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TRANS 01-D 05VRS Motion and Logic Control System

1. Figure D 8 CLC D TVD DDS MDD Interconnection Diagram Sheet 2 of 4 D 8 Drawings DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID ie ACTA TRANS 01 D DRAWING NUMBER NOT AVAILABL ON REXROTH 2 i i v ED W IEND HE MDD Figure D 9 CLC D TVD DDS MDD Interconnection Diagram Sheet 3 of 4 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Drawings D 9 TRANS 01 D IID ie ACTA REPRINTS PROHIBITED THIS DOCUMENT FOR CUSTOM ESTATES IL HOFFMAN REXROTH INDRAMAT DRAWING NUMBER Figure D 10 CLC D TVD DDS MDD Interconnection Diagram Sheet 4 of 4 D 10 Drawings DOK CONTRL TRANSO01D RM ANW2 AE E1 44 INDRA DIAL Index 101 SERCOS Error Code xxxx xxxx Error code B 1 102 Invalid Parameter Number B 1 103 Data is Read Only B 1 104 Write Protected in this mode phase B 1 105 Greater than maximum value B 1 106 Less than minimum value B 1 107 Data is Invalid B 1 108 Drive was not found B 1 109 Drive not ready for communication B 1 M0 Drive is not responding B 1 111 Service channel is not open B 1 112 Invalid Command Class B 1 113 Checksum Error xx xx checksum that CLC calculated B 1 114 Invalid Command Subclass B 1 115 Invalid P
2. REXROTH INDRAMAT _ HOFFMAN ESTATES G NUMBER NAME DA REV JA NAM C O R ART NUMBER C MARTINEZ NTS PROHIBITED THIS FOR CUSTOMER USE ONLY NOT TO R AS REFERENCE COPYRIGHT LAW Figure D 1 TRANS 01 D Inputs Outputs DEA 4 1 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Drawings D 1 TRANS 01 D INDRA DIZAL OUT 9 INPUTS OUT 10 OUT 11 OUT 12 OUT 13 OUT OUT 0 5mm LG YEL GRN 0 5mm SHIELD COMPLETE C REXROTH TRANS 01 D INPUTS OUTPUTS DEA 5 X INDRAMAT HOFFMAN ESTATES INFO NAME DRAWN onu B C MARTINEZ BY D 2 Drawings LAW NOT TO BE Figure D 2 TRANS 01 D Inputs Outputs DEA 5 X DOK CONTRL TRANSO1D RM ANW2 AE E1 44 COPIED OR RELEASED REFERENCE COPYRIGH IID io ACTA TRANS 01 D NG NUMBER ES of gx x E wO LE Figure D 3 MT25W Outline and Dimensions DOK CONTRL TRANS01D RM ANW2 AE E1 44 Drawings D 3 TRANS 01 D IID io ACTA FSMAconnector 2 2 IN 418 6 0 IN 426 fiber optics inter
3. INCREMENTAL LINEAR ENCODER Figure 3 4 Adaptive Depth Hardware Arrangement Programming Example At Z 10 the TRANS 01 D takes a snap shot of the deflection on the EE This will be taken into account F90 G61 210 F100 when the EE is to position 0 5 units Block N012 G90 G62 220 F200 G90 G62 227 F50 M22200010000 At Z 27 the TRANS 01 D expects to see G91 Z 5 F10 M22200010001 deflection on the EE greater than 50 micro FO 20 M22210010000 JS000 meters and less the value in TRANS 01 D 31 Linear Encoder Pre limit JC005 001 Z0 F100 M00010000000 JS000 TRANS 01 D moves a depth of 0 5 units on the EE from the EE s position at NC block 10 Figure 3 5 Jump On Event Programming Example and Program Sequence Whatever the amount the encoder is deflected e g by as it begins to execute NC block N012 the TRANS 01 D will move the axis a distance of 0 5 A under adaptive depth control to equal 0 5 total linear deflection at the end of NC block N012 Note If motion on the probe occurs after the G62 command preceding the G08 has been issued but before the probe has come in contact with the part then this positional variation will not be accounted for by the TRANS 01 D But this error will be accounted for once the probe moves onto the part unless there is physical damage to the EE DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 13 TRANS 01 D 3 14 Contents I
4. 4 31 Aa05 G ar Ratio 22e nur nier ee nains dr eave en inter 4 32 Aa06 Overtravel Limits issues 4 33 Aa07 Bipolar Torque Limit sise 4 34 AaO8 AXIS GUS ech cess ar nent nr nee Na Na ere da ed ea ne nine ne 4 35 TAN OL t 11 percep a nn E IE ENT ETTE E E EEE ner E E tee in een rest 4 36 Aalto Speeds EAN nn in in en At Hire Mini 4 37 Aa DIF COnNS Es ad Rare ne enter ren Ti een seni Tente airs plate 4 38 Aate Homing Reference at Gia ateliers 4 39 Aait3 Referente Positiotcdessicccesscstecechshcedacsiieieveiceca ntm ere nn n ne seed aussngscvbincacnansieatenticeenenyigatensene 4 40 Aai Overload Factor c ccic date nm ter la here nt ee ee ania han red 4 41 Aat5 Maximum Tool Correction sise 4 42 Aate AXIS AF SWING A eatoni eaaa aaa daad ead Aena ee nt Ten re ns a 4 43 Aat 7 Control Windows a iniii nie mn lier depi eadar a dadaa laada kiap riada ras nt 4 44 DOK CONTRL TRANS01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa18 External Encoder Control Window ss 4 45 Aai9 Deactivate Absolute Encoder Function 4 46 Aa20 Maximum Speed to Positive Stop siens 4 47 Aa21 Positive Stop Torque run ied ined teed andere aN arte ester dde ee 4 48 Aa22 Home to Stop Distance 88e ideo dater ann Gai ant elite eatin 4 49 Aa30 Maximum Speed for Adaptive Depth us 4 50 Aa31 Linear Encod r Pre Limit vic eresse aiie ndh dette vende dii 4 51 Aa32 Linear Encoder Maximum Deflection cecccccc
5. 1 0 Registers S Binary Forcing State X Current State in Hexadecimal Input Output Registers B 6 Direct ASCII Communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ACTA TRANS 01 D B 4 Drive and CLC TRANS 01 D Parameters and Subclasses The CLC TRANS 01 D System Axis Task and Drive parameters follow the same general format The subclasses are data elements data name units etc as specified in SERCOS CLC TRANS 01 D parameters include system configuration data that is entered during the configuration of the system as well as continuously updated system status values and messages that monitor system operation e CLC TRANS 01 D card parameters are accessed using parameter set C1 e CLC TRANS 01 D axis parameters use the parameter sets A1 through A4 e DDS drive parameters are accessed using parameter sets D1 through D4 e CLC TRANS 01 D task parameters use the parameter set Task C Additional information on the parameter sets can be found in the section on CLC TRANS 01 D Parameters in this manual and in the DDS 2 Drive and SERCOS manuals For example gt 1 CP 1 122 S cs r n _ number _ set Axis Task or Drive Address _ subclass Parameter data name Text High or Low limits Attributes _ class type of parameter Parameter Data Subclass Name Text Subclass Units Text Subclass The P subclass specifies the actual parameter data sent and received in ASCII forma
6. Torque threshold The required torque threshold value is entered here specified in The smoothed torque actual value is checked in the drive as to whether it has exceeded this value Torque is not limited If the threshold is exceeded bit 3 of S 0 0013 class 3 diagnostics is set and once the value drops below the threshold cleared This bit is not currently monitored by the Trans 01 D Power threshold The value of the power threshold is set here specified in W The DC bus output is checked in the drive as to whether it has exceeded this value The output is not limited If the threshold is exceeded then bit 7 of S 0 0013 class 3 diagnostics is set and once the value drops below the threshold cleared This bit is not currently monitored by the Trans 01 D S 0 158 corresponds with restrictions to parameter P Q R S 19 LOAD LIM in conventional main spindle drives See applications description of AC main spindle drives for functional description and programming Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 57 TRANS 01 D IID io ACTA SP7 Ramp RPM1 nnnnnn Enter the numerical value for the data Access Method Identification Permissible Values
7. DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 1 0x08 Bus length of the process data chan in bytes 2 oxeF tstbyteonbus 5Fot 3 ox0t istbyteonbus i5F91 4 0x00 Subindex of object 5F91 always 00 5 0x00 2nd byte on bus object 5F91 Word 6 fowo 2nd byte on bus object 5F91 Word Subindex of object 5F91 always 00 e 0x6F ardbyteonbus 57e 3rd byte on bus 5F92 Table C 3 Default data contents of object 6000 in interbus S Process Data Output Description with Object 6001 The process data output description is stored in object 6001 This description contains a copy of the position and the number of the output words on the bus The structure is the same as the process input data description in object 6000 The description relates to the following default configuration Example Default configuration in Interbus S CIN comin s arse srom ro Table C 4 Default assignment of the process data channel in Profibus DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 5 TRANS 01 D IDR ARIAL Bus length of the process data chan in bytes 1st byte on bus 5FB1 Table C 5 Default data contents of object 6001 in Interbus S Monitoring the Process Data Channel of the Fieldbus Cards C 6 Interbus Fieldbus Interface Data transmission via fieldbusses is generally error free If data is transmitted from master to slaves it is subjected to extensive ch
