Rexroth Indramat Mannesmann Rexroth CLM-01.3-M User manual
Levante Sistemas de
Automatización y Control S.L.
Catálogos
www.lsa-control.com
Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.
LSA Control S.L. - Bosch Rexroth Sales Partner
Ronda Narciso Monturiol y Estarriol, 7-9
Edificio TecnoParQ Planta 1ª Derecha, Oficina 14
(Parque Tecnológico de Paterna)
46980 Paterna (Valencia)
Telf. (+34) 960 62 43 01
www.lsa-control.com
www.boschrexroth.es
engineeniig
Emnesmann
Rexroth
FLYING
CUTOFF
CONTROL
User's
Manual
DOK
CLM
01.3-M POSITIONSSTEUERG.
Copyright
C3
1990, 1991, 1992
by Intiramat Division,
The Rexroth Corporation.
Aii
rights reserved.
Publication Number
IA
74786
Revision
B,
September,
1992
Information
in
this document is subject to change withooit notiee. No part of this manual
may be reproduced or transmitted in any form, by any ineans, electronic or mechanical;
including photocopying and recording, for any purpose without the express written
permission of Indramat.
REXROTH 1A
74786
INDRAMAT
CLM-01.3-M
FOREWORD
Special
Notations:
Special noiations areused in this manual
to
assist the reader in identifyin; unique conditions
or iniormation
that
is important.
Three
categories of riotations are listed beiow in ascendin;
order oiimportance.
Note:
A
NOTE is a
tip,
Suggestion or emphasized procedure for operaring rhe equipmenr.
Caution:
A
CAUTION appears when a condirion exirrs which could cawe operaringfaulrs or
damage ro rhe equipmenr.
Warning:
WARNING sraremenrs idennfy condirions which could cawe bodily harm andior
severe darnage ro rhe eqipmenr
if
the operaror is nor carejül.
A
WARiVING will typically
describe rhe porential hazard, irs possible effecr, und rneasures rhar mwbe raken ro avoid
rhe hazards.
Please
NOTE
that due to vanations found
in
the operating conditions of cerain
applicationsand their working environments, the notations
in
this manual cannot
identify ali potential problems or hazards. Caution and discretion must always
be used in operating machinery and especiaITy when using electncal power.
Equipment should only be instalied and operated by trained persomel.
Repair und Training services are avaihble
from
REXROTH
IhrDRK4T.
The Rexroth Corporation
Indramat Division
255
Mittel Drive
Wood Dale, IUinois
60191
Ph.
(708) 860-1010
FAX
(708)530-4631
REV.
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9/92
FOREWORD
iii
REXROTH
IA
74786
INDRAMAT CLM-01.3-M
RECORD OF REVISIONS
Revision Date
Level Description of Change
Preliminary Release
-
Iimited Distribution
Current Release
REV.
B,
7192
RECORD
OF
REVISIONS
V
REXROTH
lA74786
INDRAMAT CLM.01.3.M
CONTENTS
C
ER
1
. GENE
DESCRTIPTPON
.............................
1.1 About The CLM and This Manual 1-4
...........................
1.1.1 Hardware and Software Versions 1-4
....................................
1.1.2 Problem Assistance 1-4
.........................
1.2 Introduction to Flying Cutoff Applications 1-6
.....................
1.2.1 Basic Sequence of Operations (Single Axis) 1-6
...................................
1.2.2 Two-Axis Operation 1-8
.....................................
1.2.3 Synchronous Axis 1-8
.........................................
1.2.4 Flying Saw 1-8
.................................
1.3 Basic LM Software Features 1-8
................................
1.3.1 Parameter-Based Features 1-9
.....................
1.3.1.1 Minimum and Maximum Travel Limits 1-9
.............................
1.3.1.2 Cut Width Compensation 1-9
.......................................
1.3.1.3 Task 2&3 1-9
....................................
1.3.1.4 Serial Interface 1-9
.............................
1.3.2 User Program-Based Features 1-9
................................
1.3.2.1 Minimum Cut Point 1-10
...................................
1.3.2.2 Minimum Sh-oke 1-10
...............................
1.4 Physical Descnption of the CLM 1-10
......................................
1.4.1 System Features 1-14
.........................
1.4.1.1 Standard and Programmable 110 1-14
......................................
1.4.1.2 Parameters 1-14
...................................
1.4.1.3 Self-Diagnostics 1-14
.....................................
