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VisualMotion 6.0

1. la A S e DKCX 3 040 DKCX 3 100 Figure 1 6 ECODRIVE 3 drive family e CCD Box provides 24V backplane power for CLC D02 3 in combination with DEA 28 29 30 I O cards Figure 1 7 CCD Box DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 8 Introduction and Overview VisualMotion 6 0 CLC System Architecture The CLC card is a part of a larger motion control system which also includes digital servo drives and SERCOS a fiber optic communication system The VM Controller can provide multi axis coordinated and non coordinated motion control with tightly integrated I O logic control functions The flexibility of the VM System 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 CLC controls use SERCOS SErial Realtime COmmunications System fiber optic interface to interconnect with Indramat drives The SERCOS interface is an internationally accepted standard for real time high speed digital communication e requires only a single daisy chained fiber optic cable interconnecting the drives with the control e Synchronous data protocol guarantees response time e provides continuous monitoring and diagnostics for all devices and includes comprehensive standardized definitions for control loop functions e High noise immunity and el
2. DDS3 2 Modular unit with two slots for plug in cards and a continuous drive output of up to approximately 3 kW DDS2 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 12 kW DKR3 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 30 kW DKR2 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 50 kW DKR4 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 90 kW DKR5 1 Compact unit with four slots for plug in cards and a continuous drive output of up to approximately 224 kW Figure 1 2 DIAX03 drive family DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 4 Introduction and Overview VisualMotion 6 0 Motors used with DIAX03 All DIAX03 drive controllers are capable of operating all rotating and linear motors of the MDD 2AD 1MB MBW LAR and LAF series Figur
3. 3 42 506 I O Mapper initialization error 3 42 507 Option Card Power Supply Error 3 42 508 User Watchdog Timeout 3 43 509 CLC System Timing Error D 3 44 510 ELS Master Synchronization Error3 44 514 CLC SYSTEM ERROR D 3 44 515 PLC Communication Error D 3 45 7 T segment display ecceceseeeeeeees 1 17 A Absolute Point Menu Absolute Table Menu acceleration Droftles 1 12 Accumulator sssrini 1 27 Archive ASCII format sssrinin AT Mo d m EE Axis Jogging Options Axis Parameter Menu Battery Baud Rate Boolean equation sssssseeeeeeeeeeeeeeeee 2 21 Break Point Ges BTC 06Weight oororvrrnrrnervervorvrveenne 5 9 BTCO6 TEE 1 9 BTC06 Accessories s s s 5 7 BTC06 Connections Firmware Download and Projecting Interfac uisruenninsdashimns RS232 Interface BTC06 Dimensions i BTC06 Display BTC06 Error Screen BTC06 Features Optional Features BTC06 Firmware BTC06 jog method BTC06 jog system AXIS JOY MENU errenrnerrenrrnrrrrrenrevreene joint jog menu tool jog MENU ssssssseesseesssessesseses world jog menu BTC06 keyboard I O map BTC06 keyboard operation cursor control and editing 5 25 jogging Control number or letter selection task contra teach Control BTCO06 Main Connection s s sesseeeee DOK VISMOT VM 06VRS WA02 AE P 03 99 Index 6 3
4. Language English Current Mode Run SERCOS Phase 4 Diagnostic Message 400 EMERGENCY STOP Extended Dia Mao No Active Message Figure 2 30 System Parameters screen P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 27 Tasks Selecting Task from the Status menu opens the Task_A Parameters dialog box and uploads data regarding the current CLC task The other tasks may be viewed by clicking on the Previous or Next buttons CLO Task EECH ele GE parameter Status T 0 0001 Type Normal coordinated motion T 0 0120 Mode Manual Next Cancel Current Instruction Coordinated Axes Assigned Current Pointer 000000020 Drive Position 1 2e 05 Text 0020 START 2 on Error at 0x00000000 3 0 0 M Current Messages Status Initialization Diagnostic Initialization Figure 2 31 Task A D Parameters screen Status Status indicates the type of motion programmed in the selected task for the active program and the current CLC mode Parameter Initialization Manual or Automatic Current Instruction Current Instruction displays the instruction executing and its pointer and a pointer to a run time error if one has occurred This display is useful when debugging in single step mode If a program is running in automatic mode the displayed instruction is the instruction that was executing at the time that the SERCOS cycl
5. 3 53 167 Invalid function number D 3 53 168 Function D not accessible in a step3 53 169 Too many functions are used D 3 53 170 Maximum steps per sequence exceeded OD 3 53 71 Maximum functions per step exceeded Djscene 3 53 172 Program does not include a PLS 3 53 173 Invalid ABS or REL point index D 3 54 74 Error in command execution 3 54 175 Comm port buffer overflow 3 54 177 Can t save sequencer while it is ut LTE 178 Service channel in use 179 PID block number does not exist 3 54 180 IBS Invalid Object Number 3 54 181 IBS Invalid Mapping s 3 54 182 Write protected by password 3 54 0 001 Initializing System 3 3 002 Parameter Mode 3 3 003 Initializing Drives ee 3 3 004 System is Ready 005 Manual Mode 006 Automatic Mode ABCD 3 4 007 Program Running ABCD 3 4 008 Single Stepping ABCD 3 4 009 Select Parameter Mode to Continue3 4 010 Breakpoint Reached ABCD 3 4 011 Waiting for PLC wee 3 4 012 Simulation Parameter Mode 3 5 013 Simulation Manual Mode 3 5 014 Simulation Automatic Mode ABCD3 5 015 Simulation Program Running ABED ssscssisscasssasscastisasassseseecsinitziess 3 5 016 Simulation Single Stepping ABCD3 6 017 Simulation Breakpoint Reached ABCD iiciin 3 6 E Indramat 6 2 Index E Indramat 2 201 Invalid jog type or axis selected 3 8
6. urnrrrannvnnannvnnorrnnnnrrnnnnvnnrnnnnrnrrennnrnnnnnnnnenrensrrresnnnsennenennn 5 2 Hardware Components sirsie sirrinin aiaa ai veke dE 5 2 BG Test Certifications riirii aa a a aaa a A a eaaa ia Eed 5 2 53 eelst ele 5 3 Override Hand Wheelsiciciecsiacsceiteveactinddacdvbaasdacinvtuenadsvesdnatvindededdubawsuacdbasdesddsadedai ustenssdassedaisiadeualdandedes 5 3 Emergency Shut QOffiinauinumisinmkiminniduGndenddketeddmidnntmndeiniemtriikpain dad 5 3 Live Man Switch aandumdenidntammidaimdeniieddanvsliindeibuleten EA 5 3 5 4 EE e eet dete inl cdi isin deeded aed dann aaaea iiaae 5 4 5 5 BIGO6 Connections zrzi iecciegeiciceatineieaeedi deateta dient deals Mad estenn lend deviate daeeleaeatin deeded 5 5 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat VIII Contents VisualMotion 6 0 Main Connection EE 5 5 Firmware Download and Projecting Interface rrrrnnnnnnnvrnnnnnnvrnnnnnnvrnnnannvrnnnnnnrrnnnennrrnnnensrrnnsensrrnnneenn 5 6 BIGOG6 ACCeSSOMeCS iis cee edi EEN hvit 5 7 5 6 BTC06 Specificato NS ainiin Wa neta ei le eel ee ee 5 9 Basic BT COG Unitas ascincci hati na eel UL LA 5 9 Emergency Stop Switch ccccccececeeeeseeceeneeceeeeeeaaeeeeaaeegeeeeceeeceaeeseaaesaaeeceaeeeeaaeseeaeesgeeeeseaeeseaaesseneeee 5 9 Live Man SWIC aena E NEEN eEER EES 5 9 D Enclosure DIMENSIONS varmen skimte i eed ee eae 5 10 Outside DIMENSIONS 2 8 ca seen ai an nad Lele ae 5 10 Rear VIEW lemen EENS EEN 5 11 5 8 BT C06 with CLCVisua
7. CLC Executing pROBE Monitor Cancel CLC Is In Parameter Mode CLC Is In An Error State CLC Unit Number Save Figure 4 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 card has faulted and is running the PROBE pROBE Monitor monitor CLC Is In This indicator will be marked when the selected CLC control card is in parameter mode Parameter Mode CLC Is In An This indicator will be marked when the selected CLC control card is in an error state Card parameter Error State 122 will contain the specific error message CLC Unit This option selects the card number This card number must match the settings of hardware switches Number S8 through S11 To locate a card without knowing the switch settings use the following procedure gt Start with card number 0 gt If sounds are active on your PC and 0 is not the correct card number a sound will be heard Continue this procedure until a sound is not heard This is an indication that the correct card number has been selected Once this is established use the same card number under Setup Card Selection in VisualMotion Toolkit Connection method must also be set to PC ISA Bus Use PC When selected this option will force all CLC P control cards to terminate communication responses Handshaking
8. P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 5 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 resolved 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
9. DDS2 2 WO50B Position DSM2 3 ELS 04V34 Target 0 60560in FeedBack 0 60562 in Velocity Programmed 2800 000 in min FeedBack 0 000 in min Acceleration Programmed 100 000 in sec 2 Torque FeedBack 0 0 stall Mode Single Axis Assigned to Task MDDO65A N 040 N2L 095PBO DRIVE NO 1 Figure 3 2 CLC Drive Parameter Editor Select the drive number containing the diagnostic error code and the Status line will display the drive diagnostic message from parameter S x 0095 Refer to the Drive manual for descriptions of drive diagnostics P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 3 3 2 Status Messages 001 199 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 Status messages can be viewed within VisualMotion Toolkit VMT under menu selection Status System or from the CLC DDE Server if the CLC Status Display is set to SERIAL 0 under Settings gt Server Communications System Parameters Ba CLC Dde Server BEIR CLC card File Settings DDE Help Version Number CLC DP GPS 06T 34 Unit O O Version Date Dec 22 1997 Hardware Version CLC D 2 2 268036 A01 007 Program Running Unit Number 0 Update
10. DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 BTC06 Accessories Human Machine VisualMotion Interfaces 5 7 Firmware Model Controller Screen Manager for SWA BTC06 SCM 01VRS MS Runtime MTS P MTS R CLC SWA SCM PC CF6 01VRS MS PC Programming Tool VT100 Terminal for SWA BTC06 VT 01VRS MS CLC GPS Programming Software for SWA BTC06 T01 01VRS MS CLC with TRANSO1D Table 5 3 BTC06 Firmware IKB0010 PC Connection Cable This connection cable is used for the downloading of firmware and for the transfer of Screen Manager programs It provides the connection between the RS232 programming interface and a PC OSUB 9 pin Female 5 M 15 4 Ft Figure 5 4 Serial Download Cable IKB0010 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 8 Human Machine VisualMotion Interfaces VisualMotion 6 0 Note The firmware for this device is supplied on diskette Therefore each customer needs at least one of these cables to load the firmware SUP M01 BTC06 Wall Mounting Bracket Figure 5 5 Wall Mounting Bracket The mounting bracket is provided to attach the BTCO6 to a wall or to a machine part When fastened at the proper height the display can be read and the device can be operated without removing it from the bracket The user can mount the two piece wall bracket so that the live man switch is enabled when the device is inserted into the bracket However this
11. Menu F4 Drive F7 Main Menu F7 Main Menu F8 Diagnostic Figure 5 14 Menu Map F5 F8 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 20 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 11 BTC06 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 BTC0O6 The VisualMotion Toolkit provides a pendant edit features the register forcing capability that allows a Host system to directly change the System Control Register 1 bit state of individual I O register bits overriding both the physical I O and the 14 Pendant Enable must be CLC I O Mapper eet tod Task A Control Register 2 bit 1 Mode Auto nManual bit 4 Single Step bit 6 Cycle Start Resume bit 7 nTask Stop bit 12 Step Sequence Step bit 13 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 Reg Bit Description Reg Bit Description 98 1 Block Task A Manual 99 1 Block Task C Manual 98 2 Block Task A Auto 99 2 Block Task C Auto 98 3 Block Task A Step 99 3 Block Task C Step 98 4 Block Task A Jog 99 4 Block Task C Jog 98 5 Block Task A Entry 99 5 Block Task C Entry 98 6 Block T
12. 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 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 or 741 14 30 Telex 3346 17 GL REX HX Fax 7864019 786 07 33 Korea Seo Chang Corporation Ltd Room 903 Jeail Building 44 35 Yoido Dong Youngdeungpo Ku Seoul Korea Phone 02 780 82 07 9 Fax 02 784 54 08 DOK VISMOT VM 06VRS WA02 AE P 03 99 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 III Peenya Industrial Area Bangalore 560058 India Phone 80 839 21 01 80 839 73 74 Telex 845 5028 RexB Fax 80 839 43 45 Customer Service in Asia Australia and the Far East Customer Service Locations Canada Basic Technologies Corporation Burlington Division
13. VisualMotion 6 0 Distance The distance the axis will jog either positive right arrow or negative left arrow when one of the directional arrows is clicked and held Speed The speed the axis will travel wnen commanded by directional arrows For precision reduce the speed of the axis For a complete description of all the available options within Jogging refer to the VisualMotion Reference Manual Show Program Flow lt F7 gt 2 7 The Data Menu E Indramat VisualMotion Toolkit gives the user the ability to follow along with the program flow by selecting Show Program Flow under Tools or press F7 Program flow can also be used to help locate incorrectly programmed icon instruction when diagnostic error messages appear Show Program Flow utilizes a map file map generated at compile time to tag the screen location of an instruction If this map file is not found or if the icons have been moved added or deleted since the time the program was compiled and downloaded erroneous program flow may appear During Show Program Flow other menu items are disabled selecting Show Program Flow a second time enables the other menu items and removes the highlighting Refer to Figure 2 7 VisualMotion program flow The Data menu is used for configuring and programming key interfaces with external I O and devices e CAM Indexer Index cams are CLC cams that use equations to compute a position as opposed to a normal cam which us
14. nnnn VisualMotion 6 0 AXIS PARAMETER MENU nnnnn Task Assignment Drive LO Card 1 F3 F4 F7 F8 PgUp PgDn Main Diag VVVV Lo vvvv parameter value nnnn parameter name pppp parameter number aa axis number A axis parameter indicator When the operator first enters this screen the cursor will be flashing on the aa axis number This can also be performed by pressing the F1 Home key To change the axis number 1 Press the Edit key 2 Enter the new axis number 3 Press the OK key When done all of the axis parameter number will be modified to display the new axis number To move the cursor to the parameter number pppp while the cursor is on the axis number press the right arrow key Pressing the F1 Home key will return the cursor to the axis number To jump to a given parameter number 1 Press the Edit key 2 Enter the parameter number 3 Press the OK key When done the cursor will jump to the specified parameter number To modify the value for a given parameter press the F2 End key to jump to the value field Press the Edit key enter the new value and press OK E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 F3 Task Parameter Screen Ttt ppppp T01 00001 T01 00022 F1 F2 Home End Ttt pppp nnnn Human Machine VisualMotion Interfaces 5 51 TASK PARAMETER MENU nnnnn Task Motion Type Maximum Deceleration 200 0000 F3 F4 F7 F8 PgUp PgDn Main D
15. 3 1 System Diagnostics Codes and Message VisualMotion provides three types of diagnostic messages e Status messages e Warning messages e Shutdown messages Diagnostic messages are preceded by an identifying 3 digit code number Example 400 Emergency Stop These identifying code numbers are assigned by Indramat and are broken up into the following groups e 001 199 Status messages e 201 399 Warning messages e 400 599 Shutdown messages Each group above does not contain the range of code numbers indicated as diagnostic messages The range of numbers was designed to allow for future development The Host can request the currently active VisualMotion diagnostic message for the CLC card and for each user task from the following parameters CLC Card parameters e Parameter C 0 0122 Displays current diagnostic message e Parameter C 0 0123 Displays current diagnostic 3 digit code e Parameter C 0 0124 Displays extended diagnostic message VisualMotion Task parameters e Parameter 0x T 0 0122 Displays Task A D diagnostic message e Parameter 0x T 0 0123 Displays Task A D status message where x 1 4 for Task A D Drive Parameter e Parameter 0x S 0 0095 Displays Drive diagnostic message where x 1 8 for Drive 1 8 The above diagnostic message parameters can be view by using VisualMotion Toolkit and selecting Setup Overview from the menu DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 2 Monitoring and
16. HF TEST Transaction Type D VISE Previous Cancel Figure 4 8 DDE Conversation Item DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 4 12 CLC DDE Server E Indramat VisualMotion 6 0 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 viewing area v Display Requests v Display Responses gt 0 RB 0 100 AD Figure 4 9 DDE Communication Monitor DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 13 4 3 AT Modem Configuration Dialog Note Currently not supported in Win95 or NT 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 AT MODEM vi topic is started The box will again appear when the conversation is terminated The dialog contains setup data and connection status To init
17. 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 Miinchen Phone 089 540138 30 Fax 089 540138 10 E Indramat 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 39 633 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 l 10145 Torino Phone 011 7712230 Fax 011 7710190 Sweden AB Rexroth Mecman INDRAMAT Division Varuv gen 7 5 125 81 Stockholm Phone 08 727 92 00 Fax 08 64 73 277 Customer Service in Europe Eastern Sales Region INDRAMAT GmbH
18. Memory Total 110588 Free 36788 Language English Current Mode Run SERCOS Phase 4 Diagnostic Message 007 Program Running e CLC status messages displayed Extended Dia Msg No Active Message Figure 3 3 Viewing diagnostic status messages 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 4 Monitoring and Diagnostic VisualMotion 6 0 006 Automatic Mode ABCD The user program tasks indicated at the end of the message 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 syste
19. Remedy 1 Replace the battery Refer to Chapter 1 CLC D Overview under the sub heading On Board Battery Restore archived system files using archive function under File Archive and select items to restore and click on Start Archive System Type Start Backup ut Restore Cancel IV System IV Programs IV Drives IV 1 0 Mapper Cams I Global Yars Dir e Mroot project saveset IC SINDRAMATSCLC project save Browse Figure 3 5 Restoring archive system files 415 Drive D was not found Drive D that is used in a program or selected in the system parameters was not found on the SERCOS ring Cause 1 The axis icon in the VisualMotion program is specifying an axis number or name that is recognized by the system 2 The SERCOS card addresses of two or more drives are set to the same number Remedy 1 Verify that the Axis icon in the VisualMotion program is programmed with the correct axis number or variable label 2 Verify that all drives have unique SERCOS card addresses anywhere from 0 to 40 P Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 17 416 Invalid Instruction at XXXX Cause An invalid user program instruction was found by the CLC during compilation Remedy 1 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
20. 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 This message is displayed when an error occurs while the drive is switching from phase 2 to phase 3 Note Do not clear the error or switch to parameter mode before viewing a list of invalid parameters Doing so will clear any chance of viewing invalid parameters Remedy 1 View drive diagnostic under Status gt Drive If the drive status indicates parameters are invalid or lost display the Phase 2 error parameter list for Drive D Step 2 2 View a list of invalid drive parameters by selecting Setup gt Overview within VisualMotion Toolkit Set the Param Source to Drives indicate a Phase 2 Error and select a Drive Number View CLC Drive 1 Parameters x H Description Value Units El Param Source MT List Display Custom OK Phase 2 Error v Drives C Axis Dive Ne Build Custom Edit T Upload new list fi Display List s List Close Find Next Find Once the list is displayed switch to parameter mode and change the invalid parameters or download a valid parameter file to the drive 3 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 P incramat DOK VISMOT VM 06VRS WA02
21. engineering mannesmann Rexroth y CLC File demo_1 str Task Task al File Edit View Setup Tools Data Status Options Ze us ER MEL Te VisualMotion 6 0 Trouble Shooting Guide Rexroth K DOK VISMOT VM 06VRS WA02 AE P Indramat About this documentation Title Type of documentation Document typecode internal filing remarks Purpo E Indramat se of this document Record of revisions Copyright Validity Published by VisualMotion 6 0 VisualMotion 6 0 Trouble Shooting Guide DOK VISMOT VM 06VRS WA02 AE P e Publication number 120 2300 B301 02 AE This document describes e the VisualMotion System components e the use of VisualMotion Toolkit for assistance in diagnostics e the proper steps for identifying diagnostic faults e suggested remedies for clearing faults e the use of the BTC06 Teach Pendant 12 98 New release for version 6 INDRAMAT GmbH 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 INDRAMAT Hoffman Estates e 5150 Prairie Stone Parkway e Hoffman Estates I
22. 202 Drive D is not ready 3 8 204 SERCOS Ring was disconnected 3 8 205 Parameter transfer warning in Task A3 9 206 Battery is low replace it SOON wo eee eee eeeeeteees 1 16 206 Battery is low replace it so0n 3 9 207 Axis D position limit reached 3 9 4 400 Emergency Stop 3 10 401 SERCOS Controller Error DD 3 10 402 SERCOS Config Error see ext diag OD RE NE 3 11 404 Invalid Switch into Phase D 3 11 405 Phase D Drive did not respond 3 11 407 Drive D Phase 3 Switch Error 3 12 408 SERCOS Controller is in test mode3 13 409 SERCOS Disconnect Error 3 13 411 Drive D Phase 4 Switch Error 3 13 412 No drives were found on ring 3 14 413 I O board was not found 414 Parameters were lost 415 Drive D was not found ges 416 Invalid Instruction at XXXX 3 17 417 SYSTEM ERROR pSOS XXXX3 17 418 No program is active 3 17 419 Invalid Program File we 3 17 420 Drive D Shutdown Error 3 18 421 User Program Stack Overflow 3 18 422 Parameter transfer error in Task A3 18 423 Unimplemented Instruction 3 19 425 Instruction Error see Task A diag 3 19 426 Drive D is not ready 3 19 427 Calc invalid table index D 3 20 428 Calc division by zero 429 Calc too many operands 430 Calc instruction invalid operator 3 21 431 Calc error see Task A diag 3 21 432 Calc too many nested expressions3 21 433 Setup instruction out
23. 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 VisualMotion 6 0 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 D partement INDRAMAT Chemin de I 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Customer Service Locations notes DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 282759 Printed in Germany Rexroth Indramat
24. within the time set in parameter C 0 0016 Timed transmissions used for jogging through Visual Motion Remedy 1 If this error occurs increase the timeout value in C 0 0016 Using VisualMotion Toolkit Select gt Overview from the main menu Refer to Figure 3 1 Viewing system diagnostic parameters for instructions DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 42 Monitoring and Diagnostic VisualMotion 6 0 505 Axis D is not configured Cause A user program command was issued to Axis D but axis D is not configured in the program Remedy 1 Modify the user program so that the correct axis is addressed or exclude the axis from the system using Axis parameter A 0 0007 506 I O Mapper initialization error Cause The LO mapper was invalid at initialization due to loss of memory or an incompatibility in the mapper version During the initial system setup an I O mapper file should have been created and saved with the extension iom Remedy 1 Reinstall the I O mapper file iom using the following VisualMotion Toolkit procedure Note This procedure should only be performed by qualified trained personnel who can verify that the I O Mapper file being selected is the correct file for the system Select Data I O Mapper gt From the Ladder Editor screen select File gt Upload Strings Once the I O Mapper file is loaded the I O Mapper strings can be viewed and verified by selecting Options
25. 0 e Supports Request Advise and Poke transactions Dynamic Data Exchange Interface 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 Service 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 ISA or PC104 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 Example SERIAL_0 Serial connection to a CLC D card desi
26. 03 99 VisualMotion 6 0 CLC DDE Server 4 1 4 CLC DDE Server 4 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 that 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 th
27. 129 130 131 132 133 134 135 136 137 Function not Implemented The function is not implemented in this version of the CLC 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 Invalid UO Register or Bit Number The I O register mnemonic is invalid or a register number greater than the maximum number of registers was sent Invalid Table Index The ABS REL or EVT table name was incorrect or the index number was greater than the maximum number of points or events Communication Port Error The serial port receive buffer has overflowed Make sure communication is set to half duplex Invalid Data Format The format of the data received by the CLC is invalid e g non digits are sent in a decimal number Active program can t be deleted The active program cannot be deleted at any time Parameter mode is required The action requested can only be performed in Parameter Mode 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 Invalid Event Function The function name selected in the event table does not exist on the CLC card or is not defined as an event function DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 50 Monitoring and Diagnostic VisualMotion 6 0 138 139 140 141 142 143 144 145 146
28. 5 40 5 130 5 Reg 1 Bit 5 Reg 40 Bit 5 or Reg 130 Bit 5 41 5 41 1 amp 21 1 Reg 41 Bit 1 Reg 40 Bit 1 and Reg 21 Bit 1 Registers are a block of memory on the CLC card used to handled I O and or bit settings The CLC card has a total of 512 registers available for system and user functions Select Data Registers to view the Active Program Register screen The following table outlines a basic structure for the CLC registers For a complete description of the CLC registers refer to chapter 2 of the VisualMotion Reference Manual Note CLC predefined register labels are maintained even if battery backup to the card is lost However any customer defined register labels or bit settings made to any register will be lost e Sister Diagnosis Cade iS 22 25 Task A D Status 27 and 28 Eagle Module Input and Output CLC V only DEA 28 29 30 Outputs Table 2 2 CLC register structure DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 23 Register 6 System Diagnostic Code can be viewed as a decimal number if the data Format is set to decimal The following figure illustrates an Emergency Error 400 in register 6 Double clicking on a register allows the user to edit the bits a Active Program Regist MER Options Settings HE Hex O01 A y mz 1 Binary 003 T Decimal 004 T 005 TaskD Control Sustem Diag Code 400 elt Bits of Register 6 Syst
29. AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 13 408 SERCOS Controller is in test mode Cause The Indramat DAS2 SERCOS Controller is in test mode Remedy 1 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 a drive connected to the ring was powered down while in Phase 3 or 4 A more descriptive message will be displayed in the extended diagnostics C1 124 Indicates the first drive in which the drive data failed Cause 1 A fiber optic cable has been disconnected or damaged somewhere in the SERCOS ring 2 Adrive in the system may contain old firmware Remedy 1 Check the fiber optic connections the addresses set on the drives and the drive firmware versions 2 If a new drive was added to the SERCOS ring make sure it contains current drive firmware 411 Drive D Phase 4 Switch Error Cause 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 This message is displayed when an error occurs while the drive is switching from phase 3 to phase 4 Note Do not clear the error or switch to parameter mode before viewing a list of invalid parameters Doing so will clear any chance of viewing invalid paramet
30. By pressing the F4 Log key the screen will display a list of error that contain the following details e Log number e Date and Time e Error code For a complete listing of Diagnostics refer to Chapter 3 Monitoring and Diagnostics DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 55 5 21 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 420 Drive 6 Shutdown Error Tsk MANUAL MODE Tsk MANUAL MODE Tsk MANUAL MODE Tsk MANUAL MODE Axs No Axis Message Drv 04 028 Excessive Deviation F1 F2 F3 F4 Num Num Rest Log F3 Reset A basic Shutdown error can be cleared by pressing F3 If the error is a configuration or hardware error the source of that error must first be corrected before it can be cleared by the pendant DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 56 Human Machine VisualMotion Interfaces VisualMotion 6 0 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 6 Index 101 SERCOS Error Code xxxx XXXX Error COJE Jessien 3 46 102 Invalid Parameter Number 3 46 103 Data i
31. C Task D Subroutines Event Functions Zoom out EG Figure 2 6 Viewing task in VisualMotion VisualMotion can have up to 4 tasks running in each program Tasks A D run simultaneously and are given equal priority task A is executed first A task is a process that the user runs in his machine Using VisualMotion the user can have 4 separate processes or task running simultaneously and each task can be independent of each other Subroutines are basically sub programs that are called by the main program when selected to start They are used mainly to improve readability as well as simplify the program Events are basically interrupt driven subroutines They can be triggered by a variety of methods such as transition of an input repeating timer position trigger etc After either selecting task subroutine or event function the user can view the program flow by pressing lt F7 gt or selecting Show program flow from the Tools menu Program flow can be viewed after a program has been started Note You must connected to the CLC card with the currently active program on the screen in order to see program flow In order to have the show program flow function available a map file needs to be generated when the program is compiled and download Refer to Setup gt Configuration for details DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 7 CLC File AXIS TRANS
