01 0 M2 04 0 04 Load value of the decade switch APE Q1 01 22221000 Select decade 1 10 3 WAI 00 02 Wait until level is stable CIO I1 01...

Page 69: ...iplica Position Absolute Preset Position Target Fig 5 12 Calculation of Absolute Positioning Each change in the factor applies to all subsequent positioning motions A positioning motion already in pro...

Page 70: ...he positioning travel in IU for the slave and master axes the IU shall be considered in terms of the feed constant for the relevant axis slave or master Any differences in the values calculated for th...

Page 71: ...d During homing make sure that no command is processed which executes a drive motion A query within the program to determine whether homing has been successfully completed is accomplished by polling t...

Page 72: ...e target location following the time period of one cycle JSR Jump to Subroutine or Start instruction of the subroutine In programs containing several identical functions the programming can be simplif...

Page 73: ...ous operation using the CON command is disabled The output states are not changed by a JST command In multitasking a JST command results in a programmed stop in all running tasks Task 3 is not affecte...

Page 74: ...the cycle time Furthermore this calculating unit can be used by the other tasks Therefore this command can endure over the time period of multiple cycles The program proceeds to the next instruction...

Page 75: ...ration has been enabled using CON it is disabled After the PBK command has been executed other positioning commands can follow immediately Example 0000 CON 1 1 999 0001 WAI 02 000 0002 PBK 1 0003 POI...

Page 76: ...e 2 current position 400 mm 0011 POA 1 000200 000 999 The drive unit is moved 200 mm backward to the 200 position Poa_bef_AE WMF Fig 5 16 Example of Position Absolute This command may be used only if...

Page 77: ...to the next instruction following the time period of one cycle PSA Positioning Absolute with In Position or Feed rate in 001 to 999 of the maximum velocity in the assigned parameter Absolute position...

Page 78: ...4 This command corresponds to the POI command However the program proceeds to the next instruction only after the positioning procedure has been completed position acknowledgement This procedure is co...

Page 79: ...cuted The following command combinations are permissible 1 Moving to a reference point without search distance limitation 0020 SRM 1 000000 000 050 I1 01 0 2 Moving to the reference point is programme...

Page 80: ...eed program because it is possible that the hole pattern may drift toward the edge of the material For this reason separation is performed according to the reference hole The reference hole can be det...

Page 81: ...ain Program Punching Unit 2 0009 AEA Q1 00 1 1 Punching Unit 2 ON 0010 WAI 00 200 Wait 0011 AEA Q1 00 1 0 Punching Unit 2 OFF 0012 RTS Task 2 0200 RMI 1 0 I1 01 7 Wait for raster signal and movement o...

Page 82: ...xample B016 2000 Program 1 2000 RSV 1 0000 10000 Terminate Re Start Program and completely restore status Program 2 2000 AKN I1 00 4 1 Wait for input 2001 WAI 01 000 1 second wait time 2002 RSV 1 0000...

Page 83: ...nce 2 programmed direction 2 no change in mode Axis 1 to 4 Rotary table must be preselected under the type of motion in Parameter Ax00 and the axis must be homed The parameter setting Ax05 is active a...

Page 84: ...TS return command If several subroutine levels have been accessed in one program cycle a return from a higher subroutine level leads first to the next lower subroutine level rather than directly back...

Page 85: ...le Sac4_elc_AE WMF Fig 5 20 How the SAC command works The coordinate system is offset by a value of x for the command SAC 1 0 xxxxx xxx The offset can be cancelled via command SAC 1 0 00000 000 Furthe...

Page 86: ...he search direction the search velocity and the reference signal input can be selected by the user Once the command is invoked the search for the reference marker proceeds at the preselected velocity...

Page 87: ...me frame of 2 to 4 ms controller cycle time If a highly accurate reference point is required the search velocity must be reduced The achievable accuracy is determined as follows x 2 x s Time Cycle s I...

Page 88: ...aveled in IU up to switching point Axis 1 to 4 Mode 0 Start of velocity change Velocity changes are always referenced to the most recently initiated positioning function The program proceeds to the ne...

Page 89: ...00 End of cycle wait 1 second 0006 JMP 0000 Repeat program Vcc_bef_AE WMF Fig 5 24 Change Velocity Mode 1 Velocity reached This command changes the velocity of a positioning move in progress such that...

Page 90: ...n 0 Override as factor 1 Override as limit This value is significant only in modes 4 and 6 Override value in from 001 to 999 0 Read in new override value in each controller cycle 2 to 4 milliseconds 1...

Page 91: ...ceeds to the next instruction following the time period of one cycle Description of Override Mode 5 in Preparation This function can only be activated using the VEO command if the axis is designated a...

Page 92: ...g function 0008 VEO 1 4 1 500 0 Program C reduce velocity Execute positioning function 0009 POI 1 000100 000 999 Move 100 mm and proceed to next instruction 0010 VCC 1 000035 000 800 0 0 after 35mm ch...

Page 93: ...it Velocity to 70 3 Program C Multiplication by factor of 500 from instruction number 0008 Veo3_bef_AE WMF Fig 5 29 VEO Command Multiplication by a Factor WAI Wait Time Delay or Wait time in seconds E...

Page 94: ...ts Commands for Loading and Saving LD Loads the value of the operand LDN Loads the negative value of the operand ST Assigns the current value to the operand STN Assigns the bit by bit negated value to...

Page 95: ...f the operand ANDN AND logic of the current value with the bit by bit negated value of the operand Examples AND Logic FBS AWL Type bool1 bool2 bool3 LD bool1 AND bool2 ST bool3 bool1 BOOL bool2 BOOL b...

