Rexroth Indramat CLM1.4 User manual

Artisan Technology Group is your source for quality
new and certied-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-service, in-house repair center
WE BUY USED EQUIPMENT
Sell your excess, underutilized, and idle used equipment
We also offer credit for buy-backs and trade-ins
www.artisantg.com/WeBuyEquipment
REMOTE INSPECTION
Remotely inspect equipment before purchasing with
our interactive website at www.instraview.com
LOOKING FOR MORE INFORMATION?
Visit us on the web at www.artisantg.com for more
information on price quotations, drivers, technical
specications, manuals, and documentation
Contact us: (888) 88-SOURCE | [e-mail] | www.artisantg.com
SM
View
Instra

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
Copyright
Validity
Published by

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

VIII Table of Contents CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
13 Installation Notes 13-1
13.1 General Information .....................................................................................................................13-1
13.2 Instructions for Using Cooling Units in Control Cabinets.............................................................13-4
Correct Use of Cooling Units .................................................................................................13-4
13.3 Safety Instructions for Controls....................................................................................................13-6
General Information ...............................................................................................................13-6
Protection Against Contact with Electrical Parts....................................................................13-7
Protection of Safety-Separated Extra Low Voltages .............................................................13-8
Protection Against Dangerous Movements ...........................................................................13-8
Protection During Handling and Installation...........................................................................13-9
Protection for Built-In Batteries............................................................................................13-10
14 Index 14-1
15 Service & Support 15-1
15.1 Helpdesk ......................................................................................................................................15-1
15.2 Service-Hotline.............................................................................................................................15-1
15.3 Internet.........................................................................................................................................15-1
15.4 Vor der Kontaktaufnahme... - Before contacting us.....................................................................15-1
15.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................15-2

CLM01.4-LAP-01VRS System Setup 1-1
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
1 System Setup
1.1 The CLM at a Glance
The CLM is a compact, modular, 4-axis CNC control that can be
combined with maintenance-free dynamic Rexroth Indramat AC Servo
drives to create an efficient and economical control and drive system.
Typical applications are:
•Roll-feed Systems
•Packaging Machinery
•Thermoforming Machinery
•Linear Portals
•Robot Devices
•Bending Machinery
•Wood-processing Machinery
The efficient user program enables the CLM to execute complicated
processes.
Combined with maintenance-free, dynamic Rexroth Indramat AC Servo
drives, the CLM achieves:
•a noticeable increase in productivity because of improved system
availability and higher roll-feed capacity.
•markedly increased quality through incremental control of position,
velocity and acceleration.
•eliminating the need for an additional PLC control through many
additional functions.
•ON-LINE programmability
•programming in the appropriate language, either directly from the front
panel or from a PC via a serial interface.
•tailoring of drive and machine data using simple parameter input. no
specialized unit is required for parameter input.
•segmentation of complex machine processes due to a user program
with 3000 instructions. immediate availability of all status information
about initial startup, monitoring and service support via the system
display or the serial interface.
•increased system security because of continuous drive and measuring
wheel encoder monitoring.
•a compact control and drive package, in combination with Rexroth
Indramat drives.

1-2 System Setup CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
1.2 Mechanical Data
•Parameter
•Manual
•Automatic
•4 axes
•units can be defined in mm, inches and degrees
•dimensions can be programmed as incremental or absolute
•preselection of velocity in ‰ of Vmax
•maximum system and manual (jog) velocity programmable via
parameters
•feed velocity programmable via the user program
•3000 instructions
•any number of subprograms, with nesting hierarchy up to 127
•system variables
•400 available variables
•224 marker flags
•1000 assignments
•Processing speed: 1000 assignments/sec
•Cycle time 4ms
•System flags
•320 marker flags
•parallel interface
24 permanent system inputs and 18 permanent system outputs
88 inputs and 51 outputs available (freely-programmable) in the user
program
•4 analog inputs +/- 10 V (12-bit resolution)
•4 analog outputs +/- 10 V (14-bit resolution) – for controlling 4 servo
drives
•serial, RS232C or RS485
•freely-selectable baud rate and transmission format
•Profibus
•linear and rotary incremental encoders with a maximum sampling
frequency of 1 MHz
•synchronous absolute encoders / SSI synchronous transmission, gray-
coded
•Voltage: + 24 V DC; + 20 %; determined by the drive electronics, e.g.
TVM, KDV, TVD
Operating Modes
Control Characteristics:
Program Data:
Logic Task:
Interfaces:
Control Interface:
Data Interface:
Fieldbus Interface:
Measuring System Interface:
Voltage Supply:

CLM01.4-LAP-01VRS System Setup 1-3
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
•approx. 450 mA – for the CLM without no encoder or accessories
•approx. 50 mA – per incremental encoder
•approx. 125 mA – absolute encoder
•approx. 50 mA – for the decade switch unit (IDS01)
•approx. 100 mA – for the Optional Expanded I/O
•The dimensions of the CLM control correspond to the modularly built
Rexroth Indramat AC controllers, e.g. TVM and TDM. Depth x Width x
Height = 330 x 105 x 390 mm
•The CLM control weighs approximately 13.3 lbs. (6 kg).
1.3 Saving Data
The user program is saved in buffered RAM memory on a module card
(MOK19) inside the CLM.
Note: This data can be lost in the event of an error. Therefore, it is
critically important to back up this data in another place
outside the control. (e.g.: external computer that contains the
MotionManager PC program, or as a hard copy)
Buffering occurs with the help of a battery back-up, which is continuously
charged during operation and which provides power to the RAM memory
when the power supply is turned off. At the factory, the battery is not
charged to 100% capacity. Total charging time is approx. 40 hours and
data security using a fully charged battery is 0.5 years.
During each new start-up of the control and every four hours during
operation, a battery test is performed. If the battery charge not sufficient,
the error "Battery is low" is displayed after turning on the power supply,
and the "Error" output is not set. This error can be cleared using the Clear
key. Every 10 minutes, the message "Battery is low" is displayed.
Current Requirements:
Dimensions:
Weight:

1-4 System Setup CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
1.4 System Overview
Kompo1_AE.WMF
Fig. 1-1: System Overview

CLM01.4-LAP-01VRS Important directions for use 2-1
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
2 Important directions for use
2.1 Appropriate use
Introduction
Rexroth Indramat products represent state-of-the-art developments and
manufacturing. They are tested prior to delivery to ensure operating safety
and reliability.
The products may only be used in the manner that is defined as
appropriate. If they are used in an inappropriate manner, then situations
can develop that may lead to property damage or injury to personnel.
Note: Rexroth Indramat, as manufacturer, is not liable for any
damages resulting from inappropriate use. In such cases, the
guarantee and the right to payment of damages resulting from
inappropriate use are forfeited. The user alone carries all
responsibility of the risks.
Before using Rexroth Indramat products, make sure that all the pre-
requisites for appropriate use of the products are satisfied:
•Personnel that in any way, shape or form uses our products must first
read and understand the relevant safety instructions and be familiar
with appropriate use.
•If the product takes the form of hardware, then they must remain in
their original state, in other words, no structural changes are
permitted. It is not permitted to decompile software products or alter
source codes.
•Do not mount damaged or faulty products or use them in operation.
•Make sure that the products have been installed in the manner
described in the relevant documentation.

2-2 Important directions for use CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Areas of use and application
For CLM1.4-LAP Rexroth Indramat defines appropriate use as for
precision motion control of to four axes.
Control and monitoring of (the) CLM1.4-LAP may require additional
sensors and actors.
Note: CLM1.4-LAP may only be used with the accessories and parts
specified in this document. If a component has not been
specifically named, then it may not be either mounted or
connected. The same applies to cables and lines.
Operation is only permitted in the specified configurations and
combinations of components using the software and firmware
as specified in the relevant function descriptions.
The CLM1.4-LAP and every drive controller has to be programmed before
starting it up, making it possible for the motor to execute the specific
functions of an application.
The CLM1.4-LAP has been developed for use in single or multiple-axis
drives and control tasks.
Typical applications of CLM1.4-LAP are:
•Handling and assembly systems,
•Roll feeds
•Automatic bending machines and
•Woodworking machines
The CLM1.4-LAP may only be operated under the assembly, installation
and ambient conditions as described here (temperature, system of
protection, humidity, EMC requirements, etc.) and in the position
specified.
2.2 Inappropriate use
Using the CLM1.4-LAP outside of the above-referenced areas of
application or under operating conditions other than described in the
document and the technical data specified is defined as “inappropriate
use".
CLM1.4-LAP may not be used if
•they are subject to operating conditions that do not meet the above
specified ambient conditions. This includes, for example, operation
under water, in the case of extreme temperature fluctuations or
extremely high maximum temperatures or if
•Rexroth Indramat has not specifically released them for that intended
purpose. Please note the specifications outlined in the general Safety
Guidelines!

