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CLC Multi-Axis Coordinated Motion Control

1. SERCOS QC CLC V 2 1 CLC V 2 3 Figure 1 5 CLC V Hardware Comparison CLC V Serial Communication Port A is configured to respond to the CLC ASCII Host Protocol Port B can be configured to respond to Host Protocol Teach Pendant or another interface The serial interface is compatible with EIA RS 232C and supports signals for both AT and XT type Host PCs The CLC s default parameters are 9600 baud 8 bits per character 1 stop bit no parity The configurable communication settings are shown in the following table Serial Com Options Baud Rate Port A X27 default 9600 Port A X27 valid 300 1200 2400 4800 9600 enabled or gel 19200 38400 mcm Port B X28 default 9600 enabled Port B X28 valid 300 1200 2400 4800 9600 enabled or settings disabled 1 8 Introduction and Overview End User Manual IMIDR ARIAL End User Manual CLC Multi Axis Coordinated Motion Control CLC V SERCOS The SERCOS port is used for loop through daisy chained installation into a SERCOS fiber optic ring The output port Tx is connected to the SERCOS input port of the next SERCOS device in the ring Each SERCOS device is interconnected output to input with the output of the last device returned to the SERCOS input Rx of the C
2. 4 20 Floating Point Variable Table Edit 4 21 4 6 Jog Menu ers eene eee pee ie Ga eec pea v ene ec paa ev ene ee eve 4 22 JOg SyStems 5 9 1 rete a aee Gl axe dee e pv ve ee eae 4 23 J g Melo gt C 4 24 Teaching POMS seieren ete Gln eve dee du ena e ee av ce 4 24 Jog Fine Adjustments oce ener eee 4 24 4 7 GontrolMeru uec eno cte dne e e et eee e ru ee tee e eu e 4 25 Control Menu Auto Run Hold 4 26 Control Menu Auto Step 4 27 Control Menu Manual Mode 4 28 4 8 Register l O 2 nia teen vacet ee oil ev uou Bel eo v uode e axe e reg dee 4 29 4 9 Parameter ette aede eee din epa p egt ate mug Rev ade 4 31 Gard Parameter eoo pa vede dec die Ya ane lina ae aie ve ad 4 31 Axis Parameter Scree Nicasia ene ee a eve le el e ue e una 4 32 Task Parameter SCreer ce tg e er de n Pede p Due e det ve ee eu Gh ee 4 32 Drive Parameter SCreen iere ee e ned cota ene uda havi ieee 4 33 4 10 Security Men UE 4 34 4 11 Diagnostics eurer recte iri 4 35 4 42 Help Menu eere pee ec Gente seen ed ie d bee ee eee pa ao pua ve ene eee re eevee 4 35 4 13 Eror S
3. CLC D front plate Figure 1 3 7 segment display on the CLC D Initial display Initialization Mode SERCOS phases 1 4 Parameter mode No user tasks are running Halt Task is running Task is running Task C is running o Task D is running Error codes When an error exists the CLC displays the three digit diagnostic code from Parameter C1 123 and Register 6 E indicating error is displayed for one second and each digit of the code is displayed for one half second The display continues to scroll in this manner until the error is cleared E400 E999 Shutdown Error For individual error code descriptions see Chapter 2 Monitoring and Diagnostics CLC Watchdog The decimal point on the display is connected to a hardware watchdog circuit that is refreshed by the CLC every 100ms If the microprocessor fails or if the CLC drops into the pROBE monitor the display is blanked and the decimal point turns on While the CLC is running the decimal point is off Introduction and Overview 1 5 CLC Multi Axis Coordinated Motion Control INDRAMNAL CLC P Overview 1 6 Introduction and Overview CLC P SERCOS and Serial Communication The CLC P card has the same serial communication and SERCOS settings as the CLC D card See CLC D Serial Communication CLC P Jumper Configuration Jumpers S1 and S2 set the default configuration for serial ports X27 and X28 respectively If the jumper
4. device must be enabled and the address selected on the device must match the CLC parameter A VME arbiter must be present in the rack on CLC V switch SW5 8 must be on See the I O device descriptions for more information 414 Parameters were lost CLC System Task and Axis parameters were lost and defaults have been loaded The RAM backup battery has failed or was not connected or an internal system error or new software version has corrupted the memory 415 Drive D was not found A drive D that is used in a program or selected in the system parameters was not found on the SERCOS ring Check the fiber optic connections the address switches on the drives and the user program and parameters 416 Invalid Instruction at XXXX An invalid user program instruction was found by the CLC during compilation Recompile the program from the PC and download it again If the error still occurs check the source program for an instruction that may not be supported in this firmware version End User Manual IMIDR ARIAL End User Manual CLC Multi Axis Coordinated Motion Control 417 SYSTEM ERROR pSOS XXXX An internal CLC operating system error has occurred Call Indramat Service for assistance 418 No program is active No active user program was found on the CLC during initialization Download and activate a program from the user interface then clear the error 419 Invalid Program File A checksum or file format error was f
5. 3 10 Figure 4 9 Menu Map F FA roi iraa sche 4 2 Figure 4 10 Menu ESFE gerio etin rtt shines 4 3 End User Manual Contents 111 INDRAMAL CLC Multi Axis Coordinated Motion Control 1 Introduction and Overview 1 1 Purpose of Manual This document is a user manual for the CLC motion control card For information pertaining to other system components refer to the following documentation DIAX03 Drive with Electronic Transmission Function DOK DIAX03 ELS 04VRS 50M1 EN P Part No 273438 DDS 2 1 W Analog Interface Application Manual Pub No 209 0069 4315 03 Part No 257182 DDS 2 1 3 1 W SERCOS Interface Application Manual Pub No 209 0069 4321 04 Part No 262156 DKS Intelligent Digital Servo Drive Project Planning Manual Pub No 209 0069 4355 00 Part No 259310 DKS and MDD Intelligent Digital AC Servo Drives Application Manual Pub No 209 0069 4351 01 Part No 261809 This document is meant to be a user manual for operators who are running or troubleshooting systems that use the CLC card The information contained in this manual is intended for trained operating and maintenance personal Itis assumed that the controller and drives are installed properly and that all the hard wiring has already been done For more information refer to the following CLC Manuals eCLC Start Up Guide IAE 68010 Rev B 02 97 Part No 274661 eCLC Reference Manual eCLC Product Information Guide En
6. Table Includes Program number CLC card ID 1 10 Program name Program size in decimal bytes CLC PROGRAM MENU 12 20 96 15 39 27 01 03 97 10 20 15 01 03 97 16 20 00 11 20 96 16 20 00 01 03 97 07 15 00 Activate The up and down arrow keys move the cursor to select a program Pressing F5 activates the selected program Note The currently active program must not be running when activating another program End User Manual Teach Pendant 4 9 CLC Multi Axis Coordinated Motion Control INDRAMAL Sequencer Editing F4 The F4 key Edit only applies to programs which contain Sequencers Pressing F4 allows the user to edit the Sequencer list steps and functions of the selected program See the CLC Reference Manual IAE 74792 Rev F 10 96 for more Sequencer information Sequence List Menu The first screen that appears after pressing F4 in the CLC Program Menu is the Sequence List Menu Use the arrow keys to navigate with the cursor to select the desired Sequence List Press F4 again to edit the contents of the selected list name within the Sequence Edit Menu SEQUENCE LIST MENU PROGRAM SEQ1 01 INITIALIZE_SYSTEM 02 PRODUCT 1 03 PRODUCT 2 The name of each list can also be edited Position the cursor at the end of the list name and press the Edit key This activates a special editing mode which allows you to type letters according to the keyboard map illustrated below Use the F1 key to delete characters to th
7. VME bus STDBY line Both positions of SW6 must be ON to enable the on board secondary battery and disconnect the CLC V from the VME bus STDBY line CAUTION Leave both switch positions OFF as set by the factory The VME card cage is the required source of battery back up Damage to the CLC V s on board secondary battery may occur if a VME card cage supplies battery backup and either position of SW6 is set ON On Board Primary Battery SRAM parameters and real time clock RTC backup is provided by a 3 volt CR2032 lithium button style battery The battery has a capacity of 0 18 Amp hours 1 10 introduction and Overview End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control 2 Monitoring and Diagnostics 2 1 System Diagnostics Codes and Messages The CLC provides three types of diagnostic messages Status Messages Warnings and Shutdowns Diagnostic messages are preceded by an identifying code number Indramat assigns these code numbers using the following groups Status Messages 001 199 Warning Messages 201 399 Shutdown Messages 400 599 A second error code is often included within the primary error message X indicates a hexadecimal error code D indicates a decimal error code The Host can request the currently active diagnostic message for the CLC system and for each user task In addition any parameters pertaining to Drive Diagnostics can be accessed through drive service channel Dx x
8. engineering mannesmann Rexroth CLC Multi Axis Coordinated Motion Control End User Manual DOK VISMOT VM 05VRS WAR1 AE P 278099 Indramat CLC Multi Axis Coordinated Motion Control INDRAMNAL Kind of documentation Document typecode Internal file reference Purpose of this document Record of revisions Copyright Validity Published by About this documentation Title CLC Multi Axis Coordinated Motion Control User Manual DOK VISMOT VM 05VRS WAR1 AE P e usergps5 doc This document supports trained operating and maintenance personnel e inthe rapid identification of faults e outlining steps for the elimination of faults e to effectively contact either the manufacturer of the machine or INDRAMAT customer service This document should be placed in the control cabinet where it can be easily accessed by operating or maintenance personnel INDRAMAT 1998 Copying this document and 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 All rights are reserved with respect to the content of this documentation and the availability of the product 5150 Prairie Stone Parkway Hoffman Estates IL 60192 Telephone 847 645 3600 Fax 847 645
9. 455 Invalid VME Data Transfer Class During a VME READ or VME WRITE instruction the transfer class e g 116 F32 etc is invalid 456 Invalid VME Address During a VME READ or VME WRITE instruction the VME address does not lie within the valid VME address range 457 Table Bounds Error During VME Read The variable or point table index exceeds the size of the table configured in the DATA SIZE instructions 458 Table Bounds Error During VME Write The variable or point table index exceeds the size of the table configured in the DATA SIZE instructions 459 Axis D target position out of bounds The programmed position in an axis move command exceeds the drive s travel limits Adjust the travel limits or check the variable or constant containing the position 460 Invalid program D from binary inputs The program selected from the Binary Program Select bits does not exist on the card or is greater than the maximum number of programs 461 System Error This error is not issued in current CLC versions and is reserved for future use 462 System Error This error is not issued in current CLC versions and is reserved for future use 463 Ratio command invalid ratio In the RATIO command one of the factors is too large or the master factor is zero 464 Can t activate while program running A new program cannot selected through the Binary Program Select inputs unless the program is stopped Monitoring and Diagnostics 2 1
10. CLC data the item name consists of a string which contains the class subclass and data identifiers of the information for the CLC card The strings follow the ASCII serial protocol Refer to Appendix B Direct ASCII Communications for an explanation of these codes When exchanging server data the item name should consist of the section and entry name from the INI file clc dde ini The two names must be divided by a pipe 1 character Not all server data has read write capabilities RX 0 10 Specifies register 10 in hexadecimal format TP 2 20 Specifies task B parameter 20 CP 1 122 Specifies card parameter 122 SERIAL Baudrate Specifies the baud rate to use for serial connections Note Serial connections directed at different units will be passed through the VME backplane to the proper unit CLC V only This allows communications with any CLC_V card in the VME rack with only one serial connection End User Manual TDD CLC Multi Axis Coordinated Motion Control 3 2 The Communication Servers Main Window CLC_DDE displays the unit number and current status for the selected CLC control card To display the status for a different CLC card or to disable this feature open the server configuration dialog box under the settings menu item Select the desired connection unit from the CLC status display combo box When CLC_DDE is in an icon state the tip of the arrow will change colors depending on the communication state A gr
11. D partement INDRAMAT Chemin de l Ecole 6 CH 1036 Sullens Phone 021 731 43 77 Fax 021 731 46 78 Northern Sales Region INDRAMAT GmbH FahrhausstraBe 11 D 22085 Hamburg Phone 040 227126 16 Fax 040 227126 15 End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Notes End User Manual Customer Service Locations Indramat
12. Either this axis is disabled or the CLC TRANS 01 D does not support this number of axes 153 Waiting for service channel When switching between drive initialization phases data from the drive is momentarily invalid This message is sent instead of the requested data This message will also be issued whenever a service channel transaction cannot be completed Continue to retry the message until a valid response is returned 154 List or String is too short The text string or parameter list is smaller than the minimum length allowed by the CLC TRANS 01 D or the drive or the size of a value does not match the attributes sent from the drive 155 List or String is too long The text string or parameter list exceeds the maximum length allowed by the CLC TRANS 01 D or the drive or the size of a value does not match the attributes sent from the drive 156 PC Communication Handshake The CLC TRANS 01 D P is not responding to an ASCII message Check the Error address configuration on both the PC config sys and system ini and the CLC TRANS 01 D P address jumper switches 157 I O Mapper Max file size on The CLC TRANS 01 D s memory that was allocated for mapper strings CLC Exceeded 8KBytes has been exhausted Optimize the mapping program so that it fits into memory 158 Cannot store cam already Cam data cannot be changed unless no axes are currently using it Deactivate active for axis D the cam for axis D then send the cam aga
13. F7 F8 Main Diag F1 Page Up F2 Page Down F3 Display Format Display Format Pressing F3 toggles the display between floating point fixed 100 000 and scientific 1 000E2 notation End User Manual Teach Pendant 4 21 CLC Multi Axis Coordinated Motion Control INDRAMAL 4 6 Jog Menu The Jog menu allows you to jog a stopped system The following I O register bits must be on before jogging an axis Register 1 System Control Register 2 3 4 or 5 Task Control Bit6 Pendant Live Man Bit 1 Mode Manual ROBOT JOG MENU Task A System Axis Method Continuous Slow 0001 ABS 1 AXIS TAUGHT 12 643 20 3 95 215 54 2 63 609 16 0 0 960 10 0 AXS 857 628 F2 F3 F4 F5 F6 F7 F8 System Method IncPnt DecPnt Axis Para Main Diag F1 System F2 Method Increase Point Decrease Point F5 Axis F6 Parameters F8 Diagnostics Press F1 to select either the Axis Joint World or Tool jog system F2 selects the jog method which can be continuos or incremental F3 and F4 increases and decreases the current point in the point table which can be taught See Teaching Points below F5 selects a single axis to jog F6 opens the Edit Jog Parameters screen which allows the user to adjust the percent distance and speed parameters as well as view the values set for each Task and Axis 4 22 Teach Pendant End User Manual IMbDR ARIZA Jog Systems End User Manual CLC Multi Axis Coordinated Motion Control Axis J
14. XXXX An error was found in compile time instruction TASK AXES KINEMATIC after program activation See the task diagnostic message for a description If there is no task diagnostic message call Indramat for assistance 437 Axis D not controlled by this task Single axis motion was started from a task not associated with an axis Motion can only be started from a task with axes selected in the TASK AXES command 438 Invalid Axis Selected D Axis D was not found on the SERCOS ring or is an invalid axis number This error is issued during single axis or ELS motion commands Check the constant or variable that contains the axis number 439 Invalid Motion Type D The axis type does not match the type of motion used by the instruction This error is issued when a single axis command is given to a coordinated motion axis for example 440 I O Transfer Error see task diag An error occurred while reading or writing I O register See the task diagnostic message for a description 441 DMA error while reading from local RAM 442 DMA error while reading from VME address 443 DMA error while writing to local RAM Monitoring and Diagnostics 2 9 CLC Multi Axis Coordinated Motion Control INDRAMNAL 2 10 Monitoring and Diagnostics 444 DMA error while writing to VME address 445 DMA Access Time out Error 446 DMA Time out Error 447 VME SYSFAIL Detected 448 VME Communication Handshake Error D 449 VME Bus Error A
