Rexroth Indramat CLM1.4 Manuals

Rexroth Indramat CLM1.4 Manuals

Manuals and User Guides for Rexroth Indramat CLM1.4. We have 1 Rexroth Indramat CLM1.4 manual available for free PDF download: Manual

Rexroth Indramat CLM1.4 Manual

Rexroth Indramat CLM1.4 Manual (274 pages)

2 (4) Axis Positioning Control with Profibus

Brand: Rexroth Indramat | Category: Controller | Size: 2.75 MB

Table of Contents

Table of Contents
4
1 System Setup

12
- The CLM at a Glance
  12
- Mechanical Data
  13
- Saving Data
  14
- System Overview
  15
2 Important Directions for Use

16
- Appropriate Use
  16
  - Introduction
    16
  - Areas of Use and Application
    17
- Inappropriate Use
  17
3 Safety Instructions for Electric Drives and Controls

18
4 Display and Operating Devices

30
- General Information about the CTA
  30
  - CLM Display
    31
- Description of the Input Keys
  32
  - Data Entry Keys
    32
  - Control Keys
    32
- Description of the Display Modes
  33
  - Software Version / Status Diagnostics
    34
  - Material Velocity
    35
  - Variable Display
    35
  - Display: Inputs / Outputs / Marker Flags
    36
  - Counter Display
    36
  - Position Display
    37
  - Operation Data
    39
  - Program Input
    40
  - Parameter Input
    41
5 Writing the User Program

42
- Overview of All User Commands
  42
- General Information
  44
- Program Input
  45
  - Input Via the Keypad
    45
  - Loading Via the Serial Port
    47
- Starting the User Program
  47
- Stopping the User Program
  47
- Variables
  48
  - Available Variables
    49
  - System Variables
    49
  - Axis Variables
    50
- Description of Commands
  51
  - ACC - Acceleration Change
    51
  - AEA - Bit Set/Clear
    52
  - AEO - Acceleration Override Command
    52
  - AKN - Compare Bit
    53
  - AKP - Compare Byte
    54
  - APE - Byte Set/Clear
    55
  - BAC - Branch Conditional on Count
    56
  - BCE - Branch Conditional on Bit
    57
  - BIC - Branch Conditional on Bit Field Value
    57
  - BIO - Branch Conditional on Byte Compare
    58
  - BPA - Branch Conditional on Byte
    59
  - CID - Change Instruction Data
    60
  - CIO - Copy Bit Fields
    60
  - CLC - Clear Counter
    61
  - CON - Continuous Operation
    62
  - COU - Count
    62
- CPJ - Compare and Jump
  64
- CPL - Clear Position Error
  64
- CPS - Compare and Set a Bit
  65
- CST - Clear Subroutine Stack Level
  65
- CVT - Convert Variable <- -> Marker
  66
- FAK - Length Scaling Factor
  69
- FOL - Slave Axis
  70
- HOM - Home Axis
  71
- JMP - Jump Unconditional
  72
- JSR - Jump to Subroutine
  72
- JST - Jump, Unconditional with Immediate Stop
  73
- JTK - Program Jump in Parallel Task
  73
- MAT - Mathematics
  74
- NOP - no Operation
  74
- PBK - Stop Motion
  75
- POA - Positioning, Absolute
  76
- POI - Positioning, Incremental
  77
- PSA - Positioning Absolute with In-Position
  77
- PSI - Positioning Incremental with In-Position
  78
- REP - Jump on Max. Search Limit Reached
  79
- RMI - Registration Mark Interrupt
  79
- RSV - Restart Vector
  82
- RTM - Rotary Table Mode
  83
- RTS - Return from Subroutine
  84
- SAC - Set Abs. Position Counter
  85
- SET - Set Variable
  86
- SRM - Drive to Registration Mark
  86
- VCC - Velocity Change Command
  88
- VEO - Velocity Override Command
  90
- WAI - Wait (Time Delay)
  93
6 Logic Task

94
- Tabular View
  94
- Load, Save, Set and Reset Assignments
  94
  - Commands for Loading and Saving
    94
  - Set and Reset Commands
    94
- Logical Assignments
  95
  - AND Logic
    95
  - OR Logic
    96
  - XOR Logic
    97
7 Functions

98
- Operating Modes
  98
- Measuring Wheel Mode
  98
- Velocity Override
  100
  - Override Via Analog Input
    100
  - Override Via Gray-Code Inputs
    101
  - Override Via Binary-Code Inputs
    102
- Vector Programming
  103
  - Manual Vector
    103
  - Interrupt Vector
    104
- Multitasking
  105
- Slave Axis
  107
- Mechanical Data
  108
  - Mechanical Transmission Elements
    108
  - Modulo Function
    109
- Decade Switch 'IDS01
  110
- Homing
  111
  - General Information
    111
  - Option 1: Homing to a Home Switch
    112
  - Placement of the Home Switch
    113
  - Activation of the Home Switch
    113
  - Termination of the Homing Routine
    113
  - Option 2: Homing Without a Home Switch
    114
- Position Loop Reset (Electrical Release)
  115
- 7.11 Restart
  116
8 Parameters