1.4.1.4 Programming 1
.
15
......................................
1.4.1.5 Registration 1-15
....................................
1.4.1.6 Serial Interface 1-15
........................
1.4.1.7 Remote KeypadIDisplay Mounting 1-15
......................................
1.4.2 System Options 1-15
..........................
1.4.2.1 Indramat Decade Switch UDS) 1-15
1.4.2.2 Station Operator Terminal (SOS) and ScrernManager Software
......
1-16
.............................
1.4.2.3 MotionManager Software 1-17
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CLM.01.3.M
INDRAMAT
.................................
1.4.3 CLM Operating Modes 1-18
....................................
1.4.3.1 ManualMode 1-18
......................................
1.4.3.2 TestMode 1-18
...................................
1.4.3.3
Automatie
Mode 1-18
...............................
1.4.3.4 Parameter Entry Mode
1-19
..........................................
1.5 Specifications 1-19
.......................................
1.5.1 Dimensions 1-19
..............................
1.5.2 Operating Environment 1-19
...............................
1.5.3 Control Specifications 1-20
................................
1.5.4 Power Requirements 1-20
........................................
2.1 CLM Front Panel 2-1
.................................
2.2 Keypad
and
Display Module 2-1
........................................
2.3 Data Entry Keys 2-3
...........................
2.4 Display Screens and the Display Map 2-4
...........
2.4.1 CLM Hafdware
&
Sofiware VersioniControl Status Screzn 2-7
..................................
2.4.2 Length Overall Screen 2-8
..................................
2.4.3 Material Speed Screen
2-9
......................................
2.4.4 Counter Screen 2-10
...................................
2.4.5 Axis Position Screen 2-10
..............................
2.4.5.1 Current Position Screen 2-11
.................................
2.4.5.2 Position
Lag
Screen 2-11
................................
2.4.6 Operating Modes Screens 2-12
................................
2.4.6.1 Manual Mode Screen 2-12
...........................
2.4.6.2 AutomaticiTest Mode Screen 2-13
.........................
2.4.6.3 Parameter Mode Display Screens 2-13
...................................
2.4.7 Program Mit Screen 2-15
...................................
2.5 CLM Lower Front Panel 2-16
C
ER
3
. DESC
ION OF 110 FUNCTIONS
........................................
3.1 Signal Definitions
3-1
.............................
3.2 CLM System and Auxiliary Inputs 3-2
3.2.1 Parameter Mode Select
.................................
3-3
......................
3.2.2 Axis X1 Automatic
1
Manual Mode Select 3-4
......................................
3.2.3 Emergency Stop 3-5
....................................
3.2.4 Home Limit Switch 3-6
......................................
3.2.5 Immediate Stop 3-7
...................................
3.2.6 Axis #l Drive Ready 3-8
viii
CONTENTS
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REXROTH
lA74786
INDRAMAT
CLM.01.3.M
3.2.7 Clear (Extemal)
.....................................
3-8
3.2.8 Axis #1 Jog Forward
...................................
3-8
...................................
3.2.9 Axis
#I
Jog Reverse 3-9
.........................................
3.2.10 Crop Cut 3-9
........................................
3.2.11 Cut Inhibit 3-10
....................................
3.2.12 Registration Mark 3-11
3.2.13 Auxiliary Inputs (Standard
CLM)
..........................
3-11
3.3 CLM System
&
Auxiliary Outputs
.............................
3-12
..................................
3.3.1 Axis #1 Manual Mode 3-13
3.3.2 Axis #1 Automatic Mode
................................
3-13
......................................
3.3.3 Parameter Mode 3-13
3.3.4 Axis #1 Drive Enable
(RF)
...............................
3-14
..................................
3.3.5 Axis #1 Brake Release 3-14
..................................
3.3.6 Axis
#1
System Fault 3-15
.........................................
3.3.7 Test Mode 3-15
....................................
3.3.8 Cut Inhibit Output 3-16
..................................
3.3.9 Axis #2 Manual Mode 3-16
3.3.10 Axis #2 Automatic Mode
...............................
3-16
..................................
3.3.1
I
Axis #2 Drive Enable 3-17
.................................
3.3.12 Axis #2 Brake Release 3-17
..................................
3.3.13 Axis #2 System Fault 3-18
.........................
3.3.14 Auxiliary Outputs (Standard CLM) 3-18
........................