8. Access Method Identification Permissible Values Visual TRANS P 0 1209 0 30 000 rpm This parameter is the changeover speed from P I GAIN 1 to P I GAIN 2 Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 63 TRANS 01 D TND ACTA SP13 POS Gain SP13 POS Gain nnnn nnnn Enter the numerical value for the data Access Method Identification Permissible Values When a spindle positioning command P is programmed in the user program this parameter sets the position loop gain that will be used for that positioning when this parameter set is active A POS Gain value of 16 6 corresponds to a position loop gain of 1 The drive converts this position loop gain into the proper gear ratio for the motor Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 64 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIAL SP14 PQ Functions DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D FUNCT Bit 0 Positioning n SP14 PQ FUNCT Bit 2 I Gain A
9. nnnnnnn Enter the position you want to use as your Home reference position UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 CT mo In many cases some position other than the home position such as the centerline of the slide is used as the reference position as shown in the following diagram All programmed distances are then specified in reference to this point Enter either 0 or the distance from Home to the location to be used as the reference position into this parameter positive or negative The value entered into this parameter will be summed with the value in the Homing block axis word At the end of the Drive Controlled Homing procedure this value will be displayed homing dog home switch 7 ballscrew Reference Position 24 0 inches Home machine zero Entering a value in this parameter will not cause any motion at the end of the Homing cycle Only the position displayed will change Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 35 TRANS 01 D Aa14 Overloa
10. 3 4 Programming Examples This section first describes the procedure for displaying a program NC Block without changing it This can be done from the CTA 10 The following paragraphs describe procedures for entering a program This requires that the Program password be used to enable Program Entry Edit Mode Note that values must be entered for all parameters before an application program can be entered Display Program Blocks 3 34 Contents Use the following procedure to step through and display the NC Blocks of a program 1 You must select Manual Mode selected from the CTA 10 Block display can occur while the unit is operating but you can only examine the various lines within a NC Block while that NC Block is being executed When execution is complete the next NC Block comes up in the display 2 Establish communication between the CTA 10 and the selected TRANS 01 D 3 Press the N key on the CTA 10 The following screen will appear Programming Mode Vins Program Entry D2 Review Se ESC 4 Select 2 Review by typing the number 2 i e select corresponding number on left of display or arrow down to the desired option Selected line begins flashing and press ENTER If you make an error while entering the NC Block number press ESC Escape this returns the CTA 10 to the previous screen 5 The next screen requests which NC Block number is to be viewed Block Number 6 Enter which e
11. IDR ARIAL 148 VME Bus Error B 3 149 VME Communication Handshake Error D B 3 150 Invalid Download Block B 3 151 Unit D Invalid VME Base Address Page B 3 152 Axis Disabled B 3 153 Waiting for service channel B 3 154 List or String is too short B 3 155 List or String is too long B 3 156 PC Communication Handshake Error B 4 157 Mapper String D string space is full B 4 158 Cannot store cam already active for axis D B 4 159 SERCOS handshake busy timeout B 4 160 Executable program is too large ddk B 4 161 System Memory Allocation Error B 4 162 Cam X data is lt 0 or greater than 360 B 4 163 X Column does not start at 0 or end at 360 B 4 164 Not supported in user prog file version 1 1 B 4 165 Sequencer invalid sequence D B 4 166 Sequencer invalid step D B 4 167 Invalid function number D B 4 168 Function D not accessible in a step B 4 169 Too many functions are used D B 4 170 Maximum steps per sequence exceeded D B 4 171 Maximum functions per step exceeded D B 5 172 Program does not include a PLS B 5 173 Invalid ABS or REL point index D B 5 Communication Errors B 3 Communication Protocol B 2 conditional jump 3 29 conditional jump input signals 5 8 continuous current 4 40 control windows 4 43 control windows spindle 4 57 CTA 10 1 2 1 displays 2 2 keypad 2 3 tasks 2 1 CTA 10 1 parameter sets 4 5 CTA 10 program cycle interrupted 6 15 DOK CONTRL TRANSO1D RM ANW2 AE E1 44
12. NOOO DWELL TIME o4 JR reverse Dre JS jump amp stop 6 E JC condition NOOO DWELL TIME 4 JR reverse gt 5 JS jump amp stop 6 JC condition NOOO DWELL TIME 4 JR reverse a J jump amp stop D6 JC conditio NOOO DWELL SA jump amp stop 6 condition 7 JReturn Menu 1 allows the input of the dwell time in seconds The time range from 0 01 to 99 99 seconds Enter the decimal point in the proper position or the TRANS 01 D assumes whole seconds If an error is made when inputting an entry error press ESC Escape and re key the data Menu 2 1 appears only if the spindle has been enabled in Process Parameter 2 The subsequent menus are similar to those described in the section titled Positioning When the user has programmed all of the above options the NC Block store button needs to be depressed to save the NC Program Block into memory DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 43 TRANS 01 D Auxiliary Functions 3 44 Contents Menu 1 IDR ARIAL Using the information in the section titled Program Entry Mode select the 3 Aux Function programming NC Block Programming Mode Ts Program Entry gt 2 Review 3 ESC This allows you to program the Auxiliary Inputs Outputs When the output is correctly acknowledged the program progresses to the next NC Block The outputs can be p
13. TRANS 01 D Line Control Interface Guidelines Example Required Sequence of Auxiliary Function Timing 1 Turn on an auxiliary function output 2 TRANS 01 D waits until an acknowledgment is received 3 Turn auxiliary function output off 4 TRANS 01 D waits until an acknowledgment is received then continues its processing Note If the state of an auxiliary output is changed then the change must be acknowledged A change in an acknowledgment must always be preceded by a change in the auxiliary output The system moves at rapid feedrate into position to cut a part and clamps the workpiece during the rapid movement to save time Prior to cutting an auxiliary output is issued to verify that the clamp is down An acknowledgment will allow cutting to proceed Note that if the acknowledgment is issued as soon as the clamp is down it may be diagnosed as a fault It must not be given until the TRANS 01 D requests it via auxiliary output and the clamp is down In your programmable controller we suggest use of a contact which is closed when an auxiliary output is issued By placing this contact in the ladder rung where the associated acknowledgment is generated you enable the acknowledgment by closing a contact in series with it Thus the acknowledgment never comes on before it is requested and goes off immediately when the auxiliary output is dropped Of course this may not apply in all cases If necessary you can bridge th
14. e read access to parameter objects configured on the CLC as drive parameters but not in the drive telegram as well see parameter S 0 0016 are not supported as a PCP object C 4 Diagnosis on the Fieldbus Interface C 8 Interbus Fieldbus Interface There are a total of three 16 bit objects available for diagnostic handling on the fieldbus interface as well as an internal 16 bit field and a diagnostic object The CLC objects 5FF5 and 5FF6 and the fieldbus card internal 16 bit field and object 5FF2 each update two of these 16 bit fields Using these objects the fieldbus master can detect the status of the fieldbus interface of the CLC and the CLC can generate its diagnostic Objects 5FF2 5FF5 and 5FF6 are single 16 bit objects that can also be configured in the process data channel Note For the master to be able to recognize the validity of the process data or interfere in the communications channel at any time at least diagnostic object 5FF5 should be configured in the proces data channel Object 5FFO is an array of all three 16 bit objects and the internal 16 bit field It makes a diagnosis possible with just one data access and offers information about the states 5FF2 and 5FF5 as well as fault codes 5FF6 and the specific fieldbus problem of the slave boards Note Object 5FFO Diagnostic fieldbus can only be accessed via the communications channel because it is an array object DOK CONTRL TRANSO1 D RM ANW2 AE E