Page 96: ...ORN OR logic of the current value with the bit by bit negated value of the operand Examples OR Logic FBS AWL Type 1 bool1 bool2 bool3 LD bool1 OR bool2 ST bool3 bool1 BOOL bool2 BOOL bool1 BOOL bool1...

Page 97: ...N Exclusive OR logic of the current value with the bit by bit negated value of the operand Examples XOR Logic FBS AWL Type 2k 1 bool1 bool2 bool3 LD bool1 XOR bool2 ST bool3 bool1 BOOL bool2 BOOL bool...

Page 98: ...d angle monitoring Automatic Mode In Automatic Mode NC tasks 1 2 4 and 5 can be activated using the start command All functions are possible except for the jog and manual vector functions 7 2 Measurin...

Page 99: ...Encoder Error Drive Runaway If position loop reset is required in conjunction with measuring wheel mode the measuring wheel mode signal must be removed via the signal input while resetting the positi...

Page 100: ...current to AE1 X5 11 and X5 12 AE2 X5 14 and X5 15 AE3 X7 4 and X7 5 AE4 X7 7 and X7 8 The graph below shows the relationship between the applied voltage and the override factor 541_1_ov WMF Fig 7 1...

Page 101: ...2 3 in 0 0 0 0 0 1 0 0 0 1 1 1 0 0 2 0 1 0 0 4 0 1 1 0 6 1 1 1 0 8 1 0 1 0 10 0 0 1 0 20 0 0 1 1 30 1 0 1 1 40 1 1 1 1 50 0 1 1 1 60 0 1 0 1 70 1 1 0 1 80 1 0 0 1 90 0 0 0 1 100 Example The max veloci...

Page 102: ...for each axis in Parameter B017 or via the VEO program command Input Number I1 01 7 I1 01 0 binary value 2 7 2 6 2 5 2 4 2 3 2 2 2 1 2 0 decimal value 128 64 32 16 8 4 2 1 The decimal values of all o...

Page 103: ...concluded The manual vector program is started by detection of the rising edge of a signal pulse at the programmed input Parameter B014 If 00 00 0 0 0000 is programmed in this parameter the manual ve...

Page 104: ...interrupt program address Parameter B015 There is no return to the interrupted main program The interrupt vector can be invoked only in Automatic Mode Therefore the Start or Stop actions remain in eff...

Page 105: ...c Mode the program counter resets to 0000 with each start command If the start command follows execution of a prior immediate stop the program continues from the point of interruption Normally only Ta...

Page 106: ...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 0...

Page 107: ...nd sets the ratio at which the slave axis will follow the master axis The FOL command is only effective if Slave Axis Mode is enabled To keep the following errors to a minimum a following error compen...

Page 108: ...following parameters Ax02 Load Gear input revolutions Ax02 Load Gear output revolutions The parameters for the ratio between gear input and output are set here Example Fs5003f1_AE WMF Fig 7 4 Setting...

Page 109: ...s possible to implement an axis which can move infinitely in one direction There is no overrunning of the position data The modulo value is set via parameter Ax05 Modulo value Note Modulo processing o...

Page 110: ...the unit is powered When using an RS232C interface the distance between the IDS01 and the CLM may not exceed 15 meters Use of an external power supply allows for much larger distances Enabling queryi...

Page 111: ...marker pulse without home switch Parameter Ax24 The resulting homing is signaled by turning on the output programmed in Parameter Ax24 The output is turned off by re homing Position Lag Drive Runaway...

Page 112: ...nd 15 16 Feed Constant 1 If the carriage is not positioned on the home switch cam it is moved to the home switch cam using the homing velocity designated in Parameter Ax24 2 As soon as the cam switch...

Page 113: ...d constant Activation of the Home Switch Activating the home switch must occur so that the switch is completely closed by reverse motion movement away from the workpiece The cam for activating the hom...

Page 114: ...increments controller cycle If it is found a positioning move in the same direction occurs to a position 1 32 revolution before the second marker pulse After reaching this position the second marker...

Page 115: ...ed In addition an output must be programmed This output is powered when the drive is in position At the same time a command value of Null is issued Then it is possible that the drive may drift The fun...

Page 116: ...atus 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 Runa...

Page 117: ...7 20 Functions CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P Notes...

Page 118: ...e 8 20 Ax21 Axis x Drive Direction 8 21 Ax22 Axis x Absolute Encoder Home Position 8 21 Ax23 Axis x Homing I O 8 22 Ax24 Axis x Homing Search Distance 8 22 Ax25 Axis x Homing Offset 8 23 Ax26 Reserved...

Page 119: ...er Type 8 41 C002 Master Encoder 1 Measuring Wheel Encoder Feed Constant VK 8 42 C003 Master Encoder 1 Measuring Wheel Offset 8 42 C004 Master Encoder 2 Measuring Wheel Encoder Data 8 42 C005 Master E...

Page 120: ...parameters are checked For erroneous or missing parameters an corresponding error message Invalid Input is issued When parameters are changed a recalculation of all parameter dependent program instru...

Page 121: ...ignment of inputs and outputs results in malfunctions and must be avoided To store a parameter the Store key must be pressed A validity check of the parameters is performed after leaving Parameter Mod...

Page 122: ...motion the drive unit moves a mechanical system only a specified distance Normally absolute positioning is performed and travel limit switches monitor the distance traversed The rotary table normally...

Page 123: ...ring one revolution of the gear drive shaft Input can be in any desired dimension e g mm cm m inch degrees etc and is referred to below as the input unit IU It is important that all other measurements...

Page 124: ...n for Gear Ratio and Modulo Function Example 5 turns of the motor shaft produce 2 turns of the output gear shaft Input revolutions 5 Output revolutions 2 Input min 1 Input max 9999 Note This function...

Page 125: ...ion beyond the negative travel limit is stipulated for the drive error message 50 80 B0 E0 is generated Example when using an incremental encoder When using an incremental encoder depending upon progr...

