Levante Sistemas de Automatización y Control S.L.

Transcription

1 Catálogos Levante Sistemas de Automatización y Control S.L. LSA Control S.L. Camí del Port Catarroja (Valencia) Telf. (+34) comercial@lsa-control.com Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.

2 OPTIFEED-FM CLM1.4 2 (4) Axis Positioning Control with Profibus Version Notes

3 About this Documentation CLM1.4-LAP-04VRS Title Type of Documentation OPTIFEED-FM CLM1.4 2 (4) Axis Positioning Control with Profibus Version Notes FWA-CLM1.4-LAP-04VRS-MS Document Typecode Internal File Reference Purpose of Documentation This documentation describes the differences between the FWA-CLM1.4-LAP-04VRS-MS and the previous version FWA-CLM1.4-LAP-03VRS-MS. Record of Revisions Description Release Date Notes Version Notes 04/03 First Edition Copyright 2003 Bosch Rexroth AG 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). Validity 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. Published by Bosch Rexroth AG Bgm.-Dr.-Nebel-Str. 2 D Lohr a. Main Telephone +49 (0)93 52/40-0 Tx Fax +49 (0)93 52/ Dept. BRC/ESG1 (VH) Note This document has been printed on chlorine-free bleached paper.

4 CLM1.4-LAP-04VRS Table of Contents I Table of Contents 1 Firmware Upgrade Differences From FWA-CLM1.4-LAP-03VRS Expanded Parameters / Commands Parameter Ax24, Axis x Homing Search Distance Parameter B008, Fieldbus Formats Parameter B010, Cycle Time Ax14 Axis x Position Monitoring Window Serial Interface X Master Encoder FUN Command - Functions VEO Command - Velocity Override FOL Command - Follow Master New Parameters Reverse Optimization New Functions Additional System Variables System Marker Flags Status Information Additional Interface Commands Error Diagnostic Index 3-1

5 II Table of Contents CLM1.4-LAP-04VRS

6 CLM1.4-LAP-04VRS Firmware Upgrade Firmware Upgrade For a firmware upgrade, the following basic points must be observed: 1. The firmware upgrade may only be installed by qualified personnel. 2. Appropriate tools, (e.g. EPROM extraction tool) and accessories (e.g. anti-static mats) must be used to replace the EPROMs. 3. When the EPROM is replaced, the ESG (Electrostatic Guidelines) must be followed. 4. Secure current parameters and programs. (Normally, the programs and parameters remain intact) 5. Turn off the CLM. 6. Loosen the screw holding the MOK19 module card and pull the module card out of the CLM. 7. Pull out the EPROM with the help of an extraction tool. 8. Place the EPROM with the new firmware in the same place. F Ensure correct orientation. The slot in the EPROM must be covered by the slot in the base. F Do not touch the EPROM "connector legs." 9. Place the MOK19 module card in the CLM and secure with the screw. CAUTION If a MAT command is contained in the NC program when upgrading from firmware release 01V05 or previous version to version 04VRS, the error Program lost is issued. Therefore, all program instructions with a MAT command must be re-saved. When upgrading from firmware version 03VRS or previous version to version 04VRS, the parameter data are lost and the error Parameters lost is issued. Therefore, all parameter data must be documented outside of the control before a firmware upgrade (e.g. external computer with the MotionManager PC program, or a written record of parameters).

7 1-2 Firmware Upgrade CLM1.4-LAP-04VRS Notes

8 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS Differences From FWA-CLM1.4-LAP-03VRS 2.1 Expanded Parameters / Commands Parameter Ax24, Axis x Homing Search Distance Ax24 Axis x Homing Search Distance Expanded by New Homing Types Ho mi n g S e a r c h A x Ax24 Q Homing Type: 0 = With Home Switch and Marker Pulse (Option 1) 1 = Only with Marker Pulse (Option 2) 2 = Only with Home Switch (Option 3) 3 = Only with Home Switch (Option 4) 4 = Passive Homing (Option 5) Search Velocity in of the maximum velocity Search Direction +/- 'Homed' output Homing Type, Option 1 Homing is started using an input signal at the 'Homing' input. When initializing the homing routine, if the axis is not located at the home switch, the velocity and direction programmed in Parameter Ax24 is used to move to the home switch. As soon as the home switch has been activated, the axis reverses and moves away from the home switch at ¼ the homing velocity programmed in the parameter. After leaving the home switch, the movement is reversed again and moved to the home switch at 10 increments per controller cycle (see Parameter B010), until the first marker pulse has been evaluated by the incremental encoder. Now the axis direction is reversed again, and moved to the exact position of the marker pulse (± 1 increment) at 1 increment per controller cycle. Homing Type, Option 2 Homing is started using an input signal at the 'Homing' input. A search for the first marker pulse occurs at a velocity of 10 increments per controller cycle in the direction programmed in Parameter Ax24. If it is found, a positioning move in the same direction occurs, to a position 1/32 revolution before the second marker pulse. After reaching this position, the second marker pulse is searched for at 1 increment/controller cycle. Homing Type, Option 3 Homing is started using an input signal at the 'Homing' input. Homing takes place at the velocity and in the direction programmed in Parameter Ax24, whether or not the axis is located at the home switch. The axis is homed when a rising edge is detected at the 'Home Switch' input.