15. 1 10 Baud Rate 3 6 C CLC Back Plane Relay Time out 3 4 Response Time out 3 4 Server Configuration 3 3 Status and Diagnostics 2 1 Status Display 3 4 CLC DDE Server 3 3 CLC Overview 1 2 CLC D Configuration Jumpers 1 4 SERCOS 1 4 Serial Communication 1 3 CLC D 2 1 2 2 Diagnostic Display 1 5 CLC D Overview 1 3 CLC P Jumper Configuration 1 6 SERCOS 1 6 Serial Communication 1 6 Index 5 5 Error Reference source not found 5 6 Index CLC P Overview 1 6 CLC V Configuration Switches 1 9 SERCOS 1 9 Serial Communication 1 8 CLC V Overview 1 8 Communication Error Codes and Messages 101 SERCOS Error Code xxxx xxxx Error code 102 Invalid Parameter Number 2 19 103 Data is Read Only 2 19 104 Write Protected in this mode phase 2 19 105 Greater than maximum value 2 19 106 Less than minimum value 2 19 107 Data is Invalid 2 19 108 Drive was not found 2 19 109 Drive not ready for communication 2 19 10 Drive is not responding 2 19 111 Service channel is not open 2 19 112 Invalid Command Class 2 19 113 Checksum Error xx xx checksum that CLC calculated 14 Invalid Command Subclass 2 19 115 Invalid Parameter Set 2 19 116 List already in progress 2 19 117 Invalid Sequence Number 2 19 118 List has not started 2 19 H9 List is finished 2 19 120 Parameter is a List 2 19 121 Parameter is not a List 2 19 122 Invalid Variable Number 2 19 123 Insufficient program space 2 19 124 Maximum number of files exceeded
16. 126 Checksum Error in Program 2 20 127 Invalid Program Handle 2 20 128 Function not Implemented 2 20 129 File not Found 2 20 130 Invalid I O Register 2 20 131 Invalid Table Index 2 20 32 Communication Error 32 2 20 133 Invalid Data Format 2 20 134 Active program can t be deleted 2 20 135 Parameter mode is required 2 20 136 Invalid Event Number 2 20 137 Invalid Event Function 2 20 138 Program file version mismatch 2 20 139 Can t activate while program running2 20 140 No programs are active 2 20 141 System Error pSOS XXXX 2 20 142 Mapper String invalid operator 2 20 143 Mapper String DD too many operations 2 20 144 Mapper String DDY invalid register 2 20 145 Mapper String DD invalid bit or mask 2 20 146 Mapper String DD register is read only 2 20 End User Manual Index 5 1 Error Reference source not found 5 2 Index INDRA DIAL 147 Invalid Unit Number 148 VME Bus Error 2 20 2 20 149 VME Communication Handshake Error D 2 21 150 Invalid Download Block 2 21 151 Unit DV Invalid VME Base Address 2 21 152 Axis Disabled 2 21 153 Waiting for service channel 2 21 154 List or String is too short 2 21 155 List or String is too long 2 21 156 PC Communication Handshake Error 2 21 157 Mapper String D string space is full 2 21 158 Cannot store cam already active for axis D 2 21 159 SERCOS handshake busy timeout 2 21 160 Executable program is too large ddk 2 21 161 System Memory Allocation Er
17. 2 20 125 Invalid program header 2 20 126 Checksum Error in Program 2 20 127 Invalid Program Handle 2 20 128 Function not Implemented 2 20 129 File not Found 2 20 130 Invalid I O Register 2 20 131 Invalid Table Index 2 20 132 Communication Error 32 2 20 133 Invalid Data Format 2 20 134 Active program can t be deleted 2 20 135 Parameter mode is required 2 20 136 Invalid Event Number 2 20 137 Invalid Event Function 2 20 138 Program file version mismatch 2 20 139 Can t activate while program running 2 20 140 No programs are active 2 20 141 System Error pSOS XXXX 2 20 142 Mapper String DD invalid operator 2 20 143 Mapper String DD too many operations 2 20 144 Mapper String DDV invalid register 2 20 145 Mapper String DDV invalid bit or mask 2 20 146 Mapper String DD register is read only 2 20 147 Invalid Unit Number 2 20 148 VME Bus Error 2 20 2 19 2 19 2 19 INDRA DIAL End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control 149 VME Communication Handshake Error D 150 Invalid Download Block 2 21 151 Unit Invalid VME Base Address Page 152 Axis Disabled 2 21 153 Waiting for service channel 2 21 154 List or String is too short 2 21 155 List or String is too long 2 21 156 PC Communication Handshake Error 2 21 157 Mapper String D string space is full 2 21 158 Cannot store cam already active for axis D 2 21 159 SERCOS handshake busy timeout 2 21 160 Execut
18. 6201 End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Contents 1 Introduction and Overview 1 1 Tut Purpose Of inii 1 1 1 2 Manual OVE E cle Lee a Murus es 1 2 EKOROKO IAA 1 2 EOD NETANE AERE 1 3 CI GPLOVOEVIQWI kis 1 6 VOVOEVIOW E 1 8 2 Monitoring and Diagnostics 2 1 2 1 System Diagnostics Codes and 5 5 2 1 2 2 Status Messages 001 199 a Bion eti o e eid eerte eta ebd Pate a itn eq tated 2 2 2 3 Warning Messages 201 399 1 eic et pen e te ee teret bd reet tee tee teles 2 3 2 4 Shutdown Messages 400 599 enne 2 4 2 5 F tal Systemi o AE ete tein n cotidie th ite edite fq ceti 2 18 2 6 Communication Error Codes and Messages 2 19 3 CLC DDE Server 3 1 3 Dynamic Data Excharige aded tras RUD Max dashes 3 1 The Dynamic Data Exchange Server 3 1 Dynamic Data Exchange 3 2 3 2 The Communication Servers Main Window sse eene tenetis 3 3 Settings Menu CLC Server Configuration sss 3 3 Settings Menu Serial Communications 3 6 Settings Menu VME nennt na 3 7 Settings Menu
19. 756 02 40 Telex 262 66 rexro ar Fax 01 756 01 36 CLC Multi Axis Coordinated Motion Control INDRAMAT Service Hotlines USA 1 800 860 1055 Canada 1 847 645 3600 request Service Department Latin America US Phone No 847 645 3600 request Service Department Argentina Nakase Asesoramiento Tecnico Diaz Velez 2929 1636 Olivos Provincia de Buenos Aires Argentina Phone 01 790 52 30 Customer Service in the Americas Asia Australia and Far East Australia Australian Industrial Machinery Services Pty Ltd Unit 3 45 Horne ST Campbellfield VIC 2061 Australia Phone 03 93 59 0228 Fax 03 93 59 02886 China Rexroth China Ltd A 5F 123 Lian Shan Street Sha He Kou District Dalian 116 023 P R China Phone 0411 46 78 930 Fax 0411 46 78 932 Korea Rexroth Seki Co Ltd 1500 12 Da Dae Dong Saha Gu Pusan 604 050 Korea Phone 051 264 90 01 Fax 051 264 90 10 End User Manual China Rexroth China Ltd Shanghai Office Room 206 Shanghai Intern Trade Centre 2200 Yanan Xi Lu Shanghai 200335 P R China Phone 021 627 55 333 Fax 021 627 55 666 Hong Kong Rexroth China Ltd 19 Cheung Shun Street 1st Floor Cheung Sha Wan Kowloon Hong Kong Phone 741 13 51 54 and 741 14 30 Telex 3346 17 GL REX HX Fax 786 40 19 786 07 33 Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Phone
20. 93 for CLC TRANS 01 D memory status 124 Maximum number of files The CLC TRANS 01 D allows up to 10 programs resident in the CLC TRANS exceeded 01 D This error message is sent when the CLC TRANS 01 D receives a PW program header and there are already 10 programs stored on the CLC TRANS 01 D One of the CLC TRANS 01 D resident program files must be deleted to make room to download the program End User Manual Monitoring and Diagnostics 2 19 CLC Multi Axis Coordinated Motion Control NDT ZA DIZ 125 Invalid program header The format of the program header sent to the CLC TRANS 01 D is invalid or this command is not available for reading or writing 126 Checksum Error in Program This message is sent at the end of a download if the checksum of the data does not match the checksums sent in the program or program header 127 Invalid Program Handle The format of the handle is incorrect or this command is not available for reading or writing 128 Function not Implemented The function is not implemented in this version of the CLC TRANS 01 D 129 Program not found on CLC A program corresponding to the requested program handle was not found e g the program is not resident in the CLC TRANS 01 D 130 Invalid I O Register or Bit The I O register mnemonic is invalid or a register number greater than the Number maximum number of registers was sent 131 Invalid Table Index The ABS REL or EVT table name was incorrect or the in
21. Block Task A Entry Block Task A Teach Bit 7 Bit 8 Block Task B Manual Block Task B Auto Block Task B Step Block Task B Jog Block Task B Entry Block Task Teach Input EL Bits Bit 16 Block Task C Manual Block Task C Auto Block Task C Step Block Task C Jog Block Task C Entry Block Task C Teach Bit 7 Bit 8 Block Task D Manual Block Task D Auto Block Task D Step Block Task D Jog Block Task D Entry Block Task D Teach Bit 15 Bit 16 Teach Pendant 4 41 INDRAMNAL CLC Multi Axis Coordinated Motion Control 5 Index 101 SERCOS Error Code xxxx xxxx Error code 2 19 102 Invalid Parameter Number2 19 103 Data is Read Only 2 19 104 Write Protected in this mode phase 2 19 105 Greater than maximum value 2 19 106 Less than minimum value 2 19 107 Data is Invalid 2 19 108 Drive was not found 2 19 109 Drive not ready for communication 2 19 110 Drive is not responding 2 19 11 Service channel is not open 2 19 H2 Invalid Command Class 2 19 H3 Checksum Error xx xx checksum that CLC calculated 2 19 114 Invalid Command Subclass 2 19 115 Invalid Parameter Set 2 19 116 List already in progress 2 19 H7 Invalid Sequence Number 2 19 118 List has not started 2 19 119 List is finished 2 19 120 Parameter is List 2 19 121 Parameter is not a List 2 19 122 Invalid Variable Number 2 19 123 Insufficient program space 2 19 124 Maximum number of files exceeded 2 20 125 Invalid program header 2 20
22. Parameter Number The requested or sent parameter does not exist on the CLC TRANS 01 D or the drive or the format of the parameter is incorrect 103 Data is Read Only The data in this parameter may not be modified 104 Write Protected in this The data in this parameter can not be written in this mode or communication mode phase phase Switch into parameter mode phase 2 to enter the parameter 105 Greater than maximum value The parameter exceeds the maximum allowed value 106 Less than minimum value The parameter is less than the minimum allowed value 107 Data is Invalid Parameter data is invalid or the format of the parameter is invalid See the DDS or CLC TRANS 01 D Parameter Descriptions 108 Drive was not found The requested drive was not found on the SERCOS ring 109 Drive not ready for The requested drive or the SERCOS ring has not been initialized communication 110 Drive is not responding The drive did not respond to a service channel request Check system diagnostics for the state of the SERCOS ring 111 Service channel is not open When switching between initialization phases data from the drive is momentarily invalid and this message is sent instead of the requested data H2 Invalid Command Class A serial port command is invalid or not supported at this time 113 Checksum Error xx xx The CLC TRANS 01 D detected an invalid or missing checksum in data that checksum that CLC TRANS 01 D was sent to it As a debugging a
23. Serial Communications The Serial Communications dialog box allows the user to select the serial communication parameters the server will use When this dialog box is open all communications are suspended If changes are made to the configuration they will take affect when the Save button is pressed Serial Communications x Baud Rate C300 1200 2400 4800 Serial Port Options v Use Serial Event RS485 Converter Save Cancel Figure 3 3 Serial Communications Baud Rate Check the proper baud rate to use when communicating serially with a CLC card Serial Port Select the serial communications port to use on the PC Use Serial Event Checking this box causes Windows to notify the server when a completed message is in the receive queue This will increase the number of serial messages sent over polling for a response Slower computers may not be able to utilize this feature RS485 Converter This option should be used when an RS232 to RS485 not available converter is present A delay will be inserted between with messages which is equal to at least one character TRANS 01 D transmission at the selected baud rate This is necessary to ensure that the CLC card has had sufficient time in which to turn the RS485 transmitter off and enable the receiver Please note that the converter must toggle the transmitter and receiver automatically and also that echo back must be disabled 3 6 CLC DDE
24. Server End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Settings Menu VME Communications The VME Communications dialog box allows the user to edit parameters which the server uses when talking over the VME bus using a XYCOM embedded PC When this dialog box is open all communications are suspended If changes are made to the configuration they will take affect when the Save button is pressed The dynamic link library XVME984 DLL must be in the CLC directory or the windows path VME Communications xc CLC P t arameters eats CLC Unit Number Cancel Short ddress Page Cancel Base Address Page 0x0020 Options YME Handshaking Interrupt None Allow Extended YME Addressing A32 Release Bus Every Cycle Figure 3 4 VME Communications CLC Parameters CLC Unit Number The CLC unit number for the currently displayed data Short Address The address page in short VME memory space where Page the selected CLC card resides Base Address The address page in Standard or Extended memory Page space where the CLC s shared RAM is located Note The default server settings correspond to the default CLC control card settings and should not need to be altered XYCOM Options VME Select the VME interrupt which all CLC V control cards Handshaking should use to terminate a communication response If Interrupt this option is not used the server will poll
25. VME bus error occurred while communicating to another card in pass through mode through the serial port or during a VME transfer instruction Check the extended diagnostics for the type of error and the address at which it occurred If VME transfers were not being performed or if the address does not match that in the program an internal CLC system error has occurred Notify Indramat Service of this system error 450 Event D invalid event type The event type selected in the event table is not valid or does not match the type of motion or event This error is also issued if an event trigger event arm is executed for a motion based event 451 Invalid event number D The event number is not within the bounds selected with the data size command for this task 452 More than D event timers armed Only D repeating timer events can be armed at one time Check the program flow to make sure that triggered events are being disabled 453 Homing param transfer error D A SERCOS communication error occurred during a drive controlled homing command D indicates the communication error code returned by the drive Try to home the axis again f this error still occurs call Indramat for assistance 454 Axis D homing not complete The drive did not successfully complete the homing sequence See the drive diagnostics for a status or error message End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control
26. a unique graphical Windows based programming interface Visual Motion VM VM provides simplified point and click programming operation and management With this software system builders have a flexible and comprehensive environment including easy DDE integration with applications such as Wonderware InTouch or Visual Basic programs A CLC card can simultaneously control up to four independent user tasks A B C amp D Each task can control a coordinated group of two or three axes and any number of independent motion axes Depending on the application a single CLC may control up to 40 axes 1 2 Introduction and Overview End User Manual ID CLC Multi Axis Coordinated Motion Control CLC D Overview VN CLC D 1 1 CLC D 2 1A 2 2A CLC D 2 1M 2 2M Figure 1 1 CLC D Hardware Comparison CLC D Serial Communication Port A X27 is configured to respond to the CLC ASCII Host Protocol Port B X28 can be configured to respond to Host Protocol Teach Pendant or another interface Both ports always operate with e 8 bits per character e 1 stop bit e no parity The configurable communication settings are shown in the following table Serial Com Options Baud Rate Port Mode Port A X27 default 9600 RS 232 Host Protocol Port A X27 300 1200 2400 4800 enabled or RS 232 422 485 Host Protocol valid settings 9600 19200 38400 disabled Port B X28 default 9600 RS 232 Host Protocol Port B X28 300 1200 24
27. case the item cannot be edited The cursor may be positioned there for another reason such as item selection or viewing Press the coordinated jog keys X X Y Y Z Z to jog in world coordinates The jog keys are active only while in the Jog Menu If other coordinated axes are defined in other tasks then that task must be activated in order to jog from the Teach Pendant Press the single axis jog keys AXIS to jog in axis coordinates Press the TASK key to display the task menu Use the arrow keys to position the cursor in the desired task then press ESC to return to the previous menu The Teach key allows the user to store the current position during a coordinated jog into the Absolute Point Table The table point number will flash indicating that point has been recorded in the table F1 rs re rz Fo pee ers Ree Sen er ea s 6 xe x em ah ELEM joe amp z End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control 4 4 Program Menu The Program menu allows pendant selection and activation of any of the programs that have been downloaded to the CLC card Each program consists of one to four user tasks A B C and D and the associated Absolute and Relative Point Tables Event Table and Variable Tables Activating a new program replaces the current four motion tasks and tables with the tasks and tables for the new program selection
28. for a communication response every 55 milliseconds Refer to your XYCOM owners manual to configure the computers BIOS to acknowledge the selected VME interrupt Allow Extended Check this box if the XYCOM PC can support A32 VME Addressing addressing A32 Release Bus Check this box if the PC should release the VME bus Every Cycle after every cycle This will increase communication overhead due to the additional bus arbitration cycles End User Manual CLC DDE Server 3 7 CLC Multi Axis Coordinated Motion Control INDRAMAL Settings Menu PC Bus Communications The PC Communications dialog box allows the user to view CLC status indicators and set communication parameters When this dialog box is open all communications are suspended If changes are made to the configuration they will take affect when the Save button is pressed The dynamic link library CLC_P DLL must be in the CLC directory or the windows path PC Bus Communications xc CLC Status Indicators Save C CLC Heart Beat sme Cancel C CLC Executing pROBE Monitor Cancel CLC Is In Parameter Mode C CLC Is In An Error State CLC Unit Number Figure 3 5 PC Bus Communications CLC Status Indicators CLC Heart Beat This indicator will blink indicating that the selected CLC control card is running CLC Executing This indicator will be marked if the selected CLC control pROBE Monitor card has faulted and is running the pROBE monito