Page 126: ...7 8 9 Max travel limit in IU Here the maximum allowable travel limit value is input The limit is available only in Absolute Mode In Manual Mode the corresponding jog key becomes inactive when this po...

Page 127: ...direction for rotary table 1 shortest path modulo value in preparation When the modulo format is set the modulo value determines the numeric value at which the position data overflow to 0 This paramet...

Page 128: ...ated as follows constant Feed 60 Ax12 P Rpm possible Vmax L Vmax Maximum velocity Rpm Revolutions per minute Fig 8 4 Axis x Maximum Velocity If the velocity is larger than Vmax possible the error mess...

Page 129: ...IU sec 2 The drive accelerates with the value set here A different deceleration value can be programmed in Parameter Ax09 Input range from 1 to 999999 in IU sec 2 Ax09 Acceleration Deceleration Rate...

Page 130: ...leration change sec Input range 0 000 to 1 024 0 Jerk limiting inactive constant acceleration The Time Constant for Acceleration sets the time during which the CLM accelerates Internally the CLM round...

Page 131: ...erage of 256 values Kv Factor Feedforward can only be turned on for Flying Cutoff or Slave Axis With the Kv Factor the position gain is defined The Kv Factor determines the position lag that would be...

Page 132: ...in volts with 1 decimal place 00 5 to 10 0 Max encoder velocity in Rpm 0001 to 9999 The maximum velocity Ax06 is calculated as follows Constant Feed 60 Rpm Vmax Fig 8 7 Maximum Velocity For drive ampl...

Page 133: ...percent of the maximum position difference position lag Normally a value of 10 20 is to be entered here Input range from 001 to 100 0 Error messages Drive Runaway Position Lag Encoder Error are active...

Page 134: ...or and Maximum Velocity because the input is in percent the monitoring window does not need to be reprogrammed So that the correct error message is always issued Parameter Ax27 Switching Threshold sho...

Page 135: ...fied input no feed takes place The CLM processes all instructions that do not contain a feed length As soon as the program encounters an instruction containing a feed distance the CLM stops at this in...

Page 136: ...rence E n c D i f f e r e n c e A x A x 1 6 1 2 Monitoring window in only for Measuring Wheel Mode Ax17 Axis x Absolute Encoder Monitoring Window A b s M o n i t o r i n g A x A x 1 7 1 2 3 4 5 6 7 Ab...

Page 137: ...the input of revolutions is meaningless Input range from 100 to 5000 Ax20 Axis x Encoder Type E n c o d e r T y p e A x A x 2 0 0 1 0 0 0 Track monitoring for incremental encoders 1 off 0 on Absolute...

Page 138: ...n D i r e c t i o n A x A x 2 1 0 0 0 1 Turn external encoder in preparation 1 Turn motor encoder 1 Change direction Designated directions can be mixed combined Ax22 Axis x Absolute Encoder Home Posit...

Page 139: ...g in Manual Mode 00 00 0 no input selected homing is only possible using the HOM command With a rising signal edge at the command input the homing cycle is started The home position can be targeted in...

Page 140: ...d F r e e A x A x 2 6 Ax27 Axis x Switching Threshold S w i t c h i n g T h r s h A x A x 2 7 Q 1 0 0 0 1 2 3 4 5 6 7 Switching threshold in IU Output Position reached 00 00 0 no output The drive cann...

Page 141: ...onstant signal Output Presignal 00 00 0 Presignaling not activated The presignaling function programmed in this parameter applies for every positioning command POI PSI POA PSA As soon as the distance...

Page 142: ...on is valid only when Measuring Wheel Mode is selected Ax32 Axis x Various Functions F u n c t i o n s A x A x 3 2 Q 1 0 0 0 Q 1 0 0 0 Output Deceleration active Output Target velocity reached Ax33 Ax...

Page 143: ...TRL CLM01 4LAP1 FK01 EN P Ax34 Axis x Cut Vector C u t V e c t o r A x A x 3 4 I 1 0 0 0 0 1 2 3 Start Instruction Manual cut vector program Input Immediate cut The function Immediate Cut is valid onl...

Page 144: ...led 1 enabled Axis 2 0 disabled 1 enabled For an enabled axis the corresponding parameter set Axxx must be programmed B001 Display D i s p l a y B 0 0 1 0 0 Store Inhibit 0 not inhibited 1 storing inh...

Page 145: ...000 interface is disabled The CLM s serial interface can exchange data with the system in different ways The selected transmission format is defined in Parameter B002 Details are described in section...

Page 146: ...um validation off hardware handshake RTS CTS on Explanation of the term Response Delay In RS485 Mode once the CLM receives the last character of an LF request Linefeed ASCII Code 10 it immediately swi...

Page 147: ...alue is written to this parameter and can be read out for diagnostic purposes Note A value of 0 means that monitoring is turned off For further information see the Fieldbus chapter B007 Fieldbus Baudr...

Page 148: ...0 0 8 1 1 0 1 0 5 Fieldbus Slave Address 02 99 Fieldbus 0 enabled 1 disabled 2 Fieldbus without system control Readout 0 Word Long word 1 Byte System 0 Intel 1 Motorola Formats 0 Process Data Channel...

Page 149: ...Parameter B010 is 0 0 for the automatic default setting While operating the CLM if the message System Failure Code IRQOVL appears the cycle time is too short The value selected in Parameter B010 is t...

Page 150: ...not enabled Tasks 4 and 5 show the same behavior as Task 2 For further details see the chapter entitled Multitasking B013 Logic Task L o g i c T a s k B 0 1 3 B014 Manual Vector M a n u a l V e c t o...

Page 151: ...p 0 the vector is inhibited during a subroutine JSR and leading edge 1 the vector is always enabled and leading edge 2 the vector is inhibited during a subroutine JSR and falling edge 3 the vector is...