3.4
CLM
with Expansion 110Board (Optional) 3-18
3.4.1 Expansion CLM Auxiliary Inputs (Connector
X1
1)
................
3-19
3.4.1.1 Auxiliary Inputs (CLM With Expansion
110
Board)
.............
3-20
3.4.2 Expansion CLM Auxiliary Inputs
I
Axis 2 System Inputs
.............
3-21
3.4.2.1 Auxiliary Inputs (CLM With Expansion IiO Board)
.............
3-22
3.4.2.2 Axis #2 Autornatic Mode
.............................
3-22
3.4.2.3 Axis #2 Cycle Starl
.................................
3-22
3.4.2.4 Axis
#2
Cycle Stop
.................................
3-27
3.4.2.5 Axis #2 Drive Ready
................................
3-22
3.4.2.6 Axis #2 Jog Forward
................................
3-23
3.4.2.7 Axis #2 Jog Reverse
................................
3-24
3.4.3. Auxiiiary Outputs (CLM With Expansion IiO Board)
...............
3-23
3.5 Parameter-Programmable Inputs
...............................
3-26
3.6 Parameter-Programmable Outputs
..............................
3-27
3.7 Flags (Software Outputs)
...................................
3-27
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lA74786
REXROTH
CLM.OI.3.M
INDRAMAT
e
ER
4
.
SYSTEM
ms
P
TERS
4.1 Parameter Entry
.........................................
4.1
....................................
4.1.1 Initial Display Setup 4.3
4.1.2 Auxiliary InputslOutputs
..................................
4.3
.............................................
4.2 Input Units 4.3
.......................................
4.3 CLM-01 Parameter List 4.4
.................................
4.4 Description of the Parameters 4.5
4.4.1 Parameters for Axis
1
...................................
4.5
.......................
.
4.4.1.1 Parameter 00
Feed
Constant Axis 1 4-5
4.4.1.2 Parameter 01
.
Encoder Data Axis
1
(Incremerital)
...............
4-7
4.4.1.3
.
Parameter
.
01
.
Encoder Data Axis 1 (Absolute)
.................
4-8
..........................
.
4.4.1.4 Parameter 02 Velocity Axis 1 4.9
4.4.1.5 Parameter 03
.
Drive Input Sensitivity Axis 1
..................
4-11
4.4.1.6 Parameter 04
.
Acceleration Axis
1
.......................
4-12
4.4.1.7 Parameter 05
.
Position
Gain,
Axis 1
......................
4-13
4.4.1.8 Parameter 06
.
Direction, Axis 1
.........................
4-14
4.4.1.9 Parameter 07
.
Position Tolerance, Axis 1
...................
4-15
4.4.1.10 Parameter 08
.
Horning Setup, Axis 1
.....................
4-16
.....................
4.4.1.11 Parameter 09
.
Homing Offset Axis 1 4-19
4.4.1.12 Parameter 10
.
Homing Setup Input/Output: Axis 1
.............
4-19
4.4.1.13 Parameter 11
.
Minimum Travel Limit, Axis 1
...............
4-20
4.4.1.14 Parameter 12
.
Maximum Travel Limit, Axis 1
...............
4-21
4.4.1.15 Parameter 13
.
Position Presignal, Axis 1
...................
4-21
4.4.1.16 Parameter 14
.
Monitoring, Axis
1
.......................
4-22
4.4.1.17 Parameter 15
.
Immediate Stop, Axis 1
....................
4-23
4.4.1.18 Parameter 16
.
Cut Width, Axis 1
.......................
4-24
................
4.4.1.19 Parameter 17
.
Second Position Gain, Axis 1 4-25
4.4.1.20 Parameter 18
.
Material Speed, Axis 1
....................
4-25
4.4.1.21 Parameter 19
.
Test Mode, Axis 1
.......................
4-26
4.4.1.22 Parameter 20
.
Manual Cut Vector, Axis 1
..................
4-27
4.4.1.23 Parameter 21
.
Length Correction, Axis
1
..................
4-25
4.4.1.24 Parameter 22
.
Special Function 1, Axis 1
..................
4-30
4.4.1.25 Parameter 23
.
Crop Cut, Axis
1
........................
4-31
4.4.1.26 Parameter 24
.
Reversing Hold, Axis 1
....................
4-32
........................
.
4.4.1.27 Parameter 25 Tail Out, Axis 1 4-33
4.4.1.28 Parameter 26
.