29. parameters Refer to the Drive manual for descriptions of drive diagnostics See the Parameters section for more detailed descriptions of the CLC System and Task parameters For example Parameter C 0 0122 Diagnostic Message Parameter C 0 0123 Diagnostic Code Parameter C 0 0124 Extended Diagnostics Parameter T 0 0122 Task Diagnostic Message where s A B C or D for Task A D Parameter S x 0095 Drive Diagnostic Message where x 1 8 for Drive 1 8 End User Manual Monitoring and Diagnostics 2 1 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 2 Status Messages 001 199 2 2 Monitoring and Diagnostics A Status Message indicates the normal operating status of an axis task or the system when there are no errors A change in status that generates a new status message overwrites the previous message No user acknowledgment is required for a change in a status message 001 Initializing System The CLC is initializing the executive firmware the SERCOS ring and other devices at power up or exit from parameter mode 002 Parameter Mode The CLC is in parameter mode and the drives are in Phase 2 003 Initializing Drives SERCOS has been reconfigured and the ring is being initialized 004 System is Ready The system has been initialized and is ready for operation 005 Manual Mode All four user program tasks are in manual mode 006 Automatic Mode ABCD The user program tasks indicated at the end of the messag
30. the parameter Name of the parameter n ppppp Parameter Number aa Axis Number gt A Parameter Indicator Task Parameter Screen TASK PARAMETER Ttt pppppp nnnnn T01 00001 Task Motion Type Ttt pppppp nnnnn VVVV pos 4 s VV Value of the parameter nnn Name of the parameter p PPPPP Parameter Number tt Task Number 1 Task Parameter Indicator 4 32 Teach Pendant End User Manual IMIDR ARIZA Drive Parameter Screen Ddd pppppp D01 00001 F1 F2 Home End Ddd pppppp CLC Multi Axis Coordinated Motion Control DRIVE PARAMETER nnnnn NC Cycle Time TNcyc nnnnn VVVV VVV Value of the parameter nnn Name of the parameter F ppppp Parameter Number 4 dd Drive Number US D Drive Parameter Indicator End User Manual Teach Pendant 4 33 CLC Multi Axis Coordinated Motion Control ID ZA DIZ 4 10 Security Menu The Security Menu allows the Teach Pendant manager to assign a protection level code between 0 and 2 for each menu Different access codes can then be set for various users to provide customized security for system data SECURITY MENU NAME Program Menu Table Edit Menu Jog Robot Menu Control Menu Menu Security Level Menu System Parameter Menu Axis Parameter Menu Task Parameter Menu Drive Parameter Menu Main Menu To alter a menu protection level place the cursor over the protection level field and press the EDIT
31. to the CLC communications server DDE Conversation List 41 Conversation Service Topic Item Handle Handle Handle Count 00450728 Q0000C4D1 0000 252 0000C4D1 0000 252 Expand 0000C4D1 0000C252 0000C4D1 0000C252 m 0000C4D1 0000C252 0000C4D1 00000252 0037083C 0000C4D1 0000 252 Figure 3 6 DDE Conversations DDE Conversation Item Dialog The DDE Conversation Item dialog box can be used to view the item transaction list for a conversation The Service name Topic string Item string clipboard Format and Transaction Type are displayed in text format Use the Next and Previous buttons to cycle through the current list DDE Conversation Item Service CLC_DDE Topic SERIAL 0 Format TEXT Transaction Type P VI5E Previous Figure 3 7 DDE Conversation End User Manual CLC DDE Server 3 9 CLC Multi Axis Coordinated Motion Control INDRAMAL 3 10 CLC DDE Server Communication Monitor The DDE Communication Monitor displays all of the current DDE conversations The monitor can display DDE requests and or responses depending the selection made under the Settings menu The active window builds a communications log of all DDE conversations that occur while the monitor is running Selecting Clear will empty the log Selecting Stop will stop the conversation monitoring and allow users to scroll through the log The Monitor window can be resized to enlarge the active vie
32. 00 4800 enabled or RS 232 422 485 Off Host Protocol valid settings 9600 disabled Teach Pendant End User Manual Introduction and Overview 1 3 CLC Multi Axis Coordinated Motion Control ID ZA DIZ CLC D Jumper Configuration Jumpers S1 and S2 set the default configuration for serial ports X27 and X28 respectively If the jumper is installed the port is configured for the default settings of RS 232 and 9600 baud Figure 1 2 CLC D Jumper Configuration CLC D SERCOS The SERCOS port is used for loop through daisy chained installation into a SERCOS fiber optic ring The output port Tx is connected to the SERCOS input port of the next SERCOS device in the ring Each SERCOS device is interconnected output to input with the output of the last device returned to the SERCOS input Rx of the CLC D On Board Battery Non volatile memory backup is provided by a 3 volt CR2477N MnO2 Li type battery The battery has a capacity of 0 9 Amp hours The battery is field replaceable see Section 8 6 for ordering and installation information 1 4 Introduction and Overview End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control CLC D 2 1 2 2 Front Panel Diagnostic Display Normal operations The CLC D 2 1 2 2 has a one digit 7 segment LED display In normal operating conditions a static display shows the mode that the CLC is currently in
33. 02 780 82 07 9 Fax 02 784 54 08 Customer Service in Asia Australia and the Far East China Rexroth China Ltd Shanghai Parts amp Service Centre 199 Wu Cao Road Hua Cao Minhang District Shanghai 201 103 P R China Phone 021 622 00 058 Fax 021 622 00 068 India Mannesmann Rexroth India Ltd INDRAMAT Division Plot 96 Phase Peenya Industrial Area Bangalore 560058 India Phone 80 839 21 01 80 839 73 74 Telex 845 5028 RexB Fax 80 839 43 45 Canada Basic Technologies Corporation Burlington Division 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Phone 905 335 55 11 Fax 905 335 41 84 Brazil Mannesmann Rexroth Automac o Ltda Divis o INDRAMAT Rua Georg Rexroth 609 Vila Padre Anchieta BR 09 951 250 Diadema SP Caixa Postal 377 BR 09 901 970 Diadema SP Phone 011 745 90 65 011 745 90 70 Fax 011 745 90 50 China Rexroth China Ltd 1430 China World Trade Centre 1 Jianguomenwai Avenue Beijing 100004 P R China Phone 010 50 50 380 Fax 010 50 50 379 Japan Rexroth Co Ltd INDRAMAT Division Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Phone 045 942 72 10 Fax 045 942 03 41 Customer Service Locations Error Reference source not found Europe Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT H gelingasse 3 A 1140 Wien Phone 1 9852540 400 Fax 1 9852540 93 England Mannesmann R
34. 1 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 12 Monitoring and Diagnostics 465 Drive D config error see ext diag or 465 Drive D telegram type not supported versions before 01 20 Drive D does not support a product specific option or a drive configuration calculation has failed Product specific options include ELS single axis motion or cards The extended diagnostic message C1 124 or in Status System menu describes the error in more detail It often shows the parameter that failed along with a short message describing the error If it indicates that a parameter is invalid or a configuration is not supported check the axis configuration with the drive hardware or software If the extended diagnostic indicates an error such as Handshake time out or Drive is not responding the SERCOS ring may have been disconnected during initialization Check the fiber optic connections and the addresses of the drives on the ring 466 Drive D scaling type not supported Drive D does not support an option such as ELS or single axis motion which are product specific Check the axis configuration with the drive hardware or software Note This error is issued only in versions that do not use the SERCOS ASIC firmware versions less than 01 20 467 Invalid ELS Master Option An option in the ELS INIT command is invalid not supported or inconsistent with the other options 468 ELS adjustment out of bounds
35. 24 System Error This error is not issued in current CLC versions and is reserved for future use Monitoring and Diagnostics 2 7 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 8 Monitoring and Diagnostics 425 Instruction Error see Task A diag An error has occurred in a user program instruction A more specific message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 This error usually applies to coordinated motion instructions 426 Drive D is not ready Drives must be enabled before motion commands are issued to them in a user program Check the Axis Disable bit in Axis D s Control Register Axis D s status bits the fiber optic ring and the power circuit 427 Calc invalid table index D In a user program calculation expression the index to a point or event table is invalid See the diagnostic message for each task to find out which task has this error then check the variable that is used to index the table 428 Calc division by zero In a user program calculation instruction an attempt was made to divide a number by zero See the diagnostic message for each task to find the task and the instruction then check the variables used in the expression 429 Calc too many operands In a user program calculation instruction more than 1000 operands and operators were in the string See the diagnostic message for each task to find the task and the instruction 430 Cal
36. 633 Belgium Mannesmann Rexroth N V S A INDRAMAT Division Industrielaan 8 B 1740 Ternat Phone 02 5823180 Fax 02 5824310 France Rexroth Sigma S A Division INDRAMAT Parc des Barbanniers 4 Place du Village F 92632 Gennevilliers Cedex Phone 1 41475430 Fax 1 47946941 Italy Rexroth S p A Divisione INDRAMAT Via Borgomanero 11 1 10145 Torino Phone 011 7712230 Fax 011 7710190 Sweden AB Rexroth Mecman INDRAMAT Division Varuv gen 7 S 125 81 Stockholm Phone 08 727 92 00 Fax 08 64 73 277 Customer Service in Europe Eastern Sales Region INDRAMAT GmbH BeckerstraBe 31 D 09120 Chemnitz Phone 0371 3555 0 Fax 0371 3555 230 Southwestern Sales Region INDRAMAT GmbH B blinger StraBe 25 D 71229 Leonberg Phone 07152 972 6 Fax 07152 972 727 Western Sales Region INDRAMAT GmbH HansastraBe 25 D 40849 Ratingen Phone 02102 4318 0 Fax 02102 41315 INDRAMAT Service Hotline INDRAMAT GmbH Phone 0172 660 040 6 Or Phone 0171 333 882 6 Customer Service in Germany INDRAMAU Denmark BEC Elektronik AS Zinkvej 6 DK 8900 Randers Phone 086 447866 Fax 086 447160 France Rexroth Sigma S A Division INDRAMAT 91 Bd 1 Joliot Curie F 69634 Venissieux Cx Phone 78785256 Fax 78785231 Netherlands Hydraudyne Hydrauliek B V Kruisbroeksestraat 1a P O Box 32 NL 5280 AA Boxtel Phone 04116 51951 Fax 04116 51483 Switzerland Rexroth SA
37. Axis D position limit reached 2 3 4 400 Emergency Stop 2 4 401 SERCOS Controller Error DD 2 4 403 System Error 2 4 404 Invalid Switch into Phase D 2 5 405 Phase D Drive did not respond 2 5 406 System Error 2 5 407 Drive D Phase 3 Switch Error 2 5 408 SERCOS Controller is in test mode 2 5 409 SERCOS Disconnect Error 2 5 410 System Error 2 6 411 Drive D Phase 4 Switch Error 2 6 412 No drives were found on ring 2 6 413 I O board was found 2 6 414 Parameters were lost 2 6 415 Drive Dwas notfound 2 6 416 Invalid Instruction at XXXX 2 7 417 SYSTEM ERROR pSOS 2 7 418 No program is active 2 7 419 Invalid Program File 2 7 420 Drive D Shutdown Error 2 7 421 User Program Stack Overflow 2 7 422 Parameter transfer error in Task 2 7 423 Unimplemented Instruction 2 8 424 System Error 2 8 425 Instruction Error see Task A diag 2 426 Drive D is not ready 2 8 427 Calc invalid table index D 2 8 428 Calc division by zero 2 8 429 Calc too many operands2 8 8 430 Calc instruction invalid operator 2 8 431 Calc error see Task A diag 2 8 432 Calc too many nested expressions 2 9 433 Setup instruction outside of atask 2 9 434 Axis D configured more than once 2 9 435 Axis D not associated with a task 2 9 436 General Compiler Error XXXX 2 9 437 Axis D not controlled by this task 2 9 438 Invalid Axis Selected D 2 9 2 3 Index 5 3 Error Reference source not found 5 4 Index 439 Invalid Moti
38. Diagnostics Menu 4 35 Error Screen 4 36 File Menu 4 9 Jog Menu 4 22 Fine Adjustments 4 24 Keyboard Operation 4 6 Parameter Menu 4 31 Axis 4 32 Drive 4 33 System 4 31 2 15 2 17 INDRA DIAL End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control Task 4 32 Program Menu 4 9 Register O Menu 4 29 Security Menu 4 34 Setup 4 4 Table Edit Menu 4 14 Absolute Point Table 4 14 Event Table 4 17 Floating Point Variable Table 4 19 4 20 4 21 Integer Variable Table 4 18 Relative Point Table 4 16 Teaching Points 4 24 Topic Name 3 2 V VisualMotion 1 2 VME Communications 3 7 W Warning Messages 2 3 Watchdog 1 5 Index 5 1 1 IMDR ARIAL Customer Service Americas United States Canada and Latin America USA Rexroth Corporation INDRAMAT Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 Phone 847 645 36 00 Fax 857 645 62 01 Motorizacion Dise o de Controles S A de Av Dr Gustavo Baz No 288 Col Parque Industrial la loma Apartado Postal No 318 54060 Tlalnepantla Estado de Mexico Mexico Phone 5 397 86 44 Fax 5 398 98 88 USA Rexroth Corporation INDRAMAT Division 2110 Austin Avenue Rochester Hills Michigan 48309 Phone 810 853 82 90 Fax 810 853 82 90 Argentina Mannesmann Rexroth S A I C Division INDRAMAT Acassusso 48 41 7 1605 Munro Buenos Aires Argentina Phone 01 756 01 40 01
39. ES HOME ALL AXES Z DROP PARTI CYCLE EJECTORS Y DROP_PART1 PART_MADE STEP_08 STEP_09 F2 PgDn Teach Pendant 4 11 4 12 Teach Pendant CLC Multi Axis Coordinated Motion Control The Step Table Edit Menu INDRA DIAL The Step Table Edit Menu displays all the functions within the selected Sequence Step Use the arrow keys to navigate with the cursor to select the desired Sequence Function Press F4 again to edit the contents of that function within the Function Edit Menu Press F3 to cut the selected function Press F6 to paste a function in the current cursor position STEP TABLE EDIT MENU PROGRAM SEQ1 SEQUENCE INITIALIZE_SEQUENCER STEP HOME_ALL_AXES EMPTY SLOTS 00011 DISABLE_CLAMP_MOTION CHK_MOLD_OPEN PERMIT_EJECT_BACK CHK_EJECTORS_BACK HOME_AXIS F2 F3 F4 F5 F6 F7 PgDn Cut Edit Ins Paste Main Function List Menu F8 Diag Pressing F5 Ins from the Step Table Edit Menu will open the Function List Menu This menu contains a list of all the functions available within the selected Sequence Use the arrow keys to navigate with the cursor to select the desired Function Press ENTER to insert that function into the previous Step Table FUNCTION LIST Press ENTER to insert HOME AXIS INIT POS VELOCITY CHK EJECTORS RETRACT CLEAR SYSTEM TIMERS DWELL PERMIT EJECT BACK DISABLE CLAMP MOTION End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Function Edit Menu The Functio
40. LC TRANS 01 D 143 Mapper too many operations The maximum number of Boolean operations allowed by the CLC TRANS 01 D I O mapper has been exceeded 144 Mapper invalid register A register exceeds the maximum number of registers or is 0 145 Mapper invalid bit or mask The bit number or mask sent exceeds 16 bits 146 Mapper register is read only An assignment to a read only register or bit was made e g attempting to write to a CLC TRANS 01 D status register 147 Invalid Unit Number The unit number second character in string is not a number between 1 and F or an ASCII space character 148 VME Bus Error A VME bus error occurred while communicating to another card in pass through mode through the serial port 149 VME Communication The card addressed by the unit number in pass through mode does not exist or Handshake Error D its parameters are not configured properly Change the unit number to correspond to a card in the rack or set it to a space No longer issued on CLC TRANS 01 D D 150 Invalid Download Block The block sent during a program download is incorrect in length or is not in hexadecimal format 2 20 Monitoring and Diagnostics End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control 151 Unit D Invalid VME Base The VME base address page parameter is set to an invalid address for the Address Page indicated VME unit number 152 Invalid Axis The parameter set for the requested axis does not exist
41. LC V CLC V Configuration Switches Slide Switch SW5 Default LT OFF ON EPROM SERCOS MODULE Slide Switch SW6 Default Figure 1 6 CLC V Configuration Switches Configuration Switch SW5 Swe Poston Default Function 1 ON ON Programming of the local Flash EPROM enabled OFF Local Flash EPROM write protected 2 OFF ON CLC V Drives VME SYSRESET OFF SYSRESET not driven 3 OFF ON CLC V Accepts SYSRESET from VME OFF SYSRESET not received ON Power fail reset voltage set to 4 8V OFF Power fail reset voltage set to 4 2V ON Programming of Flash EPROM enabled OFF Flash EPROM write protected ON VME Slot 1 functions enabled OFF VME Slot 1 functions disabled Configuration Switch SW6 OOo aa 6 amp 7 Select the CLC s VME Bus request level BRO BRi BR2 BR3 6 1 ANNE Introduction and Overview 1 9 CLC Multi Axis Coordinated Motion Control INDRA DIAL Both switches SW6 1 and SW6 2 are functionally used as one switch Both must have the same setting ON or OFF SW6 Position OFF default OFF default Disables the CLC V s on board secondary battery Backup battery is provided through the VME bus STDBY line Enables the CLC V s on board secondary battery and disconnects the CLC V from the