9 2-2 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Homing Type, Option 4 Homing is started using an input signal at the Homing input. When initializing the homing routine, if the axis is located at the home switch, it is first moved off the home switch. Then, homing takes place at the velocity and in the direction programmed in Parameter Ax24. The axis is homed when a rising edge is detected at the Home Switch input. Homing Type, Option 5 If Axis 1 is located at the home switch and the Jog Forward, Drive 1 is pressed, the axis is homed as soon as it is moved off of the home switch. If Axis 1 is located at the home switch and the Jog Reverse, Drive 1 is pressed, the axis is homed as soon as it is moved onto the home switch. If the axis is positioned on the home switch, switching from Manual to Automatic is permitted. As soon as the carriage is synchronized and is moved off of the home switch, the axis is homed. Notes: The homing types, Option 2 and 3 are not permitted for the application type Flying Cutoff. The homing type, Option 5 is permitted only for the application type Flying Cutoff. Parameter B008, Fieldbus Formats B008 Fieldbus Formats Expansion by the Service Data Channel F i e l d b u s F o r m a t s B Fieldbus Slave Address Fieldbus : 0 = Enabled 1 = Disabled 2 = Fieldbus without system control 3 = Fieldbus and hardware system control Readout: System : Formats : 0 = Word, Long word 1 = Byte 0 = Intel 1 = Motorola 0 = Process Data Channel with I/O, Diagnostic, Variable Channel 1 = Process Data Channel with I/O and Diagnostic 2 = Process Data Channel with I/O, Diagnostic, Variable Channel, Service Data Channel Note: For the introduction of the Service Data Channel, the unit source file (*.gsd) with the designation "IN2_04eb.gsd" must be used.

10 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-3 Service Data Channel Reading a Datum Writing a Datum All the programs, parameters, variables and status information can be sent to the slave or read out via this channel. The data exchange occurs after the ASCII Data Protocol of the Serial Interface. Only the checksum, station number and CR LF at the end of the protocol are disregarded. 1. Read request (e.g.? N0000) Å Write 2. Readout of the requested datum Å Read 1. Write request Å Write 2. Readout of the response telegram Å Read Structure of the Control Word in the Service Data Channel Handling the Service Data Channel The control word is sent in the direction of master to slave. It is 16 bits wide and the individual bits are defined as follows: Control Word Bit 0-3: Format Bit 4-7: Length Bit 8: Toggle Bit 9: Reserved Bit 10: Last Bit Bit 11: Reserved Bit 12: R/W Bit Bit 13: Reserved Bit 14: Reserved Bit 15: C Bit Fig. 2-1: Structure of the Control Word in the Service Data Channel The individual bits are defined as follows: Format: These bits indicate the meaning of the transmitted data. Currently, only one format (B) exists. Length: These four bits indicate the length of the valid data byte in the Service Data Channel, not including the control word. The content of the invalid data is not defined. Toggle: This bit changes its status for each new cycle. It is used for a software handshake between master and slave. The master may only send this bit if the toggle bit in the status word has the same status as in the control word that was just sent. Last: Last Bit: This bit is set when the last fragment of a data set is sent. This way, the slave can recognize that it can assemble and edit the previously collected fragments. R/W: Read/Write; Read = 1, The master sets this bit when it would like to read data. C: Reserved. (Always 0) Note: Reserved Bits are to be set to 0.