Special Function
2,
Axis 1
..................
4-34
4.4.1.29 Parameter 38
.
Measuring Wheel Feed Constant, Axis 1
.........
4-36
4.4.1.30 Parameter 39
.
Measuring Wheel Encoder Lines, Axis 1
.........
4-37
X
CONTENTS
REV
.
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REXROTH
lA74786
INDRAMAT
CLWI.01.3.FJI
..................................
4.4.2 Parameters for Axis 2 4-38
......................
4.4.2.1 Parameter 40
-
Feed Constant, Axis 2 4-38
4.4.2.2 Parameter 41
-
Encoder Data, Axis 2 (Incremental)
.............
4-40
4.4.2.3 Parameter 4
1
.
Encoder Data, Axis 2 (Absolute)
...............
4-41
4.4.2.4 Parameter 42
-
Velocity, Axis 2
.........................
4-42
4.4.2.5 Parameter 43
-
Drive Input Sensitivity, Axis 2
................
4-13
.......................
4.4.2.6 Parameter 44
-
Acceleration, Axis 2 4-11
......................
4.4.2.7 Parameter 45
-
Position Gain, Axis 2 4-45
4.4.2.8 Parameter 46
-
Direction, Axis 2
.........................
4-46
4.4.2.9 Parameter 47
-
Position
Tolerante,
Axis 2
..................
4-45
.....................
4.4.2.10 Parameter 48
-
Homing Setup, Axis 2 4-18
....................
4.4.2.11 Parameter 49
-
Homing Offset, Axis 2 4-50
.............
4.4.2.12 Parameter 50
-
Homing Setup Input/Output, Axis 2 4-51
...............
4.4.2.13 Parameter 51
-
Minimum Travel Limit, Axis 2 4-52
...............
4.4.2.14 Parameter 52
-
Maximum Travel Limit, Axis 2
4-52
...................
4.4.2.15 Parameter 53
-
Position Presignal, Axis 2 4-53
.......................
4.4.2.16 Parameter 54
-
Monitoring, Axis 2 4-54
...................
4.4.2.17 Parameter 55
-
Special Function, Axis 2 4-55
......................
4.4.2.18 Parameter 56
-
Rom
Table,
Axis 2 1-56
..............
4.4.2.19 Parameter 57
-
Second Acceleration Rate, Axis 2 4-56
.............
4.4.2.20 Parameter 58
-
Synchronization
Differente:
Axis 2 4-58
4.4.3 General Parameters
....................................
4-59
..........................
4.4.3.1 Parameter 80
-
Send Interface
4-59
4.4.3.2 Parameter 81
-
Serial Interface Functions
....................
4-60
.............................
4.4.3.3 Parameter 82
-
Language 4-62
4.4.3.4 Parameter 83
-
Memory Display
.........................
4-63
4.4.3.5 Parameter 84
-
Task 2
&
3
............................
3-64
4.4.3.6 Parameter 85
-
Program Intempt Vector
....................
4-@
4.4.3.7 Parameter 86
-
Manual Vector
..........................
4-65
4.4.3.8 Parameter 87
-
Variations
.............................
4-66
C
ER
5
.
PROG
NG
...
5.1 Positioning
.............................................
5.
1
..................................
5.2 Auxiliary Inputs and Outputs 5.3
5.2.1 Programming Inputs/Outputs
...............................
5.2
............................
5.2.2 Inputs/Outputs Signal Definition 5.3
.......................................
5.3 Start of the Program 5.1
...........................................
5.4 Multi-Tasking 5.4
.......................................
5.5 End of the Program 5.4
.
.
......................................
5.6 Programming Mode
.,.
3
.
.
..........................................
5.7 General Format 3.3
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CONTENTS
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CLWI.01.3.M
INDRAMAT
..........
5.8 Description of User Prograrn Commands
;
...............
5.8
.......................
ACC Acceleration Change (Axis
2
Only) 5-9
AEA Auxiliary Output On/Off
.............................
5-10
AKN Acknowledge Input
.................................
5-11
APE Parallel Output On/Off
..............................
5.12
ASS Output Monitor
...................................5.13
BAC Branch With Count
.................................
5.14
BCA Output-Dependent Conditional Jump
......................
5-16
...................
BCB Binary Input Dependent Conditional Jump 5-15
.......................
BCD BCD-Dependent Conditional Jump 5-19
.......................