42. Log Errors RW 0 or 1 If 1 all server errors will be logged to the error file Modal Errors RW 0 or 1 Displayed errors with the system modal attribute Self Terminate RW 0 or 1 Close CLC_DDE when last conversation terminates Monitor List Size RW 1 500 of entries in communication monitor window Editor RW 256 Name amp path of text editor to Characters use to display error log Section SERIAL Baudrate RO 38400 300 Baud rate for serial connection to CLC card Port RO 1 4 COM port number to use for serial connection Serial Event RW 0 or 1 Use serial event option to increase performance RS485 Converter RW 0 or 1 Activate RS485 adapter code Section VME Sustain Bus RW 0 or 1 Release every cycle option for XYCOM PC A32 Addressing RW 0 or 1 Use A32 addressing for XYCOM PC VME IRQ RO 0 7 Number of VME IRQ to use 0 disabled 3 12 CLC DDE Server End User Manual IMIDR ARIZA Section AT MODEM End User Manual Section PC Section DDE Section STATUS Baudrate Port Auto_Connect Phone Initialize_Script Disconnect_Script Dial_Prefix Escape Sequence PC IRQ Status Max Conversations Max Advise Items ErrorState ErrorText RequestState RO RO RW RW RW RW RW RW RO RO RO RO RO RO RO 9600 300 1 4 0 or 1 50 Characters 100 Characters 100 Characters 50 Characters 50 Characters Oor 1 200 Characters 1 3274 1 3500 O0 or 1 256 Characte
43. PC Bus Communications 3 8 3 3 AT Modem Configuration 3 11 SA SERVER TOPIC NaMe 2 meri teu es ue tette a tef edes ede a tele tt 3 12 4 Teach Pendant 4 1 CA EO MEE E O 4 1 Menu T 4 2 4 2 Teach Pendant Setup tret ete tete de t ba i io adc eig eed 4 4 4 3 Keyboard Operation rer chr E e etn t e Ua ive Pura red rete eye Dota ee pde 4 6 Keyboard EE 4 7 Cursor Controland EGitiig deret cays titt Petr rn nce Fg bhi rtv PE aec eee ro eda 4 8 End User Manual Contents CLC Multi Axis Coordinated Motion Control INDRAMAL Jogging Control es EE 4 8 Niere E 4 8 Teach Controle erede ente ewe tae e ee p ca e leds Tia eee v a ra e o ae oed cuv dens 4 8 4 4 Program Menu erede cene ende due dec tne oe ene ene e eni e du due eene aeu ene eee uo eee ra nes 4 9 sequencer Editing E tied an tei td nece Anny ie ya Gn die vagas 4 10 4 5 Table Edit cere vet toe ene rp done re vague eres p dee baee 4 14 Absolute Point Table Edit 5 aec eee 4 14 Relative Point Table Edit 4 16 Event Table Eitri cine inlet saul EP 4 17 Integer Variable Table 4 18 Floating Point Variable Table Edit 4 19 Global Integer Variable Table
44. Step Sequence Function Task B D Control Registers 3 5 same as above Registers 98 and 99 define blocking bits for task A B C and D The bits in the register can disable Teach Pendant control of the selected function for the corresponding tasks A B C D The following functions can be blocked Manual Mode Auto Mode Step Mode Jogging Teaching Points Task Selection If a block bit is set its corresponding function is blocked If a user selects the function an error message is issued by the TPT See section 4 15 Teach Pendant Reserved Register Table for bit descriptions 4 4 Teach Pendant End User Manual IMDR ARIAL End User Manual CLC Multi Axis Coordinated Motion Control The pendant parameters are automatically preset to the following specifications Menu Item Default Setting Comm Baud Rate 9600 Fixed Parity None Data and Stop Bits 8 1 Display Serial Errors Yes Audible Serial Errors Yes Support for XON OFF Yes Dsp Display CTL Characters No Display ESC Characters No Cursor Visible Yes Auto Line Wrap No New Line on CR Yes Display Self Test No Backlight Level 7 Backlight On Yes Kbd Local Echo No Key Repeat Off Audible Keys No Simplified KB Yes Note When the Teach Pendant is initializing it automatically sets the baud rate to 9600 Teach Pendant 4 5 CLC Multi Axis Coordinated Motion Control INDRAMNAL 4 3 Keyboard Operation The following defines the keys for the Teach Pendant faction Cis f
45. The phase offset or fine ratio adjustment exceeded the bounds allowed by the drive The fine adjust must be between 100 and 300 469 Axis D accel lt 0 or gt maximum The acceleration or deceleration programmed for axis D is negative zero or exceeds the maximum acceleration or deceleration parameter Ax 21 or AX 22 470 Axis D velocity gt maximum The velocity programmed for axis D is exceeds the maximum velocity parameter Ax 20 471 Invalid VME Base Address Page OxXXXX The base address page selected in the VME parameter is invalid See the VME descriptions End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control 472 VME Event Trigger Rejected A CLC did not respond to the VME broadcast event message See the VME event description 473 VME Event Trigger For Unit D Failed Unit D did not respond to the VME mailbox event message See the VME event description 474 Drive D cyclic data size too large Too much data is configured in the SERCOS cyclic telegram The drives currently support up to 16 bytes of configurable data Remove l O or registration options from the parameter or program configuration 475 Axis D capture already configured An axis has been configured for the feedback capture function in a previous user program command Only one capture setup command is allowed for each axis 476 Axis D Real Time Bit Setup Error A SERCOS error occurred while the CLC was co
46. Tsk CC MANUAL MODE Tsk DD MANUAL MODE Axs 01 No Axis Message Drv 01 303 Position Mode Encoder 1 lag F1 F2 F3 NumUp NumDn ClrErrors Positioning The Cursor The up down arrow keys will position the cursor on the menu item the user may wish to edit NOTE The Teach Pendant cannot edit the card number or task Cursor Positioned Axis and Drive Number By pressing the F1 NumUp or F2 NumDn the Axis number will increment up or down respectively By pressing the Edit key the operator can enter the desired Axis number and press the Enter key to accept 4 12 Help Menu Reserved for future use End User Manual Teach Pendant 4 35 CLC Multi Axis Coordinated Motion Control ID ZA DIZ 4 13 Error Screen If and error is detected during operation the pendant automatically enters the Error screen and displays a message about the error condition If the TPT enable bit Register 1 bit 14 is on and an error occurs the TPT will force all tasks into manual mode Pressing escape after an error occurs will display the Diagnostic Menu DIAGNOSTICS MENU Crd 03 420 Drive 6 Shutdown Error Tsk AA MANUAL MODE Tsk BB MANUAL MODE Tsk CC MANUAL MODE Tsk DD MANUAL MODE Axs 01 No Axis Message Drv 04 028 Excessive Deviation F1 F2 F3 NumUp NmDn CrErrors F3 Clear Errors A basic Shutdown error can be cleared by pressing If the error is a configuration or hardware error the source of that err
47. able program is too large ddK 2 21 161 System Memory Allocation Error 2 21 162 Cam X data is 0 or greater than 360 2 21 163 X Column does not start at 0 or end at 360 164 Not supported in user prog file version 1 1 165 Sequencer invalid sequence D 2 21 166 Sequencer invalid step D 2 21 167 Invalid function number D 2 21 168 Function D not accessible in a step 2 22 169 Too many functions are used D 2 22 170 Maximum steps per sequence exceeded D 171 Maximum functions per step exceeded D 172 Program does not include a PLS 2 22 173 Invalid ABS or REL point index D 2 22 Configuration Switches CLC V 1 9 D DDE 3 2 3 5 Conversations 3 9 Dde Server 3 1 Diagnostic Display CLC D 1 5 Diagnostics 2 1 Dynamic Data Exchange 3 1 E Error codes 1 5 Error Handling 3 5 F Fatal System Errors2 18 Item Name 3 2 2 21 2 21 2 22 2 22 Index 5 7 Error Reference source not found 5 8 Index J Jumper Configuration CLC D 1 4 CLC P 1 6 Manual Overview 1 2 P PCBus 3 8 R RS485 Converter 3 6 S SERCOS 1 2 CLC D 1 4 CLC P 1 6 CLC V 1 9 Serial Communication CLC D 1 3 CLC P 1 6 CLC V 1 8 Serial Communications 3 6 Serial Event 3 6 Serial Port 3 6 SERVER Topic Name 3 12 Service Name 3 2 Shutdown Messages 2 4 400 Emergency Stop2 4 401 SERCOS Controller Erro DD 403 System Error 2 4 404 Invalid Switch into Phase D 2 5 405 Phase D Drive did not respond 406 System Error 2 5 407 Driv
48. ars a warning with a low to high transition of the Clear All Errors bit of the CLC s System Control Register After a warning condition has been corrected and acknowledged the user program can be resumed at the point where the error occurred In SERCOS warnings are Class 2 Diagnostics Warning messages can be cleared by correcting the warning condition or by setting the CLC s clear error input 201 Invalid jog type or axis selected This message is issued before a coordinated I O jog when an invalid type or axis is selected 202 Drive D is not ready This message is issued before a coordinated I O jog when a drive is not enabled 203 Power lost during program This function is not currently implemented 204 SERCOS Ring was disconnected The SERCOS ring was disconnected before a shutdown error was cleared The ring is now initialized To continue activate the clear input This message allows detection of an intermittent break in the fiber optic ring 205 Parameter transfer warning in Task A There is an error in the parameter transfer instruction This indicates a warning condition that does not shut down the task The parameter format parameter number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 206 Bat
49. axis_home_offset 1 0000 current_q_position 2 0000 F7 F8 Main Diag F1 Page Up F2 Page Down F3 Display Format Display Format Pressing F3 toggles the display between floating point fixed 100 000 and scientific 1 000E2 notation End User Manual Teach Pendant 4 19 CLC Multi Axis Coordinated Motion Control TDD ZAP IZ Global Integer Variable Table Edit This menu allows for viewing and editing global integer variables Variables can be changed by any task at any time It is possible therefore for editing to be in conflict with a motion task In this instance unexpected results may occur It is at the discretion of the operator to determine the usefulness of such an operation GLOBAL INTEGER TABLE GI I 25 F1 F2 F3 F7 F8 PgUp PgDn Fmt Main Diag F1 PageUp F2 Page Down F3 Display Format Display Format Pressing F3 toggles the display between floating point fixed 100 000 and scientific 1 000E2 notation 4 20 Teach Pendant End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control Floating Point Variable Table Edit This menu allows for viewing and editing global floating point variables Variables can be changed by any task at any time It is possible therefore for editing to be in conflict with a motion task In this instance unexpected results may occur It is at the discretion of the operator to determine the usefulness of such an operation GLOBAL FLOATING TABLE 0 2500
50. button Key in the appropriate code 0 1 or 2 and press ENTER The Security Level Menu has a default of 1 to allow initial access to all users The user access status for each menu depends on the menu protection level outlined above and the users access code which is determined by the System Control Register 1 Bits 15 and 16 The access code has to be greater than the menu protection level to allow the user to view and edit a menu If the levels are the same the user can only view the menu A menu witha protection level that is higher than the security level cannot be accessed by a user The following table lists the level combinations which determine user access privileges Bit 16 Access Protection Net Status Code Level Access Bit Resultant Preset Status 0 View Only 1 2 No Access 1 1 0 View Edit 1 View Only No Access View Edit 4 34 Teach Pendant End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control 4 11 Diagnostics Menu When the F8 key is pressed from any of the Operator Interface Control Menus the Diagnostics Menu is displayed The diagnostics menu displays the current Card Tasks Axis and Drive status The diagnostics screen updates continuously When first entering this menu by default Axs 1 Drv 1 and the cursor is positioned on the CLC card number DIAGNOSTICS MENU Crd 03 007 Program Running AB Extended Diagnostic Message Tsk AA TASK RUNNING Tsk BB TASK RUNNING
51. c instruction invalid operator An invalid arithmetic operator was found in a user program calculation instruction Check the compiler and firmware version numbers and call Indramat service for assistance 431 Calc error see Task A diag An error has occurred in a user program calculation instruction See the task diagnostic message for a communication error message 432 Calc too many nested expressions In a user program calculation instruction more than 16 operations were pending See the diagnostic message for each task to find the task and the instruction Then check the number of operands in the expression looking for unbalanced parentheses 433 Setup instruction outside of a task The following commands must be placed in a task s main program TASK AXES KINEMATIC and DATA SIZE This error is issued if any of End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control these commands are found in a subroutine Move the instructions to Task A B C or D following the TASK START instruction or Axis Setup icon 434 Axis D configured more than once Axis D was selected more than once in a TASK AXES command axis setup icon Modify the program so that the axis is selected once 435 Axis D not associated with a task Axis D was not associated with a task using the TASK AXES command but was used in another command Modify the program so that the axis is selected 436 General Compiler Error
52. ce Steps SEQ STEP Sequence Function SEQ FUNC When INST is selected the program will execute only one instruction every time the F2 GO key is pressed When SEQ STEP is selected the program will execute all the functions within one Sequencer step one at a time When SEQ FUNC is selected the program will execute each Sequencer function one at a time The F3 STOP key can be used to immediately halt the execution of the program within a step If the F2 GO key is pressed again the step will continue to run End User Manual Teach Pendant 4 27 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ Control Menu Manual Mode When manual mode is selected by pressing the F1 key F2 will display Jog CONTROL MENU A Manual Jog SPEED 100 Two_Liter_Bottles Ejectors_Back Ejectors_Fwd Move_In_Mold_Position JOINT WORLD TARGET 1200 00 1200 00 2000 00 500 00 500 00 500 00 90 00 90 00 180 00 TARGET 0001 Move_In_Mold_Position F1 F2 F3 F4 F5 Manu Jog F1 Manual 2 F4 I O F8 Diagnostics By pressing the F2 key the Jog Menu will be displayed allowing the operator to jog and teach each axis 4 28 Teach Pendant End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control 4 8 Register l O Menu The F4 I O key is provided on every operator interface control screen The operator will have the ability to view and edit the register bits that the machine builder selects When the F4 key is pressed the regi
53. ct the serial port to use to talk to the sending modem Telephone Enter the complete phone number to dial including any numbers required to get an outside line Placing a comma in the number will insert a delay Attempt To Connect Check this box if you wish CLC_DDE to On Start Up automatically attempt a connection when a conversation is started The telephone number is saved in the INI file If this box is not check the user will need to select the Connect button End User Manual CLC DDE Server 3 11 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 3 4 SERVER Topic Name The SERVER topic name allows a DDE client application access to CLC_DDE s parameter set and status The server will accept request and poke transactions When accessing a parameter the client application should specify the section and entry names from the INI file The two names must be separated by a pipe character When requesting status information the client should use STATUS as the section name i e STATUS ErrorState RW Read Write RO Read Only Section GENERAL Response_Timeout RW 1 900 Seconds Message response time out Relay Timeout RW 1 900 Seconds Message time out when using VME pass through Communication Retry RW 0 255 Number of times to re send a message Suspend Polling RO O0 or 1 If 1 CLC_DDE status polling will be disabled Display CLC Errors RW 0 or 1 If 1 CLC DDE will intercept amp display CLC Errors
54. d Task A status message to line 1 of TPT Task B status message to line 1 of TPT Task C status message to line 1 of TPT Task D status message to line 1 of TPT RONDO This allows the user program to place customized messages on the top line of the CLC TPT Every time the message changes the TPT beeps and flashes the new message three times Teach Pendant 4 39 CLC Multi Axis Coordinated Motion Control INDRAMNAL 4 15 Teach Pendant Reserved Register Table Register _ Register Label Name Bit Label System_Control Pendant_Live_Man switch Pendant_Enable Pendant_Level_LSB Pendant_Level_ MSB F1 Key F2 Key F3 Key F4 Key F5 Key F6 Key F7 Key F8 Key Help Key 7 Key 8 Key 9 Key Teach Key Task Key Axis Plus Key Axis Minus Key Teach Pendant Status Esc Key 4 Key 5 Key 6 Key A Plus Key A Minus Key X Plus Key X Minus Key Edit Key 1 Key 2 Key 3 Key B Plus Key B Minus Key Y Plus Key Y Minus Key td Output Bits 4 40 Teach Pendant End User Manual IMDR ARIAL CLC Multi Axis Coordinated Motion Control Register Label Name Bit Bit Label Name End User Manual Teach Pendant Status Teach Pendant Control Teach Pendant Control Enter Key Decimal Key Zero Key Plus Minus Key C Plus Key C Minus Key Z Plus Key Z Minus Ke Block Task A Manual Block Task A Auto Block Task A Step Block Task A Jog
55. d The error response will be written to the error log file if that feature is enabled If this box is not checked the error string will be returned to the client Make Error Checking this box will cause all server generated Messages message boxes to have system modal attributes This System Modal means that all applications will be suspended until the user responds to the message box The window can not be forced to the background Log Errors To Checking this box will cause the server to log all server File errors to a file The current system date and time will be associated with each log entry As a default this feature is not enabled View Log File Pressing this button will cause the current error log file to be displayed in notepad DDE Maximum This is a static display of the maximum number of Conversations allowed DDE conversations as specified in the INI file The server will refuse any DDE connection requests in excess of this value Maximum Advise This is a static display of the maximum number of Items allowed DDE advise links as specified in the INI file The server will refuse any requests for advise links in excess of this value Self Terminate If Checking this box will cause the server to close itself No Active when the last DDE conversation with it has terminated Conversations This is the default state End User Manual CLC DDE Server 3 5 CLC Multi Axis Coordinated Motion Control INDRAMAL Settings Menu