11 2-4 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Status Word The status word is sent in the direction of slave to master. It is 16 bits wide and the individual bits are defined as follows: Bit 0-3: Format Bit 4-7: Length Bit 8: Toggle Bit 9: Reserved Bit 10: Last Bit Bit 11: Reserved Bit 12: R/W Bit Bit 13: Error Bit Bit 14: Reserved Bit 15: C Bit Fig. 2-2: Structure of the Status Word in the Service Data Channel The individual bits are defined as follows: Format: These bits indicate the meaning of the transmitted data. Currently, only one format (B) exists. Length: These four bits indicate the length of the valid data byte in the Service Data Channel, not including the control word. The content of the invalid data is not defined. Toggle: This bit changes its status for each new cycle. It is used for a software handshake between master and slave. The slave recognizes new data when the received toggle bit (control word) is not equal to the sent toggle bit. Last: Last Bit: This bit is set when the last fragment of a data set is sent. This way, the slave can display to the master that it is sending the last fragment. R/W: Read/Write; Read = 1, The slave sets this bit. (Copy of the master bit) Error Bit: This bit indicates an error that has occurred in the slave. The following data indicate the reason for the error. C: Reserved. Note: Reserved Bits are to be set to 0.

12 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-5 Communication Between Master and Slave A general description of the communication relationships is illustrated in the following graphic. The following two services are shown from the perspective of the master: Read Request (Readout of the requested data) (Readout of the response telegram) Write Request (Read request) (Write request) Master Slave Read Request Read Confirmation Read Response Read Indication Fieldbus Fig. 2-3: Master Reads Datum Master Slave Write Request Write Confirmation Write Response Write Indication Fieldbus Fig. 2-4: Master Writes Read or Write Request The Request and Indication services contain the same data; the difference is in the perspective ( Request from the master s perspective, Indication from the slave s perspective). If the master sends a service to the slave, the first word is the control word. If, however, an answer is sent from the slave to the master, the first word is the status word. Both words control the sequence of the Service Data Channel. If the data to be transmitted are longer than the length of the Service Data Channel, they must be fragmented. The required information is also contained in the control/status word. The total length that may be transmitted via the Service Data Channel is 128 bytes.

13 2-6 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Reading a Value The master clears the R-Bit to signal a request. In this example, an NC instruction is read out. The length of the control word is set to 8, which indicates the valid length of the data in bytes, not counting the control word. The toggle bit is set to 1, assuming it was set to 0 before. The L- Bit is also set, because all the data is sent in one block and therefore, the last fragment is transmitted. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M F 20 4E x x? _ N _ Fig. 2-5: The Master Sends a Write Request The slave responds with a Write Response that contains no data. Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S x x x x x x x x x x Fig. 2-6: The Slave Sends a Write Response The master now wants to read out the requested datum with a Read Request. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M x x x x x x x x x x Fig. 2-7: The Master Sends a Read Request The slave responds with a Read Response, which contains the requested data (total length = 14 bytes). The length indication was set to 10 and the toggle bit was also set to 1. The L-Bit is not set, because the data is fragmented and cannot all be transmitted at once. An additional fragment is required to receive the rest of the data.

14 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-7 Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S E E 4F # _ N _ N O Fig. 2-8: Read Response From the Slave (First Fragment) Now, the master must switch the toggle bit to show the slave that it is ready to receive new data. The R/W-Bit, the L-Bit, the length and the data are not of interest, and are therefore not considered by the slave. However, the master should set the bits as shown below. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M x x x x x x x x x x Fig. 2-9: The Master Sends a Read Request for the Second Fragment The slave responds with the second fragment, which contains the remaining 4 bytes. The L-Bit is set, because the system is processing the last fragment. In addition, the length is set accordingly. Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S x x x x x x P _ Fig. 2-10: Read Response From the Slave (Last Fragment) Writing a Value In this example, an NC instruction is written: # N0000 NOP The master clears the R-Bit to signal a write operation. In this example, the length of the operating datum is 12 bytes. Because only 5 data words are available in the Service Data Channel, the request cannot be sent all at once, but must be fragmented. Therefore, the L-Bit is not set; the toggle bit was switched opposite of the previous state. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M E E 4F # _ N _ N O Fig. 2-11: Write Request From the Master (First Fragment)

15 2-8 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS The slave responds with a Read Response that contains no data. This response indicates to the master that the slave is again ready to receive additional data. Each time, the status word is a copy of the control word, for which the length was set to 0 and the L-Bit was set. Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S x x x x x x x x x x Fig. 2-12: Write Response From the Slave Now, the master can send the rest of the data in the next Write Request. The master must change the status of the toggle bit again and the length must be indicated accordingly. The L-Bit is set, because the system is processing the last fragment. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M x x x x x x x x P _ Fig. 2-13: Write Request From the Master (Second Fragment) The slave now has all the information to process the master s request. To confirm successful execution of the service to the master, the slave sends a Write Response, which consists of the status word, to the master. Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S x x x x x x x x x x Fig. 2-14: Write Response From the Slave If the error bit is not active, the transmission is completed successfully. However, as for the Serial Interface, it is still possible to request a transmission confirmation. Status/Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M x x x x x x x x x x S Y _ Fig. 2-15: Transmission Confirmation