32. DISABLE CLAMP MOTION F2 PgDn E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 31 Function Edit Menu The Function Edit Menu contains a list of all the arguments and their corresponding values Use the arrow keys to navigate with the cursor to the desired 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 01 AXIS NUMBER 2 02 HOME OFFSET POSITION 0 0000 03 SET HOME POSITION 0 0000 F1 F4 F7 F8 Save List Edit Main Diag DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 5 32 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 14 F2 Table Edit Menu The Table Edit menu allows 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 Menu Global Float Table Menu Esc F8 Main Diag Absolute Point Table Edit The Absolute Point Table Edit menus permit editing taught or programmed points ABSOLUTE TABLE MENU NAME Part_Pickup Regrip Leave Part F2 F3 F4 F5 F6 F7 F8 PgDn Home End Edit Jog Main Diag Select a point by moving the cursor up and down with the arrow keys Pressing F5 Edit will bring up the
33. Diagnostic VisualMotion 6 0 View CLC card Parameters 0 0122 i CLC Card parameter Description Value Units double clicking on any parameter will opens 01 C 0 0124 Extended Diagnostic No Active Message an edit window 01 C 0 0125 System Timer Value 5551200 msec 01 C 0 0126 Date and Ti 01 04 0000 22 54 45 e 01 0 0 0150 Master 1 Type 1 a Click and hold to scroll through 01 C 0 0151 Master 1 Drive Address 0 parameter numbers Indication 01 C 0 0152 ELS Master Task Assignment 0 of parameter number location can be viewed from the title line 01 C 0 0153 Virtual Master Programmed Velocity 0 0 01 C 0 0154 Virtual Master Programmed Acceleration 500 0 01 C 0 0155 Virtual Master Programmed Deceleration 500 0 01 C 0 0156 Virtual Master E Stop Deceleration 500 0 01 C 0 0157 ELS Master Current Position 0 0 01 C 0 0158 ELS Master Current Velocity 0 0 Choose one of the Param Source available radio button CLCCad f Task Display Custom fOr Parameter Soure C Drives C Anis Build Custom and press OK e I Upload new list Display List s List Find Next Figure 3 1 Viewing system diagnostic parameters Parameters pertaining to Drive Diagnostics can be viewed by selecting Status Drives This menu selection opens the CLC Drive Parameter Editor CLC Drive Parameter Editor File Parameters Oscilloscope Help Drives Im Single Axis Status A012 Control and Power Sections Ready for Operation
34. Invalid Mapping s eorvrernrrnnnnrnnnnnrnnenrvnnnrrvnnnnnnen vener nennnrnnen vennen nennsrnnennnnsennennnrnesnnrnnsnnneennn 3 54 182 Write protected by Dasswor nannaa 3 54 3 8 Drive EnO E cenn urin ba el ete E 3 55 4 CLC DDE Server 4 1 4 1 Dynamic Data Exchange apuce aneii aiei aeaea ENE etE ENEE EE AAEE Ara NA Age eEEu dereen 4 1 The Dynamic Data Exchange Server cccccceecceceeeeeeeee cesses seneeeceaeeesaaeeeeneeseaeeesaaeeseaeeeseeeesiaeeneaeeseaes 4 1 Dynamic Data Exchange Interface A 4 2 4 2 The Communication Servers Main Window 4 3 Settings Menu CLC Server Configuration cccccceecececeseeeeceeeeeeeeceeeeeeeaeeeeeaeseeeeeseeeeeseaeeesaeeesaeeeenes 4 4 Settings Menu Serial Communications cece cee eeeeeeceeeee cee eeeeaeeeeaeeceeeeseaeeesaaeeseeeeeseaeeesaeeseaeeteaes 4 6 Settings Menu VME Communications s ssssssssseeeaeee eee neet tt rntt tn nnst tn tnnttt tnnt tn nnnt transer tnan nt nnana n ennnen ennan 4 7 Settings Menu PC Bus Communtcatons 4 8 Settings Menu P2 Bus Communieations ertt tett tten usttntttnutnutuntnnsnunnsnnnnnn nnn nnnn 4 9 DDE GONVOFS ATION periudu dented adhe ceded aianei iadaa aa irii eek gem ae 4 11 4 3 AT Modem Configuration Dialog 4 13 4 4 SERVER Topichame 4 14 5 Human Machine VisualMotion Interfaces 5 1 5 1 BI C06 Teach Kengdamt 22 eegend wines date al ain denial EE 5 1 5 2 BI COG FOAUreSnnu saadan nude ateist betalast dees 5 2 Enclosure Controls and Display Elements
35. Point B H gt ka ml Cam Builder Jogging Oscilloscope VisualMotion32 Releaseb Show Program Flow F Figure 2 17 Tools menu screen Jogging The jogging option within VisualMotion Toolkit gives the user the ability to jog an axis programmed for Velocity or Single axis with a great deal of accuracy and ease For Coordinated motion programs all jogging functions are controlled by the Axis n _Control and Task A D _Jog Registers Axis Control Registers 11 18 209 240 Task Jog Control Registers 7 10 Refer to chapter 2 CLC Input Output Systems of the VisualMotion Reference manual for a complete description of the above mentioned functions and registers Jogging an axis in a mode other than manual Damage to personnel or machine can result from improper jogging gt Jogging can also be performed while in Auto mode or Caution d S while a Task is running This jogging function should only be performed by personnel who are completely familiar with the machine s motion capabilities To jog a given axis the system must in manual mode IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 17 Select Tools Jogging from the menu and specify an axis To specify a distance and rate velocity select Axis from the Options menu Jog Control JO x lgl Position 710463160 Jn Current Message Axis Jogging Options x 005 Manual Mode Distance Ex
36. Security Menu wish tise ne ets eae LU deta Sees een dae 5 53 5 20 F8 Diagnostics Menu ees ahead ieee a eae eee eae 5 54 52 B tele EE 5 55 6 Index 6 1 DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat X List of Figures List of Figures E Indramat Figure 1 1 Figure 1 2 Figure 1 3 Figure 1 4 Figure 1 5 Figure 1 6 Figure 1 7 Figure 1 8 Figure 1 9 Figure 1 10 Figure 1 11 Figure 1 12 Figure 1 13 Figure 1 14 Figure 1 15 Figure 1 16 Figure 1 17 Figure 1 18 Figure 1 19 Figure 1 20 Figure 1 21 Figure 1 22 Figure 1 23 Figure 2 1 Figure 2 2 Figure 2 3 Figure 2 4 Figure 2 5 Figure 2 6 Figure 2 7 Figure 2 8 Figure 2 9 Figure 2 10 Figure 2 11 Figure 2 12 Figure 2 13 Figure 2 14 Figure 2 15 Figure 2 16 Figure 2 17 Figure 2 18 Figure 2 19 Figure 2 20 Figure 2 21 VisualMotion 6 0 VisualMotion System components ssssssseesseeeseeseerresrrreeseeeee 1 2 DIAXO03 drive family s es siirre rontana niana nasan ata RaR 1 3 Motors used with DIAXO3 rsrrnnrennrrnnrennrrnnrrnnrrnnrrnnrrnnrennrrnnrennnr 1 4 DIAXO4 drive family nesrecna 1 5 Motors used with DIAX04 srrrnnrennrrnnnonnrrnnrennrrnnrensrrnnsennrrensennnn 1 6 ECODRIVE 3 drive family snrrnnonrrnnnrrnnnnrnnnnnrnnnrrnnrnrrnnnnnnennnernnn 1 7 COD BOX EE et ANa 1 7 Different CLC versions cccceceeeeeeeceneeeeeaeeeeeeeseeeeeesaeeeeneeseaes 1 8 CLC D02 3M Hardware 1 14 CLC D jumper configuration ssssesees
37. Shield must be grounded to connector housing via metallic insert connector housing via a metallic insert IKS0188 3 279 140 IKS0188 5 279 423 IKS0188 10 279 141 IKS0188 15 279 142 Figure 5 9 IKS0188 Connection Cable for the connection of the BTC06 and INS0627 Bulkhead connector DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 14 Human Machine VisualMotion Interfaces VisualMotion 6 0 INS0627 Bulkhead Connector Bulkhead Connector 17 pin INS0627 max 3mm Flat Gasket View of Male View of Female Connection Se e Connection BTZ or NC Side BTC Side View of Male Connection View of Female Connection Cutout E Pinout P Pinout Contacts are installed Flat gasket is included INDRAMAT Material No 279 377 Figure 5 10 INS0627 for bulkhead connection IP65 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 15 5 9 BTC06 to CLC Connections Typical Interface Connection III jit ao 8 el ar ae x FENG erle ziz SIS E SR lee SR BANE KAMA MENS en ae RS422 Cable IKS0125 Note Connect to Port X28 of CLC P D only Pin Pin RXD White 6 10 Brown TXD TXD Yellow 4 12 Blue RXD RXD Brown 5 11 White TXD 1 7 IKS0194 IKS0188 TXD Gre
38. VisualMotion 6 0 Introduction and Overview 1 23 CLC Server Configuration Communications CLC Status Display SERIAL 0 CLC Response Timeout R Second s CLC Back Plane Relay Timeout 20 Seconds Communication Retry Attempts mn Error Handling IV Display Server Errors IV Intercept CLC Errors And Display IT Make Error Messages System Modal I Log Errors To File View Log File DDE Maximum Conversations 50 Maximum Advise Items 100 IV Self Terminate If No Active Conversations Save Cancel Figure 1 18 Setting SERIAL_0 for CLC Status Display DDE Server Viewing Error codes using VisualMotion Toolkit To view error codes using VisualMotion simply select the following menu selection Status System from VisualMotion s main menu and the following screen appears System Parameters CLC card Version Number CLC DP GPS O6T 34 Version Date Dec 22 1997 Hardware Version CLC D 2 2 268036 401 Unit Number 0 Update Memory Total 110588 Free 102388 Language English Current Mode Run SERCOS Phase 4 Diagnostic Message 400 EMERGENCY STOP Gm Extended Dia Msg No Active Message Figure 1 19 Viewing error codes using VisualMotion DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 24 Introduction and Overview VisualMotion 6 0 1 7 CLC P02 Overview The CLC P02 is a motion control on the PC 104 platform The VisualMotion firmware on this plat
39. Windows editor selected when VisualMotion is first installed and is limited for viewing smaller text files If a Windows error is encountered when a text file is too large for viewing select a Windows editor with larger file capabilities such as Wordpad DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 10 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Maintain ASCII formats when editing text files Download errors will occur if text format is not true ASCII Always use true ASCII format Windows editors such as notepad or WordPad when editing and or Caution downloading system parameters and VisualMotion text language programs VisualMotion Configu Windows Editor notepad exe notepad exe Project Dir c root project c SINDRAMATSCLC project Browse IV Generate Map File default is on J Compiler Output File Version C peGPS20 Other Lanquage Selection English Figure 2 11 Configuration screen under Setup Project Directory Select the directory for file storage The default is c indramat clc project The Browse button simplifies the selection of the project directory Generate Map File This option generates a map file map when VisualMotion icon based programs are compiled This map file is used for showing program flow when the user selects lt F7 gt The check box is on as a default Language Selection VisualMotion can be viewed in either En
40. battery as soon as possible To prevent undue losses a Preventive Maintenance Program should be put into place that does not rely on the batteries power level check to determine replacement period The following lifespan table contains some general guidelines that can be used to devise an appropriate schedule 3 shift operations Ambient temperature 25 77 F 35 C 95 F 2 shift operations 1 shift operation Storage 4 years 4 years 3 years 2 years 4 years 3 years 1 5 years 9 months 4 years 3 years 2 years 45 113 F 1 2 years Table 1 2 Battery lifespan Loss of VisualMotion System Failure to replace can result in lost parameters The following is a list of items that will be lost if the battery fails and is not replaced warning e CLC System parameters C 0 xxxx e Axis parameters A 0 xxxx e Task parameters e CLC Cam tables PLS and PID data e Events I O Mapper FieldBus Mapper e Points tables Variables Zones e Downloaded VisualMotion programs Note The battery is generally drained after this period and must be replaced DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 17 Replacing the battery Once the battery is removed any parameters stored in SRAM memory are retained for only one minute Replace the battery within this minute Procedure 1 Remove the battery from its packaging and have it close at hand for installation 2
41. be supported in this firmware version 417 SYSTEM ERROR pSOS XXXX Cause An internal CLC operating system error has occurred Remedy 1 Call Indramat Service for assistance 418 No program is active Cause No active user program was found on the CLC during initialization Remedy 1 Active a user program using VisualMotion Toolkit VMT Open a file in VMT using the File Open menu command Save Download and Compile the VisualMotion program Using File gt Program Management active the program Once the program is active clear the error 419 Invalid Program File Cause A checksum or file format error was found in the active program file The file may be corrupt or missing information Remedy 1 Recompile the program using VisualMotion Toolkit and download it again If the error still occurs call Indramat Service for assistance DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 18 Monitoring and Diagnostic VisualMotion 6 0 420 Drive D Shutdown Error Cause The drive has issued a shutdown error which disables motion Remedy 1 Check the SERCOS Drive Status message Drive parameter S 0 0095 for a description of the error 2 Using VisualMotion Toolkit open the CLC Drive Parameter Editor under menu selection Status Drives and view the status line for a description of the drive error Refer to the drive manual for more information 421 User Program Stack Overflow Cause The
42. execution of the program within a step If the F2 GO key is pressed again the step will continue to run By pressing the F4 key the Register Menu will be displayed allowing the operator to active I O bits E Indramat 5 46 Human Machine VisualMotion Interfaces VisualMotion 6 0 Control Menu Manual Mode E Indramat Text appears when the F6 key DBug is pressed Text disappears when the F6 key Norm is pressed CONTROL MENU 0020 START Manual Mode Manual Mode No Target WORLD TARGET STATUS 1200 00 1200 00 Task A 500 00 500 00 AUTO 90 00 90 00 RUN 99 F4 F5 F6 F7 F8 Norm Main Diag F1 Manual F2 Jog F4 I O F6 DeBug Norm F7 Main Menu F8 Diagnostics By pressing the F2 key the Jog Menu will be displayed allowing the operator to jog and teach each axis By pressing the F4 key the Register Menu will be displayed allowing the operator to active I O bits DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 47 5 17 F5 Register UO 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 register 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 Penda
43. following menu E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 F1 Human Machine VisualMotion Interfaces 5 33 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 Yaw 00 000 BLEND O Speed 001 Event 1 O Accel 002 Event 2 O Decel 003 Event 3 O Jerk 0 Event 4 F2 F3 F4 F6 F7 F8 IncPnt DecPnt Home End Jog Main Diag DOK VISMOT VM 06VRS WA02 AE P 03 99 X coordinate of the point Y coordinate of the point Z coordinate of the point Roll angle Pitch angle Yaw angle Elbow state Blend Radius Speed Percentage of task maximum Acceleration Percentage of task maximum Deceleration Percentage of task maximum Jerk Limiting Percentage 0 trapezoid 100 s shape 50 between First event for the point Second event for the point Third event for the point Fourth event for the point This value represents an event number from the event table Refer to Event Table Edit on page 5 35 E Indramat 5 34 Human Machine VisualMotion Interfaces VisualMotion 6 0 Relative Point Table Edit E Indramat The Relative Point Table Edit menus permit editing of points either taught or programmed RELATIVE TABLE NUM NAME 001 REL 1 002 REL 2 003 REL 3 F1 F2 F3 F4 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 F5 Edit will bring up the following
44. has occurred Notify Indramat Service of this system error DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 26 Monitoring and Diagnostic VisualMotion 6 0 450 Event D invalid event type Cause 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 Remedy 1 Make sure that the event type selected under Data gt Events is consistent with the type of motion specified for the axis Modify the numbered event and correct the event type Save compile and download the program 451 Invalid event number D Cause The event number is not within the bounds selected with the data size command for this task Remedy 1 Verify that the sizing icon contains the correct amount of events for the program 2 Verify that the correct event number is selected and configured from within Data gt Events 452 More than D event timers armed Cause Only D repeating timer events can be armed at one time Remedy 1 Check the program flow to make sure that triggered events are being disabled 453 Homing param transfer error D Cause A SERCOS communication error occurred during a drive controlled homing command D indicates the communication error code returned by the drive Remedy 1 Try to home the axis again If this error still occurs call Indramat Service for assistanc
45. in to INDRAMAT for repairs e Secure a complete archive of the VisualMotion system data e Re charge the accumulator by powering the card for a few days e f error persist return the card to INDRAMAT for repairs CLC P 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 Ax 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 P See Figure 1 11 Fiber optic ring structure on page 1 15 for an illustration DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 28 Introduction and Overview VisualMotion 6 0 1 8 CLC V Overview CLC V02 3 hardware TTT revit LEA Figure 1 22 CLC V02 3 Hardware CLC V Serial Communication Port A X27 is configured to respond to the VisualMotion ASCII Host Protocol Port B X28 can be configured to respond to Host Protocol BTC06 or another interface The serial interface is compatible with EIA RS 232C and supports signals for both AT and XT type Host PCs Both ports always operate with e 9600 baud e 8 bits per character e 1 stop bit e no parity IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 29 For configurable communication settings refer to Table 1 1 on page 1 14 CLC V SERCOS The SERCOS po
46. its data cannot be displayed as a normal parameter Parameter is not a List Only Variable Length List parameters can use the Parameter List sequence Invalid Variable Number The variable mnemonic was not l or F or the variable number is greater than the maximum number of variables allocated Insufficient program space This message is sent after the CLC receives a P W program header if not enough contiguous memory is left on the CLC to store the program Other programs may need to be deleted or their order rearranged Check system parameters C1 91 C1 92 and C1 93 for CLC memory status Maximum number of files exceeded The CLC allows up to 10 programs resident in the CLC This error message is sent when the CLC receives a PW program header and there are already 10 programs stored on the CLC One of the CLC resident program files must be deleted to make room to download the program Invalid program header The format of the program header sent to the CLC is invalid or this command is not available for reading or writing 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 Invalid Program Handle The format of the handle is incorrect or this command is not available for reading or writing E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 49 128
47. mounting method should be used only if the device is mounted outside of a hazardous zone In this case the system must have provisions in accordance with DIN EN 775 to ensure that no persons are present within the room that is equipped with protective safety features E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 5 6 BTC06 Specifications Basic BTC06 Unit Basic BTCO6 Unit Supply voltage Power consumption Display Keyboard Enclosure material Protection Temperature range Weight Dimensions Table 5 1 Electrical Data Emergency Stop Switch Emergency Stop Switch elements Rated voltage Rated current Operating cycles Human Machine VisualMotion Interfaces 5 9 24 V 20 to 30 V DC max 400 mA LCD 240 x 128 pixel b w full graphics function LED backlit visible area 108 x 58 mm 4 25 x 2 25 Polyester film with 48 keys Polycarbonate IP 65 Main connection cable plugged in RS 232 connector provided with protective cap 0 to 55 C Operation 32 to 131 F 20 to 70 C Storage 4 to 158 F ca 1 3 Kg 2 9 lbs 315 x 180 x 57 LxWxD 12 4 x 7 1 x 2 2 363 x 180 x 57 incl detachable handle 14 3 x 7 1 x 2 2 incl detachable handle Two floating N C contacts electrically isolated 24 V DC 42 V AC 2ADC 3 AAC gt 100 000 Table 5 2 Emergency Stop Switch Data Live Man Switch Live Man switch Switch elements Rated voltage R
48. program number being selected is available on the CLC card Program number can be viewed using VisualMotion and selecting File gt Program Management IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 29 2 Active Program Regist Bis File Format Options Settings Parameter_Mode Bit 02 nEmergency Stop Bit 04 Clear All Errors Pendant Live Man Bit 07 Activate Program Frogram Select LSB Program Select Bit 2 Program Select Bit 3 Program Select MSB Bit 13 Pendant Enable Pendant Level LSB Pendant Level MSB 7 after State indicates forced 463 Ratio command invalid ratio Cause In the RATIO command one of the factors is too large or the master factor is zero The values entered in the Turns field are not correct Ratioed Axes Setup x Slave Axis integer Glx Ix or label Master Axis integer Glx Ix or label Turnsf float Fx GFx or label Turnsf float Fx GFx or label I Remedy 1 Update the ratios so that the master is not a zero and the values are not too large DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 30 Monitoring and Diagnostic VisualMotion 6 0 464 Can t activate while program running Cause A new program cannot be activated through the Binary Program Select inputs bit 8 of register 1 unless the program is stopped Remedy 1 Stop the currently running program by setting
49. register 1 bit 8 to 0 Set the desired program number in binary format through bits 9 12 and activate the new program by setting bit 8 to 1 a Active Program Regist BIS File Format Options Settings E Hame Data Parameter_Mode O lt gt 1 Bit 02 0 nEmergency_Stop Bit D Cancel Clear All Errors Pendant Live Man Bit 07 Program Select LSB Program Select Bit 2 Program Select Bit 3 Program Select MSB Bit 13 Pendant Enable Pendant Level LSB Pendant Level MSB 7 after State indicates forced Previous Next 0 0 0 0 0 0 0 0 465 Drive D config error see ext diag or 465 Drive D telegram type not supported versions before 01 20 Cause 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 LO cards Remedy 1 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 2 If the extended diagnostic indicates an error such as Handshake time ou or Drive is not responding the SERCOS ring may have been disconnected during initialization Check the fiber optic connections and the addresses of the d
50. the constant or variable that contains the axis number 439 Invalid Motion Type D Cause 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 Remedy 1 Locate the icon containing the error and verify that the axis type matches the motion type For example a coordinated VisualMotion program contains an axis setup icon that was originally setup for single axis Task Axes Setup zl Motion Type Kinenate Number Single Axis v Single Axis Coordinated Velocity Mode Ratioed Axis Torque Mode Acceleration Velocity EIS Bl Add Edit Delete OK Cancel Caption 440 LO Transfer Error see task diag Cause An error occurred in a command instruction selecting a register to write to or to read from Some examples would be Setting an I O register I O Transfer or any other instruction that directly writes to a register Remedy 1 Locate the instruction icon using show program flow lt F7 gt and verify the register read and write command DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 24 Monitoring and Diagnostic VisualMotion 6 0 441 DMA error while reading from local RAM Cause A Direct Memory Access DMA error interrupt was encountered during reading of the local RAM memory An address was specified that does not exist or could not be read This error is typically hardware
51. the cursor to the desired Step Table Press OK to insert that function into the previous Sequence STEP LIST Press OK to insert PICK_POSITION SET MAX VALUES HOME ALL AXES Z DROP PART1 CYCLE EJECTORS Y DROP PART1 PART MADE STEP 08 STEP 09 F2 PgDn DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 30 Human Machine VisualMotion Interfaces VisualMotion 6 0 The Step Table Edit Menu The Step Table Edit Menu displays all the functions within the selected Sequence Step Use the arrow keys to navigate the cursor to 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 F8 PgDn Cut Edit Ins Paste Main Diag Function List 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 the cursor to the desired Function Press OK to insert that function into the previous Step Table FUNCTION LIST Press OK to insert HOME AXIS INIT POS VELOCITY CHK EJECTORS RETRACT CLEAR SYSTEM TIMERS DWELL PERMIT EJECT BACK
52. the selected CLC control card has faulted and is running the pPROBE pROBE Monitor monitor CLC Is In This indicator will be marked when the selected CLC control card is in parameter mode Parameter Mode CLC Is In An This indicator will be marked when the selected CLC control card is in an error state Card parameter Error State 122 will contain the specific error message CLC Unit This option selects the card number This card number must match the settings of hardware S1 DIP Number switches 1 through 4 To locate a card without knowing the DIP switch settings use the following procedure Start with card number 0 gt If sounds are active on your PC and 0 is not the correct card number a sound will be heard Continue this procedure until a sound is not heard This is an indication that the correct card number has been selected Once this is established use the same card number under Setup gt Card Selection in VisualMotion Toolkit Connection method must also be set to PC 104 Bus DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 4 10 CLC DDE Server VisualMotion 6 0 Use PC When selected this option will force all CLC P02 control cards to establish communication responses Handshaking with a PC interrupt selected Hardware S1 DIP switches 5 through 8 settings must match the Interrupt interrupt selected for this option to work properly If this option is not used the server will poll for a communication response eve
53. use The SERCOS service channel is being used by a user program task or by a CLC internal process and has suspended the transmission of a list or text string See the description of parameter C 0 0010 bit 12 PID block number does not exist This error is issued when the selected PID block is not initialized in the user program IBS Invalid Object Number The Fieldbus object number being transmitted to the CLC card by the way of serial communications has become corrupted and is in an invalid format Fieldbus object numbers must always begin with a 5 e g 5F02 IBS Invalid Mapping s The Data Type selected in the Fieldbus Mapper is invalid Fieldbus object number can be mapped to a Variable Register Card parameter Axis parameter or Task Parameter The Data Types mentioned above become an invalid mapping if the type being selected can not be mapped or is read only This will normally occur when mapping object numbers to parameters Write protected by password The SERCOS parameter being modified is password protected This password protection is reserved for Indramat Service personnel E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 3 8 Drive Errors Monitoring and Diagnostic 3 55 Always look at CLC diagnostics before troubleshooting drive errors The CLC D V cards have an LED display You can also refer to VisualMotion Toolkit for diagnostic messages Refer to the VisualMotion 6 0 Reference Manua
54. with a PC interrupt RQ 9 Hardware jumper S5 must be inserted on the CLC P card for this option Interrupt IRQ 9 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 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 9 Settings Menu P2 Bus Communications The P2 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 following Windows system directories e For Windows 95 98 WINDOWS SYSTEM e For Windows NT WINNT SYSTEM32 also required for Windows NT CLC_P2 SYS in directory WINNT SYSTEM32 DRIVERS CLC Status Indicators oe C CLC Heart Beat Save CLC Executing pROBE Monitor Cancel CLC Is In Parameter Mode CLC Is In An Error State v CLC Unit Number VW Use PC Handshaking Interrupt ug v CLC Interrupt Number Figure 4 6 P2 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
55. 0188 ME INS0627 Figure 5 12 BTC06 to CLC EMC Compliant connection IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 17 5 10 BTCO06 Teach Pendant Screens This section explains how to use the BTCO06 VisualMotion Teach Pendant The Teach Pendant is a hand held instrument with 16 x 42 character display and a 48 key sealed membrane keypad The pendant provides a convenient operation and position programming interface for Indramat s VisualMotion Control The BTC06 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 VisualMotion resident programs Each category of functions has its own set of menus The following function categories are available through the pendant BTV06 Main Menu This line can be set by parameter C 0810 to display Task Status Messages CLC MAIN MENU TASK A CLC DP GPS 05T24 PROGRAM MENU TABLE EDIT MENU JOG MENU CONTROL MENU REGISTER UO MENU PARAMETER MENU SECURITY MENU DIAGNOSTIC MENU Note The first screen that is displayed on the Teach Pendant is the Control Menu See section 5 12 Task Control DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 18 Human Machine VisualMotion Inte
56. 1 10 Introduction and Overview E Indramat Events VisualMotion 6 0 Each task also has a queue for events permitting asynchronous initiation of multiple independent events within each task VM Controller events are a privileged form of subroutine suspending all program tasks until pending events are done Each task may have up to four events active at one time The CLC provides several event types including time based distance based and position based events and others Events are basically interrupt driven subroutines They can be triggered by a variety of methods such as transition of an input repeating timer position trigger etc The Event system is pre emptive giving task A events the highest priority while events associated with Task D have the lowest priority Therefore an event currently being executed within Task C will be suspended by an event from Task B Once the active events are completed the suspended program tasks automatically re activate and resume execution DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 11 1 4 VM System Motion Capabilities The VM Controller supports three kinds of motion non coordinated coordinated and electronic line shaft and several modes of each type Non Coordinated Motion Non coordinated motion is primarily used to control a single independent axis There are two modes of non coordinated motion Single Axis for linear positioning re
57. 147 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 executive Can t activate while program running A new program cannot be activated unless all user tasks are stopped No programs are active No programs are active on the CLC card Download a program to the card System Error pSOS XXXX This is an internal CLC system error Call Indramat Service for assistance Mapper invalid operator An invalid Boolean operator was found in I O Mapper when it was sent to the CLC Mapper too many operations The maximum number of Boolean operations allowed by the CLC I O mapper has been exceeded Mapper invalid register A register exceeds the maximum number of registers or is 0 Mapper invalid bit or mask The bit number or mask sent exceeds 16 bits Mapper register is read only An assignment to a read only register or bit was made e g attempting to write to a CLC status register Invalid Unit Number The unit number second character in string is not a number between 1 and F or an ASCII space character E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 51 148 149 150 151 152 153 154 155 VME Bus Error A VME bus error occurred while communicating to another card in pass through mode through the ser
