Rexroth Indramat CLM1.4 User manual

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

About this Documentation CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
CLM1.4
2 (4) Axis Positioning Control
with Profibus
Functional Description
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
•Document Number: 120-0400-B331-01/EN
This documentation describes the function of the firmware
FWA-CLM1.4-LAP-01VRS-MS
•for description of all functional features
Description Release
Date Notes
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P 10.01 First release
2001 Rexroth Indramat GmbH
Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, 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 data is for product description purposes only and may not
be deemed to be guaranteed unless expressly confirmed in the contract.
All rights are reserved with respect to the content of this documentation
and the availability of the product.
Rexroth Indramat GmbH
INDRAMAT Hoffman Estates • 5150 Prairie Stone Parkway • Hoffman
Estates, IL 60192 • USA
Phone: [phone] • Fax: [phone]
http://www.rexroth.com/indramat
Dept.BRC/ESG1 (VH / HK).
Title
Type of Documentation
Document Typecode
Internal File Reference
Purpose of Documentation
Record of Revisions
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CLM01.4-LAP-01VRS Table of Contents I
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Table of Contents
1 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
2 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
3 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

II Table of Contents CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
4 Display and Operating Devices 4-1
4.1 General Information about the CTA...............................................................................................4-1
CLM Display.............................................................................................................................4-2
4.2 Description of the Input Keys.........................................................................................................4-3
Data Entry Keys.......................................................................................................................4-3
Control Keys.............................................................................................................................4-3
4.3 Description of the Display Modes ..................................................................................................4-4
Software Version / Status Diagnostics.....................................................................................4-5
Material Velocity.......................................................................................................................4-6
Variable Display.......................................................................................................................4-6
Display: Inputs / Outputs / Marker Flags.................................................................................4-7
Counter Display........................................................................................................................4-7
Position Display........................................................................................................................4-8
Operation Data.......................................................................................................................4-10
Program Input ........................................................................................................................4-11
Parameter Input.....................................................................................................................4-12
5 Writing the User Program 5-1
5.1 Overview of All User Commands...................................................................................................5-1
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
Available Variables ..................................................................................................................5-8
System Variables.....................................................................................................................5-8
Axis Variables ..........................................................................................................................5-9
5.7 Description of Commands............................................................................................................5-10
ACC - Acceleration Change...................................................................................................5-10
AEA – Bit Set/Clear................................................................................................................5-11
AEO – Acceleration Override Command...............................................................................5-11
AKN – Compare Bit................................................................................................................5-12
AKP – Compare Byte.............................................................................................................5-13
APE – Byte Set/Clear.............................................................................................................5-14
BAC – Branch Conditional on Count .....................................................................................5-15
BCE – Branch Conditional on Bit...........................................................................................5-16
BIC – Branch Conditional on Bit Field Value.........................................................................5-16
BIO - 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 ..........................................................................................................................5-21

CLM01.4-LAP-01VRS Table of Contents III
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
CPJ – Compare and Jump.....................................................................................................5-23
CPL - Clear Position Error .....................................................................................................5-23
CPS - Compare and Set a Bit................................................................................................5-24
CST - Clear Subroutine Stack Level......................................................................................5-24
CVT – Convert Variable <- -> Marker....................................................................................5-25
FAK – Length Scaling Factor.................................................................................................5-28
FOL – Slave Axis ...................................................................................................................5-29
HOM – Home Axis .................................................................................................................5-30
JMP – Jump Unconditional....................................................................................................5-31
JSR – Jump to Subroutine.....................................................................................................5-31
JST – Jump, Unconditional with Immediate Stop..................................................................5-32
JTK – 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-Position..........................................................................5-36
PSI – Positioning Incremental with In-Position......................................................................5-37
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 – Return from Subroutine ..............................................................................................5-43
SAC - Set Abs. Position Counter...........................................................................................5-44
SET – Set Variable ................................................................................................................5-45
SRM – Drive to Registration Mark.........................................................................................5-45
VCC – Velocity Change Command .......................................................................................5-47
VEO – Velocity Override Command......................................................................................5-49
WAI – Wait (Time Delay) .......................................................................................................5-52