56. d User Manual Introduction and Overview 1 1 CLC Multi Axis Coordinated Motion Control ID ZA DIZ 1 2 Manual Overview Chapter 1 Introduction Describes the CLC s general theory of operation and its motion capabilities Chapter 2 CLC Monitoring and Diagnostics Provides a description of Status Warning and Shutdown messages and how to troubleshoot errors and faults Chapter 3 CLC DDE Server Describes the usage and functionality of the DDE Server a program that allows communication to take place between the CLC card and other applications Chapter 4 Teach Pendant Describes the usage and functionality of the CLC Teach Pendant 1 3 CLC Overview The CLC card is part of an extensive motion control system which also includes digital servo drives and SERCOS a fiber optic communication system The CLC can provide multi axis coordinated and non coordinated motion control with tightly integrated I O logic control functions The flexibility of the CLC allows it to be used for a wide variety of applications from general motion control to sophisticated multi axis electronic line shafting ELS to robotics Three versions of the CLC card are currently available CLC V for VME bus architecture CLC P for IBM PC AT bus architecture CLC D which plugs into Indramat digital drives providing an exceptional cost effective motion control solution The CLC motion control card combines an integrated multi tasking environment with
57. d out of range 2 14 479 Drive D too many cyclic data elements 480 SERCOS Error MDT is too large 2 14 481 Event D is already armed 2 14 482 Checksum Error in Program 2 14 483 Parameter Init Error see Task A diag 484 CLC SYSTEM ERROR 2 15 2 10 2 10 2 10 2 10 2 11 2 11 2 12 2 18 2 18 2 14 2 14 485 SERCOS 1 too many registers configured 2 15 486 SERCOS Device D is drive 2 15 487 Cam D is invalid or not stored 2 15 488 Cam Error See Task A diag 2 15 489 More than D cam axes selected 2 15 490 System Memory Allocation Error 2 15 INDRA DIAL End User Manual IMIDR ARIAL End User Manual CLC Multi Axis Coordinated Motion Control 491 PC Communication Handshake Error 2 15 492 Programs were lost 2 15 493 Data was restored from Flash 2 16 494 Sequencer init error see task T diag 2 16 495 Sequencer error see task T diag 2 16 496 Can t Execute this Instruction from an Event 2 16 497 Limit switch config error see ext diag 2 16 498 Drive D Shutdown Warning 2 16 499 Axis number D not supported in this version 2 16 5 500 Axis D is not referenced 2 17 501 Drive D communications error 2 17 502 ELS and cams not supported in this version 2 17 503 Executing empty block D 2 17 504 Communication Timeout 2 17 505 Axis D is not configured 2 17 506 I O Mapper initialization error 2 17 507 Option Card Power Supply Error 2 17 A AT Modem 3 11 B Battery CLC D 1 4 CLC P 1 7 CLC V
58. dex number was greater than the maximum number of points or events 32 Communication Port Error The serial port receive buffer has overflowed Make sure communications is set to half duplex 133 Invalid Data Format The format of the data received by the CLC TRANS 01 D is invalid e g non digits are sent in a decimal number 134 Active program can t be deleted The active program cannot be deleted at any time 185 Parameter mode is required The action requested can only be performed in Parameter Mode 136 Invalid Event Number The event number selected in the ABS or REL point table is out of the range of the total number of events 137 Invalid Event Function The function name selected in the event table does not exist on the CLC TRANS 01 D card or is not defined as an event function 138 Program file version mismatch The version of the file system on the card does not match that of the downloaded file Upgrade to the latest versions of the Visual Motion compiler and CLC TRANS 01 D executive 139 Can t activate while program A new program cannot be activated unless all user tasks are stopped running 140 No programs are active No programs are active on the CLC TRANS 01 D card Download a program to the card 141 System Error pSOS XXXX This is an internal CLC TRANS 01 D system error Call Indramat Service for assistance 142 Mapper invalid operator An invalid Boolean operator was found in I O Mapper when it was sent to the C
59. e D Phase 3 Switch Error 408 SERCOS Controller is in test mode 409 SERCOS Disconnect Error 2 5 410 System Error 2 6 411 Drive D Phase 4 Switch Error 412 No drives were found on ring 413 I O board was not found 2 6 414 Parameters were lost 2 6 415 Drive D was not found 2 6 416 Invalid Instruction at XXXX 2 7 417 SYSTEM ERROR pSOS XXXX 418 No program is active 2 7 419 Invalid Program File 2 7 420 Drive D Shutdown Error 2 7 421 User Program Stack Overflow 2 5 2 5 2 6 2 6 2 7 INIDR ARIAL End User Manual EIOS ARIZA End User Manual 422 Parameter transfer error in Task A 423 Unimplemented Instruction 2 8 424 System Error 2 8 425 Instruction Error see Task A diag 426 Drive D is not ready 2 8 427 Calc invalid table index 2 8 428 Calc division by zero 2 8 429 Calc too many operands 2 8 430 Calc instruction invalid operator 431 Calc error see Task A diag 432 Calc too many nested expressions 433 Setup instruction outside of a task 434 Axis D configured more than once 435 Axis D not associated with a task 436 General Compiler Error XXXX 437 Axis D not controlled by this task 438 Invalid Axis Selected D 2 9 439 Invalid Motion Type D 2 9 440 I O Transfer Error see task diag CLC Multi Axis Coordinated Motion Control 2 7 2 8 2 8 2 9 2 9 2 9 2 9 2 9 2 9 2 10 441 DMA error while reading from local RAM 442 DMA error while reading from VME address 443 DMA error while writing
60. e are in automatic mode and the rest are in manual mode For example Automatic Mode B indicates that only Task B is in automatic mode 007 Program Running ABCD The user program tasks indicated at the end of the message are running and the rest are not running or are single stepping 008 Single Stepping ABCD The user program tasks indicated at the end of the message are in single step mode The other tasks are not running 009 Select Parameter Mode to Continue An error during system initialization occurred and was cleared but the error condition was not corrected Switch into Parameter Mode to continue 010 Breakpoint Reached ABCD The user tasks indicated at the end of the message have reached a user program breakpoint and the rest of the tasks are not running End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control 2 3 Warning Messages 201 399 Warning messages are issued when an improper system condition exists The condition is important enough to be brought to an operator s immediate attention but not critical enough to shut down the system However a warning may be a notification of an impending shutdown condition Warnings typically allow normal system operation to continue A warning sets the error bit associated with the affected task or the system and displays the warning message Once issued the error condition must be corrected and acknowledged to the system The user acknowledges and cle
61. e left of the cursor Use the F2 key to Select Shift On and Off This allows you to toggle the keyboard map between numbers and letters Note These letters do not appear on the keypad however their location as illustrated represents the key functions while typing within this editing mode This editing mode is functional within all of the following Sequencer menus 4 10 Teach Pendant End User Manual IMDR ARIAL CLC Multi Axis Coordinated Motion Control End User Manual The Sequence Edit Menu The Sequence Edit Menu displays all the steps within the selected Sequence Use the arrow keys to navigate with the cursor to select the desired Sequence Step Press F4 again to edit the contents of that Step within the Step Table Edit Menu Press F3 to cut the selected Sequence Step Press F6 to paste a Sequence Step in the current cursor position SEQUENCE EDIT MENU PROGRAM SEQ1 SEQUENCE INITIALIZE_SEQUENCER 01 HOME_ALL_AXES 02 SET_MAX_VALUES 03 PICK_POSITION 04 END OF LIST F2 F3 F4 F5 F6 F7 F8 PgDn Cut Edit Ins Paste Main Diag Table List Menu Pressing F5 Ins from the Sequence Edit Menu will open the Table List Menu This menu contains a list of all the step tables available within the selected Sequence Use the arrow keys to navigate with the cursor to select the desired Step Table Press ENTER to insert that function into the previous Sequence TABLE LIST Press ENTER to insert PICK POSITION SET VALU
62. eater than the allocated maximum number of points for D the selected point table 174 Error in command execution A procedure command set in the CLC TRANS 01 D or drive parameter has not been successfully completed 175 Comm port buffer overflow The serial port receive buffer has overflowed In current versions of the CLC TRANS 01 D this buffer is 512 bytes To avoid this error the host must communicate in half duplex or use XON XOFF handshaking correctly 176 Invalid Block This message is reserved for the TRANSO1 D version of the CLC TRANS 01 D See the documentation for this version 177 Can t save sequencer while it is Sequencer data can only be save while the program is not running or while no running user tasks are running a sequencer 178 Service channel in use The SERCOS service channel is being used by a user program task or by a CLC TRANS 01 D internal process and has suspended the transmission of a list or text string See the description of parameter C 0 0010 bit 12 179 PID block number does not This error is issued when the selected PID block is not initialized in the user exist program 2 22 Monitoring and Diagnostics End User Manual IRD T ZAP IZA CLC Multi Axis Coordinated Motion Control 3 CLC DDE Server 3 1 Dynamic Data Exchange The Microsoft Windows operating system specifies a method for transferring data between applications which is called dynamic data exchange DDE DDE is a message protocol t
63. een tip means that the server is actively communicating and a red tip indicates that the server is in an error state If the monitored CLC card s status indicates an error state while the application is an icon the server window will be restored to the normal state When the CLC DDE Server is running either the icon or the dialog box below is displayed If the icon is displayed double clicking the icon restores the dialog box The CLC DDE Server dialog box contains three selections on the main menu bar File Settings and DDE Ba Dde Server File Settings DDE Help EPE 007 Program Running A OBE IHDRAMA Figure 3 1 CLC DDE Server Settings Menu CLC Server Configuration The CLC Server Configuration allows setting of various system parameters as well as providing performance status information End User Manual CLC DDE Server 3 3 CLC Multi Axis Coordinated Motion Control INDRAMAL CLC Server Configuration r Communications CLC Status Display SERIAL 0 CLC Response Timeout Second s CLC Back Plane Relay Timeout 5 Second s Communication Retry Attempts Error Handling Iv Display Server Errors Intercept CLC Errors And Display v Make Error Messages System Modal Errors To File View Log File DDE Maximum Conversations Maximum Advise Items Iv Self Terminate If No Active Conversations Save Figure 3 2 CLC Server Configuration Communication
64. elects the cam Check that there is a valid cam with index D stored on the CLC 488 Cam Error See Task A diag An error was issued during a cam command in task A D See the task diagnostic message T 0 0122 for a description End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control 489 More than D cam axes selected The CLC limits the number of axes configured as CLC Cam Axes to D 490 System Memory Allocation Error The dynamic memory space on the CLC has been exhausted Call Indramat Service for assistance 491 PC Communication Handshake Error The CLC P did not respond to an ASCII message Check the address configuration on both the PC config sys and system ini and the CLC P address jumper switches 492 Programs were lost User programs and data were lost The RAM backup battery has failed or was not connected or an internal system error has corrupted the memory For the CLC V the card may have been removed from the VME rack 493 Data was restored from Flash User programs and parameters have been restored from Flash EPROM If the card has just been installed in the VME rack and a valid program is active clear this error and proceed If the card has not just been installed this indicates that the VME standby battery has failed and the previous program and data has been replaced with that stored in Flash 494 Sequencer init error see task T diag An error has occurred
65. ence 0 start of segment 1 end of segment Arg Argument for the event milliseconds if time based or percent of path and axis distance Function Task ID and Event number End User Manual Teach Pendant 4 17 CLC Multi Axis Coordinated Motion Control ID ZA DIZ Integer Variable Table Edit 4 18 Teach Pendant This menu allows for viewing and editing integers Variables can be changed by any task at any time It is possible therefore for editing to be in conflict with a motion task In this instance unexpected results may occur Itis at the discretion of the operator to determine the usefulness of such an operation INTEGER TABLE MENU Pointer_1 20 0 Pointer_2 40 0 Timer_1 60 0 Timer_2 80 0 Operation Type 00 0 116 0 1 7 0 F7 F8 Main Diag F1 Page Up F2 Page Down F3 Display Format Display Format Pressing F3 toggles the display between integer and scientific notation End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control Floating Point Variable Table Edit This menu allows for viewing and editing floating point variables Variables can be changed by any task at any time It is possible therefore for editing to be in conflict with a motion task In this instance unexpected results may occur Itis at the discretion of the operator to determine the usefulness of such an operation FLOATING TABLE MENU slave_turns 0 2500 master_turns 1 0000 Z_position 19 9990 q_position 1 0001 q_
66. ep number D is zero or is greater than the allocated maximum number of steps for this program 167 Invalid function number D The function number D selected for a sequencer step is invalid or refers to a function that does not exist on the card 168 Function D not accessible in a The function referred to with the number D cannot be entered in a sequencer step step It needs to be declared accessible by the sequencer in the user program 169 Too many functions are used The total number of functions used by all steps exceeds the number D D allocated for the program in the data sizing instruction or the number of functions used in a step exceeds the number of functions remaining Reduce the number of functions used or allocate more function slots in the data sizing instruction 170 Maximum steps per sequence The number of steps in a sequence exceeds the number D allocated for the exceeded D program in the data sizing instruction End User Manual Monitoring and Diagnostics 2 21 CLC Multi Axis Coordinated Motion Control INDRAMAL 171 functions per step Up to D functions can be used in one sequencer step This is a CLC TRANS exceeded 01 D system limit which in version GPS 02 00 is 100 172 Program not include a PLS data was requested from a program that does not support the PLS Programmable Limit Switch function or does not have any PLS s configured 173 Invalid ABS or REL point index Point D is zero or is gr
67. ervice and a Topic Once a conversation has been started a client may request or send information by specifying an item Service Name The CLC communication server supports two DDE service names The standard service name is CLC_DDE This should be used for all connections except when connecting to a CLC compiled program file For this case use CLC_FILE Topic Name When the standard service name is used to exchange CLC data the topic name identifies the method of connection to the CLC card and the card unit number Valid strings consist of a communication device name and a unit number Valid device names are SERIAL AT_MODEM_ XYCOM GE P amp P DEMO or ISA and valid card unit numbers are 0 to F Connections which use the CLC FILE service should specify the CLC program file as the topic name If the file is not located in the same directory as clc dde exe then the complete path should be included To exchange server data the service name should be CLC DDE and the topic name should be SERVER This is the only topic which will not support an advise link See section SERVER Topic Name SERIAL 0 Serial connection to a CLC card designated as unit O XYCOM B Xycom PC in VME rack talking to a CLC_V card designated as unit B ISA 1 PC talking over the ISA bus to a CLC P card designated as unit 1 SERVER Exchange CLC_DDE server information Item Name The item name identifies the specific data to exchange When exchanging
68. essage will be displayed in the extended diagnostics C1 124 Indicates the first drive in which the drive data failed Monitoring and Diagnostics 2 5 CLC Multi Axis Coordinated Motion Control INDRAMNAL 2 6 Monitoring and Diagnostics 410 System Error This error is not issued in current CLC versions and is reserved for future use 411 Drive D Phase 4 Switch Error The SERCOS phase 4 switch command failed for the drive indicated This usually indicates that configuration parameters for the drive are invalid or have not been saved Check the Drive Status message parameter Dx 95 for drive D for a description of the error If the Drive Status indicates that parameters are invalid or lost display the Phase 3 error parameter list for Drive D Switch into parameter mode and change the invalid parameters or download a valid parameter file to the drive If the Drive Status indicates that there is a feedback error voltage error or other hardware error correct the problem and switch into and out of parameter mode to reinitialize the interface 412 No drives were found on ring No drives were found when the CLC initialized the SERCOS ring to Phase 1 Check the addresses set on the drives in the CLC program and in the CLC parameters Also check that power is applied to the drives and the fiber optic connections are correct 413 I O board was not found The selected 1 board was not found on the VME bus The correct 1