58. 2 12 Serial Port T Setupkosten 2 14 Serial port 2 le E 2 15 Tools MENU screen 2 16 PUOQQING AN AXIS EE 2 17 Data menu screen 2 19 Events screen REENEN 2 20 Events selected in sizing on 2 20 Figure 2 22 Uploading an I O Mapper String cesceeeeeeeeeeeeeteeeeeeeees 2 21 Figure 2 23 Displaying I O Mapper in Boolean Eousation 2 21 Figure 2 24 System diagnostic code register eeseesseese esenee esere eee 2 23 Figure 2 25 Viewing and editing variables A 2 24 Figure 2 26 Figure 2 27 Figure 2 28 Figure 2 29 Figure 2 30 Figure 2 31 Figure 3 1 Status menu screen eeeeeeeeeeecete cece eeeeeeseeeeeeeaeeeeaeeeeeeeees 2 25 Diagnostic Log screen 2 25 Diagnostic Log Options screen arrnannrrnnnnvnnrnrvnrnnrrvnnnnnnnnvennn 2 25 Drive on Ring screen runvennrrnvvonnrvrnnvnnnnrnnvennnnnsennnnnnseennnnnnen 2 26 System Parameters ecreen 2 26 Task A D Parameters screen 2 27 Viewing system diagnostic parameters eee 3 2 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 List of Figures XI Figure 3 2 CLC Drive Parameter Editor urrnrnnnnvrnnnnrnnnnnvnnnnrrnnnnrnnnnnnnnennne 3 2 Figure 3 3 Viewing diagnostic status messages 3 3 Figure 3 4 Viewing Registers srnnrnnnnvnnnnnnnvnnnnnnnvnnanennvneennnnvneannnnnneennnnenee 3 7 Figure 3 5 Restoring archive system Tles 3 16 Figure 4 1 CLO DDE Server mmnvnnrrvvrrevrnrvvnveennvennnevnnennnnvavnsens
59. 3426 Mainway Drive Burlington Ontario Canada L7M 1A8 Phone 905 335 55 11 Fax 905 335 41 84 Brazil Mannesmann Rexroth Automa 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 I R Building Nakamachidai 4 26 44 Tsuzuki ku Yokohama 226 Japan Phone 045 942 72 10 Fax 045 942 03 41 E Indramat Customer Service Locations Europe Austria G L Rexroth Ges m b H Gesch ftsbereich INDRAMAT Hagelingasse 3 A 1140 Wien Phone 1 9852540 400 Fax 1 9852540 93 England Mannesmann Rexroth 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
60. 35 482 Checksum Error in Program Cause 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 overwrite memory Call Indramat service for assistance Remedy 1 Reinitialize VisualMotion Toolkit and reopen the file containing the active program If no changes were made to the currently active program Save Download and recompile the program 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 Cause 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 Remedy 1 Make sure that all drives on the ring are powered up and enabled 2 Check fiber optic connections 484 CLC SYSTEM ERROR Cause This error indicates a problem in the CLC executive firmware Remedy 1 See the extended diagnostics parameter C 0 0124 for more information or select Status System within VisualMotion Toolkit and call the Indramat service departm
61. 399 3 7 Watchdogs siccsssscsscssssssssoscssesonsssassnsss 1 18 Z ZONES 2 19 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 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 847 645 6201 Mexico Motorizacion y Disefio de Controles S A de CN 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 01 756 02 40 Telex 262 66 rexro ar Fax 01 756 01 36 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
62. 5 12 BTC06 to CLC EMC Compliant connection ee 5 16 Figure 5 13 Menu Map F1 F4 ssrin 5 18 Figure 5 14 Menu Map F5 F8 sssrinin nunnien n 5 19 DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat VisualMotion 6 0 List of Figures XI DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat VisualMotion 6 0 Introduction and Overview 1 1 1 Introduction and Overview 1 1 Purpose of Manual This manual is a trouble shooting guide for the VisualMotion control system VisualMotion is a combination of integrated digital multi tasking motion control components drives and motors used together to create a complete motion control solution For information pertaining to digital drives and motors refer to the following documentation e DIAX03 Drives with Electronic Gear Function Documentation Set e DOK DIAX03 ELS 04VRS 50M1 EN P Material No 273438 e DOK DIAX03 ELS 05VRS 50M1 EN P Material No 276238 e DIAX04 Drives with Electronic Gear Function Documentation Set e DOK DIAX04 ELS 05VRS 60M1 EN P Material No 276252 e ECODRIVE DKC02 1 SSE SERCOS Function Documentation set e DOK ECODRV SSE 03VRS 57M1 EN P Material No 274825 This manual is intended to assist and guide trained operating and maintenance personnel with the proper methods for identifying and remedying diagnostics faults and errors Together with the CLC motion control card and the Windows based VisualMotion software program the user will be able to determine di
63. 8 2 Using VisualMotion Toolkit for diagnosing 2 1 2 1 VisualMotion Toolkit 6 2 1 2 2 VisualMotion to PC connection rarvrerrnnvvrrrrnvvvrrrnnvrrrrrnnrnerrrnarneerrnannerrrnnnneerrnnnnesrrnnnneernnnnneerrnnnnesrrnnnneernnnnn 2 1 2 3 TNE nn UE 2 2 Program Management sceri ernesrpusinenernnuninnee ein uneen aE AEAEE E EEA ENAR AEEA AEE EA EA EARNE AEREN 2 3 Alter 2 5 2 4 The View Men 2 6 2 5 TNE Setup MOM oe gde eker sirain annsna anaana diana iiia yaslo nes aia aaa aaa adea a anda at 2 7 B re Te en TEEN 2 8 COMMU ATION EE 2 9 BIE EEE EE RE KE 2 11 CLE Serial LEE 2 13 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat Il Contents 2 6 The Tool Mem JOGGING wad cite icy eet vadet nas dae Ralls Show Program Flow E 2 7 The Data Menu SE VO Mapper aiiesnianicniiniennnricniernnnnnannas BEN EE EEE VIE el 2 8 The Status Men Diagnostic Log AW 2 9 The Options Men 2 10 The Help Men 3 Monitoring and Diagnostic 3 1 System Diagnostics Codes and Message snnaane 3 2 Status Messages 0071 1901 001 Initializing Gvsiem 002 Parameter Mode 003 Initializing DriVeS 0 ee eee eee eeneeeeeeneeeeeenaeeeeeeaee 004 System is Head 005 Manual Mode 006 Automatic Mode ABCD n se 007 Program Running ABC 008 Single Stepping ABC 009 Select Parameter Mode to Continue 0s00 010 Breakpoint Reached ABC 011 Waiting for PLO esrrnennrrnennvnnenvrrnnnrrvennrnnennvnrennn 3 3 Simulation Status m
64. A02 AE P 03 99 E Indramat 3 52 Monitoring and Diagnostic VisualMotion 6 0 156 157 158 159 160 161 162 163 164 PC Communication Handshake Error The CLC is not responding to an ASCII message Check the address configuration on both the PC config sys and system ini and the CLC address jumper switches I O Mapper Max file size on CLC Exceeded The CLC memory that was allocated for LO mapper strings 8KBytes has been exhausted Optimize the mapping program so that it fits into memory Cannot store cam already active for axis D Cam data cannot be changed unless no axes are currently using it Deactivate the cam for axis D then send the cam again SERCOS handshake busy timeout This is an internal error generated by the SERCOS ASIC Change modes or reset the card If it happens again call Indramat Service Executable program is too large ddK The executable portion of the user program downloaded to the CLC 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 System Memory Allocation Error The dynamic memory space on the CLC has been exhausted Call Indramat Service for assistance Cam X data is lt 0 or greater than 360 All values in the x column right hand column of the cam file sent to the CLC must be between zero and the modulo value of
65. AG Task Running Diagnostic status DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 45 Control Menu Auto Step Mode Text appears when the F6 key DBug is pressed Text disappears when the F6 key Norm is pressed DOK VISMOT VM 06VRS WA02 AE P 03 99 CONTROL MENU OOFC AXIS WAIT Instruction Single Step Instruction Sin No Target WORLD TARGET 1200 00 1200 00 Task A 500 00 500 00 AUTO 90 00 90 00 RUN 99 STATUS F2 F3 F4 F5 F6 F7 F8 Go STOP UO Inst Norm Main Diag F1 Step F2 Go F3 Stop F4 I O F5 Instruction Sequence F6 DeBug Norm F7 Main Menu 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 Sequence Steps SEQ STEP Sequence Function SEQ FUNC When F5 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
66. AUTO 90 00 90 00 RUN 99 F3 F4 F5 F6 F7 F8 STOP 1 O Norm 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 gt Auto Step gt A F1 Auto F2 Go F3 Stop F4 I O F6 Debug Norm F7 Main Menu F8 Diagnostics Note F2 F3 and F5 are dependent on the 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 active program will start executing instructions By pressing the F3 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 By pressing the F4 key the Register Menu will be displayed allowing the operator to active I O bits 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 When Debug is selected by pressing the F6 key the following text appears in the top half of the screen and the F6 key text changes to Norm Pressing F6 Normal again removes this information CONTROL MENU Screen name INST OOFC AXIS WAIT VisualMotion instruction being processed STAT Task Running Task status DI
67. BTCO6 main men 5 17 BTC06 menus F1 Program Men ssssssessesesseeseee 5 27 F2 Table Edit Menu ssssseseeeeee 5 32 F3 Jog Menu oo F4 Control Menu se F5 Register I O Menn 5 47 F6 Parameter Menu 5 49 axis parameter menu 5 50 card parameter menu 5 49 drive parameter menu 5 52 task parameter menut 5 51 F7 Security Mem F8 Diagnostic Menu e BTC06 Power consumpton BTCO06 Protecton cee BTC06 screen map BTC06 serial cable IKB0010 BTC06 serial communication pin out 5 6 BTC06 Specifications Electrical Data 5 9 Emergency Stop Switch Live Man Switch BTC06 Supply voltage BTC06 Teach Pendant Keyboard Operation SO MUP EE a BTC06 Temperature range 5 9 BTZ01 1 Junction Bos 5 12 C Cables I OG 51000 0 EE Cam Builder erorrrrrronrroronnrnsonnrnrrenner GAM nd xer uuassdatanndasisrins Cam synchronization m Card Parameter Men Card Selection rrrrnnvrorrnnrrrrnnnner CLC card number method Card Selection screen CLC Back Plane Relay Time out 4 4 Operating System Response Tme out 4 4 Server Confteuraton eee 4 4 Status Display 00 System Architecture CLC DDE Server CLC Drive Parameter Editor Fil Menteri 2 12 CLC Drive Parameter Editor screen 2 11 CLC Drive Parameters Editor Transfer parameters s sseeessee CLC register structure CLC Serial Ports CLC Table Edit Men
68. Before replacing the battery archive the system using VisualMotion Toolkit Refer to Chapter 2 The File Menu Archive 3 Switch power off to the system containing the CLC card 4 Remove CLC card from the system Electro static discharge Sensitive electronic device The CLC card is a sensitive electronic device use caution when handling this board Do not expose to Electro static Caution discharge or place the board directly on a conductive surface Only handle the board by its face plate or card edges 5 Remove old battery by sliding it out of it s holder Insert the new battery into holder no more than one minute later 7 Write the month and year on the battery s end cap for future reference This information should also be written on a label and place in close proximity to the CLC for easier observation CLC D02 3 Front Panel Diagnostic Display O 7 Segment display The CLC D has a 7 Segment LED display H4 It displays the current operating and error conditions of the card CLC D02 3 7 Segment Display CLC Watchdog Figure 1 12 7 segment display on the CLC D DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 18 Introduction and Overview VisualMotion 6 0 Normal operations In normal operating conditions a static display shows the current mode of the CLC H4Display Status 7 p H Table 1 3 Normal operating conditions Error codes When an error exists t
69. C Back Plane Relay Timeout is Second s Communication Retry Attempts i Error Handling IV Display Server Errors IV Intercept CLC Errors And Display IV Make Error Messages System Modal I Log Errors To File View Log File DDE Maximum Conversations Maximum Advise Items IV Self Terminate If No Active Conversations Save Figure 4 2 CLC Server Configuration Communications CLC Status Selects the CLC device unit i e serial_0 combination to be Display 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 for a Time out completed response from the CLC control card before diagnosing a disconnect The valid range of values is 1 900 seconds CLC Back CLC V control cards have the ability to redirect incoming Plane Relay serial messages over the VME back plane to other CLC V Time out 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
70. CLC D Configuration Jumpers 1 15 KIT RE 1 15 Serial Communication 1 14 1 19 CLC D Overview 1 14 1 19 E Indramat 6 4 Index VisualMotion 6 0 CLC D02 3 Diagnostic Display rorrrrrrrrneenre 1 17 CLC P Jumper Confteurapgon 1 20 SERCOS wasvssssstsctscssesssdagiasaazesceneiis 1 21 CLC P base address jumper settings 1 21 CLC P02 Jumper Confteurapgon 1 25 SERCOS enneronoverennrnrererere 1 27 Serial Communication we 1 24 CLC P02 Overview sos 1 24 CLC P02 2 Hardware 1 24 CLC V Configuration Switches 1 29 Ee RE 1 29 Serial Communtceaton 1 28 CLC V Overview 1 28 Communication Error Codes and Messag Susnismidinisdsissie Configuration cece Generate Map Pie Language Selection i Project Directory rrernrrnnrnrvvrnrnren Windows editor eererrronrrrrvenrrvreenne Configuration screen Configuration Switches VE E 1 29 Control Menu auto run hold mode 5 44 auto step mode es manual mode Coordinated Motion c eeceeseeseeeee 2 7 D Data tems sicissiscaesisssensteveadesiceiesisaeetis CAM Indexer EV DtS oyieseds Ssscsetistscsstasssavstivts Field Bus Manper 2 18 I O Mapper 2 18 2 21 PID 2 18 PLS 2 18 Points souerre esn N RE 2 18 REGISLELS riesis sassis 2 19 2 22 Registration Sequencer nsesenesrrsorasnrsnnssvasvsnvnesen 2 19 Variables rrrrrrrrronrrorronrrernnr 2 19 2 24 Z
71. Display Strings Once verified select File Download Strings and answer Yes to the popup window warning gt Reinitialize the VisualMotion program and test I O mapper Note If the iom file does not upload from the CLC card use File gt Open from the Ladder Editor screen and open a valid iom file 2 Ifthe error is still encountered contact Indramat Service for assistance 507 Option Card Power Supply Error Cause There is an external power supply or output driver error on a DEA 08 1C DEA 09 1C DEA 10 1C DEA28 1M DEA29 1M or DEA30 1M 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 Remedy 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 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 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 43 Power Supply Error on DEA The 24V signal voltage on each DEA 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 turns the ERR LED on the DEA C card on This indicates that the current drawn by the out
72. Invalid Event Function 3 49 138 Program file version mismatch 3 50 139 Can t activate while program running3 50 140 No programs are active 3 50 141 System Error pSOS 4XXXX 3 50 142 Mapper invalid operator 3 50 143 Mapper too many operations 3 50 144 Mapper invalid register 3 50 145 Mapper invalid bit or mask 3 50 146 Mapper register is read only 3 50 147 Invalid Unit Number 3 50 148 VME Bus Error 3 51 149 VME Communication Handshake Error D sissestsasssscessisasseacess 3 51 150 Invalid Download Block 3 51 51 Unit D Invalid VME Base Address IN 3 51 DOK VISMOT VM 06VRS WA02 AE P 03 99 Index 6 1 152 Invalid Avis 3 51 153 Waiting for service channel 3 51 154 List or String is too short 3 51 155 List or String is too long 3 51 156 PC Communication Handshake Error3 52 57 I O Mapper Max file size on CLC Exceeded ccsscsissscssssssssesissssanssssssenss 3 52 158 Cannot store cam already active for RR EE 3 52 159 SERCOS handshake busy timeout3 52 160 Executable program is too large ddK 3 52 61 System Memory Allocation Error 3 52 162 Cam X data is lt 0 or greater than 3603 52 163 X Column does not start at 0 or end at ELE 3 52 164 Not supported in user prog file version Lilacs stints 3 52 165 Sequencer invalid sequence D 3 53 166 Sequencer invalid step D
73. 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 4 6 CLC DDE Server VisualMotion 6 0 Settings Menu 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 300 1200 2400 4800 9600 19200 38400 Serial Port Options V Use Serial Event RS485 Converter Save Cancel Figure 4 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 avai
74. L 60192 Phone 847 645 3600 e Fax 847 645 6201 e Dept TechDoc DP DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Contents Contents 1 Introduction and Overview 1 1 SR Gite ET 1 1 1 2 Mantial ONE EN EE EE ANRE A RAAKA AA CORRA ANKKAA MERN 1 2 1 3 VisualMotion Cvenlew 1 2 VisualMotion System Components sssssessseeseessesiettnetttettttttnntttntttnnttntttnuttn ntun nn nnn nnn unnn nnen nnnn nann 1 2 CLC System Architecture ccccccccceeeceeseeceeececeeeeeeeaeceeneecaeeeeaaeseeaaesaeeeceaeseeaaeseeaeeseeeeseaeeseaeseeneessaes 1 8 Indramat s VisualMotion Programming Interface AA 1 9 EAR RL EE 1 9 CLC Operating System iniiae annesin eaei aaa a a a aa eaaa aaa aa Naa 1 9 1 4 VM System Motion Capabiltes cc ccccececceceeeee eene eeeeeeeeeeeeceaeeeeeaeeeaaeeeceeeseeeeesaaeeeeaaeseeeeeseaeeesiaeeseaeeeeaes 1 11 Non Coordinated Motion ccccccccccsssececeesseceesenneeeeeenaeeecsesaeeeeeeaeeesesaeeeeeesaeeesssaeeeesssaeeesseseeeesesaes 1 11 Coordinated Molom ageseent A EAA 1 11 Electronic Line Shaft EL 1 12 Uer Ree Re EE 1 14 CLC D02 3M hardwar ATEA A 1 14 CLC D02 3 Front Panel Diagnostic Display 1 17 V6 CEC ROLL Eelere EEN dE geed AEE EEEE EEE 1 19 CLG PO TT h rdwareuauundmetdnen ke E ATE AE RAE 1 19 See ene TEE 1 24 CLC P 02 2 hardware ceinaren anna Zeng dE E EEE ZE egdckn en D eseigege geed 1 24 Laetitia EEN ed eege 1 28 CLC V 02 3 h rdwareuusuu sedan Deg komedie ee Deeg inden based 1 2
75. LC File AXIS TRANS str Task Task_A Edit View Setup Tools Data Status Options Help GA e E H a RE eo o New Open Save Save s Save Compile Download Compile Display Code Program Management Archive Transfer Cams Transfer Events Transfer UO Mapper Transfer Parameters Transfer Points Transfer Variables Transfer Zones 1 CAindramat clc projectAxIS_TRANS str Exit Figure 2 2 VisualMotion File Menu screen DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 3 Program Management All available user programs can be viewed by selecting File Program Management From this screen the user can see which program is currently active on the card or active a different program in its place Program Management Card 0 Available Unused Memory 28588 Current files on CLC card S AXIS TRANS 10 05 98 14 41 53 Activate e AXIS TRANS 10 05 98 14 49 45 936 Available VisualMotion AXIS TRANS 10 05 98 14 51 17 936 Delete AXIS TRANS 10 06 98 08 44 37 936 card AXIS TRANS 10 06 98 09 44 45 936 ss 0 AXIS TRANS 10 06 98 08 44 53 936 zJ Upload 4 gt Download Name Date mm dd py Timefhh mm ss Sizefbytes Currently active Currently active program on CLC card es VisualMotion program gt 6 AXIS TRANS 10 05 98 14 51 17 936 Data Transfer 4 5 6 programs inthe CLC e 7 AXIS_TRANS 10 06 98 08 44 25 936 3 1 Figure 2 3
76. ODES seis is EET 2 19 1B DI JE 1 9 4 2 4 5 Convergattons 4 11 Dde Server ciiise 4 1 Diagnostic Display CL CD nesen Diagnostic Log Diagnostic Menu n error SCHeen DIAX03 digital drive DIAX03 Motors DIAX04 drive family eee DIA X04 Motors oseere DIN EN 775 Drive Errors Drive Parameter Editor Drive Parameter Menn 5 52 Drives 00 Drives on Ring Dynamic Data Exchange 4 1 E ECODRIVE drive family 1 7 Emergency Stop emergency stop button Error COGS isnin enpa Error Handling ss Event functions Event Tableros issiria EVENS assenar ori F F1 program menu F4 editing sequencer 0 0 0 5 28 F2 Table Edit Menu Absolute Point Table Event Table Floating Point Table Global Floating Table ne Global Integer Table Integer Table Menn Relative Point Table rit F3 Jog Men ssisisisesicsssssisesssssrssss F4 Control Menu control menu auto run hold mode auto step mode manual mode F5 Register I O Menn F6 Parameter Menu Ges F6 Security Mem F8 Diagnostic Menu eee Fatal System Errors Field Bus Mapper File meng floating point vartable cee Floating Table Menu ccceeee Function Edit Menu Function List eovrnrrnrrnorvrrnovrrvrrnrrnerver 5 30 Global Floating Table 5 39 Global Integer Table 5 38 Global vatables ieee 2 24 Hardware Components ssravrnvvrrrerrreer 5 2 Help Mehus coss
77. Program Management screen Note The following is a list of the basic file extension types used for viewing and editing VisualMotion programs ett Graphical icon program file used by VisualMotion Toolkit exb Compiled program file uploaded from the CLC containing current values i e variables points event etc exc Compiled program file downloaded to the CLC and activated using Program Management In order to properly trouble shoot a VisualMotion program the str icon file along with the exb file are necessary VisualMotion Error The CLC card can contain only 10 user programs at any one given time If you try to Compile and Download a new VisualMotion program to the CLC card the following VisualMotion Error appears notifying you that you have exceeded the maximum number of files To clear this error do the following gt Press OK gt Delete one of the currently loaded programs in the card from the Program Management screen This will bring the count to 9 programs Compile and Download the program by selecting File Save Compile Download or press the icon Once compiled select and active the program by pressing the Activate button VisualMotion Error AN 124 Maximum number of files exceeded Figure 2 4 124 Maximum number of files exceeded DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 4 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 E Indramat Note Currently active Visu
78. SMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 1 5 Human Machine VisualMotion Interfaces 5 1 BTC06 Teach Pendant d Indramat SYSTEM200 Fi F Fa Fa Fs ro fr Fa GEER SEERE LI e e BERE BERE ABC ALLE JKL POR 44408 STU XYZ 44403 DEL PITT Figure 5 1 BTC06 Teach Pendent An RS485 422 combination interface allows connection of the BTCO6 to all INDRAMAT controllers MTS P MTS R CLC DKC DLC CLM The universal Screen Manager Software allows variables of all INDRAMAT controller families DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 2 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 2 BTC06 Features For the CLC there are two additional pre programmed applications programming software for TRANSO1D and VT100 for GPS that replace the functions of the CTA10 1 and TPT Enclosure Controls and Display Elements Hardware Components BG Test Certifications E Indramat Front panel with 48 keys 240x128 pixel graphic LCD with backlit LED Shock proof ergonomic enclosure protection type IP65 Plug in interface cable Emergency shut off with twist release and two floating contacts Three position live man switch with two floating contacts Position 1 Off Position 2 Live Man Position 3 Panic TUV BG certified integrated safety circuitry category 4 according to EN954 1 ensure that the live man switch will not be activated af
79. SMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 33 474 Drive D cyclic data size too large Cause Too much data is configured in the SERCOS cyclic telegram The drives currently support up to 16 bytes of configurable data Remedy 1 Remove I O or registration options from the parameter or program configuration 475 Axis D capture already configured Cause An axis has been configured for the feedback capture function in a previous user program command The capture setup command allows up to 4 different trigger options setups for each axis The same capture setup configuration can not exists in the same program Only one capture setup command is allowed for each axis Configure Drive Fee Ea Ausl integer Glx Ix or label Capture Trigger options Capture Trigger1 P None v None a Optional Trigger O gpm Trigger2 Cancel ie Caption Remedy Probe 1 0 gt 1 Probe 1 1 gt 0 Probe 2 0 gt 1 Probe 2 1 gt 0 1 Verify that the capture setup instructions are not setup to perform the same capture trigger option for the drive specified in this diagnostic message If found modify the capture setup command and save compile and download the program 476 Axis D Real Time Bit Setup Error Cause A SERCOS error occurred while the CLC was configuring the drive s real time bits for the feedback capture function Remedy 1 Clear the error enter paramet
80. This error occurs when the sequencer is commanded to initialize Refer to Sequencer in the VisualMotion Reference manual for more information Sequencer Set BE Enter Sequencer Name Cripper a C Initialize and Run Ge Initialize Sequencer C Run Sequencer This error can occur in both initializing options Setup Caption Remedy 1 One possibility is that an Event is programmed as a function in the sequencer icon Modify the program and replace the event with a subroutine 2 Task diagnostic can be view under Status gt Tasks 3 Extended diagnostic can be view under Status System DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 39 495 Sequencer error see task T diag Cause An error has occurred in a sequencer execute instruction in task T The task diagnostic Z 0 0122 and the extended diagnostic C 0 0124 gives a more detailed description of the error This error occurs when the sequencer is commanded to execute Refer to Sequencer in the VisualMotion Reference manual for more information Sequencer Set HEA Enter Sequencer Name Cripper a Initialize and Run This error can occur Initialize Sequencer when a sequencer is being executed Setup Run Sequencer Es Caption Remedy 1 One possibility is that an Event is programmed as a function in the sequencer icon Modify the program and replace the
81. This port always operates with 8 data bits 1 stop bit and no parity If the checksum option is enabled the CLC will send a checksum as described in the Host Protocol Description and will check the checksum in data received from the host The options are added together with the baud rate For example to set 9600 baud checksum on the parameter would be set to 9600 1 9601 Note The baud rate of serial port 1 is forced to 9600 if a jumper is set on S1 of the CLC D and CLC V cards An asterisk appears to the right of card parameter C 0 0003 indicating that a jumper is set on S1 Example 9601 Refer to Figure 2 10 Another method for determining if a jumper is set on S1 is to open the setup port screen under Setup gt CLC Serial Ports and if a jumper is set the following message appears at the bottom of the screen Port forced to 9600 RS232 by jumper on card DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 14 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Baud rate of 9600 plus 1 for Checksum Enabled equals 9601 value of card parameter C 0 0003 Serial Port 1 Setup x Baud rate default 9600 gave 9600 Cancel IV Checksum Enabled default 0n Format 8 bit 1 stop no parity not changable Mode R5232 e Indicates jumper set on S1 gt Pot forced to 9600 AS 232 by jumper on card Figure 2 15 Serial port 1 setup Serial Port2 Changes to serial port 2 are written dire
82. Tools Data Options Help Diagnostic Log Drives Drives on ring System Tasks Figure 2 26 Status menu screen Diagnostic Log The diagnostic log screen displays the last 100 errors that the CLC card has encountered Along with the error messages the date time and extended error codes are displayed and only the CLC P normally stores the date Diagnostic Log Jate Error Message Sec Code Extd Sec Code 11 06 26 411 Drive I Phase 4 Switch Error 11 06 21 409 SERCOS Disconnect Error 10 37 38 420 Drive 1 Shutdown Error 04 26 41 420 Drive 1 Shutdown Error 03 31 27 409 SERCOS Disconnect Error sl b 17 94 VF AMA ine Ne ahd ene ss Card s Date and Time 01 07 0000 11 20 44 Log Options Update Figure 2 27 Diagnostic Log screen Date and time are relative to the power on of the CLC D P cards they have no battery backed clock During power up the CLC P tries to get the date and time from the PC The time can be set in card parameter C 0 0126 The Log Options button opens an options window It allows some common errors to be ignored and saving the diagnostic log to a file Also see card parameter C 0 2020 Diagnostic Log Options I Include warnings I Include E Stop errors 400 I Include drive undervoltage errors 26 I Include user warnings T Include user errors Save Cancel Figure 2 28 Diagnostic Log Options screen DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 26 Using VisualMotio
83. VM 06VRS WA02 AE P 903 99 E Indramat 1 6 Introduction and Overview VisualMotion 6 0 Motors used with DIAX04 All DIAX04 drive controllers are capable of operating all rotating and linear motors of the MHD MKE MKD 2AD 1MB MBW LAR and LAF series Figure 1 5 Motors used with DIAX04 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 7 ECODRIVE 3 digital drive controllers The following digital drives make up the ECODRIVE 3 drive family DKC drives have no slots available for plug in cards however when combined with the stand alone CCD box an ECODRIVE 3 system can have up to four slots available for plug in cards e DKCx 3 040 can provide continuous drive output of up to approximately 1 5 kW e DKCx 3 100 can provide continuous drive output of up to approximately 4 0 kW
84. a fatal error repeatedly occurs and cannot be recovered call Indramat Service for assistance in debugging Communication Error Codes and Messages SERCOS Error Code xxxx xxxx Error code This is the code set in the data status word of the DDS 2 drive if SERCOS communication is invalid Call Indramat Service if this error occurs Invalid Parameter Number The requested or sent parameter does not exist on the CLC or the drive or the format of the parameter is incorrect Data is Read Only The data in this parameter may not be modified Write Protected in this mode phase The data in this parameter can not be written in this mode or communication phase Switch into parameter mode phase 2 to enter the parameter Greater than maximum value The parameter exceeds the maximum allowed value Less than minimum value The parameter is less than the minimum allowed value Data is Invalid Parameter data is invalid or the format of the parameter is invalid See the DDS or CLC Parameter Descriptions Drive was not found The requested drive was not found on the SERCOS ring E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 47 109 110 111 112 113 HA 115 116 117 118 Drive not ready for communication The requested drive or the SERCOS ring has not been initialized Drive is not responding The drive did not respond to a service channel request Ch
85. ables can be modified by double clicking on a specific 00 variable and editing the value Variable F11 Axis vel 5 in pop up window Current Value Previous 100 0 Nest Save Cancel Figure 2 25 Viewing and editing variables The following variable types are available A floating point variable is simply a number containing a decimal point The number of 32 bit floating point variables is defined in the sizing icon at the beginning of the program and are stored as part of the program Integers are signed or unsigned whole numbers such as 5 or 3 The number of 32 bit Integer variables is defined in the sizing icon at the beginning of the program and are stored as part of the program Global variables are available to all programs stored on the CLC card Global variables are program independent Multiple programs can write to the same set of Global variables Local variables are created when a subroutine or task begins and eliminated when the subroutine or task execution has ended Arguments can be passed to local variables to allow multiple applications of a common subroutine Note Except for local variables all CLC variables are not lost if the battery loses power DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 25 2 8 The Status Menu The status menu provides status information for logging and monitoring system errors and diagnostics File Edit View Setup
