Rexroth Indramat CLM1.4, Manual

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5-6
Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Loading via the Serial Port
The program can be loaded via the serial port of any computer having an
RS232C or RS485 interface.
Parameters B002 and B003 control the activation and setting of the serial
port.
The transmission format used by the CLM is described in the chapter
entitled "Interfaces."
5.4 Starting the User Program
The user program can be started only in Automatic Mode. One exception
is the ‘manual vector.’
The program start address for Task 1 is reset to '0000' after each change
of operating mode or CLM restart. The start addresses for Task 2 to Task
5 are set in Parameters B011 and B012.
In Task 3, the program runs as a higher-level program in every operating
mode (except Parameter Mode) and is not affected by the ‘Start’ or
‘Immediate Stop’ 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
accomplish this:
1) Stop the program externally using the ‘Immediate Stop’ input
(refer to the chapter entitled "Interfaces").
2) Stop the program using the 'JST' user command.
If the operating mode was not changed after such a stop, the program
continues from the point of interruption once the start command is
received.
There are also two ways to interrupt the user program. Unlike a program
stop, no start command is required once the cause of the interrupt is
removed, i.e., the program continues from the point of the interrupt.
1) Program interrupt caused by signal at the ‘Interrupt’ input
2) Program interrupt caused by signal at input 'Feed angle
monitoring'
Also refer to the chapter entitled "Interfaces"
In the event of an error message in the CLM, the user program is always
stopped in Tasks 1, 2, 4 and 5. Continuation of the program following