CLM01.4-LAP-01VRS Safety Instructions for Electric Drives and Controls 3-1
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
3 Safety Instructions for Electric Drives and Controls
3.1 Introduction
Read these instructions before the initial startup of the equipment in order
to eliminate the risk of bodily harm or material damage. Follow these
safety instructions at all times.
Do not attempt to install or start up this equipment without first reading all
documentation provided with the product. Read and understand these
safety instructions and all user documentation of the equipment prior to
working with the equipment at any time. If you do not have the user
documentation for your equipment, contact your local Rexroth Indramat
representative to send this documentation immediately to the person or
persons responsible for the safe operation of this equipment.
If the equipment is resold, rented or transferred or passed on to others,
then these safety instructions must be delivered with the equipment.
WARNING
Improper use of this equipment, failure to follow
the safety instructions in this document or
tampering with the product, including disabling
of safety devices, may result in material
damage, bodily harm, electric shock or even
death!
3.2 Explanations
The safety instructions describe the following degrees of hazard
seriousness in compliance with ANSI Z535. The degree of hazard
seriousness informs about the consequences resulting from non-
compliance with the safety instructions.
Warning symbol with signal
word Degree of hazard seriousness according to ANSI
DANGER
Death or severe bodily harm will occur.
WARNING
Death or severe bodily harm may occur.
CAUTION
Bodily harm or material damage may occur.
Fig. 3-1: Hazard classification (according to ANSI Z535)

3-2 Safety Instructions for Electric Drives and Controls CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
3.3 Hazards by Improper Use
DANGER
High voltage and high discharge current!
Danger to life or severe bodily harm by electric
shock!
DANGER
Dangerous movements! Danger to life, severe
bodily harm or material damage by
unintentional motor movements!
WARNING
High electrical voltage due to wrong
connections! Danger to life or bodily harm by
electric shock!
WARNING
Health hazard for persons with heart
pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
CAUTION
Surface of machine housing could be extremely
hot! Danger of injury! Danger of burns!
CAUTION
Risk of injury due to improper handling! Bodily
harm caused by crushing, shearing, cutting and
mechanical shock or incorrect handling of
pressurized systems!
CAUTION
Risk of injury due to incorrect handling of
batteries!

CLM01.4-LAP-01VRS Safety Instructions for Electric Drives and Controls 3-3
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
3.4 General Information
•Rexroth Indramat GmbH is not liable for damages resulting from
failure to observe the warnings provided in this documentation.
•Read the operating, maintenance and safety instructions in your
language before starting up the machine. If you find that you cannot
completely understand the documentation for your product, please ask
your supplier to clarify.
•Proper and correct transport, storage, assembly and installation as
well as care in operation and maintenance are prerequisites for
optimal and safe operation of this equipment.
•Only persons who are trained and qualified for the use and operation
of the equipment may work on this equipment or within its proximity.
•The persons are qualified if they have sufficient knowledge of the
assembly, installation and operation of the equipment as well as an
understanding of all warnings and precautionary measures noted in
these instructions.
•Furthermore, they must be trained, instructed and qualified to
switch electrical circuits and equipment on and off in accordance
with technical safety regulations, to ground them and to mark them
according to the requirements of safe work practices. They must
have adequate safety equipment and be trained in first aid.
•Only use spare parts and accessories approved by the manufacturer.
•Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
•The equipment is designed for installation in industrial machinery.
•The ambient conditions given in the product documentation must be
observed.
•Use only safety features and applications that are clearly and explicitly
approved in the Project Planning Manual.
For example, the following areas of use are not permitted: construction
cranes, elevators used for people or freight, devices and vehicles to
transport people, medical applications, refinery plants, transport of
hazardous goods, nuclear applications, applications sensitive to high
frequency, mining, food processing, control of protection equipment
(also in a machine).
•The information given in this documentation with regard to the use of
the delivered components contains only examples of applications and
suggestions.
The machine and installation manufacturer must
•make sure that the delivered components are suited for his
individual application and check the information given in this
documentation with regard to the use of the components,
•make sure that his application complies with the applicable safety
regulations and standards and carry out the required measures,
modifications and complements.
•Startup of the delivered components is only permitted once it is sure
that the machine or installation in which they are installed complies
with the national regulations, safety specifications and standards of the
application.