86. agnostic messages and error codes and the proper steps required for clearing such faults It is assumed that the VisualMotion components and digital drives are installed properly and that all corresponding hard wiring has been completed For more information refer to the following VisualMotion Manuals e VisualMotion GPS 6 0 Start Up Guide e DOK VISMOT VM 06VRS PRJ1 AE P Material No 282762 e VisualMotion GPS 6 0 Reference Manual e DOK VISMOT VM 06VRS FKB1 AE P Material No 280585 DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 2 Introduction and Overview VisualMotion 6 0 1 2 Manual Overview Chapter 1 Introduction Describes VisualMotion s components and the CLC s general theory of operation and its motion capabilities Chapter 2 VisualMotion Provides a description and illustration of the more common operations within VisualMotion for end users Chapter 3 CLC Monitoring and Diagnostics Provides a description of Status Warning and Shutdown messages and how to troubleshoot errors and faults Chapter 4 VisualMotion s 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 5 HMI devices BTCO6 Describes the usage and functionality of the Human Machine Interface used with VisualMotion 1 3 VisualMotion Overview The term VisualMotion is not only used to describe the Windows based pro
87. alMotion programs can t be deleted CLC Card Error To delete an active program you AN 34 Active program can t be deleted must first stop the prog ram Then select it from the Program Management screen and then press delete Program deletion should only be performed by authorized personnel For complete details of the Program Management screen refer to the VisualMotion Reference manual DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 5 Archive The archive selection provides backup and restore functions for a CLC card Backups of VisualMotion programs I O Mapper strings and parameters of the CLC card and active drives are saved by default to the indramat clc project saveset directory The Browse button allows the user to select another directory location Programs I O Mapper equations CLC card parameters and drive parameters can also be selectively restored Archive System m Type Backup C Restore Cancel Items IV System IV Programs IV Drives IV 1 0 Mapper Cams T Drive Cams I Global Yars r Dire MrootHprojectisaveset Ic indramat clc project saveset Browse Figure 2 5 Archive System screen Select Backup or Restore then press the Start button to transfer If restoring the check boxes are enabled to allow selection of kind of data to be restored During data transfer a bar graph will advise you of progr
88. 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 Cause 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 Remedy 1 Release the E Stop button or correct the error condition Clear error on CLC card Set Emergency Stop input active high and restart program 401 SERCOS Controller Error DD Cause The SERCOS communications controller has indicated an error on the SERCOS ring Remedy 1 Check the fiber optic connections the addresses set on the drives and the drive configuration IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 11 402 SERCOS Config Error see ext diag or 402 SERCOS Interface Error XXXX versions before 01 20 Cause An error in the SERCOS service channel has occurred when the CLC was initializing the timing and scaling parameters The extended diagnostic C 0 0124 gives a description of the error This ca
89. andard geometry segments so that the start of the next segment begins at the end of the previous segment A path therefore is nothing more than a collection of connected segments Since each segment has an end point specifying speed acceleration deceleration and jerk each segment can have a unique rate profile curve A special type of segment called a blend segment can be used to join two standard geometry segments Blend segments provide the capability of continuous smooth motion from one standard segment to another without stopping They reduce calculation cycle time as well as provide a means of optimal path shaping The VM System is capable of calculating a path in any of several different modes DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 12 Introduction and Overview VisualMotion 6 0 Constant Speed Constant Speed mode is always active and tries to maintain a constant speed between any two connecting segments in the path This mode is constrained by the system s acceleration and deceleration Constant speed is the optimum path motion for applying adhesives or paint and welding and some forms of cutting such as laser or water jet etc Linear Interpolation A coordinated motion straight line segment is defined by two points The motion is calculated from the end point of the last segment or the current position if the system is not in motion to the new end point Multi axis coordinated motion is used when a relationship m
90. ariable DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 21 429 Calc too many operands Cause In a user program calculation instruction too many operands etc and operators were used in the string Use the show program flow lt F7 gt function to locate the Calc icon containing the error Remedy 1 Split the calculation operation using more than one Calc icon in consecutive order 430 Calc instruction invalid operator Cause An invalid arithmetic operator was found in a user program calculation instruction The operator used is not supported by the current version of VisualMotion Toolkit Remedy 1 Check the compiler and firmware version numbers and call Indramat service for assistance in upgrading software Version information can be found for menu selection Status gt System 431 Calc error see Task A diag Cause An error has occurred in a user program calculation instruction Remedy 1 See the task diagnostic message for a communication error message 432 Calc too many nested expressions Cause 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 Remedy 1 Check the number of operands in the expression looking for unbalanced parentheses or incomplete expressions DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 22 Monit
91. ask A Teach 99 6 Block Task C Teach 98 9 Block Task B Manual 99 9 Block Task D Manual 98 10 Block Task B Auto 99 10 Block Task D Auto 98 11 Block Task B Step 99 11 Block Task D Step 98 12 Block Task B Jog 99 12 Block Task D Jog 98 13 Block Task B Entry 99 13 Block Task D Entry 98 14 Block Task B Teach 99 14 Block Task D Teach 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 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 21 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 Display 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 Keyboard 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 5 22 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 12 BTC06 Keyboard Operation The following defines the keys for the Teach Pendant fee M lie ee aa ee left and right refresh of the BTCO6 screen First press
92. ated current Operating cycles Control category Two floating N O contacts electrically isolated 24VDC 42V AC 2ADC 3AAC gt 200 000 for Live Man range gt 100 000 for Panic position 4 in accordance with EN954 1 Table 5 3 Live Man Switch Data DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 10 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 7 Enclosure Dimensions Outside Dimensions q Indramat SYSTEM200 BREET MMAR 363mm 14 29 Depth 56mm 2 20 without E Stop Depth 78mm 3 07 with E Stop 100mm 3 94 Figure 5 6 Enclosure Dimensions P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 11 Rear View Figure 5 7 Rear View DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 12 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 8 BTC06 with CLC VisualMotion BTZ01 1 Junction Box For the connection with a CLC VisualMotion the following components are used e IKS0188 Connection Cable available in 4 fixed lengths e IKS0188 003 0 3 meters material number 279140 e IKS0188 005 0 5 meters material number 279423 e IKS0188 010 0 10 meters material number 279141 e IKS0188 015 0 15 meters material number 279142 e INS0627 Bulkhead Connector material number 279377 e IKB0020 Serial Cable available in varied lengths material number 282868 Inside the control cabinet the wires for the liv
93. ber of functions remaining Reduce the number of functions used or allocate more function slots in the data sizing instruction Maximum steps per sequence exceeded D The number of steps in a sequence exceeds the number D allocated for the program in the data sizing instruction Maximum functions per step exceeded D Up to D functions can be used in one sequencer step This is a CLC system limit which in version GPS 02 00 is 100 Program does not include a PLS PLS data was requested from a program that does not support the Programmable Limit Switch function or does not have any PLS s configured DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 54 Monitoring and Diagnostic VisualMotion 6 0 173 174 175 177 178 179 180 181 182 Invalid ABS or REL point index D Point D is zero or is greater than the allocated maximum number of points for the selected point table Error in command execution A procedure command set in the CLC or drive parameter has not been successfully completed Comm port buffer overflow The serial port received buffer has overflowed In current versions of the CLC this buffer is 512 bytes To avoid this error the host must communicate in half duplex or use XON XOFF handshaking correctly Can t save sequencer while it is running Sequencer data can only be save while the program is not running or while no user tasks are running a sequencer Service channel in
94. cable CLC V02 3 IKS0110 9 Pin PC CLC D02 3 CLC P01 gt CLC P02 IKS0061 9 Pin PC 2 Figure 2 1 VisualMotion to PC connection diagram Once the hardware connections have been made use the following procedure to confirm communications DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 2 Using VisualMotion Toolkit for diagnosing 2 3 The File menu E Indramat VisualMotion 6 0 Connect communication cable between CLC port X28 and the PC s com port Power up VisualMotion System drives CLC cards motors etc Open VisualMotion Toolkit windows program Refer to the VisualMotion Start up Guide for installation instructions gt From the VisualMotion Toolkit main menu select Status System lf the System Parameters screen loads with information communications have been established The user is now ready to use VisualMotion Toolkit The file menu allows the user to perform standard windows file commands such as new open save etc This menu also has functions for compiling CLC programs archiving user programs and variables and printing CLC programs For the purpose of this manual only Program Management will be covered in this section For a complete description of all the File menu selections refer to the VisualMotion Reference manual C
95. cceceeeeeeneeceeeeeeeeaeeeeeeeseeeeeseaeeesaaeeseaeeeseaeeeeaaeseaeeeesaeeseaeeseeeeeed 3 36 489 More than D cam axes seleched A 3 37 490 System Memory Allocation Error 3 37 491 PC Communication Handshake Error 3 37 492 Programs were lost van ce ea a i i Re 3 38 493 Data was restored from Flash 3 38 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Contents V 494 Sequencer init error see task T dag 3 38 495 Sequencer error see task T dag 3 39 496 Can t Execute this Instruction from an Evert 3 39 497 Limit switch config error see ext dag 3 39 498 Drive D Shutdown Warning seseesssssessisssisssisssisstisstisttnntttttttinstnntttunttnnttnnttnntnnnnnnnn nannu nennen 3 40 499 Axis number D not supported in this version 3 40 500 Axis D is not ref r nted nu nmimianmi demme REENEN visa EENEG 3 40 501 Drive D communications Error emnrrnavovnnrnnnvvnnnnnavennnrnavennnnnnavannnnnavannnnnavnnnnnnnavennnnnarennnnnnennnnnnnen 3 41 502 ELS and cams not supported in this version 3 41 504 Communication Timeout nonrnnrnnrrnnnnrnnnn venner renn nrnnnn vennen rennnnnnnen vennen resnnn nesen vennen nesnnrneennnnnsenenennn 3 41 505 Axis D is not COMIGUreduu EE 3 42 506 LO Mapper initialization error cccccecceeeeeeeeceeeeeceeeeeeeeeeeaaeeeeaeeseeeeesaaeeeseaeeseeeeseeeeseaeeetaeeeeeeeeed 3 42 507 Option Card Power Supply Emor nnne 3 42 508 User Watchdog RA e EE 3 43 509 CLC System Ti
96. cess Protection Status Code Level Bit Preset Resultant 0 View Only 1 2 No Access 1 1 0 View Edit 1 View Only 2 No Access 1 2 0 1 View Edit PT F vere View Edit DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 54 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 20 F8 Diagnostics Menu E Indramat 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 03 007 Program Running AB Extended Diagnostic Message Tsk AA TASK RUNNING Tsk BB TASK RUNNING Tsk CC MANUAL MODE Tsk DD MANUAL MODE Axs 01 No Axis Message Drv 01 303 Position Mode Encoder 1 lag F1 F2 F3 F4 Num Num Reset Log 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 Num or F2 Num 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 OK key to accept By pressing the F3 Reset key the information on the screen is refreshed
97. ch and Yaw in coordinated motion The jog keys are active only while in the annn Jog Menu F3 If other coordinated axes are defined in other tasks then that task must be activated in order to jog from the Teach Pendant When in single axis mode within the Jog Menu the A A keys light up and are used to jog the axis Task Control Press the TASK pq key to display the task menu Use the arrow keys to position the cursor in the desired task and press OK then press ESC to return to the previous menu DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 26 Human Machine VisualMotion Interfaces VisualMotion 6 0 Teach Control E Indramat 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 D H DH DH RH g HELP TEACH TASK KA KAA gt a EDIT fl Gl el lt gaa CH N m CH 4 N DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 27 5 13 F1 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 curre
98. chine VisualMotion Interfaces 5 43 5 16 F4 Control Menu 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 program Sequence Name of the current sequence executing Step Name of the current step executing Function Name of the current function executing 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 Point and label for the current point executing Function Keys Function keys control machine operation Operation Labels 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 44 Human Machine VisualMotion Interfaces VisualMotion 6 0 Control Menu Auto Run Hold Mode Text appears when the F6 key DBug is pressed Text disappears when the F6 key Norm is pressed E Indramat CONTROL MENU AXIS WAIT Running Running No Target WORLD TARGET STATUS 1200 00 1200 00 Task A 500 00 500 00
99. ctly to CLC card parameter C 0 0004 This parameter can be view under Setup Overview Under Param source select the CLC card radio button and click on OK Format Baud Rate Options Valid Baud Rates 1200 2400 4800 9600 Options for Host Protocol 1 checksum on 2 send CLC status option not activated Default 9601 9600 checksum on Attributes Integer Read write at any time Modes RS232 RS422 RS485 This parameter sets the baud rate and options for Serial Port 2 X28 on CLC D and CLC P A device selected under Type connected to this port is written directly to card parameter C 0 0012 Refer to the VisualMotion Reference manual This port always operates with 8 data bits 1 stop bit and no parity Note If a device being selected under Type requires a RS422 or RS485 serial communication such as a BTCO6 Teach Pendant RS422 make certain that the S2 jumper is not set Note The baud rate of this port is limited to 9600 although higher baud rates appear within the Baud rate selection pull down list For high speed host communications above 9600 port 1 X27 should be used without a jumper on 51 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 15 Note The baud rate of serial port 2 is forced to 9600 if a jumper is set on S2 of the CLC D and CLC P cards An asterisk appears to the right of card parameter C 0 0004 indicating that a jumper is set on S2 An
100. d 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 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 4 8 CLC DDE Server VisualMotion 6 0 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 ES m CLC Status Indicators CLC Heart Beat Sove
101. ded actions e DOK VISMOT VM 06VRS WA02 AE P 903 99 Introduction and Overview 1 31 Secure a complete archive of the VisualMotion system data Order a new 3 volt Lithium button style battery CR2032 MnO Li Indramat material number 600482 Replace battery as soon as possible E Indramat 1 32 Introduction and Overview VisualMotion 6 0 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 1 2 Using VisualMotion Toolkit for diagnosing 2 1 VisualMotion Toolkit 6 VisualMotion Toolkit 6 VMT is Indramat s Windows based development environment for programming the VisualMotion Controller VMC cards Along with VMT s programming capabilities it can also be used to help diagnose system drive and card diagnostics Note This chapter is intended to help trained operating and maintenance personnel diagnose error codes using VisualMotion Toolkit For a complete description of VisualMotion Toolkit please refer to the following documentation e VisualMotion GPS 6 0 Start Up Guide e DOK VISMOT VM 06VRS PRJ1 AE P Material No 282762 e VisualMotion GPS 6 0 Reference Manual e DOK VISMOT VM 06VRS FKB1 AE P Material No 280585 2 2 VisualMotion to PC connection To establish communications between the VisualMotion CLC D cards and a PC use the IKS0061 standard RS 232 serial communication cable For the CLC V use the IKS0110 standard RS 232 serial communication
102. djust CLC parameters The BTC06 is a hand held instrument with 16 x 40 character display and a 48 key sealed membrane keypad The pendant provides a convenient operation and position programming interface for Indramat CLC Motion Control Refer to Chapter 5 Human Machine VisualMotion Interfaces for more information CLC Operating System The VM Controller 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 can control up to 40 axes Tasks VisualMotion can have up to 4 tasks running in each program Tasks A D run simultaneously and are given equal priority A task is a process that the user runs in his machine Using VisualMotion the user can have 4 separate processes or task running simultaneously and each task can be independent of each other Multitasking is cooperative and can consecutively execute one instruction from each task Special event functions preempt normal multitasking for real time response and are prioritized according to the hierarchy of the event s associated task Task A highest priority Task D lowest priority Two additional executive tasks manage the user interfaces through serial communication ports One controls communication to the Host PC the other controls the BTCO6 when used DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat
103. e IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 27 454 Axis D homing not complete Cause The drive did not successfully complete the homing sequence Remedy 1 See the drive diagnostics for a status or error message This can be viewed under Status gt Drives 455 Invalid VME Data Transfer Class Cause During a VME READ or VME WRITE instruction V R the transfer class e g 116 F32 etc is invalid Remedy 1 This error is normally an indication that the compiled program is either incomplete or corrupt Reopen the VisualMotion program and repeat the process of Saving Compiling and Downloading 456 Invalid VME Address Cause During a VME READ or VME WRITE instruction V R the VME address does not lie within the valid VME address range Remedy 1 Since a VME address is selected from a valid listing of available addresses this error is normally an indication that the compiled program is either incomplete or corrupt Reopen the VisualMotion program and repeat the process of Saving Compiling and Downloading 457 Table Bounds Error During VME Read Cause The variable or point table index exceeds the size of the table configured in the DATA SIZE instructions Remedy 1 Verify that the correct number of variables or points are being used in the program If correct numbers are being used then increase the amount specify in the DATA SIZE instruct
104. e T O Setup Overview VME Configure eects 2 7 Setup Menu screen uo cece eee 2 8 Show Program ass Show Program low 2 18 Shutdown Messages 400 599 3 10 Simulation Status messages 012 017 3 5 Status Men vie 2 25 Diagnostic Log wise 2225 RIVE 2 26 Drives on Ring 2 26 System w 2 26 EE E fee 2 27 Status Messages 001 199 ee 3 3 Step Listri we 5 29 Step Table Edit Menu w 5 30 ele TEE 2 6 SUP M01 BTC06 Wall Mounting EE E 5 8 SYSUCML ss ssscsscsscssccsssevssosesvesatsoossvessessess 2 26 System Diagnostics Codes and Message3 1 System Parameters screen 2 26 TASK E Teaching Points Tool MENUS 6 258 sssesasiesacdavesasseseds Gscscay VisualMotion 6 0 Tools Menu Jogeng Program flow Show Program Flow 2 18 Topic DE 4 2 U upload VisualMotion parameters 2 12 V Nanables sesan 2 19 2 24 Velocity synchronization 1 12 View Men Event functions Subroutine Viewing Error codes Viewing task in VisualMotion NisualMopon VisualMotion 272 VisualMotion File Menu screen 2 2 VisualMotion Overview rrnnrrrrnnnner 1 2 VisualMotion program flow 2 7 VisualMotion gwstem 1 2 VisualMotion Toolkit 6 2 1 VM System Motion Capabilities 1 11 VME Communications ssssssseseeeesee0ee000e 4 7 VME Configure 2 7 W wall bracket viii icccisesissssssssvssesdvasedseseeecess 5 8 Warning Messages 201
105. e A defective accumulator cannot be replaced by the customer Since the accumulator is soldered to the board the card must be returned to INDRAMAT for maintenance repair A fully charged accumulator will provide approximately 6 months of SRAM buffering at an ambient temperature of 25 C 77 F if the card is not in operation At 45 C 113 F the accumulator backup power will last approximately 3 months If the accumulator is completely discharged it will require approximately 50 hours of online power to fully charge Note Charge time 1 hour of recharging will provide about 100 hours of buffering at 25 C 77 F Lifetime Expectancy The lifetime expectancy of the accumulator on a CLC P02 card that is powered for 8 hours and off for 16 hours is at least 7 10 years A diagnostic message is displayed 206 Battery is low replace it soon when the level falls below 10 of the remaining capacity Diagnostic messages can be viewed by selecting Status System from VisualMotion Toolkits main menu The diagnostic message field within the System Parameters window is read from CLC card parameter C 0 0122 Note A 206 Battery is low replace it soon error does not necessarily mean that the accumulator is defective Unlike batteries accumulators can be re charged by applying and maintaining power for a few days If the error returns after the re charging period and power is still applied to the system send the card
106. e 1 3 Motors used with DIAX03 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 5 DIAX04 digital drive controllers The following digital drives make up the DIAX04 drive family e HDD2 2 A dual axes modular unit with two slots for plug in cards per axis and a continuous drive output of up to approximately 2 5 kW e HDS2 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 6 5 kW e HDS3 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 15 5 kW e HDS4 2 Modular unit with four slots for plug in cards and a continuous drive output of up to approximately 35 kW o o En GT EE o Gs E EI B r E Gi F E x1 Silbe is T elogals LN HDS03 2 HDS04 2 Figure 1 4 DIAX04 drive family DOK VISMOT
107. e man switch and the emergency stop function have to be connected These are connected in the BTZ01 1 junction box E Indramat Figure 5 8 BTZ01 1 Junction Box The junction box ensures that the connections for the live man switch and the emergency stop function can be accessed externally The IKS0188 connection cable establishes the connection to the INS0627 bulkhead connector Inside the box the individual functional units are distributed wired to the respective connectors on the front panel The live man circuits and the emergency stop function as well as the voltage supply are connected at a 12 pin Phoenix terminal The connection to the BTCO6 is established through a 17 pin female circular connector DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 13 From the BTZ to the CLC the IKB0020 serial communication cable will be used RS485 and RS422 ports are connected to the CLC in accordance with Indramat standards Note In order to establish communications between the BTCO6 and the CLC card the serial port on the CLC card to which the BTZ01 1 is connected must be set to the same settings as that of the BTCO6 IKS0188 Connection Cable INS0625 C INS0624 C Control BTCO06 0 19 mm 0 19 mm 0 19 mm 0 19 mm 0 19 mm 0 31 mm 0 31 mm 0 31 mm 0 31 mm graylblack 0 31 mm ink black 0 31 mm Outer Shield must be grounded to Outer
108. e 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 application 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 Key Features 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 e 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 PC Requires XVME984 DLL e VME back plane communications from a 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 Direct PC104 bus communication to a CLC P02 card Requires CLC_P2 DLL e Connection for editing a CLC compiled program file off line Requires CLC_FILE DLL e Demonstration connection for testing client applications off line Requires DEMO INI e Access to server parameters and status through DDE DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 4 2 CLC DDE Server VisualMotion 6
109. e sampled instruction execution which may appear to be random Current Messages Current Messages displays the last messages encountered in the program Coordinated Axes Coordinated Axes displays the axes in the active task that are assigned to coordinated motion and their current position DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 28 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 2 9 The Options Menu E Indramat The Options menu provides pre configured palettes of programming icons for single axis coordinated and Electronic Line Shaft ELS Choosing one of these menu items loads the selection onto the palette area on the left of the VisualMotion workspace ICON Palettes used for writing VisualMotion programs Icon Palette Single from the Options menu selects a set of icons used frequently in single axis control Icon Palette Coord selects a set of icons used frequently in coordinated control Icon Palette ELS selects a set of icons used frequently in electronic line shaft ELS control Icon Palette Utility selects a set of general purpose icons used in program initialization and runtime data management Single Coord ELS Utility Choosing Icon Comments enables disables identifying comments that appear when the mouse cursor is moved over the top of the icon The icon comments in a program flow can be modified in the corresponding icon setup box The setup box appears when the icon is f
110. e to zero to disable this feature DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 44 Monitoring and Diagnostic VisualMotion 6 0 509 CLC System Timing Error D Cause When the CLC is powered up a timer monitors high level control task and generates this error if the system timing overlaps This means that a high level task or calculation is not completed in the allow system time and once the timer repeats the operation being performed did not complete The cause for timeout can result for electromagnetic interface of serial communications Remedy 1 Increase SERCOS parameter S 0 0002 SERCOS Cycle Time from 4000usec to 8000usec Switch the system or drive to parameter mode and then back to automatic mode to update the SERCOS ring 2 If the increase in SERCOS Cycle Time does not help contact Indramat Service for assistance 3 Replace the Serial Communication cable 510 ELS Master Synchronization Error Cause In an ELS application a switch from virtual master to real master is performed This error occurs when the Master 1 velocity window in card parameter C 0 0159 or Master 2 velocity window parameter C 0 1556 are exceeded Remedy 1 Increase the velocity window in parameters C 0 0159 or C 0 1556 to allow for wide velocity window 514 CLC SYSTEM ERROR D Cause This diagnostic has resulted from a processing error in the main 68020 CLC card processor It can be triggered by numerous types of programs
111. eck system diagnostics for the state of the SERCOS ring 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 Invalid Command Class A serial port command is invalid or not supported at this time Checksum Error xx xx checksum that CLC calculated The CLC detected an invalid or missing checksum in data that was sent to it As a debugging aid the checksum that the CLC calculated on the incoming data is also sent with this message Invalid Command Subclass A serial port command option is invalid or not supported Invalid Parameter Set The parameter set number task or axis is invalid List already in progress An attempt has been made to start a parameter or program list that is already in progress Invalid Sequence Number The sequence number of a parameter or program list is invalid or has been sent out of order List has not started A parameter or program list has not been initiated i e sequence number was sent before list was started DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 48 Monitoring and Diagnostic VisualMotion 6 0 119 120 121 122 123 124 125 126 127 List is finished This is an acknowledgment that a parameter or program list is complete It does not indicate an error Parameter is a List This parameter is a variable length list and
112. eck that power is applied to all the drives and that the fiber optic connections are correct DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 413 I O board was not found Monitoring and Diagnostic 3 15 Cause The selected I O board was not found on the VME bus The correct I O device must be enabled and the address selected on the device must match the CLC parameter C 0 0005 Selections 0 no parallel I O 1 Xycom XVME 202 PAMUX 2 Pentland MPV922 VME 3 Xycom XVME 201 Digital 4 Indramat Demo 5 Xycom XVME 244 Digital Default 0 A VME arbiter must be present in the rack on CLC V switch SW5 8 must be on Remedy 1 Verify that the correct I O board is configured in the following I O Setup screen Setup gt I O Setup I O Setup External 1 0 Type Type em ME 201 Digital v ontigure YME 1 0 Configure DDS 170 Overview Cancel No parallel l 0 Xycom XVME 202 PAMUX Pentland MFW922 Digital Xycom XYME 201 Digital Indramat Demo Xycom XVME 244 Digital Complete list of available I O options DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 16 Monitoring and Diagnostic VisualMotion 6 0 414 Parameters were lost CLC System Task and Axis parameters were lost and defaults have been loaded Cause The RAM backup battery has failed or was not connected or an internal system error or new software version has corrupted the memory