Page 152: ...measurements per analog input 5 Average of 128 measurements per analog input 6 Average of 256 measurements per analog input 7 Average of 512 measurements per analog input 8 Average of 1024 measurement...

Page 153: ...code via outputs Q1 05 Clear Outputs This function allows the user to influence the clearing of outputs when faults occur For each group of 8 outputs the following inputs are possible 0 Clear outputs...

Page 154: ...oring Incremental Encoder 1 2D Track monitoring Incremental Encoder 2 2E Track monitoring Incremental Encoder 3 2F Track monitoring Incremental Encoder 4 30 Track monitoring Measuring Wheel Incrementa...

Page 155: ...Axis 2 7D Max override Axis 2 7E Axis 2 is disabled 7F Continuous marker pulse 2 80 Target position Minimum travel limit Axis 2 81 Target position Maximum travel limit Axis 2 82 HOM Command not possi...

Page 156: ...um travel limit Axis 4 D8 Not homed Axis 4 D9 Homing Cam too short Axis 4 DA Homing No marker pulse Axis 4 DB Homing Marker pulse position Axis 4 DD Max override Axis 4 DE Axis 4 is disabled DF Contin...

Page 157: ...isplay The memory address in Parameter B019 is a default address that is shown on the display after turning on the CLM or after a fault However the address may be changed during operation by directly...

Page 158: ...ues 3 Average of 8 values 4 Average of 16 values 5 Average of 32 values 6 Average of 64 values 7 Average of 128 values Encoder direction 0 do not turn 1 turn Track monitoring 0 enabled 1 disabled Numb...

Page 159: ...oder 1 Measuring Wheel Offset M W h e e l 1 O f f s e t C 0 0 3 1 2 3 4 5 6 7 8 This parameter currently has no function C004 Master Encoder 2 Measuring Wheel Encoder Data In preparation as in Paramet...

Page 160: ...RS Functions X6 B0 03 RS Format X8 B0 04 RS Functions X8 B0 05 Fieldbus Time Monitoring B0 06 Fieldbus Baudrate B0 07 Fieldbus Formats B0 08 Reserved Free B0 09 Cycle Time B0 10 Start Program Instr Ta...

Page 161: ...4 Feed Angle Monitoring Interrupt Ax 15 Encoder Difference Ax 16 Absolute Encoder Monitoring Window Ax 17 Reserved Free Ax 18 Encoder Data Ax 19 Encoder Type Ax 20 Drive Direction Ax 21 Absolute Encod...

Page 162: ...C0 01 Master Encoder 1 Meas Wh Feed Constant C0 02 Master Encoder 1 Meas Wh Offset C0 03 Master Encoder 2 Meas Wh Data C0 04 Master Encoder 2 Meas Wh Type C0 05 Master Encoder 2 Meas Wh Feed Constant...

Page 163: ...c 0 100 50000 000 Ax 07 Jog Velocity IU sec 0 100 50000 000 Ax 08 Acceleration Rate IU sec 2 1 999999 Ax 10 Jerk Constant sec 0 000 1 024 Ax 11 Kv Factor 0 01 20 00 Ax 12 Drive Sensitivity Volts 0 5 1...

Page 164: ...rogrammed and processed in the parameters commands and in the Logic Task They are processed at the beginning of each cycle or at the start of the Logic Task If an output is designated in the Logic Tas...

Page 165: ...l The terms 0 Off or Deactivated can all be defined by 0V signal level Depending upon the function to be initiated the CLM differentiates between two signal types This function is shown as long as the...

Page 166: ...in No 3 I0 00 2 This input must be wired including for fieldbus operation In the operating state 24V external must be present at this signal If this signal is missing the refresh contact Bb connector...

Page 167: ...mental encoder remains homed in Manual Mode The absolute reference point is not lost Note Within the Enable message the message Motor ready for operation which means that power is on must be maintaine...

Page 168: ...e signal at the Immediate Stop input is lost the program flow is stopped immediately If the feed drive is in motion it immediately decelerates to a standstill via the programmed deceleration The remai...

Page 169: ...ector No 22 Pin No 3 I0 02 2 Fieldbus Jog Reverse Axis 4 Connector No 22 Pin No 6 I0 02 5 Fieldbus If a signal is present at the Jog Reverse Axis x input the drive moves in reverse negative direction...

Page 170: ...r B014 Interrupt Vector Parameter B015 Belt Load Relief Parameter Ax30 There are a total of 88 available inputs Outputs The CLM has 69 outputs To attain a high resistance to faults the output signals...

Page 171: ...Q0 01 6 or Connector No 19 Pin No 6 max 10 mA Drive Enable Axis 4 Connector No 4 Pin No 16 Q0 01 7 or Connector No 19 Pin No 7 max 10 mA Drive Enable occurs in Automatic or Manual Mode when 24 V is p...

Page 172: ...gain via external logic the CLM receives this information when the axis enable signal is cleared In addition the user definable outputs can be used for the following start up information Position reac...

Page 173: ...the output to be set Connector No 4 Pin No 14 Q0 01 5 This output is set if a move command cannot be executed because for example an interrupt or feed angle monitoring is present or an axis enable sig...

Page 174: ...re and software conditions are monitored The contact does not close until the internal conditions have been checked and the security inputs are present This contact is opened when an E Stop occurs The...

Page 175: ...ogic Task can only read these marker flags These marker flags are cleared when power is lost M5 00 M5 09 These marker flags are only for signal transfers between the Logic Task and the NC Tasks They c...

Page 176: ...pped for full duplex operation The data flow between the CLM and the PC is controllable via the X ON X OFF Protocol software handshake or the RTS CTS Handshake Data transfer is executed in ASCII forma...