IV Table of Contents CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
6 Logic Task 6-1
6.1 Tabular View ..................................................................................................................................6-1
6.2 Load, Save, Set and Reset Assignments ......................................................................................6-1
Commands for Loading and Saving ........................................................................................6-1
Set and Reset Commands.......................................................................................................6-1
6.3 Logical Assignments......................................................................................................................6-2
AND Logic................................................................................................................................6-2
OR Logic..................................................................................................................................6-3
XOR Logic................................................................................................................................6-4
7 Functions 7-1
7.1 Operating Modes............................................................................................................................7-1
7.2 Measuring Wheel Mode.................................................................................................................7-1
7.3 Velocity Override............................................................................................................................7-3
Override via Analog 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 Mechanical Data ..........................................................................................................................7-11
Mechanical Transmission Elements ......................................................................................7-11
Modulo Function ....................................................................................................................7-12
7.8 Decade Switch ’IDS01’.................................................................................................................7-13
7.9 Homing.........................................................................................................................................7-14
General Information ...............................................................................................................7-14
Option 1: Homing to a Home Switch......................................................................................7-15
Placement of the Home Switch..............................................................................................7-16
Activation of the Home Switch...............................................................................................7-16
Termination of the Homing Routine.......................................................................................7-16
Option 2: Homing without a Home Switch.............................................................................7-17
7.10 Position Loop Reset (Electrical Release).....................................................................................7-18
7.11 Restart..........................................................................................................................................7-19

CLM01.4-LAP-01VRS Table of Contents V
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
8 Parameters 8-1
8.1 General Information .......................................................................................................................8-3
8.2 System Parameters........................................................................................................................8-5
Ax00 Axis x Mode ..................................................................................................................8-5
Ax01 Axis x Feed Constant....................................................................................................8-6
Ax02 Gear..............................................................................................................................8-7
Ax03 Axis x Minimum Travel Limit Value...............................................................................8-7
Ax04 Axis x Maximum Travel Limit Value..............................................................................8-9
Ax05 Axis x Modulo Value...................................................................................................8-10
Ax06 Axis x Maximum Velocity............................................................................................8-11
Ax07 Axis x Jog Velocity......................................................................................................8-11
Ax08 Axis x Acceleration Rate.............................................................................................8-12
Ax09 Acceleration / Deceleration Rate................................................................................8-12
Ax10 Jerk Constant..............................................................................................................8-13
Ax11 Axis x Kv Factor..........................................................................................................8-14
Ax12 Axis x Drive Sensitivity................................................................................................8-15
Ax13 Reserved (Free)..........................................................................................................8-16
Ax14 Axis x Position Monitoring Window.............................................................................8-16
Ax15 Feed Angle Monitoring / Interrupt...............................................................................8-18
Ax16 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
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 ....................................................................................................................8-23
Ax27 Axis x Switching Threshold.........................................................................................8-23
Ax28 Position Window.........................................................................................................8-24
Ax29 Axis x Presignaling .....................................................................................................8-24
Ax30 Axis x Open Feed Roll................................................................................................8-24
Ax31 Axis x Measuring Wheel Mode...................................................................................8-25
Ax32 Axis x Various Functions ............................................................................................8-25
Ax33 Axis x Cut Inhibit.........................................................................................................8-25
Ax34 Axis x Cut Vector........................................................................................................8-26
8.3 General Parameters.....................................................................................................................8-27
B000 Enable Axis.................................................................................................................8-27
B001 Display........................................................................................................................8-27
B002 RS Interface Format X6.............................................................................................8-28
B003 RS Interface Functions X6 .........................................................................................8-29
B004 RS Interface Format X8.............................................................................................8-29
B005 RS Interface Functions X8 .........................................................................................8-29
B006 Fieldbus Time Monitoring...........................................................................................8-30