113. ectrical isolation The CLC P V open bus architecture provides easy I O interfacing to virtually any manufacturer s PLC s and I O cards Both digital and analog I O are available Interrupt type inputs can be used to provide minimum response time recognition of external events Control Card val SERCOS Interface Figure 1 8 Different CLC versions Four versions of the CLC card are currently available CLC D Plugs into Indramat s digital drives providing an exceptional cost effective motion control solution E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 9 CLC P01 IBM PC AT bus architecture CLC P02 PC 104 bus architecture CLC V VME bus architecture Indramat s VisualMotion Programming Interface The CLC motion control card combines an integrated multi tasking environment with a unique graphical Windows based programming interface VisualMotion 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 BTC06 An optional BTC06 can also be used to control CLC operation and a
114. ed Table 1 9 Configuration switch SW5 Configuration Switch SW6 Both switches SW6 1 and SW6 2 are functionally used as one switch Both must have the same setting ON or OFF OFF Disables the CLC V s on board secondary default battery Backup battery is provided through OFF the VME bus STDBY line default Enables the CLC V s on board secondary battery and disconnects the CLC V from the 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 Table 1 10 Configuration switch SW6 On Board Battery This battery provides backup power for the CLC onboard SRAM and the real time clock RTC when control voltage is not applied The battery s power level is checked every time the CLC is powered up or during initialization from parameter mode to provide advanced warning of impending failure A diagnostic message is displayed 206 Battery is low replace it soon when the level falls below 10 of remaining capacity It is vital for action to be taken when a Battery is low warning is issued E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Recommen
115. eeneaeees 3 32 472 VME Event Trigger Rejected rrrnnornnnnnnovnnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnnannnnnnnannnnnnsannnnnnsannnnnnsunnnnene 3 32 473 VME Event Trigger For Unit D Faled ec eeeeceeeeeeeneee erence ee eaaeeeeeseaeeeeesaeeeeeseneaeeeeeneaeens 3 32 474 Drive D cyclic data size too large o oo eee ee eeeeeeeeeneeeeeeeeeeeeeeaeeeeeteaeeeeeseaeeeeseaeeeeeeeaeeeeeseneaeeeeeeeaeees 3 33 475 Axis D capture already configured eeeceeeee sence ee eeneeeeeeeeeeeeeteaeeeeesaaeeeeeseaeeeeetaeeeeeseneaeeeseenaeees 3 33 476 Axis D Real Time Bit Setup Eor 3 33 477 Axis D probe edge not configured 0 0 eee eee eeteeeeeeeteeeeeeeneee ee eeaeeeeeteaeeeeeeseaeeeeesaeeeeeseeeaeeeeeneaeess 3 34 478 Calc operand out Of range tnst tn stku stnu uttu nttnnnnn nnn nnn nenn nn nnan nann 3 34 481 Event D is already armed errnnnornnnnnvvnnnnnnevnnnnnnnvnnnnnnnvnnnnnnnvnnnnnnnnnnnnannnnnnannnnnnsannnnnnsannnnnenannnnene 3 34 482 Checksum Error in Program c ccceececesceeceeeeeceeeeeeeaaeceeeeeeeaeeeceaaeseneeeseaeeeseaaeseneeeseaeeeseaeeseneeeed 3 35 483 Parameter Init Error see Task A dag 3 35 484 CLO SYSTEM ERR R sunnere a e nied aie 3 35 485 SERCOS I O too many registers Confioured uttu rnnr nsnnnnnrnnnnnnnn 3 36 486 SERCOS Device D is not a drive oo eeeecceeeceeene eee eeeeeeee cae eeeaaeedeaeeseaeeesaaeeeeaaeseneeeseaeeesaeeseneeeed 3 36 487 Cam D is invalid or NOt store 3 36 488 Cam Error See Task A diag ccec
116. em Dia Bit H Physical Name State Bit 02 Bit 03 Bit 04 Bit 05 Bit 06 Bit 07 Bit 08 Bit 09 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 16 after State indicates forced Figure 2 24 System diagnostic code register ooood0dod 400 000 DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 2 24 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Variables Floating Point Variables F1 Fx Integer Variables I1 Ix Global Floating Point and Integer Variables GF1 Gfx GI1 GIx Task A D Local Variables E Indramat VisualMotion variables are defined by the programmer and are used in programs to enable the user to modify a value in the active VisualMotion program without having to re compile and download the information Modified variables are only updated the next time the program cycles and encounters an icon instruction using that variable Select Data gt Variables to view the Active Program Variable screen Active Program Variabl ME E3 File ProgramSelect gt lets gt File Edit Format RI Jp d i the user view variables from Settings v FEJ program floats different programs stored on label IX program integers Axis pos I the CLC card rep GER global floats Ans pos i LEE GI global EE Axis Accdl Task A Local Variables A pos 3 Task B Local Variables Axis vel 3 b Axis pos 4 Task C Local Variables Axis vel 4 Task D Local Variables Axis pos 5 Vari
117. en 13 Red RXD GND Gray P Clear Signal GND z Green ov Black 24V Vio Black Liveman 2 In Yel Black Liveman 2 Out Violet Liveman 1 In Yellow X BTC 06 Current draw Liveman 1 Out Gray E Stop 1 In 24VDC Input Voltage 20 30 VDC max 400 mA H r g l LE Pink E Stop 1 Out Pink Black E Stop 2 In Gray Black E Stop 2 Out om lS G uel o a N e gt Terminal Strip Notes MACHINE E STOP LIVEMAN CHAIN 1 Due to the various I O schemes available for CLC and the ability to map UO points refer to the I O register setup for the correct input points 2 The BTC E Stop Contacts are rated for 24VDC 2A max or 42VAC 3A max 3 The BTC Liveman Contacts are rated for 24VDC 2A max or 42VAC 3A max 4 Due to the various machine configurations available Hard wiring of E Stop and Liveman signals other than to CLC inputs are considerations to be made by the machine builder Figure 5 11 BTCO6 to CLC typical connection DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 16 Human Machine VisualMotion Interfaces VisualMotion 6 0 EMC Compliant Option BTC06 Teach Pendant Indramat Digital Drives Cabinet Wall BTZ01 1 IKS0188 IKS
118. enenresnnrnsennnnnennenenrrrennrnssnneennnn 3 13 411 Drive D Phase 4 Switch Error 3 13 412 No drives were found ON mg 3 14 413 LO board was not found 3 15 414 Parameters were lOst cn i annie nee ach ele eee acest eee 3 16 415 Drive D was not Toun eege EE 3 16 416 Invalid Instruction at A XX 3 17 417 SYSTEM ERROR pSOS XXXX eee aeeeeeeeseeeeceaeeeeaaeseeeeeseaeeeseaaeseneeeseaeeesaeeeeeeeeed 3 17 418 No program ER iscsi che et net teat A ait eee 3 17 419 invald Program e UE 3 17 420 Drive D Shutdown Error ssssssssssssessirssirsstrsstnsstnsstnsstnsstenstenstnnttentttnstnnnttnatnnnttnnennnnn nennen nnen n enn 3 18 421 User Program Stack Cvertlow ran nnvnnonvnnnnr renn nvnnennrnnnnr ann nnnnennenrnrrenannnnnennenrnrresnrnnennnernnn 3 18 422 Parameter transfer error in Task A 3 18 423 Unimplemented Instruction eerennrrnnnonnvrnnnnnnvrnnnnnnrrnnnennnrnnnnennrannnennrnnnnennrnnnsensrnnnsennnnrnnsensnnnneenn 3 19 425 Instruction Error see Task A dag 3 19 426 Drive D is HOENEN ed etic Reet 3 19 427 Calc invalid table index D 3 20 428 Calc division by zer 3 20 429 Calc too many operandSs manrrnrnrrnnnnrrnnnnnnnrnrrnnnrrvnnnrnnennenrsr ret nnnnennnnrenreennnnesnnnnnennennnrnesnnrnnsnnneennn 3 21 430 Calc instruction invalid operator srrannvnnorrrnnnrrnnnnrnnnnvnnrnr renn nrnnen vennen reennrneennnnnennennnrresnnrnnennneennn 3 21 431 Calc error see Task A dan 3 21 432 Calc too many nested expressions ursrnnanvvn
119. ent for assistance DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 36 Monitoring and Diagnostic VisualMotion 6 0 485 SERCOS I O too many registers configured Cause More than 50 SERCOS I O registers were configured in the CLC which exceeds the system limit This includes both drive resident I O and SERCOS I O slaves Remedy 1 Reduce the amount of I O in the SERCOS ring until the error is no longer encountered If your system requirements are such that the I O configuration must be maintained contact Indramat Applications for additional assistance 486 SERCOS Device D is not a drive Cause The SERCOS device with address D was enabled in the user program or parameterized as an axis but an I O slave or other type of slave was detected Remedy 1 Check the VisualMotion program for any instances where the device not a drive but maybe an I O station number is being configured as a drive and modify the program accordingly Once corrected Save Compile and Download the modified program 487 Cam D is invalid or not stored Cause In the cam activate command the selected cam D is not stored on the card or does not contain valid data Remedy 1 Check the variable or constant that selects the cam Check that there is a valid cam with index D stored on the CLC 488 Cam Error See Task A diag Cause An error was issued during a cam command in task A D Remedy 1 See the task dia
120. ent version of CLC firmware or VisualMotion Toolkit software Example A new icon function is used with older card firmware The icon can be identified by using the show program flow lt F7 gt function Remedy 1 Recompile the program without the instruction indicated by the current instruction pointer or update the CLC firmware or VisualMotion software Contact Indramat for updated firmware and software information 425 Instruction Error see Task A diag Cause 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 Remedy 1 Verify that the following icons are setup properly and do not contain variables with negative values or incorrect axis numbers STOP ELS mode Ce ELS Stop H Text message Fag 426 Drive D is not ready Cause Programmed motion was commanded to axis D before the drive was enabled AF Remedy 1 Clear error and wait for drive to be enabled before commanding motion 2 Check the axis disable bit in AxisD Control register under Data gt Registers If the bit is high 1 the drive is disabled Change the state to low and restart program 3 Check the fiber optic connections and power to drive DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 20 Monitoring and Diagnostic VisualMotion 6 0 427 Calc inva
121. er interface or user program since the diagnostic change bit is reset whenever this parameter is read Remedy 1 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 2 Extended diagnostic can be view under Status gt System 3 Using VisualMotion Toolkit open the CLC Drive Parameter Editor under menu selection Status Drives and view the status line for a description of the drive error Refer to the drive manual for more information 499 Axis number D not supported in this version Cause This version of CLC software is limited to less than D axes The axis number is limited to the number of axes allowed Currently VisualMotion allows 40 axes Remedy 1 Check the program for an axis value greater than 40 or a variable label given to an axis with a value greater than 40 500 Axis D is not referenced Cause 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 If parameter A 0 0006 bit 1 is set to 1 then VisualMotion will display this error Remedy 1 Stop the VisualMotion program Recycle the program by switching to manual mode and then back to auto mode This process will re
122. er gives details of the error message A Error common message is 201 Parameter Set Incomplete Status Look at the Diagnostic Message in the System dialog box under the Status menu The error message will probably be 407 Drive x Phase 3 Switch Error or 411 Drive x Phase 4 Switch Error Step 3 Put the drive in Parameter mode Step 4 Select Overview from the Setup menu in Visual Motion Select Drives as Parameter Source and choose error type from the list drop down box Choose Phase 2 Error if Error 407 or Phase 3 Error if Error 411 DIAX02 only For Error DIAX03 drives see note above List Param Source List CLC Card Task jan Drives Axis All 5 Phase 2 Error Upload new list Phase 3 Error Backup Step 5 Highlight the first parameter in the list and double click An edit box for that parameter will open Step 6 Save the default value in the parameter by clicking on the Save button Click on the Next button to edit the next parameter in the list Step 7 Repeat step six for all the parameters in the list The default value for each parameter is only a suggested value The correct value for each application should be determined during the application set up Parameter For an explanation of each parameter see the appropriate drive manual DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 58 Monitoring and Diagnostic VisualMotion 6 0 E Indramat DOK VISMOT VM 06VRS WA02 AE P
123. er mode to reinitialize SERCOS and then exit parameter mode DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 34 Monitoring and Diagnostic VisualMotion 6 0 477 Axis D probe edge not configured Cause This error issued in the capture enable instruction 504 indicates that the selected probe edge for the event has not been configured with the capture setup instruction SS 4 G Remedy 1 Check the program to ensure that the Probe setup icon is included and defines the correct event trigger in the Probe enable icon 478 Calc operand out of range Cause The operand of a calculation function is out of the range of valid arguments The following examples apply e Square root of a negative number e Logarithmic of a negative number e Arcsine and Arccosine value must be 1 0 1 e Raising to a power a non integer number fraction Remedy 1 Use show program flow lt F7 gt feature to locate Calc icon with error and correct If variables are being use to represent a value correct the variable value from within Data gt Variables 481 Event D is already armed Cause An event that is currently armed has been armed again using event trigger event arm or the VME event instructions Remedy 1 Check the program for all insists of the specified event number and only allow the event to be armed only once IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3
124. erefore its possible 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 FLOATING TABLE MENU slave_turns master_turns Zz position q position q axis home offset current q position F1 F2 F3 PgUp PgDn Fmt Display Format Pressing F3 toggles the display between floating point fixed 100 000 and scientific 1 000e 02 notation DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 5 38 Human Machine VisualMotion Interfaces VisualMotion 6 0 Global Integer Variable Table Edit E Indramat This menu allows for viewing and editing of 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 00001 GII F1 F2 F3 F7 F8 PgUp PgDn Fmt Main Diag Display Format Pressing F3 toggles the display between decimal 20 0 and hexadecimal 0x00000014 notation DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 39 Global Floating Point Variable Table Edit This menu allows for viewing and editing of global floating point variables Variables can be changed by any task at any time It is poss
125. ers Remedy 1 View drive diagnostic under Status Drive lf the drive status indicates parameters are invalid or lost display the Phase 3 error parameter list for Drive D Remedy 2 2 View a list of invalid drive parameters by selecting Setup Overview within VisualMotion Toolkit Set the Param Source to Drives indicate a Phase 3 Error and select a Drive Number DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 14 Monitoring and Diagnostic VisualMotion 6 0 View CLC Drive 1 Parameters x Description Value Units 01 5 0 0049 Positive position limit value 5000 00000 Inch 01 5 0 0050 Negative position limit value 10000 00000 Inch Param Source List z C ClCCad Task Phase 3Enor z Display Custom OK Ce Drives C Axis HAIE Build Custom I Upload new list fi Display List s List Close Find Next Find Once the list is displayed switch to parameter mode and change the invalid parameters or download a valid parameter file to the drive lf 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 E Indramat Cause No drives were found when the CLC initialized the SERCOS ring to Phase one Remedy Check the addresses set on the drives in the CLC program and in the CLC parameters Also ch
126. es a point table e Events displays a list of events for viewing and editing that have downloaded to the CLC card e Field Bus used to create data interchanging bridges between the Mapper CLC card and an optional Field bus slave card e O Mapper used to map physical I O bits to the control and status registers Defines set of logical conditions for changing the states of CLC register bits e PID used to configure set points feedback and output Proportional variables of optional PID loop control routines Control Integral factors Kp proportional gain Ki integral gain Kd Derivative derivative gain e PLS programmable limit switches can be defined as a set of Programmable 16 output bit positions that come on and off when the Limit Switch master position is on range e Points Points are used in coordinated motion programs to Registration describe a location in Cartesian coordinates tool orientation and associated events Also used to store points for Cam builder icon Not functional for GPS O6VRS DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 e Registers e Sequencer e Variables e Zones Using VisualMotion Toolkit for diagnosing 2 19 registers are a block of memory on the CLC card used to handled I O and or bit settings The CLC Sequencer provides the user with a facility for making machine operational changes without having to edit recompile and download a program to the CLC Card Sequencer
127. esieesrrssirserrssrrsssrnssns 1 15 Fiber optic ring structure 1 15 7 segment display on the CLD 1 17 Example of an E400 Emergency Stop error code 1 18 Watchdog message on the Cl 1 18 CLO PO1 1 Hardware AE 1 19 CLC P01 1 jumper location oonrnnnnrrnannrnnonvvnrnnrrnnnnvnnrnnnnrnnn 1 20 CLC DDE Server mmuvrmmvvvvenvvvrrrrerrarrranavnnsnnennsrresssrnnsnnnnnnnnene 1 22 Setting SERIAL 0 for CLC Status Display DDE Server 1 23 Viewing error codes using VisualMotion errnnrrnnnrnnrrnnnrnnnr 1 23 CLC P02 2 Hardware 1 24 CLC P02 jumper configuration ssssesseseesresirsesrresrrssnsens 1 25 CLC V02 3 Hardware Comparlson 1 28 CLC V Configuration Switches sseesseesseeeseeesenesrnesrnesnsens 1 29 VisualMotion to PC connection diagram rsnvrnnnnrnnnnrrnnnnvnnenvnnnn 2 1 VisualMotion File Menu screen 2 2 Program Management screen 2 3 124 Maximum number of files exceeded AA 2 3 Archive System screen 2 5 Viewing task in VisualMotion rasnnvvnnnnnnvrnnnnnnvrnnnnnnrrnnnrnnrrnnnenn 2 6 VisualMotion program flow xronnnnnnvonnnnnnvrrnnnnnnvnnnnnnnrrnnnrnnrrnnnenn 2 7 Setup Menu screen 2 8 Card Selection screen 2 8 Selecting CLC card number under Overview rrrrrrsrnrnrrrrnnnnn 2 9 Configuration screen under Gem 2 10 CLC Drive Parameter Editor screen 2 11 CLC Parameter Editor File Men 2 12 Drive Parameter Transfer screen
128. ess Only parameter sets of active drives those defined in the active program will be backup VisualMotion does not have knowledge of other drives Backup files are named as follows Drives drivexx prm where xx is the drive number System system prm UO Mapper mapper iom Programs mmmm exn where mmmm is program name n is program number Note Archived program files are saved with the following format program name exn where ex represents a compiled VisualMotion program and the number n represents the program number stored in the CLC card and viewable within the Program Management screen Every program stored on the CLC and archived will have it own unique exn file extension Cams cam csv DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 6 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 2 4 The View Menu E Indramat Task Subroutine Event functions Program flow The view menu allows the user to select a task subroutine or event function for displaying or editing Choosing task subroutine or an event function from the view menu loads the selected portion of the program into the VisualMotion toolkit workspace This process replaces the current workspace contents Note Before a program can be viewed it must first be opened using the File Open menu selection This menu selection opens the Str file stored on the harddrive Setup Tools Data Status Options Help Task TaskB Task
129. essages 012 017 rrrnrrrnnnnvnnnnvvnrnnr 012 Simulation Parameter Mode ee 013 Simulation Manual Mode ssroreronnrrrrrrnnrnrrrrnnnnnr 014 Simulation Automatic Mode APBCI 015 Simulation Program Running ABOD sassessease 016 Simulation Single Stepping ABOD sssssssssseeseeen 017 Simulation Breakpoint Reached ABCD 3 4 Warning Messages GO 1 2001 201 Invalid jog type or axis selected nnsesnsseneee 202 Drive D is not reach 204 SERCOS Ring was disconnected se10011 1a 205 Parameter transfer warning in Task A E Indramat VisualMotion 6 0 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Contents III 206 Battery is low replace soon 3 9 207 Axis D position limit reached 2 eee cece eect eee eeeee cette ae ee eee aE EAEE 3 9 3 5 Shutdown Messages 400 Pop 3 10 400 Emergency Stops cic sede ecleceedecetisheetededesiebivnces dit SEENEN ENEE aa EE 3 10 401 SERCOS Controller Error DD 3 10 402 SERCOS Config Error see ext diag or 3 11 404 Invalid Switch into Phase D 3 11 405 Phase D Drive did not respond arnrennnannvrnnnnnnvrnnnnnvrnnnrnnrrnnnennrrnnnennrnnnnensrnnnsensrnnnsennrrnnsersnnnneenn 3 11 407 Drive D Phase 3 Switch Error 3 12 408 SERCOS Controller is in test mode unnrenonvrnnnrrnnnnrnnnnnvnnnnrrvnnnrnnennnnrenreennranennnnnennensnrresnnrnnennneennn 3 13 409 SERCOS Disconnect Error rennnrnnnnvrnnnnvnnnnnvnnnrrennnrnnnnnvnnenresnnnrnnennn
130. evelopers for demonstrations GE Plug amp Play CLC_DDE GE P amp P 0 GE PC in VME rack talking to CLC V CLC File CLC File Offline configuration PC 104 Bus CLC DDE PC104 0 PC talking over the PC 104 platform to a CLC P02 Table 2 1 Card Selection Setup options For a functioning system to determine what number the installed CLC card is assigned to select Setup Overview Under Param source select the CLC card radio button and click on OK Parameter C 0 0002 Unit Number should be set to the same number as in the Card Selection Setup Note Before editing any CLC card parameters stop any running programs and switch the system to parameter mode Parameter values should always be performed by trained authorized personnel View CLC card Parameters Value Units 01 C 0 0002 Unit Number i 01 C 0 0003 Serial Port Setup 38401 01 C 0 0004 Serial Port B Setup i 9601 m Param Source guns r Fri Display Custom OK C Drives C Aris Build Custom Edit IT Upload new list Display List s List Close Find Next Find Figure 2 10 Selecting CLC card number under Overview Configuration The user can select the type of Windows editor that will be used for the following operations e Viewing system parameters under File gt Transfer Parameters e Display code for VisualMotion program under File Display code e Text language programming instead of icon programming Note Notepad is the default
131. event with a subroutine 2 Task diagnostic can be view under Status gt Tasks 3 Extended diagnostic can be view under Status System 496 Can t Execute this Instruction from an Event Cause 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 Remedy 1 Move the instruction into a main user task or subroutine 497 Limit switch config error see ext diag Cause 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 Remedy 1 Parameter C 0 0124 provides a detailed description of the error as an extended diagnostic message 2 Extended diagnostic can be view under Status System DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 40 Monitoring and Diagnostic VisualMotion 6 0 498 Drive D Shutdown Warning Cause 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 serious enough to require immediate attention Note Class 2 warnings may not be detected by the CLC if drive parameter S 0 0012 is being continuously read by the us
132. ew axis parameters under Setup gt Overview DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 32 Monitoring and Diagnostic VisualMotion 6 0 470 Axis D velocity gt maximum Cause The velocity programmed for axis D exceeds the maximum velocity parameter A 0 0020 Remedy 1 Change the velocity value programmed in the velocity icon or the variable label being used in the velocity icon to a value less than parameter A 0 0020 471 Invalid VME Base Address Page 0xXXXX Cause The base address page selected in the VME parameter is invalid See the VME descriptions Possibly power was loss to the system and address page has become corrupt Remedy 1 This error is normally an indication that the compiled program is either incomplete or corrupt Reopen the VisualMotion program and repeat the process of Saving Compiling and Downloading 472 VME Event Trigger Rejected Cause A CLC did not respond to the VME broadcast event message See the VME event description Remedy 1 Verify that the correct event is selected under the event type programmed under Data gt Events 473 VME Event Trigger For Unit D Failed Cause Unit D did not respond to the VME mailbox event message See the VME event description This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance IO Indramat DOK VI
133. form includes all of the features of the CLC P01 with improvements in the configuration and memory capacity CLC P02 2 hardware est P munn TITT 146044 T Figure 1 20 CLC P02 2 Hardware CLC P02 Serial Communication Port A X27 is configured to respond to the VisualMotion ASCII Host Protocol Port B X28 can be configured to respond to Host Protocol BTC06 or another interface Both ports always operate with e 8 bits per character e 1 stop bit e no parity IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 25 Serial Com Options Baud Rate Port Mode Port A X27 default 9600 RS 232 Host Protocol Port A X27 valid settings 300 1200 2400 enabled or RS 232 422 485 Host Protocol 4800 9600 disabled 19200 38400 Port B X28 default 9600 enabled RS 232 Host Protocol X28 Port B valid settings 300 1200 2400 enabled or RS 232 422 485 Off Host Protocol 4800 9600 disabled BTCO6 Table 1 6 CLC P02 configurable communication settings CLC P02 Jumper Configuration Jumpers 15 and 16 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 Card amp Bus Address Jumpers LK PAP 2 LK PSE 6 I i d I X27 D SUB 9 pin Si serial g interface X25 l fiber optic transmission RER X26 fiber optic
134. function key help then press item help only available for Parameter Menu EI Display all main menu functions Jog A coordinate plus minus D is Jog B coordinate plus minus B d Main Menu respectively turns backlighting on and off Jog C coordinate plus minus GC Jog X coordinate plus minus Jog Y coordinate plus minus is D BA Jog Z coordinate plus minus ae numeric key and letter combination use the shift key to access letters A numeric key and letter combination A numeric key and letter combination numeric key and letter combination Q Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 23 kv fam aoe B OO O O aoe Clear field of current item and allow editing WI WI EO oreen annona m Ir DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 24 Human Machine VisualMotion Interfaces VisualMotion 6 0 Keyboard Map The BTCO6 keyboard is mapped to register 95 96 and 97 The figure below and to the right outlines the register and bit location in the following format Register Bit Example 95 01 key is mapped to register 95 bit 01 When a key is pressed its corresponding bit turns on and remains on for as long as the key is pressed a F2 fra ff Fa firs Bi roll er ga roser sr poe eco pein sre rors psi silo 96 02 96 03 96 04 95 14 96 10 96 11 96 12 96 09 97 03 95 11 97 02 95 15 96 02 97 04 96 04 95 16 This shift key i
135. glish or German This options also directly writes to the CLC card parameter C 0 0001 Language Both VisualMotion Toolkit and CLC card language are set with this option CLC card parameter C 0 0001 0 German 1 English P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Drives Drive status message Drive and motor descriptions Using VisualMotion Toolkit for diagnosing 2 11 When opened the CLC Drive Parameter Editor uploads the current status information for drive 1 the default The current drive status is also displayed The Position Velocity and Acceleration values from the CLC card are displayed along with the feedback status from the selected drive The Drive box allows selection of another drive by entering a drive number or scrolling with the up or down list button Since the drive internally generates rate profiles for single axis motion the programmed acceleration is also displayed Acceleration is not shown for coordinated motion since the CLC path planner manages acceleration for coordinated motion Note More than one session of VisualMotion s CLC Drive Parameter Editor can be run by selecting Drives once again from the Setup menu This can be useful if you want to view more than one axis However opening additional sessions of Parameter Editor will slow down the update time to all sessions opened Note If the drive controller connected to the VisualMotion system experiences an er
136. gnated as unit 0 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 P01 card designated as unit 1 PC104 0 PC talking over the PC104 bus to a CLC P02 card designated as unit 0 SERVER Exchange CLC DDE server information Item Name The item name identifies the specific data to exchange When exchanging 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 A 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 character Not all server data has read write capabilities Example 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 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 3 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 4 2 The Communication Servers Mai
137. gnostic message 7 0 0122 for a description See the extended message under Status Tasks for more information IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 37 489 More than D cam axes selected Cause The CLC limits the number of axes configured as CLC Cam Axes to D The maximum number of CLC cams allowed on the card is 8 The maximum number of CLC cams running in the program is 4 Remedy 1 Check the program and modify it so that the number of CLC cams running is less than the number specified in this diagnostic message 490 System Memory Allocation Error Cause The dynamic memory space on the CLC has been exhausted This diagnostic message is related to the amount of memory consumed by the compiled program as well as operations being performed dynamically such as index can builds The amounts of configured memory in the sizing icon directly effect the amount of system memory available Remedy 1 The amount of memory available in the system can be viewed under menu selection Status gt System One way to decrease memory usage would be to verify that all the items being selected within the sizing icon are necessary For example if only 3 event functions are used in the current VisualMotion program but 10 events are reserved in memory within the sizing icon then the addition 7 events use up unnecessary memory resources Decrease each field within the sizing icon
138. gonomically optimized for right hand and left hand operation The live man switch directly affects the post connected system drive amplifier SPS robot It is designed to allow hazardous machine movement only upon intentional activation of the operator when the operator has to work within the hazardous zone of the machine The BTCO6 interface cable includes the power supply line for the device the connection cable for the emergency stop button and the live man switch as well as the data cables for data transfers between the BTCO6 and the controller When the user disconnects the connector the emergency stop circuit and the live man circuit will be interrupted DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 4 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 4 Safety Concept E Indramat If the BTCO6 is equipped with the appropriate optional features emergency stop and live man switch it can be used for operation with industrial drive and robot controllers It includes a dual circuit 3 position live man switch Both circuits are electrically isolated and operate redundantly It is important that the subsequent control interprets the switch in accordance with the machine specific or system specific standards and rules If appropriate interlocks with the safety contacts of the drive or robot control are provided hazardous movements in certain modes e g manual or test mode can only be activated if the live man