69. exroth Ltd INDRAMAT Division 4 Esland Place Love Lane Cirencester Glos GL7 1YG Phone 01285 658671 Fax 01285 654991 France Rexroth Sigma S A Division INDRAMAT 270 Avenue de lardenne F 31100 Toulouse Phone 61499519 Fax 61310041 Spain Rexroth S A Centro Industrial Santiago Obradors s n E 08130 Santa Perpetua de Mogoda Barcelona Phone 03 718 68 51 Telex 591 81 Fax 03 718 98 62 Switzerland Rexroth AG Geesch ftsbereich INDRAMAT GewerbestraBe 3 CH 8500 Frauenfeld Phone 052 720 21 00 Fax 052 720 21 11 Germany Central Sales Region INDRAMAT GmbH Bgm Dr Nebel Str 2 D 97816 Lohr am Main Phone 09352 40 0 Fax 09352 40 4885 Southern Sales Region INDRAMAT GmbH RidlerstraBe 75 D 80339 M nchen Phone 089 540138 30 Fax 089 540138 10 Customer Service Locations Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT RandlstraBe 14 A 4061 Pasching Phone 07229 4401 36 Fax 07229 4401 80 Finland Rexroth Mecman OY Riihimiehentie 3 SF 01720 Vantaa Phone 0 848511 Fax 0 846387 Italy Rexroth S p A Divisione INDRAMAT Via G Di Vittoria 1 1 20063 Cernusco S N MI Phone 02 92365 270 Fax 02 92108069 Spain Goimendi S A Division Indramat Jolastokieta Herrera Apartado 11 37 E San Sebastion 20017 Phone 043 40 01 63 Telex 361 72 Fax 043 39 93 95 Russia Tschudnenko E B Arsenia 22 153000 Ivanovo Russia Phone 093 22 39
70. gram Sequence Name of the current sequence executing Step Name of the current step executing Function Name of the current function executing N A Position Title Axis Position Title Joint World amp Target Axis 1 Label X Axis defined as axis 1 Axis 2 Label Y Axis defined as axis 2 Axis 3 Label Z Axis defined as axis 3 Axis 4 Label A Axis defined as axis 4 Target Name N A Function Keys Operation Labels Point and label for the current point executing Function keys control machine operation Specify the machine operations The control menu can run in one of three different modes The following pages describe the operation of each mode and illustrate the different menu layouts Teach Pendant 4 25 CLC Multi Axis Coordinated Motion Control INDRAMAL Control Menu Auto Run Hold Mode CONTROL MENU A Auto Run SPEED 100 Two_Liter_Bottles Ejectors_Back Ejectors_fwd Move_In_Mold_Position JOINT WORLD TARGET 1200 00 1200 00 2000 00 500 00 500 00 500 00 90 00 90 00 180 00 0001 Move In Mold Position F3 F4 F5 F7 F8 STOP I O Main Diag F1 Mode Of Operation If the Teach Pendant Enabled Bit Register 1 bit 14 is high pressing the F1 key will change the mode of operation in the order shown below Manual Jog Auto Step Auto Run Hold Auto Step gt F1 Auto F2 Go Jog F3 Stop F5 Instruct Seq Step Seq Func F8 Diagnostics Note F2 F3 and F5 are dependent on the
71. h the pendant TPT 2 0 Main Menu Note While in the Main Menu the This line can be set by parameter C 0810 to display Task Status Messages B and B keys can be used to CLC MAIN MENU respectively turn on and off the TASK A display backlighting CLC DP GPS 05T24 F1 PROGRAM MENU F2 TABLE EDIT MENU F3 JOG MENU F4 CONTROL MENU F5 REGISTER I O MENU F6 PARAMETER MENU F7 SECURITY MENU F8 DIAGNOSTIC MENU Note The first screen that is displayed on the Teach Pendant is the Control Menu See section 4 3 Task Control End User Manual Teach Pendant 4 1 CLC Multi Axis Coordinated Motion Control Menu Map INDRA DIAL The following chart maps the submenus and menu links that are found within the main menu Some menus have direct links to diagnostics parameters and I O registers Note Pressing the ESC key will backtrack the Teach Pendant and display the previously viewed screen until it reaches the main menu MAIN MENU F2 PROGRAM MENU 1 U Program Selection F1 Activate Program F4 Edit Sequencer F7 Main Menu F8 Diagnostic Menu 4 2 Teach Pendant TABLE EDIT MENU F1 Absolute Table F2 Relative Table F3 Event ia F4 Integer Table F5 Float Table F6 Global Integer F7 Global iil F8 Diagnostic Menu Figure 4 9 Menu Map F1 F4 F1 Jog Systems F2 Method F3 Increment Point F4 Dec
72. hat developers can use for exchanging data between Windows based applications The CLC communication server uses the dynamic data exchange management library DDEML which is built on top of the DDE protocol The DDEML provides services that the message based DDE protocol does not support Under the DDEML a client application requests information from a server application or it sends unsolicited data to the server The client does this by passing predefined ASCII strings to the server through the DDEML Before a client and server can exchange data they must first agree upon what they are going talk about This is done by establishing a conversation Conversations are defined by a service name and a topic name The CLC server application uses this information to specify how and who to communicate with After having established a conversation the client application can now pass data This is done by specifying an item name The item name identifies the specific data to be passed There are three basic types of data transactions which can be initiated by the client application A request transaction is used to obtain data from the server The server application knows how to obtain the requested information The second type of transaction is an advise link After a client application establishes an advise link with a server it is up to the server to poll the data for changes If the server finds that the data has changed it will notify the client app
73. id the checksum that the CLC TRANS 01 D calculated calculated on the incoming data is also sent with this message 114 Invalid Command Subclass A serial port command option is invalid or not supported 115 Invalid Parameter Set The parameter set number task or axis is invalid 116 List already in progress An attempt has been made to start a parameter or program list that is already in progress H7 Invalid Sequence Number The sequence number of a parameter or program list is invalid or has been sent out of order 118 List has not started A parameter or program list has not been initiated i e sequence number was sent before list was started 119 List is finished This is an acknowledgment that a parameter or program list is complete It does not indicate an error 120 Parameter is a List This parameter is a variable length list and its data cannot be displayed as a normal parameter 121 Parameter is not a List Only Variable Length List parameters can use the Parameter List sequence 122 Invalid Variable Number The variable mnemonic was not l or F or the variable number is greater than the maximum number of variables allocated 123 Insufficient program space This message is sent after the CLC TRANS 01 D receives a P W program header if not enough contiguous memory is left on the CLC TRANS 01 D to store the program Other programs may need to be deleted or their order rearranged Check system parameters C1 91 C1 92 and C1
74. in 159 SERCOS handshake busy This is an internal error generated by the SERCOS ASIC Change modes or timeout reset the card If it happens again call Indramat Service 160 Executable program is too large The executable portion of the user program downloaded to the CLC TRANS ddK 01 D exceeds the maximum limit which is indicated in the message dd in kilobytes Optimize the program and download it again or update the firmware to a version that has a larger program limit 161 System Memory Allocation The dynamic memory space on the CLC TRANS 01 D has been exhausted Error Call Indramat Service for assistance 162 Cam X data is 0 or greater All values in the x column right hand column of the cam file sent to the CLC than 360 TRANS 01 D must be between zero and the value of the master 163 X Column does not start at 0 or In the cam file sent to the CLC TRANS 01 D the first point must be zero and end at 360 the last point must be the modulo value of the master Check the beginning and end of the cam file 164 Not supported in user prog file The requested feature is not present in the file version of the user program from version 1 1 which the data was requested or sent To use this feature a compiler upgrade is necessary 165 Sequencer invalid sequence The sequence number D is zero or is greater than the allocated maximum D number of sequencers for this program 166 Sequencer invalid step D The sequencer st
75. in a sequencer initialize instruction in task T The task diagnostic 7 0 0122 and the extended diagnostic C 0 0124 give a more detailed description of the error 495 Sequencer error see task T diag An error has occurred in a sequencer execute instruction in task T The task diagnostic 7 0 0122 and the extended diagnostic C 0 0124 give a more detailed description of the error 496 Can t Execute this Instruction from an Event This user program instruction cannot be executed from within an event See the task error descriptions and the current program instruction Some operations such as sequencer initialization cannot take place during an event Move the instruction into a main user task or subroutine 497 Limit switch config error see ext diag This error is issued at activation of a program when one of the PLS parameters defined in the program is invalid It is also issued when the ELS setup is incorrect for PLS operation Parameter C 0 0124 provides a detailed description of the error as an extended diagnostic message Monitoring and Diagnostics 2 15 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 16 Monitoring and Diagnostics 498 Drive D Shutdown Warning This error is issued when any drive has a Class 2 shutdown warning The tasks that stop for errors switch into manual mode and perform a controlled stop of all axes A drive warning indicates a condition that will later cause a shutdown but is se
76. is installed the port is configured for the default settings of RS 232 and 9600 baud The switch order S6 S7 S5 on earlier cards was S9 Figure 1 4 CLC P jumper locations Jumpers S5 through S7 set the PC interrupt Only IRQ2 default can be used nos oo imos uu o n End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Jumpers S8 through S11 set the base address of a 16K memory segment in the Hosts RAM This memory space is used to exchange information between the CLC and the Host Card Number Base Address ew cc m m fou fa o m e e s pw m o m e m fon n On Board Battery Non volatile memory backup is provided by a 3 volt CR2477N MnO2 Li type battery The battery has a capacity of 0 9 Amp hours End User Manual Introduction and Overview 1 7 CLC Multi Axis Coordinated Motion Control TDi ZAP IZ CLC V Overview INDRANAT 5 RSE AL T R
77. lication The third type of transaction is a poke A poke transaction is used to send data for a specific item to the server The Dynamic Data Exchange Server CLC_DDE is a Windows based Dynamic Data Exchange DDE Server application which is used to communicate with Indramat s CLC motion control cards It has been implemented using windows dynamic data exchange management library DDEML Key Features Serial connection to a CLC card with support for an RS485 auto switching adapter e Support for a modem connection to a CLC card AT protocol e VME back plane communications from a XYCOM Requires XVME984 DLL e VME back plane communications from GE FANUC Plug amp Play PC Requires VPCMTK DLL e Direct PC AT bus communication to a CLC P card Requires CLC P DLL e Connection for editing a CLC compiled program file off line Requires FILE DLL e Demonstration connection for testing client applications off line Requires DEMO INI e Access to server parameters and status through DDE e Supports Request Advise and Poke transactions End User Manual CLC DDE Server 3 1 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ Dynamic Data Exchange Interface 3 2 CLC DDE Server Example Example A windows application known as a client can pass information between other applications known as servers using Dynamic Data Exchange DDE A client establishes a conversation with a server specifying a S
78. mum I O register number Attributes Integer Read write at any time These parameters define a range of registers accessible to the operator The operator can view all the registers but the operator can only access the registers within this window If the operator needs to change a bit in a register outside the window of this parameter the operator can either enter a password or set the pendant level protection bits System Control Register 1 bits 15 amp 16 When the Register I O Menu is selected on the Teach Pendant the first register to be displayed is the number stored in the Start of User Accessible Registers parameter End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control C 0 0807 Pendant Password Time out Units seconds Default 30 seconds Limits 0 disabled to 3600 one hour Attributes Integer Read write at any time This parameter sets a time out on the Teach Pendant password After the password is entered parameter C 0 0801 the user can enter any screen requiring the password for the time set in this parameter When a key is pressed the timer is reset After the timer expires the password is again required If the time out is set to 0 the password is always required C 0 0810 Task ID Number Default 0 Limits 0 4 Attributes Integer Read write at any time Gets Task Status Parameter T 0 0123 and allows for the message to be displayed on the first line of the TPT Disable
79. n Edit Menu contains a list of all the arguments and their corresponding values Use the arrow keys to navigate with the cursor and select a Function Press F4 again to edit the values assigned to the arguments of that function FUNCTION EDIT MENU PROGRAM SEQ1 SEQUENCE INITIALIZE_SEQUENCER STEP HOME_ALL_AXES FUNCTION HOME_AXIS AXIS NUMBER HOME OFFSET POSITION SET HOME POSITION F4 F7 F8 List Edit Main Diag End User Manual Teach Pendant 4 13 CLC Multi Axis Coordinated Motion Control TDD ZAP IZ 4 5 Table Edit Menu The Table Edit menu allows pendant editing of the Absolute and Relative Point Tables the Event Table and the Integer and Float variable Tables CLC TABLE EDIT MENU Absolute Table Menu Relative Table Menu Event Table Menu Integer Table Menu Float Table Menu Global Integer Table Global Float Table Esc F8 Main Diag Absolute Point Table Edit The Absolute Point Table Edit menus permit editing taught or programmed points ABSOLUTE TABLE MENU NUM NAME 001 Part_Pickup 002 Regrip 003 Leave_Part F1 F2 F3 F5 F6 F7 F8 PgUp PgDn Home End Edit Jog Main Diag Select a point by moving the cursor up and down with the arrow keys Pressing edit will bring up the following menu 4 14 Teach Pendant End User Manual IMDR ARIAL CLC Multi Axis Coordinated Motion Control ABSOLUTE POINT MENU ABS 0002 Regrip 30 000 X 0 000 Roll 00 Elbow 20 000 Y 0 000 Pitch 00 000 Z 0 000 Ya
80. ndex 479 Drive DV too many cyclic data elements 2 14 480 SERCOS Error MDT is too large 2 14 481 Event D is already armed 2 14 482 Checksum Error in Program 2 14 483 Parameter Init Error see Task A diag 2 14 484 CLC SYSTEM ERROR 2 15 485 SERCOS I O too many registers configured 486 SERCOS Device D is not a drive 2 15 487 Cam D is invalid or not stored 2 15 488 Cam Error See Task A diag 2 15 489 More than D cam axes selected 2 15 490 System Memory Allocation Error 2 15 491 PC Communication Handshake Error 2 15 492 Programs were lost 2 15 493 Data was restored from Flash 2 16 494 Sequencer init error see task T diag 2 16 495 Sequencer error see task T diag 2 16 496 Can t Execute this Instruction from an Event 497 Limit switch config error see ext diag 2 16 498 Drive D Shutdown Warning 2 16 499 Axis number D not supported in this version 500 Axis D is not referenced 2 17 501 Drive D communications error 2 17 502 ELS and cams not supported in this version Status Messages 22 001 Initializing System 2 2 002 Parameter Mode 2 2 003 Looking for drives 2 2 004 System is Ready 2 2 005 Manual 2 2 006 Automatic Mode ABCD 2 2 007 Program Running ABCD 2 2 008 Single Stepping ABCD 2 2 009 Select Parameter Mode to Continue 2 2 202 Drive D is not ready 2 3 203 Power Lost During Program 2 3 204 SERCOS Ring was disconnected 2 3 205 Parameter transfer warning in Task 2 3 SW5 1 9 SW6 1 10 T Teach Pendant 4 1
81. ndicated an error on the SERCOS ring Check the fiber optic connections the addresses set on the drives and the drive configuration 402 SERCOS Config Error see ext diag or 402 SERCOS Interface Error XXXX versions before 01 20 An error in the SERCOS service channel has occurred when the CLC was initializing the timing and scaling parameters The extended diagnostics C1 124 gives a description of the error If the extended diagnostic indicates a timing error or data limit error check the amount of data or drives on the ring and the minimum cycle time parameter Otherwise check the fiber optic connections the addresses set on the drives and drive firmware versions 403 System Error This error is not issued in current CLC versions and is reserved for future use End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control 404 Invalid Switch into Phase D The SERCOS communications controller did not allow a phase switch Check if power is applied to the drives and if the fiber optic connections and the drive addresses are correct If drive parameters were just downloaded switch back into parameter mode to reinitialize the interface If the above conditions are O K the SERCOS interface board may be faulty NOTE 7his error is issued only in versions that do not use the SERCOS ASIC firmware versions less than 01 20 405 Phase D Drive did not respond A time out in the SERCOS ring has