Page 177: ...s are required RS_sig_AE WMF Fig 9 10 Signal Levels for Interface A character is comprised of the following 1 1 start bit 2 7 or 8 data bits word length 3 1 parity bit not present when no parity check...

Page 178: ...d of the space character For the station number values between 1 and 32 are allowed For station numbers 10 to 32 a letter is input according to the following list Station No Transmit Value 1 1 2 9 2 9...

Page 179: ...like 0 3 RS485 half duplex station number 01 4 RS485 half duplex station number 1 32 Baud rate 300 to 115200 baud 000000 interface is disabled The CLM s serial interface can exchange data with the sy...

Page 180: ...andshake RTS CTS off 2 checksum validation on hardware handshake RTS CTS on 3 checksum validation off hardware handshake RTS CTS on If the checksum validation is off transmission of the checksum can b...

Page 181: ...iate character depending on the operating mode 1 In RS232C operating mode the s is replaced by a blank space No other character is accepted 2 In RS485 mode the s is replaced by the respective station...

Page 182: ...r form the end of each transmission All information characters are coded hexadecimally The following characters are used to exchange information 1 0 through 9 Hexadecimal 3 0 through 3 9 A through Z H...

Page 183: ...s an X OFF signal hexadecimal 13 via the RxD channel the CLM interrupts the transmission until another X ON signal hexadecimal 11 is received via the RxD channel If the CLM receives data via the RxD c...

Page 184: ...A _ 20 32A 2B 355 1 31 386 2 32 3B8 3 33 3EB 4 34 41F 5 35 454 6 36 48A 2E 4B8 7 37 4EF 8 38 527 9 39 560 _ 20 580 1 31 5B1 2 32 5E3 3 33 616 _ 20 636 Fig 9 12 Generating the Checksum The sum of all A...

Page 185: ...ACC ACC_1_ _ _ _234_ _567_ ACC_V602_V600 _V601_ AEA AEA_Q1 01 1_1_ _ _ _ AEA_Q1 01 0_V600_ AEO AEO_1_ _ _ _1_1_ _500_ _100_ AEO_V600_1_1_ V601_V602_ AKN AKN_M1 02 3_1_ _ _ _ AKN_M2 02 3_V600_ AKP AKP...

Page 186: ..._ _ POI_V602 _ V600_ _ _ _ _ _ V601_ PSA PSA_1_ _ _ _ 123456 789_123_ _ PSA_V602 _ V600_ _ _ _ _ _ V601_ PSI PSI_1_ _ _ _ 123456 789_123_ _ PSI_V602_ V600_ _ _ _ _ _ V601_ REP REP_0234 1_ _ _ _ _ _ _...

Page 187: ...ters Readout of Parameters Parameters can be read out in any operating mode Format s K _ x x y y C R L F In response to this query the CLM sends the contents stored in the queried parameter xxyy K s x...

Page 188: ...eter Mode Format s K _ x x y y _ d d d d d d d d d d d d d d d d _ h h C R L F If no checksum validation function has been programmed prior to entering Parameter Mode this function remains deactivated...

Page 189: ..._ 0 0 0 0 0 _ _ _ AC Ax15 _ K_ A1 1 5 _ 0 0 0 0 0 _ 0 0 0 0 0 _ 8 0 Ax16 _ K_ A1 1 6 _ 0 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3 8 Ax17 _ K_ A1 1 7 _ 0 0 0 0 0 0 0 _ _ _ _ _ _ _ _ D8 Ax18 _ K_ A1 1 8 _ _ _ _...

Page 190: ..._ _ _ _ _ CC B012 _ K_ B0 1 2 _ 1 0 0 0 _ 2 0 0 0 _ _ _ _ _ _ _ D8 B013 _ K_ B0 1 3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5 B B014 _ K_ B0 1 4 _ 0 0 0 0 0 _ 0 _ 0 0 0 0 _ _ 9 D B015 _ K_ B0 1 5 _ 0 0 0 0...

Page 191: ...characters used x Variable number h Checksum d Variable information Logic Task instructions can be read out in any operating mode Format s P _ x x x x _ h h C R L F In response to this query the conte...

Page 192: ...ing wheel mode actual position of Axis 1 and position of motor encoder Status 10 Position lag of Axes 1 and 2 in IU Status 19 Hardware and software versions Status 39 Current instructions and return i...

Page 193: ...e position axis homed v Operational sign of the actual position m Actual position of Axis 1 in IU n Actual position of Axis 2 in IU Transmission error The CLM sends this status information automatical...

Page 194: ...nsmitted parameter number is too large 08 Wrong RS Status The number given in a status request is not a decimal number 09 Status illegal An attempt was made to query status information that was not pr...

Page 195: ...C14FA is calculated This corresponds to a decimal value of 791802 IU position Actual A Parameter A Parameter Increments in Position Actual IU in position Actual 67 1319 4 1500 0000 10 791802 4 119 101...

Page 196: ...so appears on the display of the CTA Current instruction number and return instruction number to the main program of the 3 tasks The status query s X _ _ 0 8 _ C R L F produces the message X s 0 8 _ a...

Page 197: ...ctual position of Axis 1 in IU The sums of all Measuring wheel encoder movements are added n Actual position of the motor encoder in IU incremental encoder 1 If Axis 1 is not homed the displayed absol...

Page 198: ...his way the RS485 bus master can detect the software type of all connected controls Current instruction number and return instruction number to the main program of Tasks 4 and 5 The status query s X _...

Page 199: ...query s X _ _ 4 1 _ C R L F produces the message X s 4 1 _ e v m m m m m m m m m _ h h C R L F Meaning of the characters used e _ stands for relative position not homed A stands for absolute position...