16 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-9 Error Messages If the slave detects an erroneous message, it generates an error message. This message contains an error code as a 16-bit value that indicates the source of the error. The error message has the following structure: Status Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data S d d y y x x x x x x x x Fig. 2-16: Structure of the Slave s Error Message The error bit is set and the R and toggle bits have the same value as the bit set in the master. The error code indicates an internal error code. The definition of the error code for internal errors is described as follows. Error Code yy ( Hex ) 0x0085 0x0088 0x008A 0x008B 0x008C 0x008D 0x0090 0x0095 0x0096 0x009A 0x009B 0x009C 0x009D 0x00F0 0x01nn 0x01FF Description Fig. 2-17: Error Codes The sum of the data in all of the collected fragments is too large. An internal error occurred during communication between the fieldbus card and the drive controller. The index sent by the master is not present. The format is unknown. The length of the valid data indicated in the status word is longer than the parameter channel length. Communication is not possible because the parameter channel was configured with only 1 word. The format changed during collection of individual fragments. Additional data besides the index and subindex is present in a read request. The internal SIS communication returned an error. This functionality has not been implemented. Switching between the old and new parameter channel is occurring for sending / receiving data. The indicated subindex does not exist. The subindex is write-protected. A timeout occurred during communication between the fieldbus card and the drive controller. nn = Error code for the serial interface The length indicated by the slave for the data to be transmitted is incorrect. ( >128)

17 2-10 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS If a 0x01nn error is present, this error can be read out again as plain text. Status/Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M F 20 4E x x? _ N _ S C 12 M x x x x x x x x x x S C X _ 0 1 _ 1 2 _ B l M x x x x x x x x x x S F 63 6B 20 2C F 6F 20 o c k _ # _ t o o _ M x x x x x x x x x x S C l a r g e Fig. 2-18: Error Output With Plain Text Termination of the Data Exchange In some cases, it can make sense to terminate the data exchange (the slave sends no more data). The master can indicate the termination of the data exchange to the slave by using the format 0xF in the control word and setting the length, the L-Bit and the R-Bit to zero. The toggle bit must be switched according to the previous state. The slave then terminates the data exchange and waits for a new service. Control Word Service Data C E R L T Length Format Data Data Data Data Data Data Data Data Data Data M d x x x x x x x x x x S d x x x x x x x x x x Fig. 2-19: Termination of the Data Exchange During Fragmenting

18 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-11 Parameter B010, Cycle Time B010 Cycle Time Input of the Controller Cycle Time Expanded Cyc l e T ime B Cycle Time in ms 1.0 = 1.0 ms 1.1 = 1.1 ms 1.2 = 1.2 ms 1.3 = 1.3 ms 1.4 = 1.4 ms 1.5 = 1.5 ms 1.6 = 1.6 ms 1.7 = 1.7 ms 1.8 = 1.8 ms 1.9 = 1.9 ms 2.0 = 2.0 ms 2.5 = 2.5 ms 3.0 = 3.0 ms 3.5 = 3.5 ms 4.0 = 4.0 ms For the value 0.0, the CLM automatically sets the cycle time to the following default values: 1 or 2 axes programmed: 2 ms 3 axes programmed: 3 ms 4 axes programmed: 4 ms The default setting for Parameter B010 is 0.0 for the automatic default setting. While operating the CLM, if the message System Failure! Code #IRQOVL appears, the cycle time is too short. The value selected in Parameter B010 must be increased. At a minimum, the default values should be programmed.