82. nfiguring the drive s real time bits for the feedback capture function Clear the error enter parameter mode to reinitialize SERCOS and then exit parameter mode 477 Axis D probe edge not configured This error issued in the capture enable instruction indicates that the selected probe edge for the event has not been configured with the capture setup instruction 478 Calc operand out of range The operand of a calculation function is out of the range of valid arguments as when a square root or a logarithmic of a negative number is attempted 479 Drive D too many cyclic data elements The DDS 2 1 currently allows 4 cyclic data elements for the AT and MDT Remove options such as cards and probing Refer to the SERCOS Cyclic Telegram Configuration 480 SERCOS Error MDT is too large The DDS 2 1 currently allows 104 bytes in the MDT Remove options such as 1 cards and probing or reduce the number of drives on the ring Refer to the SERCOS Cyclic Telegram Configuration Monitoring and Diagnostics 2 13 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 14 Monitoring and Diagnostics 481 Event D is already armed An event that is currently armed has been armed again using event trigger event arm or the VME event instructions 482 Checksum Error in Program The currently active program s checksum doesn t match the checksum that is stored in memory This indicates that a system error has caused the CLC to
83. ns the ERR LED on the DEA C card on This indicates that the current drawn by the outputs has caused the output drivers to shut down There is a protection circuit that prevents damage to the card in this condition This error is issued if the current is greater than 300mA for more than 1 microsecond Troubleshooting When a 507 error occurs check parameter C 0 0031 to find the cards that have the error condition Check the ERR LED on the DEA C If it is on check the current draw of the devices connected to the outputs If the ERR LED is off check the 24V external power supply signal to see if it is connected and if it falls in the range above 2 5 Fatal System Errors 2 18 Monitoring and Diagnostics When a microprocessor exception or an unrecoverable system error occurs the CLC may stop communicating with Visual Motion and teach pendant interfaces If possible control is passed to a CLC resident monitor routine that can provide debugging information to an ASCII terminal connected to the Host serial port If a fatal error repeatedly occurs and cannot be recovered call Indramat Service for assistance in debugging End User Manual ID ZA DIZ CLC Multi Axis Coordinated Motion Control 2 6 Communication Error Codes and Messages 101 SERCOS Error Code xxxx This is the code set in the data status word of the DDS 2 drive if SERCOS xxxx Error code communication is invalid Call Indramat Service if this error occurs 102 Invalid
84. o 1 B B Jog B coordinate plus minus LEN oo MN Jog Y coordinate plus minus Jog Z coordinate plus minus 4 6 Teach Pendant End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Keyboard Map F2 F3 ra rs Fe F8 a 5 6 pe x ve e joe jeje ze fa Register 95 Register 96 4 Register 97 4 Bit Numbers The TPT keyboard is mapped to register 95 96 and 97 The first row of keys from the top is placed in the low bytes of register 95 The second row of keys is placed in the high byte of register 95 etc When a key is pressed its corresponding bit turns on and remains on for as long as the key is pressed End User Manual Teach Pendant 4 7 CLC Multi Axis Coordinated Motion Control ID ZA DIZ Cursor Control and Editing Jogging Control Task Control Teach Control 4 8 Teach Pendant The cursor may be moved up or down left or right by pressing the corresponding arrow key The arrow keys double as numeric entry keys and generate numeric values when an item on the screen is edited To edit an item position the cursor over it and press the EDIT key Doing so clears the field used by the item allowing a new value to be entered Pressing ENTER terminates the editor and enters the new value into the system Sometimes the cursor can be positioned on an item but the EDIT key does nothing when pressed In this
85. occurred when the CLC was initializing timing and scaling parameters Check the fiber optic connections the addresses set on the drives and the drive firmware versions This distinguishes a communication error from an actual phase switch error 406 System Error This error is not issued in current CLC versions and is reserved for future use 407 Drive D Phase 3 Switch Error The SERCOS phase 3 switch command failed for the drive indicated This usually indicates that configuration parameters for the drive are invalid or have not been saved Check the Drive Status message parameter Dx 95 for drive D fora description of the error If the Drive Status indicates that parameters are invalid or lost display the Phase 2 error parameter list for Drive D Switch into parameter mode and change the invalid parameters or download a valid parameter file to the drive If the drive is not communicating check the connections and the addresses If drive parameters were just downloaded switch back into parameter mode to reinitialize the interface 408 SERCOS Controller is in test mode The Indramat DAS2 SERCOS Controller is in test mode Set the mode switch on the front of the board to a position where this error does not occur Note This error is not issued in versions that use the SERCOS ASIC 409 SERCOS Disconnect Error The SERCOS fiber optic ring was disconnected or the drives were powered down while in Phase 3 or 4 A more descriptive m
86. og Menu The Single Axis Jog menu allows jogging a single non coordinated axis Only the selected axis is affected The pendant display is continuously updated with the current position of the axis Press AXIS to jog in the negative direction Press AXIS to jog in the positive direction The pendant beeps at the beginning and end of motion Coordinated Jogging Press X to jog in the negative X direction Press X to jog in the positive X direction Press Y to jog in the negative Y direction Press Y to jog in the positive Y direction Press Z to jog in the negative Z direction Press Z to jog in the positive Z direction Joint Jog Menu The Joint Jog menu allows jogging of individual axes with a joint number Robot World Jog Menu The Robot World Jog menu allows jogging a coordinated or single axis for a task in World Cartesian Space When jogging in world coordinates motion will be generated parallel to the selected X Y or Z coordinate The pendant beeps at the beginning and end of motion The display is continuously updated to display the current position X Y Z on each of the axes Tool Jog Menu The Tool Jog menu allows jogging of the position of the end of a robotic arm Teach Pendant 4 23 CLC Multi Axis Coordinated Motion Control ID ZA DIZ Jog Method Teaching Points Jog Fine Adjustments 4 24 Teach Pendant The following Jog Methods are available with the Teach Pendant Continuous Slo
87. oggle the state ON OFF of bits 1 through 8 first page displayed or bits 9 through 16 second page displayed NOTE f an operator needs to change a bit in a register outside the range set by parameters C 0 0805 and C 0 0806 a password will have to be entered or the pendant level protection bits will have to be adjusted See the Security Menu description 4 30 Teach Pendant End User Manual ID ZAP IZ CLC Multi Axis Coordinated Motion Control 4 9 Parameter Menu The Parameter menu allows selection of screens for editing the system task axis and drive parameters PARAMETER MENU F1 CARD F2 AXIS F3 TASK DRIVE Selecting F1 F4 will open one of the following Parameter screens Position the cursor over the parameter number or the parameter value and press the edit key to select a different parameter or change the value of the current one displayed Card Parameter Screen CARD PARAMETER Ccc pppppp nnnnn C01 00001 Language Selection F1 F2 F7 F8 Home End Main Diag Ccc pppppp nnnnn VVVV oa S vvv Value of the parameter gt nnn Name of the parameter 5 Parameter Number Card Number C Parameter Indicator End User Manual Teach Pendant 4 31 CLC Multi Axis Coordinated Motion Control INDRAMAL Axis Parameter Screen AXIS PARAMETER Aaa pppppp nnnnn A01 00001 Task Assignment F1 F2 Home End Aaa pppppp nnnnn VVVV Ww R vvv Value of
88. on 2 9 440 I O Transfer Error see task diag 2 10 441 DMA error while reading from local RAM 442 DMA error while reading from VME address 443 DMA error while writing to local RAM 444 DMA error while writing to VME address 445 DMA Access Timeout Error 2 10 446 DMA Timeout Error 2 10 447 VME SYSFAIL Detected 2 10 448 VME Communication Handshake Error D 449 VME Bus Error 2 10 450 Event invalid event type 2 10 451 Invalid event number D 2 10 452 More than D event timers armed 2 11 453 Homing param transfer error D 2 11 454 Axis D homing not complete 2 11 455 Invalid VME Data Transfer Class 2 11 456 Invalid VME Address 2 11 457 Table Bounds Error During VME Read 458 Table Bounds Error During VME Write 459 Axis D target position out of bounds 2 11 460 Invalid program D from binary inputs 461 System Error 2 12 462 System Error 2 12 463 Ratio command invalid ratio 2 12 464 Can t activate while program running 466 Drive D scaling type not supported 2 12 467 Invalid ELS Master Option 2 12 468 ELS adjustment out of bounds 2 13 469 Axis D accel lt 0 or maximum 2 13 470 Axis D velocity maximum 2 13 471 Invalid VME Base Address Page OxXXXX 472 VME Event Trigger Rejected 2 13 473 VME Event Trigger For Unit D Failed 474 Drive D cyclic data size too large 2 13 475 Axis D capture already configured 2 13 476 Axis DX Real Time Bit Setup Error 2 13 477 Axis DV probe edge not configured 2 14 478 Calc operan
89. onsible for structuring the program floats properly Teach Pendant 4 37 CLC Multi Axis Coordinated Motion Control INDRANMAL 4 38 Teach Pendant C 0 0804 Pendant User Accessible Integers Section Default 1 Selections 1 all are accessible 0 none are accessible 1 number of program integers defines range Attributes Integer Read write at any time This parameter defines the maximum allowable range for program integers to be user accessible from the Teach Pendant The operator can view all the program integers but the operator can only access the program integers up to number set in this parameter If the operator needs to change a program integer greater than the number in this parameter then the operator can either enter a password or set the pendant level protection bits System Control Register 1 bits 15 amp 16 Example User Accessible Program Integer Section 10 When the operator selects Table Edit Menu Integer Table Menu without a password or the required security level the operator can only access the first ten integers The programmer is responsible for structuring the program integers properly C 0 0805 Start of User Accessible Registers on Pendant Default 1 Limits 1 maximum I O register number 512 on CLC D P 2048 on CLC V Attributes Integer Read write at any time C 0 0806 End of User Accessible Registers on Pendant Default maximum I O register number 512 on CLC D P 2048 on CLC V Limits 1 maxi
90. or must first be corrected before it can be cleared by the pendant 4 14 System Parameters Teach Pendant Related C 0 0801 Pendant Protection Level 1 Password Default 0 Limits 0 9999 Attributes Integer Read write at any time 4 36 Teach Pendant End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control This parameter defines a four digit numeric password that prevents entry into protected menus unless it is entered If it is 0 the password is disabled C 0 0802 Pendant Protection Level 2 Password Not Currently Used Reserved for future use C 0 0803 Pendant User Accessible Floats Section Default 1 Selections 1 all are accessible 0 none are accessible 1 number of program floats defines range Attributes Integer Read write at any time This parameter defines the maximum allowable range for program floats to be user accessible from the Teach Pendant The operator can view all the program floats but the operator can only access the program floats up to number set in this parameter If the operator needs to change a program float greater than the number in this parameter then the operator can either enter a password or set the pendant level protection bits System Control Register 1 bits 15 amp 16 Example User Accessible Program Float Section 10 When the operator selects Table Edit Menu Float Table Menu the operator can only access the first ten floats The programmer is resp
91. ound in the active program file Recompile the program from the PC and download it again If the error still occurs call Indramat Service for assistance 420 Drive D Shutdown Error The drive has issued a shutdown error which disables motion Check the SERCOS Drive Status message parameter Dx 95 for a description of this error Refer to the drive manual for more information 421 User Program Stack Overflow The subroutine call stack for a user program task has overflowed Check the program for the following conditions there is not a return for every subroutine call a subroutine is calling itself program flow has caused multiple returns more than 256 subroutines are nested See the diagnostic message Error Reference source not found or task error bit for each task to find out which task has this error 422 Parameter transfer error in Task A There is an error in the parameter transfer instruction The parameter format parameter number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 423 Unimplemented Instruction The instruction is not implemented in this version Recompile the program without this instruction indicated by the current instruction pointer or update the CLC firmware or PC software 4
92. overwrite memory Call Indramat service for assistance 483 Parameter Init Error see Task A diag There is an error in the parameter initialization or bit initialization instruction which is executed when exiting parameter mode The parameter format parameter number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 In many cases this error is issued when a drive is not on the ring or the drive parameter is not found for a type of drive 484 CLC SYSTEM ERROR This error indicates a problem in the CLC executive firmware See the extended diagnostics parameter C 0 0124 for more information and call the Indramat service department for assistance 485 SERCOS I O too many registers configured More than 50 SERCOS I O registers were configured in the CLC which exceeds the system limit This includes both drive resident and SERCOS O slaves 486 SERCOS Device D is not a drive The SERCOS device with address D was enabled in the user program or parameters as an axis but an I O slave or other type of slave was detected 487 Cam D is invalid or not stored In the cam activate command the selected cam D is not stored on the card or does not contain valid data Check the variable or constant that s
93. r CLC Is In This indicator will be marked when the selected CLC Parameter Mode control card is in parameter mode CLC Is In An This indicator will be marked when the selected CLC Error State control card is in an error state Card parameter 122 will contain the specific error message CLC Unit Use this pull down list to select the unit number to display Number the status indicators for Use PC When selected this option will force all CLC P control Handshaking cards to terminate communication responses with a PC Interrupt IRQ 9 interrupt RQ 9 Hardware jumper S5 must be inserted on the CLC P card for this option to work properly If this option is not used the server will poll for a communication response every 55 milliseconds Note When using the interrupt option on the CLC P control card no other hardware devices may use IRQ 9 DDE Menu 3 8 CLC DDE Server End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control DDE Conversations The DDE Conversations dialog box displays the Conversation Service and Topic Handles for all of the current DDE conversations The Item Count column shows the total number of active advise links request transactions and poke transactions Double click on a specific conversation entry in order to view the item transaction list A second method is to select the conversation and then use the expand button This dialog box is useful when creating client applications which talk
94. reema tenet eed etre del duse Y liad en d een d re Y 4 36 4 14 System Parameters Teach Pendant Related sse 4 36 4 15 Teach Pendant Reserved Register Table 4 40 5 Index 5 1 Contents End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Table of Figures Figure 1 1 CLC D Hardware Comparison esent nennen ennt e aaa Aaaa aeaa 1 3 Figure 1 2 CLC D Jumper 1 4 Figure 1 3 7 segment display on the 1 5 Figure 1 4 CLC P jumper locations 1 6 Figure 1 5 CLC V Hardware Comparison sse rennen nennen nene tnnt 1 8 Figure 1 6 CLC V Configuration 1 9 Figure 3 1 CLG DDE Server ee eie leid Po edie Bee non aee de ot re epe E Sce dade eiae 3 3 Figure 3 2 CLO Server Configuration siinne a anaa aean A ERa E AAA AEE Ea iaat 3 4 Figure 3 3 Serial COMMUNICATIONS igei eet iet t Ree tine ene rae eue caes 3 6 Figure 3 4 VME 3 7 Figure 3 5 PC Bus Communications 3 8 igure 3 6 DDE Conversations erat etre rr ERR CREE E SER ERR iE 3 9 Figure 3 7 DDE Conversation ltem 3 9 Figure 3 8 DDE Communication
95. rement Point F5 Axis F6 Edit Jog Parameters F7 Main Menu F8 Diagnostic Menu F4 I O Menu i gt CONTROL MENU F1 Auto Manual Modes F2 Go Jog F3 Stop F5 Step Mode Type F7 Main F8 Diagnostic Menu End User Manual INDRAMNAL CLC Multi Axis Coordinated Motion Control MAIN MENU REGISTER I O PARAMETER SECURITY DIAGNOSTIC MENU MENU MENU MENU fT Bits 01 08 f Menu U Bits 09 16 Selection F2 Axis F3 Task F1 Number Up F4 Drive F2 Number Down F7 Main ERN F3 Clear Menu Errors 7 Main F8 Diagnostic Menu Menu Figure 4 10 Menu Map F5 F8 End User Manual Teach Pendant 4 3 CLC Multi Axis Coordinated Motion Control TDD ZAP IZ 4 2 Teach Pendant Setup Note To use the pendant When the Teach Pendant is enabled the following registers and bits shall be function keys as well as the forced at all times by the TPT The CLC provides a register forcing capability pendant edit features the that allows a Host system to directly change the state of individual I O register System Control Register 1 bit bits overriding both the physical I O and the CLC I O Mapper 14 Pendant Enable must be set to 7 Task A Control Register 2 bit 1 Mode Select bit 4 Single Step bit 6 Cycle Start bit 7 ITask Stop bit 12 Step Sequence Step bit 13