139. gram for creating motion control programs but also for all the components required for a complete motion control system These components range from the CLC motion control card to the GPS firmware to the communications between the CLC card and all external components VisualMotion System Components The VisualMotion system is composed of CLC control cards GPS firmware software for the CLC cards VisualMotion Toolkit VMT program DDE Server communications protocol between windows programs and other applications BTC06 Handheld Teach Pendant optional and up to 40 intelligent digital drives all communicating over the SERCOS fiber optic ring BT C06 Teach Pendant Personal Computer Windows 95 98 o Indramat Windows NT4 0 Digital Drives e gt f DDE Serva v I CAE CO JAG VisualMotion CLC Hardware Toolkit CLC Firmware Figure 1 1 VisualMotion System components E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 3 Indramat s digital drives are made up of drive controllers and their associated motors The digital drive families DIAX03 DIAX04 and ECODRIVE with CCD box are fully capable of using the functions available with the CLC motion control card DIAX03 digital drive controllers The following digital drives make up the DIAX03 drive family
140. he CLC D displays an ET indicating error followed by a three digit diagnostic code To the viewer the display appears to be blinking The following figure illustrates the chronological sequence for emergency stop condition E400 pmi LI L ha 1000ms 500ms 500ms 500ms Figure 1 13 Example of an E400 Emergency Stop error code E400 E999 Shutdown Error Refer to Chapter 3 Monitoring and Diagnostics for a complete listing of the available three digit Warning and Shutdown error codes System 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 f al 7 Segment Display OFF CLC Watchdog On Figure 1 14 Watchdog message on the CLC E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 19 1 6 CLC P01 1 Overview CLC P01 1 hardware 7 Cheer F 0900 fess ae TX Ce Ay Me yte Le HETE ad ad ad ed bd CEIT Fo E Sat Figure 1 15 CLC P01 1 Hardware CLC P Serial Communication Port A X27 is configured to respond to the VisualMotion ASCII Host Protocol Port B X28 can be configured to respond to Host Protocol BTC06 or another interface Both ports alwa
141. hould 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 ie 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 Oor1 If 1 CLC DDE status polling will be disabled Display CLC Errors RW Dor If 1 CLC_DDE will intercept A display CLC Errors Log_Errors RW Oori If 1 all server errors will be logged to the error file Modal Errors RW Oori Displayed errors with the system modal attribute Self_Terminate RW Oor1 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 Dor Use serial event option to increase performance RS485_Converter RW Oor 1 Activate RS485 adapter code Section VME Sustain_Bus RW O or 1 Release every cycle option for XYCOM PC A32 Addressing RW Dor Use A32 addressing for XYCOM PC VME_IRQ RO 0 7 Number of VME IRQ to u
142. iag VVVV Ee vvvv parameter value nnnn parameter name pppp parameter number tt Task number 01 TaskA 02 Task B 03 Task C 04 Task D T Task parameter indicator For changing of Task parameter numbers and editing of values refer to F2 Axis Parameter Screen on page 5 50 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 52 Human Machine VisualMotion Interfaces VisualMotion 6 0 F4 Drive Parameter Screen E Indramat DRIVE PARAMETER MENU Ddd ppppp nnnnn vvvv 501 00001 NC Cycle Time TN 4000 S01 00010 Length of Master Telegram 12 F1 F2 F3 F4 F7 F8 Home End PgUp PgDn Main Diag Ddd pppp nnnn VVVV Ee vvvv parameter value nnnn parameter name pppp parameter number dd Drive number D Drive parameter indicator S SERCOS P Product Specific For changing of Drive parameter numbers and editing of values refer to F2 Axis Parameter Screen on page 5 50 This Drive Parameter Menu screen contains S SERCOS parameters and P Product Specific parameters Instead of paging down to view P parameters use the following steps to quickly reach them 1 Position the cursor over the parameter number 2 Press the Edit key 3 4 S 0 0412 will appear at the bottom of the list press F4 page down to Enter the last SERCOS number 412 and press OK display the first P parameter P 0 0004 To return back to the start of the SERCOS parameters page up and position the curs
143. ial port VME Communication Handshake Error D The card addressed by the unit number in pass through mode does not exist or 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 Invalid Download Block The block sent during a program download is incorrect in length or is not in hexadecimal format Unit D Invalid VME Base Address Page The VME base address page parameter is set to an invalid address for the indicated VME unit number Invalid Axis The parameter set for the requested axis does not exist Either this axis is disabled or the CLC does not support this number of axes 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 List or String is too short The text string or parameter list is smaller than the minimum length allowed by the CLC or the drive or the size of a value does not match the attributes sent from the drive List or String is too long The text string or parameter list exceeds the maximum length allowed by the CLC or the drive or the size of a value does not match the attributes sent from the drive DOK VISMOT VM 06VRS W
144. iate 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 Select 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 4 14 CLC DDE Server VisualMotion 6 0 4 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 s
145. ible 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 00001 GEI F1 F2 F3 F7 F8 PgUp PgDn Fmt Main Diag Display Format Pressing F3 toggles the display between floating point fixed 100 000 and scientific 1 000e 02 notation DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 5 40 Human Machine VisualMotion Interfaces VisualMotion 6 0 5 15 F3 Jog Menu The Jog menu allows you to jog a stopped system The following 1 O register bits must be on before jogging an axis Register 1 System Control Register 2 3 4 or 5 Task Conirol Bit 6 Pendant Live Man Bit 1 Mode Manual Bit 14 Pendant Enable ROBOT JOG MENU Task A System Axis Method Continuous Slow 0001 ABS 1 AXIS WORLD TAUGHT 01 12 643 47 5 20 3 02 95 215 18 3 54 2 03 63 609 5 5 16 0 04 0 960 36 8 10 0 00 857 628 180 F1 F4 F5 F6 F7 F8 MvTo Axis Para Main Diag F1 System F2 Method F4 Move To 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 F4 is a Move To function that allows the user to enter a position in the TAUGHT column and move the specified axis to that point by pressing OK Use the up and down arrow keys to move the cursor to the des
146. ing and Diagnostic 3 25 446 DMA Time out Error Cause A Direct Memory Access DMA transfer was cancelled while data was being transferred This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance 447 VME SYSFAIL Detected Cause VME bus signal SYSFAIL was activated somewhere in the VME rack and the CLC V has detected this error SYSFAIL is a VME bus error for signaling the bus that an error has occurred Remedy 1 All devices in the VME rack must be diagnosed and cleared of any faults before the error can be cleared 448 VME Communication Handshake Error D 449 VME Bus Error Cause The VME bus uses mailboxes for sending messages across the VME backplane An error has occurred while a message was either being send or requested This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance Cause A VME bus error occurred while communicating to another card in pass through mode through the serial port or during a VME data transfer instruction Remedy 1 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
147. ing cannot switch into Phase 3 due to error all drives would display P2 Remedy 1 Take the system out of Parameter mode Register 1 bit 1 0 or 2 Determine which drive has the Phase 3 error and refer to drive error 32 Cause Ab means that control voltage and main 3 power is present and the drive is ready to be enabled E Stop is active Remedy To enable the drive set Register 001 Bit 03 IEmergency Stop clear the E stop error by setting register 1 bit 5 Clear_All_Errors leading edge triggered Drive should then display AH Cause 1 and 1 bit is If bb is displayed then 3 power is not present on the bus Remedy 1 Make sure 3 amp power is available to the drives 2 Check the power supply to be sure that the path from X2 1 to X2 6 is complete 3 Make sure the terminating resistor is installed on the last drive on the power supply IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Note DIAX03 drive equivalent is C2 Communication Phase 4 Transition Check See parameter S 0 0128 Monitoring and Diagnostic 3 57 See also CLC Error 407 Phase 3 switch error and 411 Phase 4 switch error This error only applies to DIAX02 drives Flashing 32 indicates that an error has occurred in the SERCOS initialization process The error occurs when SERCOS finds a non valid drive parameter on the DSM module Action Step 1 Check Drive Parameter S 0 0095 This paramet
148. initialize the program back to the Start icon If the homing command instruction is at the beginning of the program re start the program to home the axis again IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 41 2 Verify homing options within the CLC Drive Parameter Editor Setup gt Drives Parameters gt Drive Reference 3 If the drive controlled homing procedure still does not occur contact Indramat Service for assistance 501 Drive D communications error Cause An error in drive communications has occurred while the CLC was reading or writing a service channel parameter for an internal operation Remedy 1 Parameter C 0 0124 extended diagnostics has a detailed description of the error This extended diagnostic can also be using VisualMotion Toolkit under menu selection Status System 502 ELS and cams not supported in this version Cause The ELS and cam features in the currently active VisualMotion program are not supported in this version of VisualMotion CLC card firmware Remedy 1 The CLC card contains a firmware version that is not capable of perform ELS and Cam functions Verify the version of CLC firmware in card parameter C 0 0100 or using VisualMotion Toolkit under menu selection Status System Contact Indramat Service for assistance 504 Communication Timeout Cause During a timed serial port transmission the serial port has not responded
149. instructions Remedy 1 Cycle power to the entire VisualMotion system and reestablish communications between VisualMotion Toolkit and the CLC card 2 Verify that all system communications under the Setup menu are correct 3 Verify that the DDE Server is functioning and communicating IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 45 515 PLC Communication Error D Cause This diagnostic message is only display when using the CLC P02 with PC 104 dual port RAM Communications between the CLC P02 and the MTS PLC MTC200 PLC across the dual port RAM has terminated due to a failure in transmission from the MTS PLC Remedy 1 Check to see that the CLC P02 is firmly set at the PC104 dual port RAM to the MS PLC 2 Cycle power to the entire system to re establish communications 3 If communications are still not established contact Indramat Service for assistance DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 3 46 Monitoring and Diagnostic VisualMotion 6 0 3 6 101 102 103 104 105 106 107 108 Fatal System Errors When a microprocessor exception or an unrecoverable system error occurs the CLC may stop communicating with VisualMotion Toolkit and the BTC06 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
150. ion or the Sizing icon if using icon programming DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 28 Monitoring and Diagnostic VisualMotion 6 0 458 Table Bounds Error During VME Write Cause The variable or point table index exceeds the size of the table configured in the DATA SIZE instructions Remedy 1 Verify that the correct number of variables or points are being used in the program If correct numbers are being used then increase the number amount specify in the DATA SIZE instruction or the Sizing icon if using icon programming 459 Axis D target position out of bounds Cause The programmed position in an axis move command or the Move Le icon exceeds the drive s travel limits Remedy 1 Adjust the travel limits or check the variable or constant containing the position Drive travel limits are programmed in SERCOS parameters S 0 0049 Positive position limit value and S 0 0050 Negative position limit value Check variable values under Data gt Variables 2 Check travel limits set in CLC Drive Parameter Editor Select Status Drives from VisualMotion Toolkit s main menu Select Parameter Drive Limits from the CLC Drive Parameter Editor screen 460 Invalid program D from binary inputs Cause The program selected from the Binary Program Select bits 9 12 in System register 1 does not exist on the card or is greater than the maximum number of programs Remedy 1 Make certain that the
151. ional rate It is used when axis velocities are most critical as in paper processing operations in which two or more motors act on a single piece of fragile material Phase synchronization maintains the same relative position among axes but adjusts the lead or lag of the slaves to the master in terms of degrees It is used when the positions of axes are most critical For example to achieve proper registration in printing operations the axis controlling the print head may be programmed for a particular phase offset relative to some locating device such as a proximity switch Cam synchronization is used when custom position velocity or acceleration profiles are needed at a slave axis These special profiles are developed at the slave by sending position commands every SERCOS cycle E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 13 A cam is an x y table of positions that relate a master axis to a slave Cams can be stored on the CLC card or on the digital drive CLC cams have more adjustment options and can work with any SERCOS drive Drive cams are more efficient and can be applied to more axes The same programming commands and utilities are used for both drive resident and card resident cams See Appendix C ELS Configuration of the VisualMotion 6 0 Reference manual for more information DOK VISMOT VM 06VRS WA02 AE P 903 99 P Indramat 1 14 Introduction and Overview Vis
152. ired TAUGHT axis This function is only available for coordinated axes 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 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Jog Systems Human Machine VisualMotion Interfaces 5 41 Axis Jog Menu The Single Axis Jog menu allows jogging a single non coordinated axis Only the selected axis is affected The BTCO6 display is continuously updated with the current position of the axis Press A to jog in the negative direction Press A to jog in the positive direction The teach 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 c
153. irers 2 29 Human Machine VisualMotion Interfaces5 1 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 Index 6 5 VisualMotion 6 0 VO Mapper sisssissicseessescesestecese nes 2 18 2 21 Display Strings eee 2 21 Uploading I O Mapper we 2 21 VO Setup iss ssisssstsssssssseteesssssvscssessssensevess 2 7 Icon Palette Coord eects 2 28 Icon Palette ELS is Icon Palette Single oe 2 28 Icon Palette Utility oe 2 28 IKS0188 woe 5 12 5 13 INS 0627 os Auemdeege rederrt regen 5 12 INS0627 bulkhead connector 5 14 Integer Table Menu eee 5 36 Tntegerssuein n dde aaraa 2 24 IRQ settings OL EO SEE 1 20 OE OG E 1 26 Them Name vasersisvssiserisleitdererrbenskvres 4 2 J Jog Fine Adjustments 0 5 42 JOS RING E 2 16 Jogging an avis 2 16 2 17 Jumper Configuration L live man switch ersrrovvrnenre 5 2 5 3 5 9 Local variables Menu Map F1 Ff eee 5 18 Menu Map Pa PN 5 19 Monitoring and Diagnose 3 1 motion coordinated serseri 1 11 circular mterpolaton 1 12 constant speed 1 12 kinematics linear mmterpolatton 1 12 EUS ognan 1 12 phase synchronous mode 1 12 velocity synchronous mode 1 12 non coordinated cece tatioed axes sssini single AXIS errrnrrrrnrnrrvrerrrerrevsnenn velocity mode mounting bracket N Normal operating conditions 1 18 O Optional Features Emergency Shut Off Live Man S
154. irst placed or by double clicking the left mouse button while the pointer is over the icon Each box has a Label button to edit its comment text by default there is no comment The comment also appears on the printout of the setup information if enabled or not The comment text also appears on the lower left status bar window DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 29 Choosing Icon Labels from the Options menu alternately turns the icon labels in the VisualMotion workspace on or off If there are no user entered labels VisualMotion uses the default icon labels Up to 8 characters of text can be entered and view if this feature is selected 2 10 The Help Menu VisualMotion s Help menu accesses the on line help system Selecting Help Getting Started or pressing lt F1 gt opens the main help screen from which you can browse through the system by pointing the cursor at the green keywords help topics and clicking Selecting Help Search opens a dialog box into which you can type a keyword to go directly to a specific help topic Help Change Log displays a list of the new features that appear in your version of VisualMotion DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 2 30 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 1 3 Monitoring and Diagnostic
155. ive 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 7 VME broadcast interrupt 8 VME short address mailbox interrupt 9 axis feedback capture Rf Event Reference 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 36 Human Machine VisualMotion Interfaces Integer Variable Table Edit 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 It is at the discretion of the operator to determine the usefulness of such an operation E Indramat INTEGER TABLE MENU Pointer_1 Pointer 2 Timer 1 Timer 2 Operation Type I 6 I 7 F2 F3 F7 PgDn Fmt Main Display Format VisualMotion 6 0 F8 Diag Pressing F3 toggles the display between decimal 20 0 and hexadecimal 0x00000014 notation DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 37 Floating Point Variable Table Edit This menu allows for viewing and editing of floating point variables Variables can be changed by any task at any time Th
156. jog as a single axis and visa versa Remedy 1 Ensure that the selected axis is programmed for either coordinated motion or single axis motion and that the jogging command selected match the axis selected 202 Drive D is not ready Cause An attempt to jog axis D in manual mode was commanded before the drive was enabled AF Remedy 1 Clear error and wait for drive to be enabled before jogging 2 Check the axis disable bit in AxisD Control register under Data gt Registers f the bit is high 1 the drive is disabled Change the state to low and restart program 3 Check the fiber optic connections and power to drive 204 SERCOS Ring was disconnected Cause The SERCOS ring was disconnected before a shutdown error was cleared The ring is now initialized This message allows detection of an intermittent break in the fiber optic ring Remedy 1 To continue activate the clear input 2 If error continues replace fiber optic cable 3 Ensure that the DSS card number is properly selected and has not changed IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 9 205 Parameter transfer warning in Task A There is an error in the parameter transfer instruction This indicates a warning condition that does not shutdown the task A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Informatio
157. l for more information If PO is displayed on all the drives on the ring then a drive number has been setup that is not present on the ring Go to System under the Status menu and check the diagnostic message 415 Drive x was not found should be displayed where x is the drive number defined but does not exist If x should be a valid drive number make sure that the drive is included in the SERCOS ring Other possible errors 412 No Drives were found on ring 402 SERCOS configuration error Make sure that the drive numbers in the Task Axis Setup dialog box within the Axis icon agree with the rotary switches S2 and S3 on the DSS modules If the drive numbers do not agree there are two options The first is to power down the drives and change S2 S3 so that they agree with the software settings The other option is to change the drive numbers in the Task Axis Setup dialog box save the file compile and download the revised program After completing either of the options the drives should display AH If PO is displayed on only some of the drives then those drives are not part of the SERCOS ring Power down the system add the drives to the ring and then bring the system back on line DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 56 Monitoring and Diagnostic VisualMotion 6 0 Cause There are 2 cases where P2 would be displayed on the drives 1 Drives are in Parameter Mode all drives would display P2 2 SERCOS r
158. lMotton seer ee eeaeeeeaae scence ceaeeeeeaeedeeeeseaeeesaaesseaeeseneeeseeeesaeeeeneeees 5 12 BIZ01 TiJunetion EE 5 12 IKS0188 Connection Cable sssesseeseeeseeesenssinssrnsstnsstnstnsstnnsttnstnnstnnstennttnttnnnttnntnnnnnnenunnnnennsen nenn 5 13 INS0627 Bulkhead Conpnechor 5 14 5 9 BTC06 to CLC Gonnechons cence ceaeeeeaae scenes ceaeeeeeaeedeeeeseaeeeceaesseaeesecaeeseeeesaeeeeneeees 5 15 Typical Interface Connechon nn tt tnst tnnt nn unnn ntnnntnn nnn nnu nenna nn nann ann 5 15 EMC Compliant Option 5 16 5 10 BTC06 Teach Pendant Gcreens eee eeeeaeeseeeeeeeeeceaaeeseaeeseeeesaaesseaaeseneeeseaeeesaeeeeaeeees 5 17 Menu Maparen i Le AL ee Ae AU aA 5 18 5 11 BTC06 Teach Pendant Setup ccccccceccecceeeeeeeeeeeeee cee eeeeaeeeeaeeeceeeseaeeeeaaeeeceeesaesseaeeseneeeseaeeesaeeeeaeeees 5 20 5 12 BTC06 Keyboard Operation 5 22 Keyboard Ee WEE 5 24 Cursor Control and Editing cecccecceeeeeececeneeeeeaeeeeeaeeeneeeeeaeeeeaaeeeeeaeseeeeceaeeesaaeeseaeeseeeeesaeessaeeeeneeeed 5 25 Number or Letter Selection rnrnnrnnnnrnnannvnnrnvennnvrnannvnnnnnvnnnnrnnnnrnnannnnnnnnrennnrneennnnnnnnenennresnnrnsannnenennee 5 25 e feiere EE 5 25 Task El te ar 5 25 Teach Como art 5 26 5 13 F1 Program Menu dnne heise he benene edit es adidas eten 5 27 Sequencer Editing F4 renrnrnnnnrrnannvnnnnnvnnenrennnrnnannvnnnnnennnrrennnrnnnnnnnnnnnnnnnrreennrnsennnnnennesnnrasennrnssnneennnn 5 28 5 14 F2 Table Edit EE 5 32 Absolute Point Tab
159. lable 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 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 7 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 YME Communications CLCP t arameters ane CLC Unit Number Cancel Short ddress Page Base Address Page 0x0020 XYCOM Options YME Handshaking Interrupt None z V Allow Extended YME Addressing 32 I Release Bus Every Cycle Figure 4 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 car
160. le Edit navnene nel eee nace LL edi Rieti 5 32 Relative Point Table EE 5 34 Event Fable EE 5 35 Integer Variable Table Edit rerrnnovrnnnnnnvnnnnannvnnnnannvnnnnannvnnnnannvnnannnnnennnnnnneennnnnneennnneneennnnnneennnnenee 5 36 Floating Point Variable Table En 5 37 Global Integer Variable Table Ed 5 38 Global Floating Point Variable Table Ed 5 39 5 15 F3 Jog ET TEE 5 40 JOg Systemsusu skuskru kand knuses A Le a a a E RA a 5 41 Jog Method EE 5 42 Teaching d UC 5 42 Jog Fine Adjustments cccc cscds nate oe LL ae Re 5 42 5 16 F4 Gontrol MMU EE 5 43 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Contents IX Control Menu Auto Run Hold Mode 0 cccccccecsessseceseeececssaeseseescecseseeaeceseesenesesseaeseseeeseeseaeseeeesens 5 44 Control Menu Auto Step Mode urannvnnnnrnnnnrrnnnnvnnnnnnnnenvennnrnnnnrnnsnnnnnennnnnsrresnnnnnennennennesnnrneennnenenneeennn 5 45 Control Menu Manual Mode sasasnnnnenneennnnnnnnansennnnnssnsinnnnnnnssnirnnnnnnssnrnnnnnsnssrnirnnnnsnnsninnnnnsnnnennt 5 46 5 17 F5 Register e NEE 5 47 5 18 F6 Parameter ien eessen en erme 5 49 F1 Card Parameter Gcreen a a a a E a a aE a E REER a 5 49 F2 Axis Parameter Sorem sanina a a a a a aa a Ea a a T EER aa 5 50 F3 Task Parameter Gcreen anaa ern anaa a 5 51 F4 Drive Parameter Screen cccccccccccsessssecsecesecececsseaeaeseeeeseseeaaeseceeecesesesesaeaeceeeesecesesasaeseeeeseeeseas 5 52 5 19 F6
161. lid table index D Cause 428 Calc division by zero E Indramat 1 2 In a user program calculation expression the index to a point or event table is invalid A value used in the calculation expression is not accounted for in the sizing icon The value is either greater than or less than the allowable range The allowable range is 0 to maximum number entered Calculations x Resultant Equation Ep Hf osd a Operators a Cancel Caption Remedy 1 2 3 Locate the Calc icon with the error if more than one is used by using program flow lt F7 gt If the value in the Calc icon is incorrect change it to an allowable value and clear the error Verify that the Sizing icon is accounting for all variables points events and zones programmed in the user program Task Data Storage Sizing x Variables Points Other Floats ABS Events 15 E E Integers RELI I Zones fi 5 4 fo OK m Sequencer Cancel Lists Steps Functions DR p Caption Calculated memory usage for this data storage bytes Cause In a user program calculation instruction an attempt was made to divide a number by zero Remedy 1 2 Locate the Calc icon with the error if more than one is used by using program flow lt F7 gt Modify the Calc icon and remove any zero expression to the denominator The denominator can be expressed as an integer or a v
162. lso be edited Position the cursor at the end of the list name and press the Edit key The letters of the alphabet are located within the numbered keys These letters can only be accessed when used in conjunction with the Shift key Use the F1 key to delete characters to the left of the cursor Use the Shift key to Select Shift On and Off This allows you to toggle the keyboard map between numbers and letters Refer to Number or Letter Selection on page 5 25 for details This editing process is functional within all of the following Sequencer menus IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 29 The Sequence Edit Menu The Sequence Edit Menu displays all of the steps within the selected Sequence Use the arrow keys to navigate the cursor to 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 F1 F2 F3 F4 F5 F6 F7 F8 PgUp PgDn Cut Edit Ins Paste Main Diag Table List Menu Pressing F5 Ins from the Sequence Edit Menu will open the Step List Menu This menu contains a list of all the step tables available within the selected Sequence Use the arrow keys to navigate
163. m 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 011 Waiting for PLC The CLC P02 card has initialized and is waiting for communications from the PLC Note This status message is only available with the CLC P02 card E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 5 3 3 Simulation Status messages 012 017 Simulation messages are reserved for Indramat development and are used for testing program validity and program logic These status messages perform the same functions as their standard counterparts but do not rely on external communications Operating State 0 normal drive operation 1 simulation mode does not scan for drives When card parameter C 0 0010 bit 1 is set to 1 the axes will be simulated The SERCOS ring will not be scanned for drives and the drive enable bits will be ignored This mode is useful for simulating coordinated motion when the CLC is not connected to the actual system or when a program does not contain any axes All axis and task status parameters are simulated Drive parameters and I O requiring a SERCOS drive are not simulated Any drive controlled related motion homing single axis etc will not be simula
164. menu RELATIVE TABLE REL 0002 REL 2 30 000 X 0 000 00 20 000 Y 0 000 00 000 Z 0 000 00 000 BLEND O Speed Event 1 O Accel Event 2 O Decel Event 3 O 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 coordinate 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 Event 1 First event for the point Event2 Second event for the point Event 3 Third event for the point Event 4 Fourth event for the point This value represents an event number from the event table Refer to Event Table Edit on page 5 35 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 35 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 Replace St The Event s status 0 inactive 1 pending 2 queued 3 executing 4 done Ty Event type 0 event inact
165. ming Error D 3 44 510 ELS Master Synchronization Error 0 c ccecsceceeceeeeeeeeceeeeeaeeeeeeeseaeeecaaeeseaeeseeeeseaeeeeaeeesaeeeeeeeeed 3 44 514 GLG SYSTEM ERROR Di minareten Lanne hat linn eae 3 44 515 PLC Communication Error D 3 45 3 6 Fatal System Eftors Sue eide beeen Heads ni Oe Ae Rl eee 3 46 3 7 Communication Error Codes and Messages 3 46 101 SERCOS Error Code xxxx XXXX Error code merrennnnnvnnenvvnrnrrrnnnnvnnenvennnnrnnennvnrrrrreennrnnrnnreeenn 3 46 102 Invalid Parameter Number AAA 3 46 103 Datas Read Only narsedi a A i ee eel aAa AE a 3 46 104 Write Protected in this mode phase AAA 3 46 105 Greater than maximum va lue nnan ene 3 46 106 Less than minimum value rennnnnnvrnnnnnnnrrnnnnnnvrnnnnnnnvannnennrannsensrnrnnnensrrnnsensrennssensrrnnsensrrnnsennnneneenn 3 46 107 Datas Invalidiisumarninsenssaamgn ne Siti nei Re 3 46 108 Drive Was not found secina ais nti ts nL eel Reena 3 46 109 Drive not ready for communication 0 0 0 eee eeeeeeeeeeee ee ee teen eee eeeeaeeeeeeeaeeeeesaeeeeeeeneaeeeeseneaeeeseeeaeees 3 47 HO Drive is not responding enmeianmetenda nels addere vadere kender nade 3 47 111 Service channel is not open 3 47 112 Invalid Command Class eennronannvnnonvvnnnrrrnnnnvnnenvnnnnrrnnnnrnnnennennnrnnennnnnennennnnrnnennnnsennenrnrrtennrnnsnnnnennn 3 47 113 Checksum Error xx xx checksum that CLC calculated rrernrrrnonnrnnrrrrvnnnnrnnenvrnnnnrrnnrnnnnrenn 3 47 114 Invalid Command Subcla
166. must be configured in original program to support this function The CLC Variables dialog box permits viewing the integer and floating point variables of a CLC resident program This Windows utility allows viewing and editing of the zone table on the CLC card Zones can be used in coordinated motion programs to describe a volume of space where motion of any kind is prevented SM CLC File AXIS_TRANS str Task Task_A TC Jopx File Edit View Setup Tools Status Options Help US G Indexer vents Field Bus Mapper VO Mapper PID PLS Paints Registration Registers Sequencer Variables Zones Figure 2 19 Data menu screen Many of the selections under the data menu are normally performed by the machine builder or experienced VisualMotion programmer The user typically acquires information from Events I O Mapper Registers and Variables DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 20 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Events Events are basically interrupt driven subroutines A list of active events can be viewed by selecting Data Events Events by nature are normally short and to the point otherwise the processor will be loaded with executing a lengthy event program Double clicking on an event number allows the user to assign an event type Note Before Events can be viewed in the Active Program Event screen they must first be assigned program memory in the sizing ic