19 2-12 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Ax14 Axis x Position Monitoring Window Ax14 Axis x Position Monitoring Window Position Lag Monitoring and Drive Runaway Monitoring individually selectable Mon i t o r i ng Ax Ax Q Output Position error > Max. allowable deviation This output is set when the position deviation is greater than the allowed deviation. An input of means no output programmed. The output programmed here is set only when the error message is deactivated. The error message can be deactivated by inputting 1 as the first character in Parameter Ax14. Maximum allowable position deviation in percent of the maximum position deviation (position lag). Normally, a value of % is to be entered here. Input Range: from 001 to = Error Messages Drive Runaway and Position Lag active 1 = Error Messages disabled 2 = Error Message Drive Runaway on, Position Lag off 3 = Error Message Drive Runaway off, Position Lag on The CLM constantly monitors the position of Axis x. The CLM uses a mathematical model of the system to calculate the expected position error. Drive Runaway is present when the current position of the encoder exceeds the command position of the model. Position Lag is present when the current position of the encoder is less than the expected position of the model. Drive Runaway and Position Lag lead to a corresponding error message. The maximum allowable deviation between the actual position and the position calculated in the motor is set in Parameter Ax14 in %. The maximum position deviation is calculated as follows: max. Velocity in IU/s Position Deviation in IU = Kv ± Max. Pos. Deviation in IU = Velocity (like Ax12) VK (like Ax01) Kv Factor (like Ax11) 1000 L: IU = Input Units Kv = Factor Value / Parameter Ax11 VK = Feed Constant / Parameter Ax01 Fig. 2-20: Position Monitoring

20 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-13 Example: IU = mm Maximum Velocity (Ax12) = 2000 RPM VK (Ax01) = 100 mm Kv (Ax11) = RPM 100mm ± Max. Pos. Deviation iniu = = 200mm Fig. 2-21: Example of Position Monitoring With a change to the parameters Kv Factor and Maximum Velocity, because the input is in percent, the monitoring window does not need to be reprogrammed. So that the correct error message is always issued, Parameter Ax27 (Switching Threshold) should be smaller than: Parameter Ax14 in % 100 = Max. Position Deviation Fig. 2-22: Calculation of the Switching Threshold If Parameter Ax14 is programmed as too small a value, even a normal movement generates a Drive Runaway or Position Lag fault. Examples for Drive Runaway : 1) Parameter Ax21 Direction conflicts with the encoder wiring or the command value. 2) The axis moves without the output of a command position. 3) The input value in Parameter Ax19 does not correspond with Encoder Data (too small). 4) The maximum velocity in Parameter Ax12 is smaller than the indication on the amplifier module. Examples for Position Lag : 1) The programmed positioning command is not executed (no movement) because: a) the encoder cable is not connected. b) the encoder cable is defective 2) The input value in Parameter Ax19 does not correspond with encoder data (too large). 3) The maximum velocity in Parameter Ax12 is larger than the indication on the amplifier module. 4) The acceleration is too large. 5) The signal Controller Enable from the CLM does not reach the drive. 6) The value selected in Parameter Ax14 is too small.

21 2-14 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Serial Interface X8 Serial Interface X8 As an alternative to the serial interface X6, the serial interface X8 can be activated. To achieve this, the interface X6 must be turned off (baud rate = ). Only one serial interface is active at once. If the serial interface X6 (Parameter B002 and B003) is activated, the serial interface X8 (Parameter B004 and B005) is turned off. RS Fo rma t X8 B Number of stop bits (1 or 2) Word length in bits (7 or 8) Parity Check 1 = None 2 = Even 3 = Odd Interface operation 0 = Standard RS232C full duplex 2 = like 0 3 = RS485, half-duplex, station number fixed to 1 4 = RS485, half-duplex, station number 1-32 Baud rate (300 to baud) = Interface is disabled RS - Func t i ons X8 B Reserved Response delay in ms in RS485 Mode 000 = no delay 1 = in the event of a fault, an error message is sent automatically via the interface (only for RS232). 0 = Function disabled Station number interface confirmation ( Y CR LF ) 0 = off 1 = on Handshake / Checksum: 0 = Checksum validation on - Hardware handshake RTS/CTS off 1 = Checksum validation off - Hardware handshake RTS/CTS off 2 = Checksum validation on - Hardware handshake RTS/CTS on 3 = Checksum validation off - Hardware handshake RTS/CTS on

22 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-15 Master Encoder 2 Master Encoder 2 Master Encoder 2 can be used to measure feed length with the FUN command C004 Master Encoder 2, Data M. W h e e l 2 D a t a C Revolutions (absolute encoder) in preparation Encoder graduation mark (pulses per encoder revolution) C005 Master Encoder 2, Type M. W h e e l 2 T y p e C Reserved Encoder direction: 0 = do not turn 1 = turn Track monitoring: 0 = Enabled 1 = Disabled Number of absolute encoder data bits (in preparation) Encoder type: 0 = Incremental Encoder 1 = Single-turn absolute encoder (in preparation) 2 = Multi-turn absolute encoder (in preparation) Encoder number of Master Encoder 2: 1 = Master Encoder 2 is Encoder Axis 1 (Connector X1) 2 = Master Encoder 2 is Encoder Axis 2 (Connector X2) 3 = Master Encoder 2 is Encoder Axis 3 (Connector X20) 4 = Master Encoder 2 is Encoder Axis 4 (Connector X21) 5 = Master Encoder 2 is Incremental Encoder 5 (Connector X1)