BCE Input Dependent Conditional Jump 5-20
BIO Branch Input/Output Compare
..........................
5-21
.......................
BMB Branch on Multiple
Binary
Outputs 5-73
............................
BPA Branch on Parallel Outputs 5-24
BPE Branch on Parallel Inputs
.............................
5-26
.....................
BPT Branch If Position Has Been Reached 5-27
.................
CLA Clear Absolute Encoder Value (Axis
2
Only) 5-28
CLC Clear Counter
....................................
5.28
......................
CON Continuous Operation (Axis
2
Only) 5-28
COU Counter
........................................
5.30
.....................
EOS End Of Synchronization (Axis 1 Only) 5-31
.......
FAK
Correction Factor For The
MW
Feed Constant (Axis 1 Only) 5-31
FUN Functions (Axis 1 Only)
..............................
5-32
...............................
HOM Homing (Axis
2
Only) 5-33
................................
JMP Unconditional Jump 5.34
.................................
JSR Jump to Subroutine 5.35
LMD Part Length Via The IDS Board (Axis
1
Only)
...............
5-32
LML Part Length (Axis
1
OnIy)
............................
5-36
LMR Part Length with Registration (Axis
1
Only)
.................
5-37
......................
MLT Material Length Test (Axis 1 Only) 5-38
....................................
NOP No Operation 5.39
..........................
POA Absolute Feed (Axis
2
Only) 5-39
PO1 Incremental Feed (Axis
2
Only)
........................
5-41
POM Position On Memory (Axis
2
Only)
......................
5-42
PSA Absolute
F&
(With In-Position Siznal) (Axis
2
only)
...........
5-43
PSI Incremental Feed (With In-Position Signal) (Axis
2
only)
.........
5-43
PSM Position On Memory, With In-Position Signal (Axis
2
Only)
.......
5-44
.....................................
PST Position Test 5-42
REF
Detect Registration Mark Input (Axis
2
Only)
................
5-47
REP Registration Search Limit Branch (Axis 2 Only)
...............
5-48
..............................
RTS Return from Subroutine 5-49
......................
SAC Set Absolute Counter (Axis
2
Only) 5-49
xii
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INDRAMAT
CLM.Ol.3.M
SO1 Scanning of Inputs and Modifying a Length
..................
5-50
.....................................
STH Send to Host 5-53
.........................
STZ Counter With Predefined Jump 5-54
.........................
VCC Velocity Change (Axis 2 Only) 5-55
.........................
VEO
Velocity Ovemde (Axis 2 Only) 5-57
.....................................
WAI Time Delay 5.59
5.9 Typical Flying Cutoff Program for Axis 1
........................
5-60
6.1 Unpacking and Parts Inventory
...............................
6-1
6.1.1 CLM Standard Parts
...................................
6-1
6.1.2 CLM Optional Equipment
................................
6-2
6.2 Mounting Cabinet
.......................................
6-3
6.3 Power Requirements and Connections
...........................
6-4
6.4 Cable Routing
...........................................
6-4
6.5 Transformer
-
Heat Dissipation
...............................
6-4
6.6 Hardware Installation
.....................................
6-4
6.7 Electricai Installation
......................................
6-5
6.8 CLM Connectors
........................................
6-5
6.9 Preliminary Startup Procedure
................................
6-7
6.9.1 Connections
........................................
6-7
6.9.2 Inputs
...........................................
6-8
6.9.3 Overtravel Limit Switches
...............................
6-10
6.9.4 Outputs
...........................................
6-10
6.10 Power-up
............................................
6-10
6.11 Parameter Entry
........................................
6-10
6.12 Program Entry
.............................
:
...........
6-13
6.13 Axis 1 Jogging In Manuai Mode
..............................
6-13
6.14 Test Mode Operation
.....................................
6-14
6.14.1 Tuning Position Gains for Best Performance
....................
6-15
6.14.2 Adjusting the Position Lag
...............................
6-19
6.15
Automatie
Mode Operation
.................................
6-20
CiErnER
7
.
SERIAL
INTERFACE
7.1 Connector Wiring @B-25)
..................................
7-2
...............................
7.1.1
Signal Level Requirements 7-3
..............................
7.1.2 Seriai Cable Configurations 7-4
7.2 Data Format
...........................................
7-5
...........
7.3 CLM Serial Communication Configuration (Parameter 80
&
81) 7-6
7.3.1 Baud Rate
.........................................