Page 200: ...s X _ _ 4 3 _ C R L F produces the message X s 4 3 _ v m m m m m m m m m _ v n n n n n n n n n _ h h C R L F Meaning of the characters used v Operational sign for position lag following error m Positi...

Page 201: ...ring wheel in RPM Mode for future expansion Currently a 0 is output here The velocity values that are output are average values calculated over 32 control cycles When no measuring wheel encoder resolu...

Page 202: ...uested via Status 45 Error Message The status query s X _ _ 5 3 _ C R L F produces the message X s 5 3 _ n n _ t t t t t t t t t t t t t t t t _ h h C R L F Fault description in plain text 16 characte...

Page 203: ...the following commands these points are valid The axis is activated after a re start following power loss and after an E Stop The current status of an axis activated deactivated remains constant for...

Page 204: ...he shortest possible format which cyclically polls all of the CLM controls connected to the RS485 bus The query s C R L F produces the message s n n C R L F Meaning of the characters used s Station Nu...

Page 205: ...9 42 Interfaces CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P Notes...

Page 206: ...tatus at Delivery The CLM1 4 address is set to 00 at delivery Slave addresses 1 99 decimal are supported Depending on the fieldbus type however the following limitations exist Profibus DP address 2 89...

Page 207: ...ate B008 Fieldbus Format Process Data Channel O Channel CLM Output Diagnostic Channel Variable Channel 3 Words 1 Word 4 Words Fig 10 2 Transmit Channel I Channel CLM Input Variable Channel 3 Words 4 W...

Page 208: ...d Q2 01 3 12 Reserved Q2 01 4 13 Inhibit Operation Q2 01 5 14 Drive Enable 3 Q2 01 6 15 Drive Enable 4 Q2 01 7 Fig 10 4 CLM Status Word I O Control Word CLM Input Bit Field Definition Designation 0 Pa...

Page 209: ...diagnostic numbers assigned in the description The length is 4 words and all variables can be transmitted in 4 different formats From Master to CLM Read Control Word Write Control Word Variable Datum...

Page 210: ...s to the Status Word Fig 10 9 Control Word for Variable Handshake Process When restarting the CLM the handshake bits are the same When the master makes a read or write request the respective handshake...

Page 211: ...number too large Error 1 Variable number illegal Error 2 Unknown format Error 3 Datum too large Error 4 Datum too small Error 5 Datum not displayable IEEE Error 6 Variable not writable Error 7 Bit 14...

Page 212: ...l Signal N Fig 10 11 X30 Signal Assignment Profibus DP Profibus LED Diagnostic For diagnosing the Profibus interface four LEDs are available on the front of the fieldbus card These LEDs signal the sta...

Page 213: ...10 8 Command Communications CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P Notes...

Page 214: ...can be accomplished by pressing on the display or by using an external Clear command 11 2 Error Code Numbers Every error message has a hexadecimal code number The customer can read this number via th...

Page 215: ...eption 11 8 11 System Failure Code STKOVF Stack overflow 11 8 11 System Failure Code IRQOVL IRQ too long 11 9 11 System Failure Code EPROM EPROM 11 9 12 IDS Break Error 11 9 13 IDS Checksum Err 11 9 1...

Page 216: ...eel 11 18 4D Max Override A1 11 18 4E A1 not enabled 11 18 4F Marker high A1 11 19 50 Target Pos Lim1 11 19 51 Target Pos Lim1 11 19 52 HOM Command A1 not possible 11 19 70 Drive2 not Ready 11 14 71 F...

Page 217: ...A3 not enabled 11 18 AF Marker high A3 11 19 B0 Target Pos Lim3 11 19 B1 Target Pos Lim3 11 19 B2 HOM Command A3 not possible 11 19 D0 Drive4 not Ready 11 14 D1 FeedAngle Loss 4 11 14 D2 Drive Runawa...

Page 218: ...splayed by switching into Parameter mode and pressing the key on the CLM keypad or by providing 24 Vdc to the external Clear input connector X3 pin 8 2 Consult chapter parameter for the minimum and ma...

Page 219: ...ameter Mode E R R O R Hex Code 06 P r o g r a m L o s t The contents of one or more program sets have been altered without new data input by the user The contents of all program sets used must be chec...

Page 220: ...subroutines is greater than 127 Change the user program so that the number of nested subroutines does not exceed 127 E R R O R Hex Code 0C R T S N e s t i n g This nesting error occurs when an RTS co...

Page 221: ...s used properly 2 The branch or jump command contains an asterisk in the target block Refer to chapter programming to determine if the program command is used properly S y s t e m F a i l u r e Hex Co...

Page 222: ...B r e a k E r r o r This error will occur if the optional IDS board is enabled but the CLM does not detect the connection of the IDS board The IDS board is enabled in parameter B002 1 The cable betwee...

Page 223: ...2 If the IDS board is connected then the wiring and its layout to the decade switch should be checked Maximum cable length is 15m E R R O R Hex Code 16 W r o n g A x i s N o This error occurs because...

Page 224: ...illegal input output or marker number E R R O R Hex Code 2C Incremental Encoder 1 Axis 1 I n c E n c x f a u l t y Hex Code 2D Incremental Encoder 2 Axis 2 Hex code 2E Incremental Encoder 3 Axis 3 Hex...

Page 225: ...cked against correctly functioning values in the command too large operational sign integer value E R R O R Hex Code 33 Fieldbus Hardware F i e l d b u s x x xx 0 No Error 1 Flash Erase Error 2 Verify...

Page 226: ...the process data via the fieldbus is monitored The CLM has not received a new telegram during the maximum cycle time Parameter B006 E R R O R Hex Code 38 Logic Task Program Error L o g i c P r g E r r...

Page 227: ...ntrol loop signals a positive feedback see Parameter Ax14 The designated direction for position detection encoder and or for the analog output are opposite of the cable connection Check cable connecti...