96. rious enough to require immediate attention Since the warning may have already been cleared on the drive the extended diagnostic C 0 0124 latches the class 2 diagnostic bits drive parameter S 0 0012 from the drive so that this condition can be corrected Note Class 2 warnings may not be detected by the CLC if drive parameter S 0 0012 is being continuously read by the user interface or user program since the diagnostic change bit is reset whenever this parameter is read 499 Axis number D not supported in this version This version of CLC software is limited to less than D axes The axis number is limited to the number of axes allowed Currently the standard version of CLC allows 4 axes and the enhanced version 40 axes 500 Axis D is not referenced Axis D has not been homed the reference position has not been set or the reference position has been lost The reference position bit in drive parameter S 0 0403 is zero To enable or disable this error use parameter A 0 0006 501 Drive D communications error An error in drive communications has occurred while the CLC was reading or writing a service channel parameter for an internal operation Parameter C1 124 extended diagnostics has a detailed description of the error 502 ELS and cams not supported in this version The ELS and cam features are not supported in this version of the CLC GPS and GPE are the only firmware versions that include these features 503 Executing emp
97. ror 2 21 162 Cam X data is 0 or greater than 360 2 21 163 X Column does not start at 0 or end at 360 2 21 164 Not supported in user prog file version 1 1 2 21 165 Sequencer invalid sequence D 2 21 166 Sequencer invalid step D 2 21 167 Invalid function number D 2 21 168 Function D not accessible in a step 2 22 169 Too many functions are used 0 2 22 170 Maximum steps per sequence exceeded D 2 22 171 Maximum functions per step exceeded D 2 22 172 Program does not include PLS 2 22 173 Invalid ABS or REL point index 2 22 174 Error in command execution 2 22 175 Comm port buffer overflow 2 22 176 Invalid Block 2 22 177 Can t save sequencer while it is running 2 22 2 22 179 PID block number does not exist 178 Service channel in use 2 22 0 001 Initializing System 2 2 002 Parameter Mode 2 2 003 Looking for drives 2 2 004 System is Ready 2 2 005 Manual Mode 2 2 006 Automatic Mode ABCD 2 2 007 Program Running ABCD2 2 008 Single Stepping ABCD 2 2 009 Select Parameter Mode to Continue2 2 010 Breakpoint Reached ABCD 2 2 End User Manual EIOS ARIZA End User Manual CLC Multi Axis Coordinated Motion Control 2 201 Invalid jog type or axis selected 2 3 201 Warning Messages Invalid jog type or axis selected 2 3 202 Drive D is not ready 2 3 203 Power Lost During Program 2 3 204 SERCOS Ring was disconnected 2 3 205 Parameter transfer warning in Task A 206 Battery is low replace it soon 2 3 207
98. rs 0 or 1 CLC Multi Axis Coordinated Motion Control Baud rate to use to communicate with the modem COM port number the modem is on Initialize amp connect on conversation connection Phone number to dial Script to initialize modem Script to disconnect modem Script to send to modem before phone number Script to send modem to return to command mode if 1 use PC interrupt for communications DDE s status request item Maximum allowed conversations Maximum allowed advise items If 1 CLC_DDE is issuing an error Error text message CLC_DDE is displaying If 1 CLC_DDE is actively communicating CLC DDE Server 3 13 INDRAMAL CLC Multi Axis Coordinated Motion Control 4 Teach Pendant 4 1 Overview This chapter explains how to use the GT 2000 CLC Teach Pendant The Teach Pendant is a hand held instrument with 16 x 42 character display and a 40 key sealed membrane keypad The pendant provides a convenient operation and position programming interface for Indramat CLC Motion Control The Teach Pendant gives users a hand held operating interface which allows them to e Select operating modes and axis jogging e Access multi level menus for functions e Teach and edit motion control points events and variables edit parameters e Select and activate CLC resident programs Each category of functions has its own set of menus The following function categories are available throug
99. s CLC Status Selects the CLC device unit i e serial 0 combination to Display be displayed in the status window of the server The request will be inserted into the standard client advise loop queue This feature can be turned off by selecting Disable Status CLC Response The amount of time in seconds that the server will wait Time out for a completed response from the CLC control card before diagnosing a disconnect The valid range of values is 1 900 seconds CLC Back Plane CLC V control cards have the ability to redirect incoming Relay Time out serial messages over the VME back plane to other CLC V cards in the same rack This allows a host to address multiple control cards with one serial connection These transmissions may require more time than a direct serial link The relay time out value is used for these transactions The valid range of values is 1 900 seconds Communication The number of times the server will re send a message Retry Attempts before it issues an error The valid range of values is 0 255 3 4 CLC DDE Server End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control Error Handling Intercept CLC Checking this box will cause the server to intercept CLC Errors And error responses and displayed them in a message box Display Request and poke transactions will return failure to the client application Advise links will remain active however they will return nothing until the error is resolve
100. selected mode of operation When Automatic Mode is selected by pressing the F1 key F2 will display Go and F3 will display Stop By pressing the F2 key the program will start executing instructions By pressing the key program execution will stop If the F2 key is pressed again the program will continue To restart at the beginning of the program the mode of operation must be changed to manual or step and then changed back to auto In Auto Step mode F5 is used to select the step method which can be one instruction one Sequence Step or one Sequence Function at a time 4 26 Teach Pendant End User Manual ID ZL IZA CLC Multi Axis Coordinated Motion Control Control Menu Auto Step Mode CONTROL MENU A Auto STEP SPEED 100 Two_Liter_Bottles Ejectors_Back Ejectors_Fwd Move_In_Mold_Position JOINT WORLD TARGET 1200 00 1200 00 2000 00 500 00 500 00 500 00 90 00 90 00 180 00 TARGET 0001 Move In Mold Position F1 F2 F3 F4 F5 STEP GO STOP lO INST F1 Step F2 Go F3 Stop F5 Instruction Sequence F8 Diagnostics When the Automatic Step Mode is selected by pressing the F1 key F2 will display GO and F3 will display STOP Every time the F2 GO key is pressed the program will be sequentially executed one step at a time The steps can be program instructions Sequencer steps or Sequencer functions Pressing the F5 key selects the step mode that the program will follow Instruction INST Sequen
101. ster menu will be displayed The first register displayed is set in CLC card parameter C 0 0805 Start of User Accessible Registers on Pendant Parameter C 0806 defines the End of User Accessible Registers on Pendant The operator can only edit registers within the range of these two parameters For example parameter C 0805 register 100 which is labeled End Of Arm Tool 1 When the F4 key is pressed the first screen displayed is register 100 along with the register label Bits 1 through 8 are displayed along with the bit labels and current state ON OFF This screen is only updated when any of the bits change states REGISTER MENU REGISTER 0100 End Of Arm Tool 1 BITS OAT Forward 01 EOAT Reverse 02 C Axis Vertical 03 Axis Horizontal 04 A Axis Forward 05 A Axis Retracted 06 Bit 07 07 Bit 08 08 Press Down Arrow For Bits 09 16 F2 F3 F4 F5 F6 02 03 04 05 06 The first page of the register menu will display bits 1 through 8 By pressing the down arrow key bits 9 through 16 will be displayed Pressing the up arrow key will return to bits 1 through 8 End User Manual Teach Pendant 4 29 IMDR AAD CLC Multi Axis Coordinated Motion Control REGISTER 0100 BITS Bit_09 Bit_10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 16 Press Down Arrow For Bits 01 08 F4 F5 F3 11 REGISTER MENU End Of Arm Tool 1 09 10 11 12 13 14 15 16 12 13 The function keys F1 through F8 will allow the operator to t
102. te of the point Blend Blend Radius Roll Roll angle Pitch Pitch angle Yaw Yaw angle Elbow Elbow state Speed Speed Percentage of task maximum Accel Acceleration Percentage of task maximum Decel Deceleration Percentage of task maximum Jerk Jerk Limiting Percentage 0 trapezoid 100 s shape 50 between 1 First event for the point Event2 Second event for the point Event3 Third event for the point Event4 Fourth event for the point This value represents an event number from the event table See Event Table Edit End User Manual ID ZL IZA CLC Multi Axis Coordinated Motion Control Event Table Edit The Event Table Edit menu allows pendant editing of the events associated with each task in the Event Table The currently selected task determines the portion of the event table allowed to be viewed through the Teach Pendant EVENT TABLE ARG FUNCTION 20 0 Pressure_Switch 40 0 Change_Speed 60 0 evt_fn_1 80 0 evt_fn_2 00 0 F5 F7 F8 Replace Main Diag St The Event s status 0 inactive 1 pending 2 queued 3 executing 4 done Ty Event type 0 event inactive 1 repeating timer 2 time on coordinated motion path 3 dist on coordinated motion path 4 single axis distance 5 repeating axis position 6 task external interrupt input Ty Event type continued 7 VME broadcast interrupt 8 VME short address mailbox interrupt 9 axis feedback capture Rf Event Refer
103. tery is low replace it soon A low voltage on the RAM backup battery has been detected at power up or initialization from parameter mode Replace the battery to prevent any loss of data 207 Axis D position limit reached The negative or positive travel limit of axis D was reached preventing a jog from occurring End User Manual Monitoring and Diagnostics 2 3 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ 2 4 Shutdown Messages 400 599 2 4 Monitoring and Diagnostics A Shutdown is issued in an emergency situation or when the system or drives cannot operate correctly During a shutdown the CLC switches the user program tasks into manual mode decelerates all motion to zero velocity and sets the error bit in the status register If the shutdown condition results from an E stop or DDS 2 drive shutdown condition the CLC also disables the drives disabling motor torque and engaging the brake A low to high transition on the Clear All Errors bit in the System Control Register will clear a shutdown The CLC automatically sends a Reset Class 1 Diagnostics command to each drive that has an error 400 Emergency Stop The Emergency Stop input is active low The E Stop circuit has been opened due to activation of the E Stop push button or external logic All drives on the ring are disabled Release the E Stop button or correct the error condition 401 SERCOS Controller Error DD The SERCOS communications controller has i
104. to local RAM 2 10 444 DMA error while writing to VME address 2 10 445 DMA Access Timeout Error 2 10 446 DMA Timeout Error 2 10 447 VME SYSFAIL Detected 2 10 448 VME Communication Handshake Error D 449 VME Bus Error 2 10 450 Event D invalid event type 2 10 451 Invalid event number D 2 10 452 More than D event timers armed 453 Homing param transfer error D 454 Axis D homing not complete 2 11 455 Invalid VME Data Transfer Class 456 Invalid VME Address 2 11 2 11 2 11 2 11 457 Table Bounds Error During VME Read 2 11 458 Table Bounds Error During VME Write 2 11 459 Axis D target position out of bounds 460 Invalid program D from binary inputs 461 System Error 2 12 462 System Error 2 12 463 Ratio invalid ratio 464 Can t activate while program running 466 Drive D scaling type not supported 467 Invalid ELS Master Option 2 12 468 ELS adjustment out of bounds 469 Axis D accel lt 0 or gt maximum 470 Axis D velocity gt maximum 2 13 2 11 2 11 2 12 2 12 2 12 2 13 2 13 471 Invalid VME Base Address Page OxXXXX 472 VME Event Trigger Rejected 473 VME Event Trigger For Unit D Failed 474 Drive D cyclic data size too large 475 Axis D capture already configured 476 Axis D Real Time Bit Setup Error 477 Axis D probe edge not configured 478 Calc operand out of range 2 14 2 13 2 13 2 13 2 13 2 13 2 14 2 10 2 10 Index 5 9 Error Reference source not found 5 1 O I
105. ty block D This error is reserved for use by the TRANSO1 D control See the documentation for this version 504 Communication Timeout During a timed serial port transmission the serial port has not responded within the time set in parameter C 0 0016 Timed transmissions used for jogging through Visual Motion If this error occurs increase the timeout value in C 0 0016 End User Manual IMIDR ARIAL End User Manual CLC Multi Axis Coordinated Motion Control 505 Axis D is not configured A user program command was issued to Axis D but axis D is not configured in the program Modify the user program so that the correct axis is addressed or exclude the axis from the system using parameter A 0 0007 506 I O Mapper initialization error The I O mapper was invalid at initialization due to loss of memory or an incompatibility in the mapper version 507 Option Card Power Supply Error There is an external power supply or output driver error on a DEA 08 1C DEA 09 1C or DEA 10 1C expansion cards connected to the CLC D This error is issued only in Run Mode phase 4 All inputs are read as 0 and all outputs are turned off Monitoring and Diagnostics 2 17 CLC Multi Axis Coordinated Motion Control TDi ZA DIZ Power Supply Error on DEA C The 24V signal voltage on each CLC D must fall in the following range Min Typical Max External Supply Voltage 18V 24V 32V Output Driver Error on DEA C An output driver error tur
106. w 00 000 BLEND 0 Speed 001 Event 1 0 Accel 002 Event 2 0 Decel 003 Event 3 0 Jerk 0 Event 4 F1 F2 F3 F4 F6 F7 F8 IncPnt DecPnt Home End Jog Main Diag X X coordinate of the point Y Y coordinate of the point Z Z coordinate of the point Roll Roll angle Pitch Pitch angle Yaw Yaw angle Elbow Elbow state Blend Blend Radius Speed Speed Percentage of task maximum Accel Acceleration Percentage of task maximum Decel Deceleration Percentage of task maximum Jerk Jerk Limiting Percentage 0 trapezoid 100 s shape 50 between Event 1 First event for the point Event 2 Second event for the point Event Third event for the point Event 4 Fourth event for the point This value represents an event number from the event table See Event Table Edit End User Manual Teach Pendant 4 15 CLC Multi Axis Coordinated Motion Control ID ZA DIZ Relative Point Table Edit 4 16 Teach Pendant The Relative Point Table Edit menus permit editing taught or programmed points RELATIVE TABLE F3 F4 F5 F6 F7 F8 Home End Edit Jog Main Diag Select a point by moving the cursor up and down with the arrow keys Pressing edit will bring up the following menu RELATIVE TABLE REL 0002 2 30 000 X 20 000 Y 00 000 2 B 00 000 LEND 0 Speed Event 1 0 Accel Event 2 0 Decel Event 3 0 Jerk Event 4 F1 F2 F3 F4 F7 F8 IncPnt DecPnt Home End Main Diag X X coordinate of the point Y Y coordinate of the point Z Z coordina
107. w Continues to jog slowly until the button is released Continuous Fast Continues to jog quickly until the button is released Incremental Small Jogs a predetermined small increment and then stops Incremental Large Jogs a predetermined large increment and then stops To teach the current position during a coordinated jog into the Absolute Point Table press TEACH Confirm each point by pressing the enter key The table point number will flash indicating that point has been recorded in the table The point number will automatically advance to the next point F3 and F4 can also be used to increase or decrease the point number The jog speed and distance increment are set as a percentage of the Maximum Jog Increment and Maximum Jog Velocity parameters T 0 0025 and T 0 0026 Separate percents are used for FAST SLOW and LARGE SMALL jog settings in coordinated jog While in the Axis Jog or World Jog Menus pressing the PAR key displays a screen that permits editing the FAST SLOW and LARGE SMALL jog percents End User Manual INDRA DIAL 4 7 Control Menu End User Manual CLC Multi Axis Coordinated Motion Control The Control menu allows the pendant to control the execution of a task When the Teach Pendant powers up the Control Menu is the first menu displayed The Control Menu will provide the following information Title Control Menu Title Task Status Current task operating status Program Name Name of the currently active pro
108. wing area r v Display Requests v Display Responses P 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP 0 FP P v e m gt 0 RB 0 100 Figure 3 8 DDE Communication Monitor End User Manual INDRAMAL CLC Multi Axis Coordinated Motion Control 3 3 AT Modem Configuration Dialog CLC_DDE supports communications with a telephone modem which uses the AT protocol The server will initiate the modem link and instruct it to dial the desired number by sending standard AT commands The AT Modem Configuration dialog box is automatically displayed when a DDE conversation which specifies the topic is started The box will again appear when the conversation is terminated The dialog contains setup data and connection status To initiate the modem connection first enter the baud rate serial port and phone number The next step is to select the Connect button and watch the status box After the sending and receiving modems have connected press the Cancel button to close the dialog box The modems used for communication must respond to the AT protocol CLC_DDE will initialize the sending modem and establish a connection with the receiving modem The receiving modem should be configured in auto answer mode The CLC card must be configured to the same baud rate as the receiving modem Baud Rate Select the baud rate to use to talk to the sending modem Serial Port Sele

CLC Multi-Axis Coordinated Motion Control

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