7-6
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CLM.01.3.M
INDRAMAT
7.3.2 Interface Mode
......................................
7-7
7.3.3 Parity
............................................
7-7
7.3.4 Word Length
........................................
7-7
7.3.5 Stop Bit($
.........................................
7-7
....................................
7.3.6 Error Transmission 7-8
......................................
7.3.7 Station Number 7-8
...................
7.3.8 Checksum
I
Hardware Handshake (CTSJRTS) 7-8
............................
7.3.9 Transmission Acknowledgement 7-8
................................
7.4 CLM Control Smng Protocol 7-9
7.4.1 First (1) Control String Character (Transmission Type)
..............
7-10
7.4.2 Second (2) Control Character (CLM Station Number Identifier)
.........
7-11
..............
7.4.3 Third (3) Control Smng Character (Information Type) 7-11
7.4.4 Other Important Control Characters
..........................
7-11
7.4.5 Information Characters
..................................
7-12
7.5
Checksum Calculations
....................................
7-14
7.6 Sending Information to the CLM
..............................
7-15
.........................
7.6.1 Sending Program Blocks to the CLM 7-15
7.6.2 Sendin: Parameters to
the
CLM
............................
7-19
7.7 Information Request
......................................
7-25
....................
7.7.1 Requesting a Program Block from the CLM 7-25
7.7.2 Requesting
a
System Parameter from the CLM
..................
7-26
7.7.3 Requesting System Status from the CLM
......................
7-27
.................................
7.7.4 LM Control Commands 7-54
.....................
7.7.4.1 Start The Main Program At Block 000 7-54
..........................
7.7.4.2 Clear Overall Material Length 7-54
............................
7.7.4.3 Clear Total Piece Counter 7-55
C
ER
8
.
DIAGNOSTICS
8.1 System Error Codes And System Error Messages
....................
8-1
8.2 Send CornrnunicationErrors
................................
8-16
LIST
OF
TABLES
HG
S
Figure 1.1 CLM Positioning Control Module
.........................
1-1
..........................
Figure 1.2 Typical CLM-LM Flying Cutoff
1-2
.........................
Figure 1.3 Typical Flying Cutoff Application 1-7
.....................
Figure 1.4 Standard CLM Controls and Connections 1-11
...............
Figure 1.5 Expanded Version CLM ControIs and Connections 1-13
Figure 1.6 Optional IDS
......................................
1-16
Figure 1.7 SOT
-
Station Operator Terminal
..........................
1-17
xiv
CONTENTS REV
.
B.
9/92
REXROTH
iA74786
INDRAMAT
CLM.0'1.3.M
...............................
Figure 2.1 KeypadIDispiay Module 2-2
.........................
Figure 2.2 Map of CLM-LM Display Screens 2-6
..............................
Figure 2.3 Lower Front CLM Panel 2-17
....................
Figure
3.1
X3 Input Connector and Pin Designations 3-2
...................
Figure 3.2 X4 Output Connector and Pin Designations
3-12
...................
Figure 3.3 X1
1
Input Connector and Pin Designations 3-19
...................
Figure 3.4 X12 Input Connector and Pin Designations 3-21
..................
Figure 3.5 X13 Output Connector and Pin Designations 3-25
...............................
Figure 4.1 Horning Routine. Axis 1 4-17
...............................
Figure 4.2 Homing Routine. Axis 2 4-49
..............................
Figure 4.3 Second Acceleration Rate 4-57
...........................
Figure 4.4 Feed Ovemde Command Input 4-66
....................................
Figure 5.1 LMR Command 5.37
......................
Figure 5.2 SO1 Decade Switch Group Connection 5-51
....................................
Figure 5.3
VCC
Example .5.56
................................
Figure 6.1 CLM System Modules 6-3
..........................
Figure 6.2 Exarnple System Input Diagram 6-9
...............
Figure 6.3 Position Gains Adjusted for Optimum Performance 6-15
...........................
Figure
6.4
Acceleration Gain Is Too High 6-16
...........................
Figure 6.5 Deceleration Gain 1s Too High 6-16
...........................
Figure 6.6 Acceleration Gain 1s Too LOW 6-17
...........................
Fi;ure 6.7 Deceleration Gain 1s Too Low 6-17
Figure 6.8 Matenai Speed Less Than Maximum Operating Speed
.............