VI Table of Contents CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
B007 Fieldbus Baudrate ......................................................................................................8-30
B008 Fieldbus Formats........................................................................................................8-31
B009 Reserved (Free) .........................................................................................................8-31
B010 Cycle Time..................................................................................................................8-32
B011 Start Program Instruction - Task 2, Task 3 ................................................................8-32
B012 Start Program Instruction - Task 4, Task 5 ................................................................8-33
B013 Logic Task ..................................................................................................................8-33
B014 Manual Vector ............................................................................................................8-33
B015 Interrupt Vector...........................................................................................................8-34
B016 Re-Start Vector...........................................................................................................8-34
B017 Analog Input / Override...............................................................................................8-35
B018 Clear Outputs .............................................................................................................8-36
B019 Memory Display..........................................................................................................8-40
8.4 Master Encoder Parameters........................................................................................................8-41
C000 Master Encoder 1, Measuring Wheel Encoder Data..................................................8-41
C001 Master Encoder 1, Measuring Wheel Encoder 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 Encoder 2, Measuring Wheel Encoder Type.................................................8-42
C006 Master Encoder 2, Measuring Wheel Encoder Feed Constant (VK).........................8-42
C007 Master Encoder 2, Measuring Wheel Offset..............................................................8-42
8.5 List of CLM Parameters ...............................................................................................................8-43
8.6 Minimum and Maximum Values for Parameter Input...................................................................8-46
9 Interfaces 9-1
9.1 Inputs, Outputs and Marker Flags..................................................................................................9-1
Inputs .......................................................................................................................................9-2
Outputs.....................................................................................................................................9-7
User-Programmable Outputs.................................................................................................9-11
Flags ......................................................................................................................................9-11
9.2 Serial Interfaces...........................................................................................................................9-13
General Information ...............................................................................................................9-13
Connecting the Interface........................................................................................................9-13
Interface Parameters .............................................................................................................9-16
B002 Interface Format X6.....................................................................................................9-16
B003 Interface Functions X6................................................................................................9-17
Description of All Characters Used in the Data String...........................................................9-18
Generating the Checksum.....................................................................................................9-21
Data Transmission.................................................................................................................9-22
Readout of Status Information...............................................................................................9-29

CLM01.4-LAP-01VRS Table of Contents VII
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
10 Command Communications 10-1
10.1 Profibus........................................................................................................................................10-1
Fieldbus Parameters..............................................................................................................10-2
Process Data Channel...........................................................................................................10-2
Service Data Channel............................................................................................................10-6
Parallel Interface....................................................................................................................10-6
Assignment of Profibus Connector X30.................................................................................10-7
Profibus LED Diagnostic........................................................................................................10-7
11 Diagnostic Messages 11-1
11.1 General Information about Error Identification.............................................................................11-1
11.2 Error Code Numbers....................................................................................................................11-1
11.3 Error Descriptions ........................................................................................................................11-5
General Error Messages........................................................................................................11-5
Error Messages for Axes 1 to 4 ...........................................................................................11-14
12 Terminal Connection 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 to 4....................................................................................................12-4
12.6 Data Interface – Serial Channel A ...............................................................................................12-4
12.7 RS232C/RS485 Data Interface – Serial Channel A.....................................................................12-5
12.8 RS485 Data Interface – Serial Channel A ...................................................................................12-6
12.9 RS232C/RS485 Data Interface – Serial Channel B.....................................................................12-7
12.10Axis 1 Encoder Inputs..................................................................................................................12-8
12.11Axis 2 Encoder Inputs..................................................................................................................12-9
12.12Axis 3 Encoder Inputs................................................................................................................12-10
12.13Axis 4 Encoder Inputs................................................................................................................12-11
12.14Inputs – Part 1............................................................................................................................12-12
12.15Inputs – Part 2............................................................................................................................12-13
12.16Inputs – Part 3............................................................................................................................12-14
12.17Outputs – Part 1.........................................................................................................................12-15
12.18Outputs – Part 2.........................................................................................................................12-16
12.19Inputs and Outputs.....................................................................................................................12-17
12.20Typecodes..................................................................................................................................12-18