Page 228: ...application The standard value is 10 The drive cannot reach the velocity command value because 1 the motor has too little power 2 the input for acceleration see Parameter Ax08 Ax09 was set too high T...

Page 229: ...AG100MSSI 4096 4096 24 data bits must be entered in Parameter Ax20 The maximum number of encoder revolutions is less than the number set in Parameter Ax19 E R R O R Hex Code for Axis 1 46 M i n T r a...

Page 230: ...cle The home switch cam is too short The cam must reach one end of the travel distance see Homing E R R O R Hex Code for Axis 1 4A N o M a r k e r P u l s e X Axis 2 7A Axis 3 AA Axis 4 DA No marker p...

Page 231: ...R O R Hex Code for Axis 1 4D M a x O v e r r i d e A X Axis 2 7D Axis 3 AD Axis 4 DD An override was programmed using the VEO command The default is set by the measuring wheel encoder for Axis 1 The o...

Page 232: ...hich the absolute position value is less than the minimum travel limit value The following commands are affected POA and PSA Check the program and the travel limits Parameters Ax03 and Ax04 E R R O R...

Page 233: ...11 20 Diagnostic Messages CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P Notes...

Page 234: ...Channel A 12 5 Fig 12 7 Connector X6 RS485 Data Interface Channel A 12 6 Fig 12 8 Connector X8 RS232C RS485 Data Interface Serial Channel B 12 7 Fig 12 9 Connector X1 Axis 1 Encoder Inputs 12 8 Fig 1...

Page 235: ...2 2 CLM1 4 Dimensions CLM 0 CL CR F1 9 1 8 7 6 5 4 3 2 325 52 5 7 52 5 7 22 5 60 H1 X8 F1 X6 X5 Inputs Outputs X19 X20 X21 X22 Encoder A4 Encoder A3 Axis 3 4 X13 X12 X11 Inputs Inputs Outputs X4 X3 X2...

Page 236: ...alog Input 2 Signal Analog Input 2 Zero Connector X5 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Plug in Terminal Block max load 300 mA 24V C14x5P1_AE WMF Fig 12 2 Connector X5 Power Supply and System Signals A...

Page 237: ...14x7P1_AE WMF Fig 12 4 Connector X7 System Signals A1 to 4 12 6 Data Interface Serial Channel A Connector X6 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 Shield TxD RS232 RxD RS23...

Page 238: ...le IKS 742 Connector X6 External Interface 21 20 17 18 12 11 7 22 23 Rx Tx Rx Tx GND 24V 0V brown 0 22 mm2 white 0 22 mm2 green 0 22 mm2 Shield Rx Tx Rx Tx SGND 5V GND Communication Port RS 485 CABLE...

Page 239: ...2 ws 0 22 mm2 gn 0 22 mm2 300R 300R Shield Rx Tx Rx Tx GND Unit with up to 32 CLM Cable INK 233 1 12 11 7 Rx Tx Rx Tx GND 1 12 11 7 Rx Tx Rx Tx GND CLM 1 12 11 7 Rx Tx Rx Tx GND 32 CLM 2 CLM 1 CLM RS...

Page 240: ...5 Rx Tx RS485 0 V serial Channel B 5 4 7 Connector X8 Cable INK 0233 The shield must be contacted with the connector housing using the metallic sleeve into the connector Shield TxD RS 232 RxD RS 232 0...

Page 241: ...white 1 0 mm2 20 21 22 23 24 25 10 2 11 3 1 8 6 LOOP out LOOP out LOOP in LOOP in 0V 24V 3 Axis 1 Absolute Encoder 1 19 1 Cable IKS 731 2 Cable IKS 723 3 Cable IKS 301 4 Cable by encoder 5 6 The enco...

Page 242: ...ack brown 1 0 mm2 white 1 0 mm2 20 21 22 23 24 25 10 2 11 3 1 8 4 LOOP out LOOP out LOOP in LOOP in 0V 24V 2 Axis 2 Absolute Encoder 2 19 1 2 Cable IKS 723 Cable IKS 301 3 4 1K5 5V 1K5 130 Data Data C...

Page 243: ...ack brown 1 0 mm2 white 1 0 mm2 20 21 22 23 24 25 10 2 11 3 1 8 4 LOOP out LOOP out LOOP in LOOP in 0V 24V 2 Axis 3 Absolute Encoder 3 19 1 2 Cable IKS 723 Cable IKS 301 3 4 1K5 5V 1K5 130 Data Data C...

Page 244: ...ack brown 1 0 mm2 white 1 0 mm2 20 21 22 23 24 25 10 2 11 3 1 8 4 LOOP out LOOP out LOOP in LOOP in 0V 24V 2 Axis 4 Absolute Encoder 4 19 1 2 Cable IKS 723 Cable IKS 301 3 4 1K5 5V 1K5 130 Data Data C...

Page 245: ...put I1 01 1 Input I1 01 2 Input I1 01 3 Input I1 01 4 Input I1 01 5 Input I1 01 6 Input I1 01 7 the necessary signals must be constant no intermittent signal The shield must be contacted with the conn...

Page 246: ...0 Input I1 02 1 Input I1 02 2 Input I1 02 3 Input I1 02 4 Input I1 02 5 Input I1 02 6 Input I1 02 7 Input I1 03 0 Input I1 03 1 Input I1 03 2 Input I1 03 3 Input I1 03 4 Input I1 03 5 Input I1 03 6 In...

Page 247: ...2 Input I1 06 3 Input I1 06 4 Input I1 06 5 Input I1 06 6 Input I1 06 7 Input I1 07 0 Input I1 07 1 Input I1 07 2 Input I1 07 3 Input I1 07 4 Input I1 07 5 Input I1 07 6 Input I1 07 7 CABLE IKS 711 T...