167. n CLC Exceeded sseseseesieesirssirssirssirssirssrissiissrnsssrnnsrnssrnssrnssnnnt 3 52 158 Cannot store cam already active for axis D 3 52 159 SERCOS handshake busy timeout cccccececeeeeeeeeeeeeeeeeeee cae eeeaaeeecaeeeeaaeeseaaeseneeescaeeesaeeneneeee 3 52 160 Executable program is too large OO 3 52 161 System Memory Allocation Error 3 52 162 Cam X data is lt 0 or greater than 200 3 52 163 X Column does not start at 0 or end at 2060 3 52 164 Not supported in user prog file version 1 3 52 165 Sequencer invalid Sequence D 3 53 166 Sequencer invalid step D 3 53 E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Contents VII 167 Invalid function number D 3 53 168 Function D not accessible in a sien 3 53 169 Too many functions are used U N 3 53 170 Maximum steps per sequence exceeded D 3 53 171 Maximum functions per step exceeded U N 3 53 172 Program does not include a DIE 3 53 173 Invalid ABS or REL point index D 3 54 174 Error in command execution necerte EE EEEE 3 54 175 Comm port buffer overflow 3 54 177 Can t save sequencer while it iS running seernrrnnnnrnnnonvnnrr vnr nrnnnn vennen rennnrneennnnsennenrnrnesnnrnnsnnnennnn 3 54 178 Service channel in use 3 54 179 PID block number does not exist nnrannrrnnnnnnvrnnnnnnnvannnrnnrrnnrrnnrrrnnnensrnnnnennrnnnnsensrrnnsensrrnnsennnnnneenn 3 54 180 IBS Invalid Object Number 3 54 181 IBS
168. n Toolkit for diagnosing VisualMotion 6 0 Drives The Drives screen is the same as it appears under Setup Drives Refer to Drives on page 2 10 for more information Drives on Ring When selected Drives on Ring scans the SERCOS fiber optic ring for all drives connected to the VisualMotion system This screen is read only and displays standard description information on each drive The user can use this screen to record or report axis information for themselves or when communicating with Indramat s Service department Visible Drives on SERCOS Ring Read Only Use Controller Type Controller Motor Type Name ed DS on 01 Single Axis DDS2 2 WO50B DSM2 3 ELS 04 34 MDDO654 N 040 N2L 095PB0 Drive No 1 D Update Figure 2 29 Drive on Ring screen System Choosing System from the Status menu opens the System Parameters dialog box System Parameters displays information about the current CLC card hardware and software for the indicated unit number and the total memory and free memory on the CLC card In addition the user can use this screen for retrieving Diagnostic Message and Extended Diagnostic Message information that can assist in determining the cause of an error CLC card System Parameters parameters CLC card C 0 0100 Version Number CLC DP GPS 06T 34 C 0 0101 Version Date Dec 22 1997 C 0 0102 Hardware Version CLC D 2 2 268036 401 C 0 0002 Unit Number 0 Update Memory Total 110588 Free 28588
169. n 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 green 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 CLC Dde Server File Settings DDE Help EES 007 Program Running A OBE INDRAMA Figure 4 1 CLC DDE Server DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 4 4 CLC DDE Server VisualMotion 6 0 Settings Menu CLC Server Configuration The CLC Server Configuration allows setting of various system parameters as well as providing performance status information CLC Server Configuration Communications CLC Status Display SERIAL 0 E CLC Response Timeout Second s CL
170. n be viewed under Status System Remedy 1 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 C 0 0099 Otherwise check the fiber optic connections the addresses set on the drives and drive firmware versions 404 Invalid Switch into Phase D Cause The SERCOS communications controller did not allow a phase switch Remedy 1 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 DSS may be faulty Note This error is only issued in versions that do not use the SERCOS ASIC firmware versions less than GPS 1 20 405 Phase D Drive did not respond Cause A time out in the SERCOS ring has occurred when the CLC card did not receive a response from the drive during Phase D initialization The CLC card sent out a signal to the drive however the drive is not responding This distinguishes a communication error from an actual phase switch error Remedy 1 Check the fiber optic connections the addresses set on the drives and the drive firmware versions DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 12 Monitoring and Diagnostic VisualMotion 6 0 407 Drive D Phase 3 Switch Error Cause
171. n on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 Using VisualMotion Toolkit Parameter T 0 0122 Task diagnostic message can be viewed under Status gt Tasks Parameter C 0 0124 Extended diagnostic can be viewed under Status System Cause The parameter format parameter number or stored value may be invalid Remedy 1 Verify that the parameter transfer instruction P is valid for the program in task A 206 Battery is low replace it soon Cause A low voltage on the SRAM backup battery accumulator for CLC P02 has been detected at power up or initialization from parameter mode Remedy 1 Replace the battery to prevent any loss of data Refer to the appropriate card in Chapter 1 for details 207 Axis D position limit reached Cause The negative or positive travel limit of axis D was reached preventing a jog from occurring Remedy 1 Clear error and move axis to a position within drive parameters S x 0049 Positive position limit value S x 0050 Negative position limit value Current position can be view under Status Drives DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 10 Monitoring and Diagnostic VisualMotion 6 0 3 5 Shutdown Messages 400 599 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
172. ngs On Board Battery This battery provides backup power for the CLC onboard SRAM when control voltage is not applied The battery s power level is checked every time the CLC is powered up or during initialization from parameter mode to provide advanced warning of impending failure A diagnostic message is displayed 206 Battery is low replace it soon when the level falls below 10 of remaining capacity Based on the lifespan table on page 1 16 this could translate into less then a month before failure at 45 C 113 F It is vital for action to be taken when a Battery is low warning is issued Recommended actions e Secure a complete archive of the VisualMotion system data e Order a new 3 volt Lithium button style battery CR2477N MnO Li e Indramat material number 254284 e Replace battery as soon as possible For complete details on battery lifespan and replacement refer to On Board Battery on page 1 16 CLC P 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 Ax 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 DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 22 Introduction and Overview VisualMotion 6 0 the SERCOS input Rx of the CLC P See Figure 1 11 Fiber optic ring structure on page 1 15 for an illustrati
173. nnsannnnnesunnenee 3 26 452 More than D event timers ammed 3 26 453 Homing param transfer error D 3 26 454 Axis D homing not complete ersnnrrnnnnnnvennnnnnvrnnnnnnrrnnnennrrnnnennrrnnnennrannnennrnnnnsensrennsensrrnnsensnnnneenn 3 27 455 Invalid VME Data Transfer Class 3 27 456 Invalid VME Address seed iis acl init Reet 3 27 457 Table Bounds Error During VME Head 3 27 458 Table Bounds Error During VME Write erannrrnnnnnnvrrnnnannrrnnnnnnrrnnnennrrrnnnensrrnnsersrrnnsensrrrnnsensrrnneenn 3 28 459 Axis D target position out of bounde eee cece eeeeeeeeeeeeeeeeeeeaeeeeeteaeeeeeseaeeeeesaeeeeeseneaeeeeeeeaeees 3 28 460 Invalid program D from binary Inputs 20 0 ec eee eeeeee ee eeee eee ee eeeeeeeeseaeeeeeseaeeeeeseaeeeeeseneaeeeeeeneeens 3 28 463 Ratio command invalid ratio eee eee ee eeeeee ee eete ee eee ee eter ea aeeeeeseaeeeeesaaeeeeesaaeeeeesaeeeeeseneaeeeeeeeaeess 3 29 464 Can t activate while program running 3 30 465 Drive D config error see ext diag or 3 30 467 Invalid ELS Master Option 3 31 468 ELS adjustment out of DOUNAS ceeeeceeeeecete eee aeeeeeeeceeeeeceaeeedeeeeseaeeeceaeeseaaeseneeeseaeeesaeeeeneeeed 3 31 469 Axis D accel lt 0 or gt maximum 3 31 470 Axis D velocity gt maximum ennrnrnnvovnnnnnvnvnnnnnnnvnnnnannvnnnnannvnnnnannnnnnannnnnenannnnensannnneeanneneeenuneneene 3 32 471 Invalid VME Base Address Page OXXXXX eccceeeeeeeeeseneeeeeeeneeeeeeeeaeeeeeseaeeeeeseaeeeeeseneeeee
174. nt 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 OFF EOAT Reverse 02 OFF C Axis Vertical ON C Axis Horizontal OFF A Axis Forward OFF A Axis Retracted OFF Bit 07 OFF Bit 08 OFF 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 The page up 1 and page down I keys move the cursor to the next or previous register available within the limits of card parameters C 0 0805 and C 0 0806 To jump to a register number 1 Press the edit key 2 Enter the register number 3 Press the OK key DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 48 Human Machine VisualMotion Interfaces VisualMotion 6 0 E Indramat REGISTER MENU REGISTER 0100 End Of Arm Tool 1 BITS Bit 09 09 OFF Bit 10 10 OFF Bit 11 11 ON Bit 12 12 OFF Bit 13 13 OFF Bit 14 14 OFF Bit 15 15 OFF Bit 16 16 OFF Down Arrow Fo
175. nt four motion tasks and tables with the tasks and tables for the new program selection Table Includes Program number CLC card ID 1 10 Program date 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 F1 Activate The up and down arrow keys move the cursor to select a program Pressing F1 activates the selected program Note The currently active program must not be running when activating another program DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 28 Human Machine VisualMotion Interfaces VisualMotion 6 0 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 Refer to the VisualMotion 6 0 Reference Manual material number 282762 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 PRODUCT 1 PRODUCT 2 Sequencer 4 Sequencer 5 Sequencer 6 Sequencer 7 Sequencer 8 Sequencer 9 F2 F7 F8 PgDn Main Diag The name of each list can a
176. on Viewing Error codes using VisualMotion s CLC DDE Server Physically viewing diagnostic messages on the CLC P hardware is not possible Unlike the CLC D card which has a visible 7 Segment display H4 for viewing error codes the CLC P does not have a visible display The design of the CLC P does not require for it to have a visible means of viewing errors This card is generally installed in a personal computer and for this reason is normally not visible The monitoring and communications of error codes are handle by means of the CLC DDE Server This Windows based Dynamic Data Exchange DDE Server application is used to communicate with Indramat s CLC motion control cards Unlike the CLC D which begins an error code with the letter E the DDE Server represents an error code with it s respective three digit number followed by the error s description For example an Emergency Stop error on CLC D would appears as a alternating blinking E400 while on the DDE Server it would simply appear as 400 EMERGENCY STOP BA CLC Dde Server Bis x File Settings DDE Help 400 EMERGENCY STOP Figure 1 17 CLC DDE Server In order to view diagnostic messages on the DDE Server the CLC Status Display must be set to SERIAL 0 This is accomplished by selecting Settings gt Server Configuration from the CLC DDE Server s main menu Refer to Chapter 4 CLC DDE Server for more information IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99
177. on and then compiled and downloaded on to the CLC card za Active Program Events Card 0 File Edit Update Settings Status Argument Type i DR 002 003 C Percent of Coordinated Path before and Time in Coordinated Path from start Time in Coordinated Path before end Single Axis distance from start Single Axis distance before end Optional Event C Repeating timer Function to run C Repeating Axis Position Rotary NONE Task Input Transition C VME Broadcast Event RO C VME Short Address Event Feedback Capture 120 Register Event Optional Message for pendant 80 char Max EVT 1 Figure 2 20 Events screen The number of available events is directly controlled by the numbers of events selected initially in the sizing icon The information in the sizing icon resides in the compiled program in the CLC as well as in the str file Task Data Task Data Storage Sizing HE Sizing Task Data Storage Sizing HE Variables Points Floats m 15 Integers ru iF 2 Se dn ay Calculated memory usage for this data storage 788 bytes Figure 2 21 Events selected in sizing icon P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 21 Only those event routines that were created by the Edit gt Add Event Function can be configured and activated Use Settings to verify CLC card setup I O Mapper The I O Map
178. ontinuously 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 42 Human Machine VisualMotion Interfaces VisualMotion 6 0 Jog Method Teaching Points Jog Fine Adjustments E Indramat The following Jog Methods are available with the Teach Pendant Continuous Slow 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 OK 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 The jog speed and distance increments 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 F6 PAR key displays a screen that permits editing the FAST SLOW and LARGE SMALL jog percents DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Ma
179. ontrolled by an external PLC or switch To view Data in binary select binary under menu selection Format x Active Program Regist Biet File Format Options Settings Physical Name State Parameter_Mode Bit 02 0 nEmergency_Stop Bit 04 Clear All Errors Pendant_Live_Man Bit 07 Activate Program Program Select LSB Program Select Bit 2 Program Select Bit 3 Program Select MSB Bit 13 Pendant Enable Pendant Level LSB Pendant Level MSB 7 after State indicates forced Cancel Fo 0 0 0 0 0 0 0 L Previous Aer Next o0ooooooaooaoaodi Figure 3 4 Viewing Registers 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 Similar to status messages Warning messages can also be viewed from System Parameters and or CLC DDE Server Refer to Figure 3 3 Viewing diagnostic status messages DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 8 Monitoring and Diagnostic VisualMotion 6 0 201 Invalid jog type or axis selected This message is issued before a coordinated I O jog when an invalid type or axis is selected Cause 1 The axis selected for jogging is not defined as a coordinated motion axis 2 An axis defined for coordinated motion is commanded to
180. or on a SERCOS parameter Press the Edit key Enter the first SERCOS number 1 and press OK DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 53 5 19 F6 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 CLC PROGRAM MENU CLC TABLE EDIT MENU ROBOT JOG MENU CONTROL MENU REGISTER MENU SECURITY MENU CARD PARAMETER MENU AXIS PARAMETER MENU TASK PARAMETER MENU DRIVE PARAMETER MENU CLC MAIN MENU To alter a menu protection level place the cursor over the protection level field and press the EDIT button Key in the appropriate code 0 1 or 2 and press OK 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 with a 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 Ac
181. oring and Diagnostic VisualMotion 6 0 433 Setup instruction outside of a task Cause The following commands must be placed in a task s main program TASK A XES KINEMATIC and DATA SIZE This error is issued if any of these commands is found in a subroutine Remedy 1 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 Cause Axis D was selected more than once in a TASK A XES command icon Remedy 1 Modify the program so that the axis is selected once 435 Axis D not assigned to a task Cause Axis D was not assigned to the task using the Axis icon but was specified in a command Remedy 1 Modify the program so that the axis is selected and configured for the correct axis number or variable label used in the program 436 General Compiler Error XXXX Cause An error was found in a compile time instruction TASK A XES KINEMATIC after program activation Remedy 1 See the task diagnostic message for a description under menu selection Status Tasks lf there is no task diagnostic message call Indramat for assistance IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 23 438 Invalid Axis Selected D Cause 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 Remedy 1 Check
182. other method for determining if a jumper is set on S2 is to open the setup port screen under Setup gt CLC Serial Ports and if a jumper is set the following message appears at the bottom of the screen Port forced to 9600 RS232 by jumper on card Serial Port 2 Setup x Baud rate default 9600 _ Save 9600 Cancel MV Checksum Enabled default 0n IT Status Message Enabled default Dff Format 8 bit 1 stop no parity not changable Type v fasen Host v Indicates jumper ii set on S2 Off 1 Device selected is written to card ASCII Host parameter C 0 0012 Teach Pendant SS Figure 2 16 Serial port 2 setup DOK VISMOT VM 06VRS WA02 AE P 03 99 P Indramat 2 16 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 2 6 The Tool Menu The Tool menu is used for configuring and monitoring using the following options e Break Point e Cam Builder used to build a table of positions that relates a master axis to a slave e Jogging used to jog any axis on the system that is velocity or single axis mode e Oscilloscope This utility is used to capture and display run time data e VisualMotion32 opens a new session of VisualMotion in order to Release6 access other programs and utilities from within VisualMotion e Show Program used to highlight to currently executing program icon Flow F7 SA CLC File AXIS TRANS str Task Task A File Edit View Setup SOEN Data Status Options Help E Break
183. otion 6 0 CLC Serial Ports Serial Port 1 Using VisualMotion Toolkit for diagnosing 2 13 with a txt extension and may be viewed using Notepad or another ASCII text editor or file viewer Note A txt parameter set uploaded for viewing cannot be downloaded to the drive Maintain ASCII formats when editing text files CLC s download errors will occur if text format is not true ASCII Always use true ASCII format Windows editors such as notepad or WordPad when editing and or downloading system parameters and VisualMotion text language programs Caution Serial port setup allows the user to set the desired communication baud rate between the CLC card and the host PC running VisualMotion and the CLC DDE Server Refer to chapter 4 for detailed information on the CLC DDE Server CLC Serial Communication Changes to serial port 1 are written directly to CLC card parameter C 0 0003 This parameter can be view under Setup Overview Under Param source select the CLC card radio button and click on OK Format Baud Rate Option Valid Baud Rates 300 1200 2400 4800 9600 19200 38400 Valid Options 1 checksum on Default 9601 9600 baud checksum on Attributes Integer Read write at any time Modes RS232 RS422 RS485 This parameter sets the baud rate and options for Serial Port 1 X27 on CLC D CLC P and CLC V which communicates with a PC a terminal or any device that follows the CLC ASCII Host Protocol
184. per is displayed by selecting Data gt I O Mapper VisualMotion s UO mapper allows manipulation of I O registers using Boolean strings or an optional ladder logic interface The I O Mapper can be used to map physical I O bits to the control and status registers of the CLC card The I O Mapper runs continuously in the background and is updated every CLC program cycle 2ms or 4ms Uploading UO Mapper To view the I O Mapper on the CLC card the user must Upload Strings from the file menu Figure 2 22 shows the I O Mapper open displaying the I O configuration in ladder logic View contact and relay states Show program flow for I O mapper Next Prev Rung arrows Ladder Editor File Edit Options Settings Online ES 20 amp PARAMETER MODE Ri 01 Rung 1 of 18 Only one rung of logic is displayed atatime To view the next rung use the next prev rung arrows Figure 2 22 Uploading an I O Mapper string To view the I O Mapper in Boolean equation form select Display Strings from the Options menu I O Mapper Strings E i Y y a a 18 Rungs Add Insert Delete All Edit Delete Close Figure 2 23 Displaying I O Mapper in Boolean Equation DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 22 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Registers E Indramat Examples of Boolean equation expressions I O Map Comments 1 1 100 1 Set Register 1 Bit 1 equal to Reg 100 Bit 1 1
185. puts 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 508 User Watchdog Timeout Cause The user watchdog timer enforces a time constraint on a user task or a user interface Every time a nonzero timeout value is written to C 0 0021 a timer is triggered on the CLC If the timeout expires the error 508 User Watchdog Timeout is issued The timer is checked by the CLC every 50ms If C 0 0021 is set to zero the watchdog timer is disabled If it is nonzero it is active when the CLC is in run mode there are no errors and the task specified in C 0 0022 is running In a user program task parameter C 0 0021 can be written to via a parameter transfer at the beginning of the main processing loop If the CLC system tasks or the user program events are consuming too much processor time the time set in C 0 0021 will elapse and error 508 will be issued The programmer can then adjust the timing of the events or increase the SERCOS or I O cycle times to allow more time for the user task Remedy 1 If this feature is intentionally set and the user s desired elapse time programmed in parameter C 0 0021 can be increased the user can modify the value in parameter C 0 0021 2 If this feature is not desired but a value other than zero appears in parameter C 0 0021 change this valu
186. quired to achieve point to point movement and Velocity Mode as might be used for some spindle motor drives Single axis Single axis motion commands within a user program are interpreted by the VM Controller and sent to the DDS drive The user program tells the DDS drive the speed and or distance and acceleration it should use to internally develop a velocity profile which is then maintained and controlled within the intelligent DDS drive Consequently single axis motion does not require continuous calculation by the VM Controller and consumes minimum CPU resources Velocity Mode Velocity mode controls only the speed of the axis without any position information The intelligent DDS 2 drive maintains torque and velocity loops internally updating the internal loops every 250 microseconds Ratioed Axes A special form of non coordinated motion permits linking two axes by relating the number of revolutions of a slave axis to a master axis For example a ratio might be required when the positioning axis of a gantry robot having a motor on each side of its supporting track must travel along a circular track Coordinated Motion The VM Controller defines multi axis coordinated motion in terms of a path composed of standard straight line and circular geometry segments Point positions x y Z are used to establish the start middle or end of a geometry segment Two points define a line three points define a circle The path combines these st
187. r Bits 01 08 F1 F2 F3 F4 F5 F6 09 10 11 12 13 14 The function keys F1 through F8 will allow the operator to toggle the state ON OFF of bits 1 through 8 first page displayed or bits 9 through 16 second page displayed Note If 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 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 49 5 18 F6 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 F4 DRIVE Selecting F1 F4 will open one of the following Parameter screens F1 Card Parameter Screen CARD PARAMETER MENU C c ppppp nnnnn C 0 00001 Language Selection C 0 00042 World Large Increment F1 F2 F3 F4 Home End PgUp PgDn C c pppp nnnn VVVV vvvv parameter value nnnn parameter name pppp parameter number c card number C For changing of Card parameter numbers and editing of values refer to F2 Axis Parameter Screen on page 5 50 system parameter indicator DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 50 Human Machine VisualMotion Interfaces F2 Axis Parameter Screen Aaa ppppp A01 00001 A01 00011 F1 F2 Home End Aaa pppp
188. r For Unit D Failed 3 cssesedsesstesstzestdatiapsdsesseseedsiei 3 32 474 Drive D cyclic data size too large3 33 475 Axis D capture already configured3 33 476 Axis D Real Time Bit Setup Error3 33 477 Axis D probe edge not configured3 34 478 Calc operand out of range 3 34 481 Event D is already armed 3 34 482 Checksum Error in Program 3 35 483 Parameter Init Error see Task A diag3 35 484 CLC SYSTEM ERROR 3 35 485 SERCOS I O too many registers COMA PUL anecenoonuniunnie 3 36 486 SERCOS Device D is not a drive 3 36 487 Cam D is invalid or not stored 3 36 488 Cam Error See Task A diag 3 36 489 More than D cam axes selected 3 37 490 System Memory Allocation Error3 37 491 PC Communication Handshake Error3 37 492 Programs were lost eee 3 38 493 Data was restored from Flash 3 38 494 Sequencer init error see task T diag3 38 495 Sequencer error see task T diag 3 39 496 Can t Execute this Instruction from an EVEN sesccssssssssssssssscssascsssssteaasesseennse 3 39 497 Limit switch config error see ext EE 3 39 499 Axis number D not supported in this VE 3 40 500 Axis D is not referenced 3 40 501 Drive D communications error 3 41 502 ELS and cams not supported in this VErSlofuissesrsua aavansadtet 3 41 504 Communication Timeout 3 41 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 505 Axis D is not configured
189. re in single step mode The other tasks are not running 017 Simulation Breakpoint Reached ABCD This status message performs the same function as it s standard counterpart but does not rely on external communications 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 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 7 3 4 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 clears a warning with a low to high transition of the Clear All Errors bit of the CLC s System Control Register CLC System Control Register 1 can be viewed within VMT under menu selection Data Registers Double clicking on register 1 will open a window containing all bits in reg 1 along with their names Bit 5 is labeled as Clear_All_Errors and it s transition from low to high 0 to 1 is typically c
190. receiver MC68EC020 X28 bar code 000 o00 2 BES SSu See ooo Se EE EE EE EE E EE D SUB 9 pin 101516 KEE RE RR erre ERE HH zananaqaannanangaan 0 interface PC104 Connector CLC P 1 1 O Figure 1 21 CLC P02 jumper configuration DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 26 Introduction and Overview VisualMotion 6 0 PC 104 Memory Address Selection PC 104 Interrupt Selection E Indramat Switches 1 through 4 set the base address of a 1MB memory segment in the Host s RAM This memory space is used to exchange information between the CLC and the Host Number Address mos ore D000 A000 D000 C000 Table 1 7 CLC P02 base address SCH Se ger OFF OFF OFF EE ON ON ON ON ON ON On Switches 5 through 8 on the S1 DIP switch selects the interrupt line for the CLC to PC interrupt Note Only one of these switches can be on at a time or there will be an interrupt conflict pomeru 5 6 7 8 IRQ10 OFF OFF IRQ11 OFF OFF IRQ12 OFF po OFF OFF OFF Table 1 8 CLC P02 IRQ settings DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Recommended actions Introduction and Overview 1 27 CLC P02 On Board Backup Power Accumulator The backup power device on the CLC P02 is not a battery but an accumulator which provides power to the onboard SRAM when control voltage is not applied Not
191. related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance 442 DMA error while reading from VME address Cause A Direct Memory Access DMA error interrupt was encountered during reading of a specified VME address An address was specified that does not exist or could not be read This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance 443 DMA error while writing to local RAM Cause A Direct Memory Access DMA error interrupt was encountered during writing to local RAM memory An address was specified that does not exist or could not be written This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance 444 DMA error while writing to VME address Cause A Direct Memory Access DMA error interrupt was encountered during writing to a specified VME address An address was specified that does not exist or could not be written This error is typically hardware related and can not be easily remedied Remedy 1 Archive all CLC programs and tables and replace hardware Call Indramat Service for assistance IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitor
192. rfaces VisualMotion 6 0 Menu Map 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 E zl E PROGRAM MENU TABLE EDIT MENU JOG MENU O CO z I CO FE MENU F1 Absolute Table Menu A Program V Selection F1 Jog F1 Auto Man System Single Step F1 Activate F2 Relative Program Table Menu F2 Method F2 Go Jog F4 Edit Sequencer F3 Event Table Menu F4 Move To F4 1 O Register Menu F7 Main Menu F4 Interger Table Menu F5 Float Table Menu F6 Parameters F5 Instruction SeqF SeqS F8 Diagnostic Menu F6 Global Integer Table Menu F7 Main Menu F6 Debug Normal F7 Global Float Table Menu F8 Diagnostic F7 Main Menu Menu ESC Main Menu F8 Diagnostic Menu F8 Diagnostic Menu Figure 5 13 Menu Map F1 F4 P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 19 MAIN MENU SECURITY MENU DIAGNOSTIC MENU REGISTER I O PARAMETER MENU MENU A Bits 01 08 V Bits 09 16 Menu V Selection F1 Number F2 Axis F7 Main Menu F2 Number F3 Task F8 Diagnostic F3 Reset
193. rives on the ring P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 31 467 Invalid ELS Master Option Cause An option in the ELS INIT command is invalid not supported or inconsistent with the other options VisualMotion is initialing all of the ELS axes in the program and has come across an axis parameter A 0 0004 option that is invalid Remedy 1 Search the program for the axis in fault and verify that the axis options in parameter A 0 0004 are correct and within range Refer to the VisualMotion 6 Reference manual for an explanation of axis parameter A 0 0004 468 ELS adjustment out of bounds Cause The phase offset or fine ratio adjustment exceeded the bounds allowed by the drive The fine adjust must be between 100 and 300 Remedy 1 Use the show program flow lt F7 gt function to find the ELS phase adjust or Cam phase adjust icon in fault Correct the value entered in degrees or percentage or the variable if programmed using variables 4 d ELS Phase Cam Phase Adjust Adjust 469 Axis D accel lt 0 or gt maximum Cause The acceleration LA or deceleration N programmed for axis D is negative zero or exceeds the maximum acceleration or deceleration parameter A 0 0021 or A 0 0022 Remedy 1 Change the value of the acceleration or deceleration icon or variable to a value greater than 0 but less than the values in parameter A 0 0021 and A 0 0022 Vi