23 2-16 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS C006 Master Encoder 2, Feed Constant M. W h. 2 F e e d C o n s t C Master Encoder 2, Measuring Wheel Encoder Feed Constant in IU Input Range: from to in IU FUN Command - Functions FUN - Functions Expanded FUN Command FUN Feed Length Measurement, Axis 4 Feed Length Measurement, Axis 3 Feed Length Measurement, Axis 2 Feed Length Measurement Axis 1 Feed Length Measurement, Master Encoder 2 Feed Length Measurement, Master Encoder 1 Length measurement of the material processed through the tool 0 = Buffer the measured value, then clear counter and re-start measurement. 1 = Clear counter and re-start measurement. The buffered measured value is retained. 2 = No change With the FUN command, the already executed feed lengths from Master Encoder 1, Master Encoder 2 and Axis 1 to Axis 4 can be measured. The current measurement values can be found in system variables V040, V042 and Vx11. The buffered measurement values can be found in system variables V041, V043 and Vx12.

24 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-17 VEO Command - Velocity Override VEO Velocity Override Command Expansion by Reducing the Reverse Velocity for Flying Cutoff VEO V V600 1 VEO or Function 0 = Override as factor 1 = Override as limit Override value in (from 001 to 999) This value is significant only in modes 4 and 6 0 = Read in new override value in each controller cycle (2 to 4 milliseconds) 1 = Read override value only once when command is invoked Override mode defaults 0 = Override disabled or as programmed in Parameter B017 1 = Analog value of volts at the corresponding analog input 2 = Binary value at inputs I to I = Gray code at inputs I to I = Override value from 'VEO' command (see above) 5 = Default Value by Measuring Wheel 1 6 = Analog input 1 * Override value from the 'VEO' command Axes 1 to 4 Using the 'VEO' command, the reverse velocity can be reduced in 'Flying Cutoff' mode. The reverse velocity results from multiplying the override value by the maximum velocity from Parameter A106. If the default override value is off, the maximum velocity from Parameter A106 is used as the reverse velocity. Notes: To reduce the reverse velocity in 'Flying Cutoff' mode, only Mode 0 and Mode 4 (override from VEO command) are permitted for determining the default override value. Only the information about the override value and the default override value is relevant. The reduction of the reverse velocity is possible only in Automatic Mode. After a re-start, error or use of 'Parameter' Mode, the reverse velocity is the maximum velocity from Parameter A106.

25 2-18 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS FOL Command - Follow Master FOL Follow Master Expansion by Synchronization FOL V600 V600 V601 FOL or Slave Factor Input from to Direction, with reference to Master Axis + or = in the same direction - = in the opposite direction Slave Axis Mode 0 = Slave Axis OFF 1 = Slave Axis ON (without ramp) 2 = Slave Axis ON (with acceleration ramp) Axis = 1 to 4 This command is valid for assigning the parameter for the axis to be used as a slave axis or synchronous axis (Parameter Ax00). The FOL command can be used to enable or disable the slave axis function. The behavior of the slave axis can also be changed by using a slave factor. The positioning travel of the slave axis in IU is calculated as follows: Positionin g Travel L: IU = input units Fig. 2-23: Positioning Travel of Slave Axis Master Axis in IU Slave Factor In calculating the positioning travel in IU for the slave and master axes, the IU shall be considered in terms of the feed constant for the relevant axis (slave or master). Any differences in the values calculated for the input units shall also be taken into account. Other programmed positioning motions of the slave axis (e.g., using POI or PSI) are additive in terms of velocity! After exiting Parameter mode or after clearing an error, the slave axis is defaulted to Mode 1 (without ramp) with a slave factor of For an operating mode change from Manual to Automatic, or vice versa, the condition (on or off) remains, along with the previous slave factor value. Slave Axis Mode 1 If the slave axis is turned on or off, or if the slave factor is changed, the slave axis follows the master axis with no ramp. Slave Axis Mode 2 If the slave axis is turned on or off, the slave axis accelerates or decelerates using an acceleration ramp. The acceleration and deceleration values are set in Parameters Ax08 and Ax09 or in the ACC command. When changing the slave factor, re-synchronization occurs by using the acceleration ramp. For Immediate Stop, the slave axis stops using the acceleration ramp. The activation state remains. For Start after a previous Immediate Stop, re-synchronization occurs when the previous activation state was ON.