15. jae las e at aa on re pe e rene e fia ie iv cho x5 xia ts gt gt x e x a js e a wo x0 x7 C 1 2 Interbus Fieldbus Interface Interface specific Fault code DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL x13 x15 CLC D Diagnosis TRANS 01 D Specification of the fieldbus interface po rts vo ooo o oo oe ooo ooo o foe vo EE oo oe CET ME Table C 8 Fieldbus interface specification Free interference bit Note The single 16 bit fields are transmitted into the following series 5FF6 fault code CLC D 5FF5 status CLC D internal bit field see above 5FF2 status fieldbus The CLC D diagnoses the following interference and faults which can occur in conjuntion with the fieldbus interface and can then prevent a continuous bus communication Interference on the Fieldbus This includes all errors that could lead to the setting of a bus specific interference bit in object 5FFO fault code fieldbus additional 16 bit field The CLC generates the diagnostic no communication via the fieldbus is possible The diagnostic message can be cleared via system input _E C01 03 CLC error clear external communication Communications Interference between CLC and the Interface Card of the Fieldbus If both firmware versions of the CLC D and relevant interface card are incompatible then no internal communication of both slave boards is built
16. Cable Coupling Connector Connector Housing Screws Connector Receptacle Cable Label Heat Shrink Tubing Heat Shrink Tubing Heat Shrink Tubing aja fe r fe fry Je A Jo 1992 Date C O ENT3A IKS 349 Part No 249 908 Drawn 21 11 94 Page Description l IKS 349 Norm Drawing Number l 209 0050 4801 00 349 2 INDRAMALU Rev for 209 0050 4801 00 349 1 Per E C O Repd By Per E C O Figure D 6 IKS 349 Cable Appvd REPRINTS PROHIBITED THIS DOCUMENT IS FOR CUSTOMER USE ONLY NOT TO BE COPIED OR RELEASED REFERENCE COPYRIGHT LAW D 6 Drawings DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TRANS 01 D ORDER AR TA MYT LHOIHAdOD AT3LVNILTN 38v SLNAN OS HISNNN Luvd IVWVYHONI HLOUX 2t Figure D 7 CLC D TVD DDS MDD Interconnection Diagram Sheet 1 of 4 Drawings D 7 DOK CONTRL TRANS01D RM ANW2 AE E1 44 TRANS 01 D IID ie ACTA LAW RELEASED REFERENCE COPYRIGHT ONILYNIWYS ENT FOR CUSTOMER USE ONLY NOT TO BE COPIED OR PROHIBITED THIS DOCUM REPRINTS REXROTH INDRAMAT
17. When a DIAX01 TDA KDA or RAC series drive is connected to the Trans 01 D system to be used as a spindle drive the screens shown above will be displayed to allow the user the ability to chose which of the available parameter sets they want to enter data into Either a0 1 2 3 4 5 or 6 may be entered here User Selectable Parameter P Q R and S Sets The User Selectable Parameter sets are programmed by the user to configure the DIAX01 drive to adapt its operation to a particular application These parameters sets are identified by the letters P Q R and S The User Selectable Parameter sets are designated as SPx SQx SRx And SSx For additional information on the use of the additional parameter sets contact an Indramat Applications Engineer Note The only User Selectable Parameter set available for Trans 01 D firmware version 5VRS is the P set The Trans 01 D will default to this set for normal operation General Parameter and Motor Parameter Sets 4 50 Contents The General Parameters also referred to as the A parameter set are used to define operating modes and limits The General Parameter set is designated as SAx The Motor Parameters also referred to as the M parameter set are used to define the particular 2AD motor type interfaced with the DIAX01 drive These parameters are factory set and do not require field user modification The Motor Parameter set is designated as SMx After you have chosen the approp
18. gt the data object is supported in the communications channel 1 gt the ata object is not available via the communications channel Interference bit for Access to data objects 0 gt the access to data object was correct 1 gt incorrect access to data object write request cannot be read Interference bit for Write Request with data exchange objects 0 gt access to data exchange object is correct 1 gt a write request is still active via a data exchange object meaning that a new access is not permitted This conflict can only occur in a multi master system Interference bit for Read Request with data exchange objects 0 gt access to data exchange object is correct 1 gt the data for the read request via data exchange object have not yet arrived Posible causes are interference in slave system faulty receiver address in data telegram see point y4 the read request was too early e g with P 0 0072 In the last case the read request must be repeated Interference bit for Data content in data exchange object 0 gt the data telegram has been sent to the correct recipient 1 gt the receiving address in the data telegram protocol does not agree with the physical bus address The telegram is discarded No reaction telegram can be read see point y3 Free interference bit DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 1 1 TRANS 01 D IDR ARIAL Bit Assignment o
19. there is no timeout If you suspect a problem check for e a broken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 702 ACKN INPUT 2 WAIT OFF Status message The machine function controlled by Auxiliary Function 2 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 2 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 703 ACKN INPUT 2 WAIT ON Status message The machine function controlled by Auxiliary Function 2 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 2 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout If you suspect a problem check for e a broken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 704 ACKN INPUT 3 WAIT OFF Status message The machine function controlled by Auxiliary Function 3 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 3 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout If you suspect a problem check for e a stuck or shor
20. 107 Data is Invalid B 1 108 Drive was not found B 1 109 Drive not ready for communication B 1 110 Drive is not responding B 1 111 Service channel is not open B 1 112 Invalid Command Class B 1 113 Checksum Error xx xx checksum that CLC calculated B 1 114 Invalid Command Subclass B 1 115 Invalid Parameter Set B 1 116 List already in progress B 1 117 Invalid Sequence Number B 1 118 List has not started B 1 119 List is finished B 1 120 Parameter is a List B 1 121 Parameter is not a List B 2 122 Invalid Variable Number B 2 123 Insufficient program space B 2 124 Maximum number of files exceeded B 2 125 Invalid program header B 2 126 Checksum Error in Program B 2 127 Invalid Program Handle B 2 128 Function not Implemented B 2 129 File not Found B 2 180 Invalid I O Register B 2 131 Invalid Table Index B 2 182 Communication Error 32 B 2 183 Invalid Data Format B 2 134 Active program can t be deleted B 2 135 Parameter mode is required B 2 136 Invalid Event Number B 2 137 Invalid Event Function B 2 188 Program file version mismatch B 3 189 Can t activate while program running B 3 140 No programs are active B 3 141 System Error pSOS XXXX B 3 142 Mapper String DD invalid operator B 3 143 Mapper String DD too many operations B 3 144 Mapper String DD invalid register B 3 145 Mapper String DD invalid bit or mask B 3 146 Mapper String DD register is read only B 147 Invalid Unit Number B 3