6-18
..................................
Figure 7.1 CLM X6 Connector 7-2
.............................
Figure 7.2 Send Interface Signal Level 7-3
......................................
Figure 7.3 Data Format 7-5
..................................
Figure 7.4 Checksum Example 7-14
...................................
Table
3.1
Output Defiiiitions 3-27
....................................
Table 5.1 Output Definitions 5.3
Table 5.2 Commands by Function
.................................
5.7
Table 7.1 LM01.3.003.X Program Command, RS-232 Send Format, 2 Decimais
...
7-17
Table 7.2 LM01.3-003.X Program Command, RS-232 Send Format. 3 Decimals
...
7-18
Table 7.3 LM01.3-003.X Parameter (Send) Format (Two Decimal Points)
.......
7-21
.............
Table 7.4 LM01.3-003.X Parameter (Send Format, 3 Decimals) 7-23
REV
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B.
9/92
CONTENTS
xv
REXROTH
lA74786
INDRAMAT CLM-0
1.3-M
CHAPTER
1.
GENERAL DESCRiPTlON
The CLM-01.3-M is a microprocessor-based positioning control. The user-programmable
unit is intended for precision motion control in one- or two-axis flying cutoff applications.
Designed for use with with Indramat brushless AC servo drives, the CLM control provides
closed-loop synchronized positioning in
an
economical, modular package. (Figure
1
.l)
Typical flying cutoff applications coil or sheet lines, corrugated materials, pipe cutting and
cross-cut sawing.
Figure
1.1
CLM Positioning Control Module
REV.
B,
9192
GENERAL DESCRIPTION
1-1
1,474786
REXROTH
CLM-01.3-M INDRAMAT
TVU/TDM/CLH
?---------------
INTERFACE,
OPTIONS
:
50T
TERMINAL
Figure
1.2
Typical
CLM-LM
Flying
Cutoff
System
with
interface
Options
1-2
GENERAL DESCRIPTION REV.
B,
9/92
REXROTH 1A74786
INDRAMAT
CLM-01.3-M
The extensive program command set permits the CLM to perform complex processing tasks.
Using its multi-tasking capability, the CLM can control two motion programs and a
background 110program simultaneously. The CLM can be programmed on-line or off-line.
The typical CLM-01.3-LM Flying Cutoff System consists of these components:
*
CLM-01.3-M Flying Cutoff Control
*
MAC AC servo motor (with tachometer and incremend encoder)
*
TDM servo amplifier (motor controller)
*
TVM power supply
*
Measuring wheel (with incrementai encoder)
*
Interconnect cable Set. available from Indramat
The CLM, TDM (servo ampliiier), TVM (servo power supply) and MAC servo motor are
combined with a mechanical system for making flying cutoffs. These components are chosen
to best fit the required application. Figure 1.2 is a typicd CLM-LM system configuration.
The standard CLM control consists of
32
inputs (16 system and 16 auxiliary), 32 outputs
(16
system and 16auxiliary), two encoder
ports,
and a send cornmunicationpori. Options
increase the number of auxiliary inputs to
72,
and auxiliary outputs to 48.
The CLM-LM system is designed to ensure operating integrity and safety by using the CLiCf
system inputs and outputs to interface with the flying cutoff machine. In many applications,
the CLM provides sufficient machine control without the use
OE
an external line control.
The serial
port
on the CLM allows for RS23214221485 cornmunicationwith a host device.
The host device can be an Indramat
IDS
Board, Indramat.SOT, or a Computer. The serial
pori ailows the operator to view or edit information about the CLM programs, pararneters:
and system status.
The User enters the system pararneters and program, using the CLM keypad or optionai
interfaces. Operating status messages can be displayed in English, French, or German as
selected by the Operator. nie machine builder or User enters data into the CLM Parameters
to specify the mechanical and operating characteristics of the system.
The MAC motor which drives the axis has a tachometer and encoder mounted on the back.
The tachometer provides velocity feedback to the TDM servo amplifier. The encoder
provides position feedback to the CLM, ensuring precise, repeatable positioning of the cutoff
carriage. The final accuracy of the flying cutoff system depends on various factors, such as
type of material, gearbox backiash and other machine mechanics. The CLM constantly
monitors the system and if an enor occurs, the CLM will display the proper diagnostic.
REV.
B,
9/92
GENERAL DESCRIPTIOM
11
-3
Table of contents
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