Page 248: ...Output Q1 00 6 Output Q1 00 7 Output Q1 01 0 Output Q1 01 1 Output Q1 01 2 Output Q1 01 3 Output Q1 01 4 Output Q1 01 5 Output Q1 01 6 Output Q1 01 7 The shield must be contacted with the connector h...

Page 249: ...Output Q1 05 7 Output Q1 02 0 Output Q1 02 1 Output Q1 02 2 Output Q1 02 3 Output Q1 02 4 Output Q1 02 5 Output Q1 02 6 Output Q1 02 7 Output Q1 03 0 Output Q1 03 1 Output Q1 03 2 Output Q1 03 3 Outp...

Page 250: ...sary signals must be constant no intermittent signal Input I1 10 0 Input I1 10 1 Input I1 10 2 Input I1 10 3 Input I1 10 4 Input I1 10 5 Input I1 10 6 Input I1 10 7 green black gray pink green red yel...

Page 251: ...4 Additional interface no equipped N Profibus DP slave module P Input output expansion without expansion standard N with expansion 64 inputs and 32 outputs E Number of axes 2 axis standard 2 4 axis 4...

Page 252: ...trols are exemplary in their resistance to network and switching problems However the following rules must be followed during installation to eliminate excessive problem situations With electronic con...

Page 253: ...terference and must therefore be kept well away from all other controller cables for every part of the installation This means that these cables must be wired to the controller from a different direct...

Page 254: ...because of the generated heat and emissions For electric servo drives the power connection for the drive electronics is to be branched from the power supply connection separately from the controller...

Page 255: ...binet after the doors are closed otherwise condensation can occur The cooling unit must continue to be operated even when the system is turned off until the temperature of the air in the control cabin...

Page 256: ...1VRS Installation Notes 13 5 DOK CONTRL CLM01 4LAP1 FK01 EN P Fig 13 1 Arrangement of the Cooling Unit on the Top of the Control Cabinet Fig 13 2 Arrangement of the Cooling Unit on the Front of the Co...

Page 257: ...nt or within its proximity Personnel are qualified if they have sufficient knowledge of the assembly installation and operation of the product as well as an understanding of all warnings and precautio...

Page 258: ...nected to all electrical units according to the connection diagram Do not operate electrical equipment at any time if the ground wire is not permanently connected even for brief measurements or tests...

Page 259: ...to the following standards The causes can be as follows software errors defects in parts of the components wiring or cabling errors malfunction of measuring and signaling encoders inappropriate or inc...

Page 260: ...g Handling and Installation Avoid operating high frequency and radio equipment near electronic circuits and supply leads If use of such equipment cannot be avoided the system and the facility in which...

Page 261: ...scharged batteries by heating or other methods danger of explosion and release of corrosive substances Never charge batteries danger from leakage and explosion Never throw batteries into a fire Do not...

Page 262: ...itch 5 26 Deceleration active 8 25 Diagnostic Channel 10 4 Drive Enable 9 8 Drive Runaway 8 17 E Electrical Release 7 18 Enable Axis 8 27 External clear 9 5 F Fault 9 8 Feed angle monitoring 8 18 Feed...

Page 263: ...measuring wheel encoder 8 5 Measuring Wheel Mode 7 1 Mechanical Transmission Elements 7 11 memory display 8 40 Modulo function 7 12 modulo value 8 10 N NC Marker Flags 9 12 O Operating Modes 7 1 OR 6...

Page 264: ...r 9 30 RS status current instruction number 9 31 RS variables 9 28 Run Task 9 10 S Safety Inputs 9 3 Safety Instructions for Electric Drives and Controls 3 1 serial interface 9 13 Service Data Channel...

Page 265: ...14 4 Index CLM01 4 LAP 01VRS DOK CONTRL CLM01 4LAP1 FK01 EN P W Write Control Word 10 4 Write Status Word 10 4 X XOR 6 4 XORN 6 4...

Page 266: ...er Dokumentation k nnen inzwischen berholt sein Au erhalb Deutschlands nehmen Sie bitte zuerst Kontakt mit Ihrem lokalen Ansprechpartner auf Verkaufsniederlassungen Niederlassungen mit Kundendienst Ad...

Page 267: ...0 Fax 49 0 89 127 14 490 Gebiet S dwest Germany South West Bosch Rexroth AG Vertrieb Deutschland VD BI Gesch ftsbereich Rexroth Indramat Regionalzentrum S dwest Ringstrasse 70 Postfach 1144 70736 Fel...

Page 268: ...lien Bosch Rexroth S p A Via Paolo Veronesi 250 10148 Torino Tel 39 011 224 88 11 Fax 39 011 220 48 04 Italy Italien Bosch Rexroth S p A Via del Progresso 16 Zona Ind 35020 Padova Tel 39 049 8 70 13 7...

Page 269: ...znan ul Dabrowskiego 81 85 60 529 Poznan Tel 48 061 847 64 62 63 Fax 48 061 847 64 02 Rumania Rum nien Bosch Rexroth Sp zo o Str Drobety nr 4 10 app 14 70258 Bucuresti Sector 2 Tel 40 0 1 210 48 25 40...

Page 270: ...1 Tel 91 0 22 7 61 46 22 Fax 91 0 22 7 68 15 31 India Indien Bosch Rexroth India Ltd Rexroth Indramat Division Plot 96 Phase III Peenya Industrial Area Bangalore 560058 Tel 91 0 80 8 39 73 74 Fax 91 0...

Page 271: ...th Canada Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Tel 1 905 335 55 11 Fax 1 905 335 41 84 michael moro boschrexroth ca Canada West Kanada West Bosch Rexrot...

Page 272: ......

Page 273: ...Printed in the U S A Barcode...

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