21. 779 Adaptive Depth not configured for Configuration Error Program block contains an adaptive depth this axis positioning G08 command but Adaptive Depth is disabled in Axis Parameter Aa01 Special Functions e Change Special Functions parameter value for Adaptive Depth from 0 to 1 780 Maximum Adaptive Depth feedrate Programming Error Programmed feedrate is greater than value in Axis exceeded Parameter Aa30 Maximum Speed for Adaptive Depth Program is halted e Decrease programmed feedrate or increase value of Maximum Speed for Adaptive Depth 781 Maximum Adaptive Depth Programming Error Programmed distance for adaptive depth positioning deflection exceeded move G08 is greater than the value in parameter Aa32 Linear Encoder Maximum Deflection e Reduce the commanded programmed distance 782 DIAX02 drive required for TRANS 01 D cannot execute a program block that contains a G75 or G69 Feed Home to Positive Stop command because axis drive is not a member of the DIAX02 family 783 Target position falls within blend Programming Error While the TRANS 01 D attempts to execute two radius consecutive positioning moves without lag G62 the second feedrate is not sufficiently slower than the first feedrate and axis never reaches the first commanded position e If this error occurs use the following rule of thumb to reduce the second commanded feedrate Frext lt 15 x Forevious 784 Cannot Enable Axis while in Programming
22. Home Switch Monitoring etc DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 3 TRANS 01 D IDR ARIAL Axis Enable and Disable G20 G21 3 4 Contents If the machine process requires the servo axis to be enabled and or disabled during the process the G20 G21 commands allow this enabling disabling to be done under part program control This adds greater control and flexibility for the axis being used The G20 and G21 commands are available for all types of axis in the TRANS 01 D system When the user programs the specified axis with a G21 command the axis will be disabled The status of the servo drive will change from AF enabled to Ab ready for operation but with no torque on the motor This disabling will remove the current flow to the servo motor The axis is still monitored in the TRANS 01 D system but no additional motion commands can be given to the disabled axis or an error will result To program the Axis Enable Disable commands the entered G code either G20 or G21 must be followed by the axis to be enabled disabled Ex NO21 G21 X0 A numerical value must follow the axis designation X Y or Z or the TRANS 01 D program syntax checker will issue an error However the numerical value following the axis is ignored by the TRANS 01 D during program execution The same program syntax must be followed for the G20 command Subsequent program blocks can be executed using the other axis in the system while an axis is disabled
23. It is good practice to always enter a feedrate in a NC Block unless program operation dictates a NC Block without a feedrate Feedrate values are modal If a feedrate is programmed in a NC Block it will be used for any positional moves in each subsequent NC Block unless the feedrate is changed in a subsequent NC Block Feedrate values up to the rapid speed parameter s value Ax10 may be programmed A dwell is programmed to allow time for some action to occur such as a dwell programmed after a forward cutting motion to allow a drill to clean the hole and prevent burrs Dwell times can be programmed from 0 01 to 99 99 seconds Tool Corrections NC Code T 3 22 Contents The TRANS 01 D includes a feature which allows programmed corrections to be entered to compensate for changes in the tool or part dimensions Program entry is in a two digit tool correction register which has an associated correction or compensation value Ten 10 Tool Correction registers are available per servo axis plus additional registers for External Tool Correction The registers for each axis are X axis T10 T19 External Register TO1 Y axis T20 T29 External Register TO2 Z axis T30 T39 External Register TO3 The values in registers Tx1 Tx9 per axis can be either positive or negative Positive values will be assumed if no sign is entered along with the registers value These values can be entered through the CTA 10 keypad or through the RS232 po
24. This number is set using the two rotary switches mounted on the DSS 1 3 card that is plugged into the digital drive U1 slot The top switch is the first digit and the bottom switch is the second digit For drive number 03 the top switch would be set to 0 and the bottom switch would be set to 3 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa01 Special Functions Feed to Positive Stop Aa01 Special Function Enables 1 Positive Stop Dis Adaptive Depth n Enter a 1 here to enable Feed to a Positive Stop or a 0 to disable Feed to a Positive Stop Access Method Identification Permissible Values Visual TRANS A 0 0301 bit 1 0 i e XXXXXXXXXXXXXXXO positive stop not available bit 1 1 i e XXXXXXXXXXXXXXX 1 positive stop available CTA 10 Aa01 0 positive stop not available 1 positive stop available Po Default positive stop not available When this screen comes up the cursor will be blinking in the lower right hand corner of the display If the programmer will be required to program the TRANS 01 D to position or home against a positive stop this parameter must be enabled When this parameter is set to a 1 the programmer will be able to call up programming functions G75 and G69 in their user program If this bit is set to 0 the user will not be given these commands as an option when programming block functions The programmer will have the ability to select more than one
25. This parameter sets the direction the motor will turn when it receives the speed S command in a program block If this bit is set to a 0 with a positive speed command the motor will turn clockwise CW If this bit is set to a 1 with a positive speed command the motor will turn counter clockwise CCW Positioning This parameter sets the direction the motor will turn when it receives a positioning P command in a program block If this bit is set to a 0 with a positive position command the motor will turn clockwise CW If this bit is set to a 1 with a positive position command the motor will turn counter clockwise CCW Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 74 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SA8 Resolution of External Feedback SA8 Resolution of Ext Feedback nnnn n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0117 3 8192 lines per revolutions LPR If the DIAX01 drive system will be using an external feedback device for spindle positioning the resolution value for the attached external feedback device must be entered here This information is typically found in the machine docume
26. but the disabled axis cannot be programmed with any additional motion blocks until the axis has been re enabled Note For information specific to Clamping a rotary axis using G20 and G21 refer to the Rotary Motion Control section DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Basic Homing Program When incremental feedbacks are used a homing program for travel to the reference position is required at NC Block 195 It must conform to the following requirements 1 No instruction for travel to a particular position is permitted if there is no prior instruction for homing 2 The program must always contain a Homing instruction Block 195 is Default NC Block 3 The program must always be terminated with a Jump To Block 000 And Stop instruction The simplest such program in NC Block 195 could be Homing at a feedrate of 100 UPM Units per Minute with a Jump to Block 000 and Stop Note Absolute feedbacks when used in TRANS 01 D systems do not require homing but any profile used to return the axis to its home position should begin in Block 195 N195 G74 Z0 000 F100 JS 000 Block 195 D efaulkNC Block for hom ing program Hom ing command Zero offset 0 Feedrate 100 UPM J specifies Jum p S specifies Stop TargetNC Block 000 Figure 3 1 Simple homing instruction The homing program must be designed so that safe retraction is possible under any condition including
27. bytes To avoid this error the host must communicate in half duplex or use XON XOFF handshaking correctly 176 Invalid Block This message is reserved for the TRANSO1 D version of the CLC TRANS 01 D See the documentation for this version 177 Can t save Sequencer data can only be save while the program is sequencer while it is not running or while no user tasks are running a running sequencer 178 Service channel in The SERCOS service channel is being used by a user use program task or by a CLC TRANS 01 D internal process and has suspended the transmission of a list or text string See the description of parameter C 0 0010 bit 12 179 PID block number This error is issued when the selected PID block is not does not exist initialized in the user program B 22 Direct ASCII Communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D C Interbus Fieldbus Interface C 1 Introduction This section describes the Interbus S fieldbus interface of Indramat s CLC D control card Topology The serial fieldbus interface is operated via a plug in card as a fieldbus slave The firmware of the plug in card implements the bus level for a slave coupling and exchanges data with the CLC via an internal dual port ram Slave circut CCD box Master circuit with PC Interbus S card A Profibus SERCOS interface fiber optic cable ring SY4FB138 Figure C 1 Topological Structure of Master Slave Communicat