194. ror the user can obtain drive status information from the Status message displayed within VisualMotion s CLC Drive Parameter Editor CLC Drive Parameter Editor File Parameters Oscilloscope Help gt Status A106 Drive controlled interpolation Encoder 1 Drives 01 Single Axis DDS2 2 WO50B Position DSM2 3 ELS 04V34 Target 100 00000 in FeedBack 74 06048in Velocity Programmed 500 000 in min FeedBack 500 234 in min Acceleration Programmed 50 000 in jsec 2 Torque FeedBack 21 7 stall w Mode Single Axis MDDOGBA N 040 N2L 088PBO Signed to Task A DROE Drive No 1 J SE Figure 2 12 CLC Drive Parameter Editor screen Note From the above screen the user can verify drive type firmware version and motor type from the descriptions above the drive and below the motor DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 12 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 File menu From the file menu the user can load default drive parameters Load Default Parameters caution This process overwrites any changes made to the drive parameters set by the O E M gt Loading default parameters should only be Caution perform by trained authorized personnel Uploading Drive parameters The user can upload VisualMotion parameters by selecting the Transfer Parameters option from the file menu This is helpful for determining set drive parameters
195. rt 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 Ax 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 V See Figure 1 11 Fiber optic ring structure on page 1 15 for an illustration CLC V Configuration Switches Slide Switch SW5 Default Math Coprocessor Flash Mezzanine I SERCOS MODULE CO Je P G h A SERCOS ASIC Opto Isolated 1 0 Drivers Slide Switch SW6 Default Figure 1 23 CLC V Configuration Switches DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 30 Introduction and Overview VisualMotion 6 0 Configuration Switch SW5 ews Posion bet Funcion 1 ON ON Programming of the local Flash EPROM enabled GE 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 4 ON ON Power fail reset voltage set to 4 8V OFF Power fail reset voltage set to 4 2V 5 ON ON Programming of Flash EPROM enabled JE rene 6 amp 7 Select the CLC s VME Bus request level a 6 ON om om am am OFF ON OFF ON ON ON VME Slot 1 functions enabled OFF VME Slot 1 functions disabl
196. rvrrvnnnrrenenvenrrr renn nrnnen vennen veenrneennnnnennenrnrresnnrnnennnnennn 3 21 433 Setup instruction outside Of a task rrnnrnnnnvrnrnr vnr rnnnnvnnnrrnrnnnrnnnnnnnrerreenn renn nnnnennenrnrreennrnnsenneennn 3 22 434 Axis D configured more than ONCE mranrnvrnnnnnnvrnnnnnnnvrnnnrnnvrnnnennrrnnnennrrnneeensrannesnsrennsensrrnnsersnnnnnenn 3 22 435 Axis D not assigned to a EE 3 22 436 General Compiler Error XXXX cccccccceceeeeeeeeeeeeeeeaeeeeaaeeeeeeeeaeeeeeaaeseneeescaeeeseaesseaeeeeeaeeesaeeseneeeed 3 22 438 Invalid Axis Selected D 3 23 439 Invalid Motion Type D eet nlive tis nies nll etait Rind 3 23 440 LO Transfer Error see task diag c cccccecceeseeceeeeeeeeaeeeeeeeeeaeeeesaaeeeeeeeseaeeeseaaeseneeeseaeeeseaeeseeeeeed 3 23 441 DMA error while reading from local HAM 3 24 442 DMA error while reading from VME address AA 3 24 443 DMA error while writing to local HAM 3 24 444 DMA error while writing to VME address A 3 24 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat IV Contents VisualMotion 6 0 446 DMA Time out Error icv ccs teat ei niles alll een eis 3 25 447 VME SYSFAIL Detected AAA 3 25 448 VME Communication Handshake Error D 3 25 449 VME BUS TEE 3 25 450 Event D invalid event type ce eecccceecececeeceeeeeeeaeeeeeeaaeeeeeaaeeeeseaaeeesseaaeeeseaeeeseeaaeseseeseeeeseeneneeees 3 26 451 Invalid event number D eenrnnnnonnnnnnnnvnnnnnvennnnnnvnnnnnnnnnvnnnsnnnnnnnsnnnnnnesannnnnnsannnnnssannnn
197. ry 55 milliseconds When selected this option will increase the handshake response time Note The default interrupt setting is INT10 IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 CLC DDE Server 4 11 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 to the CLC communications server DDE Conversation List IS Conversation Service Topic Item Handle Handle Handle Count 00450728 0000C4D1 0000C252 0000C4D1 0000C252 Expand 0000C4D1 0000C252 En 0000C4D1 0000C252 TESS 0000C4D1 0000C252 0000C4D1 00000252 0037083C 0000C4D1 0000C252 Figure 4 7 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 ERIAL 0 Format
198. s Read Only 3 46 104 Write Protected in this mode phase3 46 105 Greater than maximum value 3 46 106 Less than minimum value 3 46 107 Data is Invalid 3 46 108 Drive was not found ssns000000 3 46 109 Drive not ready for communication3 47 110 Drive is not responding 3 47 1 1 Service channel is not open 3 47 112 Invalid Command Class 3 47 113 Checksum Error xx xx checksum that CLC ealeulated 3 47 114 Invalid Command Subclass 3 47 115 Invalid Parameter Set 3 47 116 List already in progress 3 47 17 Invalid Sequence Number 3 47 118 List has not started 119 List is finished 120 Parameter is a List oss 121 Parameter is not a List 3 48 122 Invalid Variable Number 3 48 123 Insufficient program space 3 48 124 Maximum number of files exceeded2 3 124 Maximum number of files exceeded3 48 125 Invalid program header 3 48 126 Checksum Error in Program 3 48 127 Invalid Program Handle 3 48 128 Function not Implemented 3 49 129 Program not found on CLC 3 49 130 Invalid I O Register or Bit Number3 49 131 Invalid Table Index 3 49 132 Communication Port Error 3 49 133 Invalid Data Format 3 49 134 Active program can t be deleted 3 49 135 Parameter mode is required 3 49 136 Invalid Event Number 3 49 137
199. s not mapped to a 96 01 96 11 97 01 WW register EDIT v KBR ARES FRORKAAREe BARBARA ES Ae EE ede P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Cursor Control and Editing Human Machine VisualMotion Interfaces 5 25 The cursor may be moved up or down left or right by pressing the corresponding arrow key The left and right arrow keys double as delete and next respectively 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 OK 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 case the item cannot be edited The cursor may be positioned there for another reason such as item selection or viewing Number or Letter Selection Jogging Control noe ET The number keys labeled 1 9 also double as letter keys when the shift key is pressed To select the second or third letter contained in the upper left position of the key the shift key must be pressed and held If the shift key is pressed and not held only the first letter will be selected and the key will then default to the number specified Press the coordinated jog keys X X Y Y Z Z to jog in World Joint or Tool coordinates For robotics the A A B B C C keys function as Row Pit
200. se 0 disabled IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Section AT MODEM Section PC Section P2 Section DDE Section STATUS Baudrate Port Auto_Connect Phone Initialize_ Script Disconnect_Script Dial_Prefix Escape Sequence PC IRQ PC IRQ Status Max Conversations Max Advise Items ErrorState ErrorText RequestState DOK VISMOT VM 06VRS WA02 AE P 03 99 RO RO RW RW RW RW RW RW RO RO RO RO RO RO RO RO 9600 300 1 4 Oori 50 Characters 100 Characters 100 Characters 50 Characters 50 Characters Oori Oori 200 Characters 1 3274 1 3500 Oori 256 Characters Oori CLC DDE Server 4 15 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 if 1 use PC interrupt for communications CLC 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 E Indramat 4 16 CLC DDE Server VisualMotion 6 0 E Indramat DOK VI
201. senerreesreveneeenn 4 3 Figure 4 2 CLC Server Configuration ccccccceseeeeeseceeeeeseeeeeesaeeeeneeteaes 4 4 Figure 4 3 Serial Communications 00 eee eee eeee eee ere teat etree teas eeaeeeaeees 4 6 Figure 4 4 VME Communtcations sseseesseesseeenesiesrssrissrrerrrnssrnesrrnsrne 4 7 Figure 4 5 PC Bus Communications 0 0 0 0 cece eee esse eee cene eens eeaeeeeeeaeees 4 8 Figure 4 6 P2 Bus COMMUNICATIONS ee eee eee eete tee teeeeeee tae eeaeeeaeeeaeees 4 9 Figure 4 7 DDE Comversatons 4 11 Figure 4 8 DDE Conversation Hem 4 11 Figure 4 9 DDE Communication Monttor 4 12 Figure 5 1 BTC06 Teach Pendenmt eee eee seers eeeeeeeeeeeeeneeeneeeaees 5 1 Figure 5 2 BTCO6 Main Connection ssernvvrnnvrvnvnrnnvrvnvrvnrervrervrarerrvrsvrseenn 5 5 Figure 5 3 RS232 Interface rrernvrennvennvennvrnnnvennvennvennnnvnvnrunnnvenervensrevreners 5 6 Figure 5 4 Serial Download Cable IKB0010 rsnrranvrnnvrrnvvrnrervrarvrrvrrrrrnrern 5 7 Figure 5 5 Wall Mounting Bracket 5 8 Figure 5 6 Enclosure Dumensions 5 10 Figure 5 7 Rear MEW Luster d der AR AS ARER Seet 5 11 Figure 5 8 BTZ01 1 Junction Box 5 12 Figure 5 9 IKS0188 Connection Cable for the connection of the BTCO06 and INS0627 Bulkhead connector ssssssssesisssrrssrnsrresrnssrnssrnsnnssrnsernsnnn 5 13 Figure 5 10 INS0627 for bulkhead connection IPDob 5 14 Figure 5 11 BTC06 to CLC typical connection rrrannrnrorrnnnnrrnnnnrnnnnnnnennr 5 15 Figure
202. side of a task3 22 434 Axis D configured more than once3 22 435 Axis D not assigned to a task 3 22 436 General Compiler Error XXXX 3 22 438 Invalid Axis Selected D 3 23 439 Invalid Motion Type D 3 23 440 I O Transfer Error see task diag 3 23 441 DMA error while reading from local EE 3 24 442 DMA error while reading from VME Addressinseiidvininirhtmressisie 3 24 443 DMA error while writing to local RAM EE 3 24 444 DMA error while writing to VME addres Sienen ennist 3 24 VisualMotion 6 0 449 VME Bus Error 3 25 450 Event D invalid event type 3 26 451 Invalid event number D 3 26 452 More than D event timers armed 3 26 453 Homing param transfer error D 3 26 454 Axis D homing not complete 3 27 455 Invalid VME Data Transfer Class3 27 456 Invalid VME Address 3 27 457 Table Bounds Error During VME Readiness 3 27 458 Table Bounds Error During VME ge 3 28 459 Axis D target position out of bounds3 28 460 Invalid program D from binary inputs3 28 463 Ratio command invalid ratio 3 29 464 Can t activate while program running3 30 465 Drive D config error see ext diag OL RE EE 3 30 467 Invalid ELS Master Option 3 31 468 ELS adjustment out of bounds 3 31 469 Axis D accel lt 0 or gt maximum3 31 470 Axis D velocity gt maximum 3 32 471 Invalid VME Base Address Page OXXXXX esu 3 32 472 VME Event Trigger Rejected 3 32 473 VME Event Trigge
203. ss ccccccceeceeeeeeeeeeeee cee eeeeaeeeceeeeseaeeeeaaeseeeeeseaeeeseaaeseneeeseaeeesaeeneneeee 3 47 115 Invalid Parameter Get 3 47 16 List alr ady In ele 3 47 117 Invalid Sequence Number 3 47 18 List has E ie ake i AL tic Ri 3 47 HE Is UE caine a ail ee RL ei lies 3 48 120 Parameter is DC 3 48 121 Parameter is not Lisl aim ci late itl ae ade ee itis lees 3 48 122 Invalid Variable Number 3 48 123 Insufficient program space 3 48 DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat VI Contents VisualMotion 6 0 124 Maximum number of files exceeded ee eeeeeeeeeeeteeeeeeeceeeeeeeaeeeeeeteaeeeeeeteaeeeeeseneaeeeeeeeeaeeeeseenaees 3 48 125 Invalid program header errnnnovnnnnnnnvnnnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnennnannnnnnnnnnnnnnnannnnnnannnnnnsannennenannenue 3 48 126 Checksum Error in Program rrrnannvenonvvnnnnrrvannrnnenvrnnnnrnrsnnnnernrrennrnessnnenrnrresnnnnnsennenrnrnesennnnnennenenn 3 48 127 Invalid Program e E VE 3 48 128 Function not Implemented seenen AE 3 49 129 Program not found on CLC 3 49 130 Invalid I O Register or Bit Number sssssssssssesisesrnssrnsssrnssrnssrnssrnssrnsstnsstnssrnsstnsstnsstnnnsrnnnrnnsnnnnnnnt 3 49 131 Invalid Table Nd x avu sirene din tii ele 3 49 132 Communication Port Eor stn tnsttastnastan stna stnnnnna nnna nnna nnan an na 3 49 133 Invalid Data eru E i Ree 3 49 134 Active program can t be deleted AAA 3 49 135 Parameter mode is required rrsnnonnnnnnnnn
204. str Task Task A Lol Ble Edit vie Setup Tools Data Status Options Help D n TESE E OG Gin lil HR highlights the current function being performed Figure 2 7 VisualMotion program flow 2 5 The Setup Menu This menu is used to setup and establishes communication as follows e Card Selection communications method between the CLC and the DDE Server e Configuration defines directory structure for saving VisualMotion program files and language settings e Drives setup drive and motor parameters and view drive diagnostics e Drives Help Dir Help files are configured for current version e Coordinated Motion setup coordinated motion features e jogging acceleration e jogging e task limits e WO Setup allows viewing and editing of the I O hardware setup for VisualMotion e Overview Allows viewing and editing of parameters for e Card e Drives e Task e Axis e CLC Serial Ports setting communication Baud rates for port 1 X27 and port 2 X28 e VME Configure used to configure a CLC V card within a VME rack DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 8 Using VisualMotion Toolkit for diagnosing VisualMotion 6 0 Card Selection E Indramat J CLC Hiel AXIS TRANS str Task Task A iojx Eile Edit View SEM Tools Data Status Options Help Card Selection PG BH ep Configuration Drives Drives Help Directories Coordina
205. subroutine call stack for a user program task has overflowed The stack is an area of dedicated memory The most likely scenario is that there are too many nested subroutines in a task A nested subroutine is a subroutine within another subroutine Remedy 1 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 10 subroutines are nested 422 Parameter transfer error in Task A There is an error in the parameter transfer instruction 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 Using VisualMotion Toolkit Parameter T 0 0122 Task diagnostic message can be viewed under Status gt Tasks Parameter C 0 0124 Extended diagnostic can be viewed under Status System Cause The parameter format parameter number or stored value may be invalid Remedy 1 Use Program Flow lt F7 gt to locate parameter transfer instruction 2 Verify that the parameter transfer instruction HR is valid for the program in task A E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 19 423 Unimplemented Instruction Cause The command instruction or icon is not recognized by the curr
206. switch is held in the center enabled position If this switch is not depressed or if it is pressed all the way down to the panic position any movement will be stopped immediately The return from the panic position is activated electrically whereby the switch returns to the non activated position To start a new movement enter a command and re activate the live man switch The live man switch of the BTCO6 provides integrated safety circuitry A post connected control must be used to ensure compliance with machine specific or system specific standards and rules It must be linked to the control in a way that meets the safety requirements for the power circuits in accordance with EN775 EN60204 EN954 1 EN1088 VDI2853 and VDI2854 DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 5 5 5 BTC06 Connections Main Connection View of Male Connection 2 frv 3 tivemanswtohtin S O 4 Livemanswitch2in S 5 Live manswitchtout S 6 Live manswitch2out S COMM e E STOP 1 out 12 Lnsenp 13 fr en 14 Signal Ground 15 E STOP 2 out Table 5 1 Pin out of the 17 Pin Connector DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 5 6 Human Machine VisualMotion Interfaces VisualMotion 6 0 Firmware Download and Projecting Interface E Indramat 30 02 40 O1 Front View Figure 5 3 RS232 Interface TxD RxD Table 5 2 Pin out of the RS232 Interface
207. ted Actual homing and motion will not occur while in simulation mode 012 Simulation Parameter Mode The CLC is in parameter mode and the drives are in Phase 2 This status message performs the same function as it s standard counterpart but does not rely on external communications 013 Simulation Manual Mode This status message performs the same function as it s standard counterpart but does not rely on external communications All four user program tasks are in manual mode 014 Simulation Automatic Mode ABCD This status message performs the same function as it s standard counterpart but does not rely on external communications The user program tasks indicated at the end of the message 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 015 Simulation Program Running ABCD This status message performs the same function as it s standard counterpart but does not rely on external communications The user program tasks indicated at the end of the message are running and the rest are not running or are single stepping DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 6 Monitoring and Diagnostic VisualMotion 6 0 016 Simulation Single Stepping ABCD This status message performs the same function as it s standard counterpart but does not rely on external communications The user program tasks indicated at the end of the message a
208. ted Motion gt Jogging Acceleration O Setup Jogging Overview Task Limits Pendant Security CLC Serial Ports VME Confiqure Figure 2 8 Setup Menu screen Most of the setup configuration above is typically perform by the machine builder The user can normally use the setup menu to verify setting and view parameter settings when diagnosing an error The following selections from the setup menu are typically operations that can be perform by the user Card selection determines the communication method that will be used for communicating to the VM Controller card The user must identify the method for which to communicate information from the Host to the VMC The user must also enter the card number Card Selection Setup Connection Method Card Number jo DDE Link read only Service CLC_DDE Topic serial_0 Save Close File Figure 2 9 Card Selection screen Connection DDE Link read only Method Service Topic Description Serial CLC_DDE serial 0 Serial connection between PC and CLC D P V Xycom VME CLC DDE xycom 0 Xycom PC in VME rack talking to CLC V PC ISA Bus CLC DDE ISA 0 PC talking over the ISA Bus to a CLC P AT Modem CLC DDE AT Modem 0 Modem communication from PC to CLC DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Using VisualMotion Toolkit for diagnosing 2 9 Connection DDE Link read only Method Service Topic Description Demo CLC_DDE demo_0 used by d
209. tended Diagnostic No Active Message Dog Si Large increment 100 0000in Smallincrement 100 0000 in r Speed 2800 0 in min Fast jog 2800 0000 in min Slow jog 2800 0000 in min Set Large Small and Fast Slow percents in System Options on main screen Select Distance Speed Large Small and Fast Slow in Task Options on main screen Figure 2 18 Jogging an axis Note The position field within the Jog Control window is limited by the following drive parameters if software travel limits are enabled S 0 0049 Positive position limit value S 0 0050 Negative position limit value Otherwise the axis will travel until a physical travel limit switch is reached These parameters can be enabled and modified by editing the Drive limit parameters within VisualMotion Toolkit s CLC Drive Parameter Editor Drive 1 Limitations Ea Current Position 499 98000 in m Hardware travel limits E i 1 W travel exceeded r Software SS limits IV Enabled Positivef500 00000 er ale Negative 500 00000 _ 500 00000 Inch Bipolar velocity limit Dt 000 Hr Bipolar acceleration 50 000 50 000 Inch sec Bipolar jerk imit 999999 000 inch sec 3 Bipolar torque limit 200 0 Prev Next Save Close Refer to Drives on page 2 10 for more information DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 2 18 Using VisualMotion Toolkit for diagnosing Axis Jogging Options
210. ter a panic event when returning over position 2 to position 1 Series 68000 micro controller 1 MByte Flash 256 KByte SRAM RS 232 programming interface for downloading firmware and for programming of custom displays Communications interface in accordance with Indramat standard i e bus capable RS485 and RS422 EN 60204 Part 1 Safety of Machinery Electrical Equipment of Industrial Machinery Part 1 General Requirements EN 775 Industrial Robots Safety EN 418 Safety of Machinery Emergency Shut Off Equipment Functional Aspects Design Guidelines Integrated Safety Circuitry Category 4 according to EN954 1 for Live Man Switches DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Human Machine VisualMotion Interfaces 5 3 5 3 Optional Features Override Hand Wheel Emergency Shut Off Live Man Switch The BTC06 may optionally be equipped with a 4 bit override switch and a 16 bit hand wheel Both are available when using the MTS as I O information through a corresponding functional module The emergency stop button is designed to shut off the system operation in any mode stop category 0 For category 1 emergency stop functions appropriate measures must be taken in addition to the electronic safety equipment see 9 4 DIN EN 60204 1 The emergency stop button is a dual circuit switch The live man switch is activated with the holding hand Enclosure and shape of the live man switch have been er
211. the master X Column does not start at 0 or end at 360 In the cam file sent to the CLC the first point must be zero and the last point must be the modulo value of the master Check the beginning and end of the cam file Not supported in user prog file version 1 1 The requested feature is not present in the file version of the user program from which the data was requested or sent To use this feature a compiler upgrade is necessary E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Monitoring and Diagnostic 3 53 165 166 167 168 169 170 171 172 Sequencer invalid sequence D The sequence number D is zero or is greater than the allocated maximum number of sequencers for this program Sequencer invalid step D The sequencer step number D is zero or is greater than the allocated maximum number of steps for this program 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 Function D not accessible in a step The function referred to with the number D cannot be entered in a sequencer step It needs to be declared accessible by the sequencer in the user program Too many functions are used D The total number of functions used by all steps exceeds the number D allocated for the program in the data sizing instruction or the number of functions used in a step exceeds the num
212. to free up memory space 2 If the problem persists contact Indramat Service for assistance 491 PC Communication Handshake Error Cause The CLC P did not respond to an ASCII message Remedy 1 Check the address configuration on both the PC config sys and system ini and the CLC P address jumper switches as well as Setup gt Ports DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 3 38 Monitoring and Diagnostic VisualMotion 6 0 492 Programs were lost Cause 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 Remedy 1 Replace the battery and upload the archive file under File gt Archive 493 Data was restored from Flash Cause User programs and parameters have been restored from Flash EPROM Remedy 1 If the card has just been installed in the VME rack and a valid program is active clear this error and proceed 2 Ifthe 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 E Indramat Cause An error has occurred in a sequencer initialize instruction in task T The task diagnostic T 0 0122 and the extended diagnostic C 0 0124 gives a more detailed description of the error
213. ualMotion 6 0 1 5 CLC D Overview CLC D02 3M hardware Figure 1 9 CLC D02 3M Hardware CLC D Serial Communication Port A X27 is configured to respond to the VisualMotion ASCII Host Protocol Port B X28 can be configured to respond to Host Protocol BTC06 or another interface Both ports always operate with e 8 bits per character e 1 stop bit e no parity Serial Com Options Baud Rate Port Mode Port A X27 default 9600 RS 232 Host Protocol Port A X27 valid settings 300 1200 2400 enabled or RS 232 422 485 Host Protocol 4800 9600 disabled 19200 38400 Port B X28 default 9600 enabled RS 232 Host Protocol X28 Port B valid settings 300 1200 2400 enabled or RS 232 422 485 Off Host Protocol 4800 9600 disabled BTCO6 Table 1 1 CLC D configurable communication settings IO Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 X26 LWL X25 LWL rec X27 D sub 9 pin serial interface X28 D sub 9 pin serial interface trans Introduction and Overview 1 15 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 SEA Jumpers for Serial Communications for CLC D expansion cards Figure 1 10 CLC D j
214. umper 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 Ax 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 Figure 1 11 Fiber optic ring structure DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 16 Introduction and Overview Recommended actions Battery lifespan E Indramat VisualMotion 6 0 On Board Battery This battery provides backup power for the CLC onboard SRAM when control voltage is not applied The battery s power level is checked every time the CLC is powered up or during initialization from parameter mode to provide advanced warning of impending failure A diagnostic message is displayed E206 Battery is low replace it soon when the level falls below 10 of remaining capacity Based on the lifespan table below this could translate into less then a month before failure at 45 C 113 F It is vital for action to be taken when a Battery is low warning is issued e Secure a complete archive of the VisualMotion system data e Order a new 3 volt Lithium button style battery CR2477N MnO Li e Indramat material number 254284 e Replace
215. ust be maintained between two or more axes during motion Circular Interpolation A coordinated motion circular segment is defined by three points Circular motion begins with the end point of the last segment executed or the current system position if the system is not in motion moves in a circular arc through an intermediate point and terminates at the specified endpoint Kinematics In addition to the standard linear and circular segments the VM Controller has the capability of executing forward and inverse kinematic movement by using an application specific library of kinematic functions Kinematics must be developed by Indramat to customer specifications Contact Indramat Applications Engineering to inquire about applications which could benefit from kinematics Electronic Line Shaft ELS An Electronic Line Shaft is used to synchronize one or more slave axes to a master axis An ELS master can be a real or virtual axis A real master can be another axis in the system or an external feedback device such as an encoder A virtual master is a command generated by the VM System See ELS Icon Chapter 6 of the VisualMotion 6 0 Reference manual Each slave axis can use either velocity phase or cam synchronization An ELS also includes the capability to jog each axis synchronously or independently and to adjust phase offset and velocity while the program is running Velocity synchronization relates slave axes to a master in terms of rotat
216. vnnnnnnnvnnnnnnnnvnnnannnnnnannnnnnnsannnnnnsannnnnveannnnnnsannenneunneneen 3 49 136 Invalid Event Number evnemsmsielrnedorm AE made ENEE 3 49 137 Invalid Event FUNCOM c iv scien levee aids ida E Melee 3 49 138 Program file version mtsmatch 3 50 139 Can t activate while program running assrenonvvnrnrrvnnnrnnnn vener rennnrnrnn urene nenrnnnneennnnnennenrnrreennrnnsnnneeenn 3 50 140 No programs are active mein ende rumenske EEEE 3 50 141 System Error pSOS NK 3 50 142 Mapper invalid operator eenen aN Ennen NEENA NENNE HAAKANA NEENA EEn 3 50 143 Mapper too many operatong 3 50 144 Mapper invalid register rrrnornnnnnnornrrnnnnrnnrannvnnnnnannvnnnannnnnnannnnnnnnnnnnnannnnnnnannnnennanneneenunnenen 3 50 145 Mapper invalid bit or mask rrennnonnronnnonnrrnnnnnnrrnnnnrnnrrnnnennrrnnnennrrnnssnsrrnnnsensrrnnsensrnnnsensrrnnsensrnnneenn 3 50 146 Mapper register is read on 3 50 147 Invalid Unit Tun 3 50 MB VME Bus TE EEE 3 51 149 VME Communication Handshake Error Di 3 51 150 Invalid Download Block A 3 51 151 Unit D Invalid VME Base Address Page ssssssissesirsssrrssrrrssrirnssttrnnstinunstinnnntnnnnntennnntnn nnt 3 51 ele RE 3 51 153 Waiting for Service channel 3 51 154 List or String is too Short 0 eeete esse eeeececeeeceenaeeeenaeeeeeeeaaeseaeessaaaesnaeeseaaeseaaaeseaeeeeaeseeaaeeeeeaeee 3 51 155 List of String is too JONG eege A ee eee 3 51 156 PC Communication Handshake Error 3 52 157 I O Mapper Max file size o
217. when errors are issued within Status Refer to Figure 2 12 CLC Drive Parameter Editor screen CLC Drive Parameter Editor SIME Parameters Oscilloscope Help Load Default Parameters Transfer Parameters Scan for SERCOS Drives Exit Figure 2 13 CLC Parameter Editor File Menu Transfer Parameters This menu item uploads parameters to a file for archiving or viewing and downloads archived parameters from a file to the selected drive Note This option only transfers the parameters for the servo drive it does not transfer any other CLC parameters Drive Parameter Transfer Operation type Upload file from drive for viewing Upload file from drive for archiving C Download to drive archived file T Include cams Drive Number 1 Figure 2 14 Drive Parameter Transfer screen Each drive has one parameter set that can be transferred Any operation within this screen requires a drive number before proceeding The parameter set for the selected drive other than the drive containing the CLC card is transferred through the SERCOS communication ring Parameters may be uploaded in one of two formats Uploading for archiving saves the file with the prm file extension in the RPROJECT SAVESET directory with the data in the proper format for downloading to the drive Uploading for viewing saves the file to the same sub directory as a text file P incramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualM
218. witch Override Hand Wheel Options Menn Icon Palette Coord s g Icon Palette BIR Icon Palette Single Icon Palette Utility Oscilloscope rrvrrvrrvnr Override OVELVIEW erer csscsnsavssessestestesarsineiees P PANIC position srernrrrrnrnrrvrnenrerreensense Parameter Menu PC 104 Interrupt Selection 1 26 PC 104 Memory Address Selection 1 26 Phase synchronization 1 12 LN RE 2 18 PUGS E 2 18 Points 5 5i50350855 2 18 Program flow sosnornnnnrvernernnvnevernernesne 2 6 Program Management 2 3 Program Management screen 2 3 Program Menu 5 27 R Register Menu Registers Registration esnrrvrnonrorrnenervrernnersenee Relative Table Replacing the battery av Robot Jog Menu 5 40 RS485 Converter s es 4 6 S Safety Concept o s icicsectesscissversevesstevies 5 4 Security Menu eg Sequence Edit Menn 5 29 Sequence List Menu eee 5 28 Sequencer SERCOS Serial Commumcatons 4 6 Serial Event Serial Port Serial Port X27 a Serial Port XL DOK VISMOT VM 06VRS WA02 AE P 03 99 E Indramat 6 6 Index E Indramat SERVER Topic Name we 4 14 Service Name sss sisisecsvevsi fetecsisieietsdieasscks 4 2 Setup Menu oo ec eeeee eee 2 7 Card Selectpon 2 7 2 8 CLC Serial Ports Configuration eee Coordinated Moon 2 7 Il
219. ys operate with e 8 bits per character e 1 stop bit e no parity For configurable communication settings refer to Table 1 1 on page 1 14 DOK VISMOT VM 06VRS WA02 AE P 903 99 E Indramat 1 20 Introduction and Overview VisualMotion 6 0 CLC P01 1 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 bus extension 0000000000000000000000000 0000000000000000000000000 2 x MC68EC020 X27 D sub 9 pin serial interface X28 D sub 9 pin serial ccm UIT fc Jumpers 1 Card amp Bus Address Jumpers PC Interrupt Jumpers Figure 1 16 CLC P01 1 jumper location Jumpers S5 through S7 set the PC interrupt Only IRQ2 default can be used PC Interrupt IRQ2 IRQ9 IRQ3 IRQ5 Table 1 4 CLC P01 1 IRQ settings E Indramat DOK VISMOT VM 06VRS WA02 AE P 03 99 VisualMotion 6 0 Introduction and Overview 1 21 Jumpers S8 through S11 set the base address of a 16K memory segment in the Host s RAM This memory space is used to exchange information between the CLC and the Host Card Number CH Table 1 5 CLC P base address jumper setti

VisualMotion 6.0

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