26 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-19 For Interrupt, stopping and re-synchronization occurs using the acceleration ramp. The program proceeds to the next instruction following the time period of one cycle.

27 2-20 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS 2.2 New Parameters Reverse Optimization Reverse optimization serves to protect the mechanics in the application type Mode 5 Flying Cutoff. It is designed for applications with processing sequences that are changing or differently timed. Acceleration and deceleration for forward motion continues to take place using the value set in Parameter A108. Acceleration for reverse motion is calculated. If optimization is possible, the flying unit moves back to the original position at a reduced acceleration and accelerates back into synchronization without standing still or with a shorter standstill time. If optimization of the reverse motion is not possible, the flying unit moves back to the original position at the acceleration programmed in Parameter A108. Opti_Back_AE.WMF Fig. 2-24: Reverse Optimization Notes: If the function Reverse Inhibit is active, no reverse optimization occurs. The function Reverse Optimization is valid only for Axis 1 and for Mode 5 Flying Cutoff.

28 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-21 Ax39 Reverse Optimization 1 Reve r se op t. 1 A1 Ax39 I Q Output: Reverse optimization active Input: Reverse optimization on = Function off Ax40 Reverse Optimization 2 Reve r se op t. 2 A1 Ax Minimum acceleration in of Ax08 Velocity window in of Ax06 Wait time at the original position, in seconds Minimum Acceleration For large production lengths, the reverse acceleration can become very small. Using the value in Parameter A140, a minimum reverse acceleration can be set. Velocity Window If, during reverse motion, the material velocity is increased by more than the velocity window programmed in Parameter A140, a switch is made to the acceleration set in Parameter A108. Wait Time For very large fluctuations in the material velocity, it is possible that the flying unit may no longer reach the original position at the reverse acceleration during reverse motion, because acceleration to the next processing location must occur. To avoid this, a 'wait time in the original position' can be programmed.

29 2-22 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS 2.3 New Functions Additional System Variables System Variable V026 "Currently Processed Material Length": Using System Variable V026, the material length that has currently run through the tool can be displayed. For this to occur, length measurement must be activated using the FUN command. Note: The System Variable V026 is valid only for Axis 1 and for Mode 5 Flying Cutoff. System Variable V040 "Current Feed Length, Master Encoder 1": With the System Variable V040, the current feed length for Master Encoder 1 can be displayed. For this to occur, length measurement for Master Encoder 1 must be activated using the FUN command. System Variable V041 "Buffered Feed Length, Master Encoder 1": With the System Variable V041, the feed length for Master Encoder 1 that was buffered using the FUN command can be displayed. System Variable V042 "Current Feed Length, Master Encoder 2": With the System Variable V042, the current feed length for Master Encoder 2 can be displayed. For this to occur, length measurement for Master Encoder 2 must be activated using the FUN command. System Variable V043 "Buffered Feed Length, Master Encoder 2": With the System Variable V043, the feed length for Master Encoder 2 that was buffered using the FUN command can be displayed. System Variable Vx11 "Current Feed Length, Axis x": With the System Variable Vx11, the current feed length for Axis x can be displayed. For this to occur, length measurement for Axis x must be activated using the FUN command. System Variable Vx12 "Buffered Feed Length, Axis x": With the System Variable Vx12, the feed length for Axis x that was buffered using the FUN command can be displayed.

30 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-23 System Variable V000 "Cycle Counter 1": The counter is incremented by 1 for each NC cycle. The value is output as modulo in NC cycles. The counter cannot be cleared. System Variable V001 "Cycle Counter 2": When the NC program has been started in Automatic Mode, the counter is incremented by 1 for each NC cycle. The value is output as modulo in NC cycles. The counter cannot be cleared. System Variable V002 "Current Program Instruction in Task 1": The current status of the program instruction counter for Task 1. System Variable V003 "Current Program Instruction in Task 2": The current status of the program instruction counter for Task 2. System Variable V004 "Current Program Instruction in Task 3": The current status of the program instruction counter for Task 3. System Variable V005 "Current Program Instruction in Task 4": The current status of the program instruction counter for Task 4. System Variable V006 "Current Program Instruction in Task 5": The current status of the program instruction counter for Task 5. System Variable Vx03 "Current Position Lag, Axis x": The current position lag (Position Command Value Actual Position Value) for Axis x is displayed. System Variable V045 "Fieldbus Baud Rate in KBaud": The baud rate set in kbaud by the fieldbus master can be displayed using the system variable V045. System Variable V046 "Fieldbus Timeout": The timeout in milliseconds set by the fieldbus master can be displayed using the system variable V046. System Marker Flags System Marker Flag M "Axis 1 synchronous": If Axis 1 follows the master encoder using the set factor, the system marker flag M = 1. If the axis is not synchronous, the system marker flag M = 0. System Marker Flag M "Axis 2 synchronous": If Axis 2 follows the master encoder using the set factor, the system marker flag M = 1. If the axis is not synchronous, the system marker flag M = 0.

