Rexroth Indramat CLM1.4, Manual, Page: 87 / 274

5-46
Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Offset dimension:
The move to an offset dimension (referenced to the reference point) is
accomplished immediately after detection of the reference point.
It is also possible to limit and monitor the search travel until the reference
marker is found (see also the ’REP’ command).
Note: No new absolute measurement reference (zero point) is
created using the ’SRM’ command. This is possible only
through the homing function.
Detection of the reference point occurs within a time 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 IU in Velocity Search
L: IU = Input Units
s = seconds
Fig. 5-21: Calculation of the Search Velocity
Example: The maximum velocity is 200 IU/s. The cycle time is
2 ms. A normal input with a debouncing time of the time
period of one cycle is selected.
0000 SRM 1 +000000.000 +500 I1.01.0
The search velocity is 200 IU/s * 500 ‰ = 100 IU/s. The accuracy is > 0.4
mm.
With the system input, Connector X3 / Pin 16, there is no debouncing
time and the detection time is approx. 0.1 ms. The accuracy is > 0.01 IU
Ref1_bef_AE.WMF
Fig. 5-22: Example of Movement to a Reference Mark