28. end forward cycle See forward cycle End of Message B 4 end of program 3 3 Erase All Forcing Masks RE B 4 Error Handling A 5 Error reaction C 7 E stop circuit 5 16 F failure power spindle braking 4 69 fault clear signal 5 6 feed constant 4 26 feed to a positive stop 3 11 feed to positive stop 4 21 feedback devices external distance coded linear scale 3 16 feedrate 3 22 first positioning 3 3 Format of Data Sent to the CLC B 5 forward cycle enable forward 5 3 end with reverse vector 5 5 forward signal enable forward signal 5 5 manual mode signal 5 5 function enables See special functions G GOO 3 10 G01 3 10 G04 3 22 6 15 G08 3 12 function enable 4 22 max deflection linear encoder 4 51 maximum speed 4 49 pre limit linear encoder 4 50 resolution linear encoder 4 52 G20 3 4 axis clamping 3 20 Index 7 TRANS 01 D 8 Index G21 3 4 axis clamping 3 20 G36 3 19 G37 3 19 G38 3 20 G61 3 10 G62 3 10 adaptive depth control 3 13 jumps 3 29 programming 3 12 G69 3 7 function enable 4 21 home to stop distance 4 48 homing reference 4 38 maximum speed 4 46 G74 3 6 distance coded linear scale 3 17 rotary operation 3 18 G75 function enable 4 21 maximum speed 4 46 programming 3 11 G76 programming 3 11 G90 3 10 rotary operation 3 19 G91 3 10 rotary operation 3 19 Gain RPM spindle 4 67 Gain1 spindle 4 65 Gain2 spindle 4 66 gains axis 4 34 gear ratio 4 26 4 31 gear ratio spindle 4 60
29. for reading or writing 126 Checksum Error This message is sent at the end of a download if the in Program checksum of the data does not match the checksums sent in the program or program header 127 Invalid Program The format of the handle is incorrect or this command is Handle not available for reading or writing 128 Function not The function is not implemented in this version of the Implemented CLC TRANS 01 D 129 File not Found A program corresponding to the requested program handle was not found e g the program is not resident in the CLC TRANS 01 D 130 Invalid I O The I O register mnemonic is invalid or a register Register number greater than the maximum number of registers was sent 131 Invalid Table The ABS REL or EVT table name was incorrect or the Index index number was greater than the maximum number of points or events 132 Communication This error is not used by the CLC TRANS 01 D at this Error 32 time 133 Invalid Data The format of the data received by the CLC TRANS Format 01 D is invalid e g non digits are sent in a decimal number 134 Active program The active program cannot be deleted at any time can t be deleted 135 Parameter mode The action requested can only be performed in is required Parameter Mode 136 Invalid Event The event number selected in the ABS or REL point Number table is out of the range of the total number of events 137 Invalid Event The function name selected in the e
30. languages When a language is selected the information given by the TRANS 01 D will be given in the selected language This also includes the information given by the digital servo drive when used as extended messages When English and German are selected all information will be in the language selected Selecting French will give all System messages in French All information received from the servo drive will remain in English or German When the Numeric or ENTER key is pressed the TRANS 01 D will store the option and automatically step to the next parameter DOK CONTRL TRANS01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D P08 Maximum Path Speed P08 Max Path Speed nnnnnn nn UPM n nnnnnn Enter the speed to be used for the specified function Access Method Identification Permissible Values CTA 10 P08 0 9999999 Note When setting task parameter values keep in mind that Task C is the only valid task in the TRANS 01 D The values entered in this parameter will be used as the speeds for the various functions specified Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 13 TRANS 01 D INR ACTA P09 Maximum Path Acceleration P09 Max Path Acceleratio
31. of JROOO which indicates the end of the forward profile full depth program execution halts and this input will be ignored At this point the Return input should be activated to perform the return reverse profile When first pressed the FORWARD button will be effective only when the slide is in the Home position and the correct program and zero references are present Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 5 Reverse Signal Generally wired to a push button which is usually labeled RETURN REVERSE or RETURN TO HOME The unit must be in the Manual Mode to enable this button While this button is held depressed the transfer unit will jump to block 195 or the current reverse vector and perform its reverse operation as programmed in that block returning to the Home position Releasing the push button stops the movement Pressing the button again continues the operation If this push button is pressed after the control has halted on a reverse vector JROOO end of forward profile see above the control will continue executing the program beginning with the next sequential block If the push button is pressed before a reverse vector JROOO is reached program execution will begin with the block whose number is currently stored in the reverse vector After reset or if no reverse vector is programmed execution begins with block 195 Once the RETURN button has been pressed the other
32. spindle 4 73 zero velocity spindle 4 72 Without Lag Finishing 3 10 jumps 3 29 Writing Data to the CLC B 3 Z zero offset homing 3 6 zero velocity window spindle 4 72 DOK CONTRL TRANS01D RM ANW2 AE E1 44 READER COMMENT CARD AND REGISTRATION FORM We welcome your evaluation of this manual Please complete this form to help us to improve our publications and also to receive notification of revisions to this manual Public ation TRANS 01 D REFERENCE MANUAL Revision B J ANUARY 1998 Please indicate the degree to which each statement applies to you by circling whether you strongly agree agree are uncertain disagree or strongly disagree with the statement 1 The manual is well organized O 2 can find the information want O 3 The index is thorough O 4 The information is easy to understand O 5 The manual is clearly written O 6 Concepts and vocabulary are easy to understand O 7 Examples are clear and helpful O 8 The manual contains enough illustrations O 9 Layout and format enhance the manual s usefulness O 10 The quality of this manual would influence any repeat purchase decision O 11 The scope of the information in the manual meets my needs 00000 Name Company Address Dept City Sate Zip Telephone ___ Comments Technical Documen
33. subclass and data identifiers of the information for the CLC card The strings follow the ASCII serial protocol Refer to Appendix B Direct ASCII Communications for an explanation of these codes When exchanging server data the item name should consist of the section and entry name from the INI file clc_dde ini The two names must be divided by a pipe character Not all server data has read write capabilities RX 0 10 Specifies register 10 in hexadecimal format TP 2 20 Specifies task B parameter 20 CP 1 122 Specifies card parameter 122 SERIAL Baudrate Specifies the baud rate to use for serial connections Note Serial connections directed at different units will be passed through the VME backplane to the proper unit CLC V only This allows communications with any CLC_V card in the VME rack with only one serial connection DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D A 2 The Communication Servers Main Window CLC_DDE displays the unit number and current status for the selected CLC control card To display the status for a different CLC card or to disable this feature open the server configuration dialog box under the settings menu item Select the desired connection unit from the CLC status display combo box When CLC_DDE is in an icon state the tip of the arrow will change colors depending on the communication state A green tip means that the server is actively communicating and a red tip in