31 2-24 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS System Marker Flag M "Axis 3 synchronous": If Axis 3 follows the master encoder using the set factor, the system marker flag M = 1. If the axis is not synchronous, the system marker flag M = 0. System Marker Flag M "Axis 4 synchronous": If Axis 4 follows the master encoder using the set factor, the system marker flag M = 1. If the axis is not synchronous, the system marker flag M = 0. Status Information Status 60 Output of the erroneous parameter number, NC instruction number, Logic Task instruction number, variable number The status query:?sx 60_a_ CR LF produces the message: Xs60_a_nnnn_$hh CR LF Instruction number, parameter number or variable number 0 = Parameter 1 = NC 2 = Logic Task 3 = Variable Note: If no error is present, space characters _ are output for the number n.

32 CLM1.4-LAP-04VRS Differences From FWA-CLM1.4-LAP-03VRS 2-25 Additional Interface Commands Note: For all commands, it is necessary for the checksum transmission to be independent of the programming in Parameter B003 or B005! Set Default Values Write all parameters with default values.!scsetpa_$hh CR LF Note: This command is only accepted in Parameter Mode. Write NOP to NC Instructions NOP commands are written to all NC program instructions.!scnopnc$hh CR LF Write NOP commands to NC program instructions.!scnopncvvvvbbbb_$hh CR LF vvvv = beginning with NC instruction number ( ) bbbb = up to and including NC instruction number ( ) Note: These commands are only accepted in Parameter Mode. Write NOP to Logic Task Instructions Write NOP commands to all Logic Task program instructions.!scnoplt$hh CR LF Note: END is written to instruction 0000! Write NOP commands to Logic Task program instructions.!scnopltvvvvbbbb_$hh CR LF Vvvv = beginning with Logic Task instruction number ( ) bbbb = up to and including Logic Task instruction number ( ) Note: If instruction 0000 is the first instruction, END is written to it. These commands are only accepted in Parameter Mode.

33 2-26 Differences From FWA-CLM1.4-LAP-03VRS CLM1.4-LAP-04VRS Clear NC Variables Clear all user-programmable variables V600 to V999.!sCCLVAR$hh CR LF Clear a variable range.!scclvarvvvvbbbb_$hh CR LF vvvv = beginning with variable number ( ) bbbb = up to and including variable number ( ) Note: These commands are only accepted in Parameter Mode. Error Diagnostic E r r o r N C I n s t r : LT I ns t r : Va r i ab l e : 0620 If the CLM diagnoses an error, an error message is shown on the display. If the key is pressed, an additional display shows in which NC instruction, Logic Task instruction or variable the error occurred. Pressing the key returns to the error display.

34 CLM1.4-LAP-04VRS Index Index C Clear NC variables 2-26 Cycle Time 2-11 D Drive Runaway 2-12, 2-13 E Error Diagnostic 2-26 F Feed Length Measurement 2-16 Firmware Upgrade 1-1 FUN Command 2-16 H Homing 2-1 M Master Encoder P Parameter A Parameter A Parameter A Parameter B Parameter B Parameter B Parameter B Parameter C Parameter C Parameter C Position Lag 2-12, 2-13 R Reverse Optimization 2-20 Reverse velocity 2-17

35 3-2 Index CLM1.4-LAP-04VRS S Serial Interface X Service Data Channel 2-2 Set default values 2-25 Status Message System Marker Flag, Axis 1 synchronous 2-23 System Marker Flag, Axis 2 - synchronous 2-23 System Marker Flag, Axis 3 synchronous 2-23 System Marker Flag, Axis 4 synchronous 2-24 System Variable V System Variable V System Variable V System Variable V System Variable V System Variable V System Variable V System Variable V System Variable V , 2-22 System Variable V , 2-22 System Variable V , 2-22 System Variable V , 2-22 System Variable V System Variable V System Variable Vx System Variable Vx , 2-22 System Variable Vx , 2-22 V VEO Command 2-17 W Write NOP to Logic Task Instructions 2-25 Write NOP to NC instructions 2-25

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37 Printed in Germany