118
- General Information
  120
- Parameters
  120
- System Parameters
  122
  - Ax00 Axis X Mode
    122
  - Ax01 Axis X Feed Constant
    123
  - Ax02 Gear
    124
  - Ax03 Axis X Minimum Travel Limit Value
    124
  - Ax04 Axis X Maximum Travel Limit Value
    126
  - Ax05 Axis X Modulo Value
    127
  - Ax06 Axis X Maximum Velocity
    128
  - Ax07 Axis X Jog Velocity
    128
  - Ax08 Axis X Acceleration Rate
    129
  - Ax09 Acceleration / Deceleration Rate
    129
  - Ax10 Jerk Constant
    130
  - Ax11 Axis X Kv Factor
    131
  - Ax12 Axis X Drive Sensitivity
    132
  - Ax13 Reserved (Free)
    133
  - Ax14 Axis X Position Monitoring Window
    133
  - Ax15 Feed Angle Monitoring / Interrupt
    135
  - Ax16 Axis X Encoder Difference
    136
  - Ax17 Axis X Absolute Encoder Monitoring Window
    136
  - Ax18 Reserved (Free)
    136
  - Ax19 Axis X Encoder Data
    137
  - Ax20 Axis X Encoder Type
    137
  - Ax21 Axis X Drive Direction
    138
  - Ax22 Axis X Absolute Encoder Home Position
    138
  - Ax23 Axis X Homing I/O
    139
  - Ax24 Axis X Homing Search Distance
    139
  - Ax25 Axis X Homing Offset
    140
  - Ax26 Reserved
    140
  - Ax27 Axis X Switching Threshold
    140
  - Ax28 Position Window
    141
  - Ax29 Axis X Presignaling
    141
  - Ax30 Axis X Open Feed Roll
    141
  - Ax31 Axis X Measuring Wheel Mode
    142
  - Ax32 Axis X Various Functions
    142
  - Ax33 Axis X Cut Inhibit
    142
  - Ax34 Axis X Cut Vector
    143
- General Parameters
  144
  - B000 Enable Axis
    144
  - B001 Display
    144
  - B002 RS Interface Format X6
    145
  - B003 RS Interface Functions X6
    146
  - B004 RS Interface Format X8
    146
  - B005 RS Interface Functions X8
    146
  - B006 Fieldbus Time Monitoring
    147
  - B007 Fieldbus Baudrate
    147
  - B008 Fieldbus Formats
    148
  - B009 Reserved (Free)
    148
  - B010 Cycle Time
    149
  - B011 Start Program Instruction - Task 2, Task 3
    149
  - B012 Start Program Instruction - Task 4, Task 5
    150
  - B013 Logic Task
    150
  - B014 Manual Vector
    150
  - B015 Interrupt Vector
    151
  - B016 Re-Start Vector
    151
  - B017 Analog Input / Override
    152
  - Parameters
    152
  - B018 Clear Outputs
    153
  - B019 Memory Display
    157
- Master Encoder Parameters
  158
- List of CLM Parameters
  160
- Minimum and Maximum Values for Parameter Input
  163
9 Interfaces

164
- Inputs, Outputs and Marker Flags
  164
  - Inputs
    165
  - Outputs
    170
  - User-Programmable Outputs
    174
  - Flags
    174
- Serial Interfaces
  176
  - General Information
    176
  - Connecting the Interface
    176
  - Interface Parameters
    179
  - B002 Interface Format X6
    179
  - B003 Interface Functions X6
    180
  - Description of All Characters Used in the Data String
    181
  - Generating the Checksum
    184
  - Data Transmission
    185
  - Readout of Status Information
    192
10 Command Communications

206
- 10.1 Profibus
  206
  - Fieldbus Parameters
    207
  - Process Data Channel
    207
  - Service Data Channel
    211
  - Parallel Interface
    211
  - Assignment of Profibus Connector X30
    212
  - Profibus LED Diagnostic
    212
11 Diagnostic Messages

214
- 11.1 General Information about Error Identification
  214
- 11.2 Error Code Numbers
  214
- 11.3 Error Descriptions
  218
  - General Error Messages
    218
  - Error Messages for Axes 1 to 4
    227
12 Terminal Connection Diagrams

234
- 12.1 Overview
  234
- 12.2 CLM1.4 Dimensions
  235
- Power Supply and System Signals for Axes 1 and 2
  236
- System Signals for Axes 3 and 4
  236
- System Signals for Axes 1 to 4
  237
- 12.6 Data Interface - Serial Channel a
  237
- 12.7 RS232C/RS485 Data Interface - Serial Channel a
  238
- 12.8 RS485 Data Interface - Serial Channel a
  239
- 12.9 RS232C/RS485 Data Interface - Serial Channel B
  240
- 12.10 Axis 1 Encoder Inputs
  241
- 12.11 Axis 2 Encoder Inputs
  242
- 12.12 Axis 3 Encoder Inputs
  243
- 12.13 Axis 4 Encoder Inputs
  244
- Inputs - Part 1
  245
- Inputs - Part 2
  246
- Inputs - Part 3
  247
- Outputs - Part 1
  248
- Outputs - Part 2
  249
- 12.19 Inputs and Outputs
  250
- 12.20 Typecodes
  251
13 Installation Notes

252
14 Index

262
15 Service & Support

266
- 15.1 Helpdesk
  266
- 15.2 Service-Hotline
  266
- 15.3 Internet
  266
- Vor der Kontaktaufnahme
  266
- 15.5 Kundenbetreuungsstellen - Sales & Service Facilities
  267

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