34. to position the spindle using the Marker Pulse as its reference and the programmed position as its offset and zero reference Therefore the sign of any position value will be ignored DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Contents 3 27 TRANS 01 D 3 28 Contents IDR ARIAL Because it uses the Homing procedure it will position differently than when shortest path is chosen The differences are listed below Ts Shortest path If the user has chosen shortest path for orienting when the TRANS 01 D executes the spindle positioning command it will move the spindle to the programmed position taking the shortest path less than 180 from its current position Positive direction If the user has chosen positive only for orienting when the TRANS 01 D executes the spindle positioning command it will move the spindle to the programmed position using the Drive Controlled Homing procedure The speed and direction it will use for the positioning will be determined by the values entered into the axis Homing Speed and Homing Direction parameters Because it is using the Homing procedure once the axis is positioned any subsequent positioning command will cause the axis to re home itself to the new position The exception to this is if the subsequent positioning command is to the same position the axis will not re position itself Negative direction If the user has chosen negative only for orienting when the TRANS 01 D executes the sp
35. 0 disabled 1 enabled CTA 10 Aa16 1 disabled 2 enabled This parameter gives the user the ability to program the axis to disable the current flow to the motor of a servo drive during a user program It is used most often on rotary tables where it is necessary to disable the motor while the table is clamped During this condition the display on the digital drive will change from AF to Ab When numeric data is entered the TRANS 01 D will store the option and automatically step to the next parameter See the Section on Programming for a full description on the Axis AF Switching commands 4 38 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa17 Control Windows Aal7 Control Aal7 Control Windows Windows Position Window Monitoring nnnnnn nnnn UM Window nonn n nnnnnn nnnn Enter the values to be used for determining your In position Window nnnn n Enter the value to be used for your Velocity Loop Monitoring percentage Access Method Identification Permissible Values Visual TRANS S 0 0057 0 214748 3647 In Position S 0 0159 Window 0 6553 5 Monitoring Window Serial Protocol DP d 57 Same as above DP d159 Default 0 001 In Position Window 10 Monitoring Window The programmer will have the ability to select more than one option under this parameter When you are at the option you want to enable enter a 0 or a 1 Pressing the ENTER key will step to the next paramete
36. 1 cs r n 2 64 Host continues to send items in list as above 65 To close the list host sends sequence number steps 1 with string having at least one zero gt 1 DB 1 32840 65 0 0 cs r n CLC TRANS 01 D acknowledges end of list gt 1 DB 1 32840 65 19 List is finished cs r n B 12 Direct ASCII Communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D B 6 User Program Variables The CLC TRANS 01 D maintains a unique set of integer and floating point variables for each user program An additional set of integer and floating point global variables is not related to a specific program and may be accessed by any program or device on the bus User variable data can be exchanged between the Host and the CLC TRANS 01 D using the same format as the floating point and integer parameters The current value of a variable is obtained and changed using the P subclass Format gt 1 IP h xx _ number variable table index number _ set Program handle _ subclass P Send receive Data T print text label _ class I Integer Variable F Float Variable G Global Integer H Global Float The user program handle provides access to the variables for any CLC TRANS 01 D resident user program Use the program handle 0 to access the active program s variables P Data Type Floating Point F or Integer I Data in a CLC TRANS 01 D variable table is accessed by supplying the class I or F and the nu
37. 3 1 TRANS 01 D IID io ACTA Aa10 Speeds AalO Speeds Maximum nnnnnnn UPM Aa10 Speeds Rapid Jog nnnnnnn UPM n nnnnn Enter the speed to be used for the specified function Access Method Identification Permissible Values Visual TRANS S 0 0041 0 System Max Homing speed A 0 0020 0 System Max Max velocity A 0 0312 0 System Max Jogging speed A 0 0026 0 System Max Rapid jogging speed Serial Protocol Same as above The values entered in this parameter will be used as the speeds for the various functions specified Homing Speed The speed specified here will be the speed used for Homing if an axis has not already been Homed If no speed is programmed in a Homing block the value in this parameter will be the default feedrate Rapid Speed This will be the maximum speed that can be programmed in any programming block Also if GOO Rapid is chosen as the speed for a program block function the speed entered here will be the speed used for that block Jogging This will be the speed used when the TRANS 01 D jogs this axis in Hand mode The value entered here cannot exceed the Rapid speed or the Jogging Rapid value or an error will result Rapid Jog This will be the speed used when the TRANS 01 D is set to rapid jog this axis in Hand mode The value entered here cannot exceed the Rapid speed or an error will result The axis must be Homed before this function can be used If the axis has not be
38. 4 JR reverse Jump Di J JC jump stop 6 JC Conditio NOOO HOME SE jump amp stop 6 condition 7 JReturn When the user has programmed all of the above options the NC Block store button needs to be depressed to save the NC Program Block into memory DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 47 INDRA DIAL 4 Parameters 4 1 Introduction CTA 10 1 TRANS 01 D Parameters for the TRANS 01 D can be accessed through the CTA 10 interface panel through Visual TRANS a Windows based program or through the Serial communications protocol All of the TRANS 01 D parameters are accessible with each method used Each interface is unique in the way it communicates information to the TRANS O1 D A brief description of each interface is described below The TRANS 01 D must be in Parameter Mode when editing parameter values Many of the parameters that are entered are used for internal calculations and are also used to set other parameter values during the re initializing when the TRANS 01 D system leaves Parameter Mode moves from Phase 2 to Phase 4 Therefore please consult the descriptions in this chapter to determine what parameters are written during this re initialization All range values given in this chapter are relevant to the CTA 10 The TRANS 01 D parameters are divided into three 3 different sets The sets are Process P Axis A and Spindle S The purpose of these divisions is to enable the us
39. AE E1 44 Contents 4 5 1 TRANS 01 D INR ACTA SP1 Positioning Speeds SP1 Positioning Speeds Spindle nnnnnn Search nnnnnn nnnnnn Enter the speed values to be used for the each option Access Method Identification Permissible Values Visual TRANS A 0 0322 Spindle Positioning Speed P 0 1215 Home Switch Search Speed Range depends on drive system Serial Protocol AP 4 322 Same as above DP 4 33983 Spindle The user should enter the speed value to be used for positioning the spindle This value will be the speed used to position the spindle when it is commanded in a program block Search When the Position to Home Switch option is selected in SP14 bit 6 this will be the speed used to search for the Home switch Enter the values to be used for this parameter Pressing ENTER when data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 52 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP2 Control Windows SP2 Control Windows Position nnnnnn Monitor nnnnnn nnnnnn Enter the position tolerance values to be used for the each option Access Method Identification Permissible Values Visual TRANS S 0 0057 0 1 359 92 Position Window S 0 0159 0 169 9 Monitoring Window Serial Protocol DP 4 57 Same as above DP 4 159 Default 0 01 Po
40. ANW2 AE E1 44 Contents 4 29 TRANS 01 D Aa08 Axis Gains 4 30 Contents INDRA DIAL Aa08 Axis Gains Aa08 Axis Gains 1 Set Gains 2 Load Default Gain Loop INT nnn Enter the gain factors to be used for the appropriate axis Access Method Identification Permissible Values Visual TRANS S 0 0104 0 1 29 KV S 0 0100 0 01 s H Proportional Gain S 0 0101 0 6553 5 Velocity Loop Integral Reaction Time Serial Protocol DP d 104 Same as above DP d 100 DP d 101 Default e on attached servo system The screen on the left comes up first asking the programmer if they want to set the gains themselves or if they want to use the standard system gains If the programmer chooses Set Gains the following options are given e KV The position loop gain desired should be entered here Default value is 1 The Ky factor determines the gain of the position loop regulator throughout the entire velocity range e P Gain The proportional gain should be entered here This is a proportional gain only for the velocity loop regulator e V Loop INT The velocity loop integral reaction time should be entered here This value relates the velocity loop proportional gain Kp to the velocity loop integral gain by the ratio K Kp lin Where tn is the velocity loop integral reaction time The definition of tp is the time when the Kj gain equals the Kp gain If Load Defaults is chosen the TRANS 01 D will automat
41. Auxiliary Inputs Outputs When the output is correctly acknowledged the program progresses to the next NC Block The outputs can be programmed in a state of 0 Output turned off 1 Output turned on or 2 Do not change Some of the Aux outputs are acknowledgeable This depends upon the selected I O option Refer to Section 4 Parameters The status of the corresponding input must match the status of the output or an Error or program pause will occur DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Menu 9 Menu 9 1 NOOO POSITIONING Dl No Jump 2 JN uncond She JU subroutine NOOO POSITIONING NOOO POSITIONING 1 No Jump Jump gt 2 JN uncond i JU subroutine NOOO POSITIONING NOOO POSITIONING 1 No Jump Jump 2 JN uncond JU D3 JU subroutine NOOO POSITIONING NOOO POSITIONING b4 JR reverse Jump 5v7 JS jump stop 6 E JC condition NOOO POSITIONING NOOO POSITIONING 4 JR reverse Jump gt 5 JS jump stop JS 6 JC condition NOOO POSITIONING NOOO POSITIONING 4 JR reverse Jump ce JS JC jump stop 6 JC conditio NOOO POSITIONING olen JS jump amp stop 6 TC condition 7 JReturn Menu 9 lists all the possible different types of jump commands that the programmer may select There are seven possible jump statements See the section titled Program Jumps for more detailed explanation on functionality of each jump command Once the appro
42. Connector configuration X4 interface to CLC Explanations input O _ output B _ bidirectional OC open collector TS tristate UN _ rated voltage 5V Signal Configuration X5 Connector on CLC D Card Table C 13 Connector configuration X5 interface to drive card rack DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 1 9 TRANS 01 D LED Diagnostics on the Front Panel Arrangement of the Diagnostics LED LED Diagnostic Definitions C 20 Interbus Fieldbus Interface INDRA DIZAL DBS03 1 Diagnostics The DBS03 1 panel has a total of 8 diagnostic LEDs on the front These enable the diagnostic states between the interbus S ring and communications between the DBS03 1 board and the CLC D Figure C 3 LED diagnostic arrangement e H13A green UL Power source of INTERBUS S drive OK The power source comes from the 5V of DBS03 1 board via the DC DC converter and made available to the galvanically isolated bus drivers e H13B green BA Bus active INTERBUS S Process data transmission active This LED is always on if the master has activated his cyclical data traffic on the BUS e H13C green TR Transmission active If PCP communications are supported on theINTERBUS S ring with this participant then this LED is activated PCP initialization and object structure reading are also evaluated as PCP communications Get OV e H13D green RC Remote Check This LED checks bu
43. Cycle Interface Other inputs and outputs are provided including Conditional Jump input lines Overtravel and limit switch inputs Emergency stop circuit inputs outputs Auxiliary Function outputs Acknowledgment inputs The various signals on the TRANS 01 D interfaces are described below DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 1 0 Functional Description 5 1 TRANS 01 D IDR ARIAL 5 2 1 0 Hardware Configuration and Reconfiguration 5 2 1 0 Functional Description It is not necessary to enable the drive that contains the I O card in order for the TRANS 01 D system to function It is however necessary to specify where the DEA4 and or the DEAS I O card s is are located The TRANS 01 D receives its discrete I O information from the drive into which the DEAx card is installed When it wants to control the I O it sends the command to the drive that contains the I O card via the SERCOS telegram This drive then passes the I O information to the I O card If the I O card is not specified the TRANS 01 D does not know which drive needs the I O information In the case of the DBS3 card there is a daughter card connector between the TRANS 01 D and the DBS3 card The TRANS 01 D sends and receives the I O data through this connector If the you wish to change drive numbers change the SERCOS switch settings you must first disable all of the affected axes and cancel the I O card configuration settings Process Parameter P02 Axis Configura
44. D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 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 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 ES Invalid jog type or This message is issued before a coordinated I jog axis selected when an invalid type or axis is selected 202 Drive xx is not This message is issued before a coordinated I O jog ready when a drive is not enabled 203 Power Lost This function is not currently implemented During Program 204 SERCOS Ring The SERCOS ring was disconnected before a shutdown was disconnected error was cleared The
45. E1 44 IMDR ARIAL 5 8 1 0 Network Signals Input Signals TRANS 01 D When using the TRANS 01 D with an I O network the signals usually handled by the CTA 10 can become available to the user through the I O network By using these signals the user can operate the TRANS 01 D in Automatic Manual or Hand mode by the use of the available signals Input Port 3 Programming Mode Hand Mode 3 Continuous Cycle Single Block 1 2 Reserved Communication Header Enable Cycle Start Cycle Stop Rapid Jog Table 5 20 Input Signals 4 5 7 10 11 12 13 14 15 DOK CONTRL TRANS01D RM ANW2 AE E1 44 Explanation When this input is high the TRANS 01 D will go into Parameter Mode When this input is high the TRANS 01 D will go into Programming Mode When this input is high the TRANS 01 D will go into Hand Mode When operating in Hand Mode this input will cause the TRANS 01 D to run the program continuously even if a Jump and Stop is programmed When operating in Hand Mode this input will cause the TRANS 01 D to run the program one block at a time Each successive block is executed after a new Cycle Start bit 13 is issued Not used at this time Not used at this time See Table 5 22 for description See Table 5 22 for description See Table 5 22 for description See Table 5 22 for description Not used at this time Set this input to a 1 to disable the required Indramat Communications Protocol h
46. H HDD spindle positioning 3 28 HDS spindle positioning 3 28 home output signal 5 11 home position 4 39 home switch 4 38 spindle positioning 4 69 home switch input signal 5 10 home switch monitoring 4 23 home to a positive stop 4 38 home to stop distance 4 48 homing 3 5 positive stop 3 7 positive stop parameters 3 8 reference position 4 39 IMDR ARIAL shortest path for rotary axis 4 37 zero offset 3 6 homing direction 4 37 homing program enable forward signal 5 3 homing reference 4 38 homing request 5 8 homing speed 4 36 I O Binary Forcing State RS B 4 I O configuration PO2 4 11 procedure 5 2 I O Forcing Selection RF B 3 1 0 Forcing State Change RC B 4 1 0 network input signals 5 17 output signals 5 18 1 0 Register Access RB RX RD B 2 I O Register Read B 2 1 0 Register Write B 3 I Gain activation spindle 4 69 I Gain1 spindle 4 65 I Gain2 spindle 4 66 immediate stop auxiliary outputs 4 13 incremental positioning 3 10 input signal conditional jump 5 8 home switch 5 10 homing request 5 8 jump on event 5 9 overtravel limit switches 5 9 spindle enable 5 10 start 5 7 input signals I O network 5 17 Input Output Registers B 2 intermittent current 4 40 Item Name A 2 J JC 3 29 JN 3 29 jogging direction 4 37 jogging speed 4 36 JR 3 31 JROOO DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL end forward cycle 5 5 reverse signal 5 5 JReturn 3 33 JS 3 30 JU 3 33 jump con
47. Home Switch Error Note The functions selected in this parameter will not be enabled until the user has stepped through all of the options in this parameter After moving into the next parameter Aa02 the CTA 10 will enable the options selected If the user exits in the middle of Aa01 the selected functions will not be enabled When using Visual TRANS or Serial Protocol the options will be enabled when the user exits Parameter Mode The programmer will have the ability to select more than one option under this parameter When you are at the option you want to enable enter a 0 or a 1 Pressing the ENTER key will store this parameter and step to the next parameter DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 19 TRANS 01 D Aa02 Units 4 20 Contents IDR ARIAL Aa02 Units Ly ENCRES 2 Millimeters RPM Press the number key or use the cursor control keys to move the arrow to the measuring system you want to use for this axis In this parameter the user specifies which measuring units will be used for this axis Only one unit may be chosen e 1 Inches All programmed distances and destinations will be in inches Feedrates will be in inches per minute All Tool Correction data will be in inches e 2 MM All programmed distances and destinations will be in millimeters Feedrates will be in millimeters per minute All Tool Correction data will in millimeters e 3 RPM Not yet implemented Access Method Identifi
48. List or String is too long B 3 156 PC Communication Handshake Error B 4 157 Mapper String D string space is full B 4 158 Cannot store cam already active for axis D B 4 159 SERCOS handshake busy timeout B 4 160 Executable program is too large ddK B 4 161 System Memory Allocation Error B 4 162 Cam X data is lt 0 or greater than 360 B 4 163 X Column does not start at 0 or end at 360 B 4 164 Not supported in user prog file version 1 1 165 Sequencer invalid sequence D B 4 166 Sequencer invalid step D B 4 167 Invalid function number D B 4 168 Function D not accessible in a step B 4 169 Too many functions are used D B 4 170 Maximum steps per sequence exceeded D B 4 171 Maximum functions per step exceeded D B 5 72 Program does not include a PLS B 5 173 Invalid ABS or REL point index D B 5 74 Error in command execution B 5 175 Comm port buffer overflow B 5 176 Invalid Block B 5 177 Can t save sequencer while it is running B 5 178 Service channel in use B 5 79 PID block number does not exist B 5 0 001 Initializing System 6 2 Index 1 TRANS 01 D 2 Index 002 Parameter Mode 6 2 003 Looking for drives 6 2 004 System is Ready 6 2 005 Manual Mode 6 2 006 Automatic Mode ABCD 6 2 007 Program Running ABCD 6 2 008 Single Stepping ABCD 6 2 009 Select Parameter Mode to Continue 6 2 010 Breakpoint Reached ABCD 6 2 2 201 Invalid jog type or axis selected 6 3 202 Drive D is not ready
49. Manual 1 2 Introduction This is the user s manual for the Indramat TRANS 01 D motion controller In addition to this introductory chapter it contains the following six chapters CTA 10 1 Operation describes the man machine interface that may be used to control the TRANS 01 D Programming describes the available G code functions and the required formats for other program functionality and provides examples of programming with the CTA 10 1 Parameters describes each parameter and the various methods that may be used to modify them I O Functional Description covers the available interfaces to the machine builder s equipment and the power interrupt handling features of the TRANS 01 D Diagnostics describes the various status and other diagnostic messages available on the TRANS 01 D Four appendices are also provided for the CLC DDE Server Direct ASCII Communication Interbus S I O and various engineering drawings DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Introduction 1 3 IDR ARIAL 2 2 1 CTA 10 1 Operation The CTA 10 1 is the human machine interface that connects to the TRANS 01 D s RS232 RS485 port a wiring diagram for this connecting cable is in Appendix A The CTA 10 1 unit requires a 24Vdc supply Performing Tasks with the CTA 10 1 Though not a substitute for a PC a CTA 10 1 provides a convenient means to perform the following tasks e set
50. Object 5F92 can be used Note The Spindle At Home output is not used in the logic for the Home output DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 I O Functional Description 5 11 TRANS 01 D IID io ACTA No System Fault Connector X17 on DEA 4 X Interbus S Object 5F91 Type Output from TRANS 01 D Table 5 17 No System Fault Signal r a In both Automatic and Manual modes loss of the Fault output is indicated when the TRANS 01 D has diagnosed a malfunction This signal indicates that the respective unit is not operational When a fault occurs an operator must determine and resolve the problem utilizing the diagnostic display capabilities of the TRANS 01 D then reset the TRANS 01 D homing the axis if necessary in order to bring it to Ready status once more 5 12 1 0 Functional Description DOK CONTRL TRANS01D RM ANW2 AE E1 44 INDRA DIAL 5 6 Auxiliary Functions Auxiliary Function Outputs TRANS 01 D DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Connector X17 on DEA 4 X Interbus S Object 5F91 C22 Auxtuneton 8 23 Auxtuneions 9 i 13 29 Aux function 9 30 Aux function 10 PF 31 Aux function 11 Type Output from TRANS 01 D Table 5 18 Auxiliary Function Output Signals These programmable output signals are provided by the TRANS 01 D and can be tailored to the user s needs for any additional status signals such as Full Depth In Toolchange Position etc They are also used for clamping spindl
51. PO6 System Options Options 1 Spindle Pos 2 Imm Stop for 2 Imm Stop for Spindle n Select a 0 or a 1 for the option desired Access Method Identification Permissible Values Visual TRANS C 0 0307 0x0000 spindle positioning disabled 0x0001 hoes positioning enabled CTA 10 option 1 not selected spindle positioning disabled option 1 selected spindle positioning enabled ces Default spindle positioning disabled Spindle Positioning When the TRANS 01 D is used to control a spindle selecting 1 will allow the user to program the spindle to a position as well as to a speed When option 1 is not selected the user will not be able to program a spindle position in a program block If a position is programmed in a program block without this option being selected an error will result when the program block is executed Immediate Stop for Spindle Yet to be implemented When the Numeric data is entered the TRANS 01 D will store the option and automatically step to the next parameter DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 11 TRANS 01 D P07 Language 4 12 Contents IDR ARIAL Language German English French 1 2 or 3 Select the option for the desired language Access Method Identification Permissible Values Visual TRANS C 0 0001 0 German 1 English 2 French CTA 10 P07 1 German 2 English 3 French The messages generated by the TRANS 01 D are available in three
52. TRANS 01 D or the drive or the size of a value does not match the attributes sent from the drive 155 List or String is The text string or parameter list exceeds the maximum too long length allowed by the CLC TRANS 01 D or the drive or the size of a value does not match the attributes sent from the drive B 20 Direct ASCII Communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA 156 PC Communication Handshake Error 157 Mapper String D string space is full 158 Cannot store cam already active for axis D 159 SERCOS handshake busy timeout 160 Executable program is too large ddk 161 System Memory Allocation Error 162 Cam X data is lt 0 or greater than 360 163 X Column does not start at 0 or end at 360 164 Not supported in user prog file version 1 1 165 Sequencer invalid sequence D 166 Sequencer invalid step D 167 Invalid function number D 168 Function D not accessible in a step 169 Too many functions are used D 170 Maximum steps per sequence exceeded D DOK CONTRL TRANSO01D RM ANW2 AE E1 44 TRANS 01 D The CLC TRANS 01 D P is not responding to an ASCII message Check the address configuration on both the PC config sys and system ini and the CLC TRANS 01 D P address jumper switches The CLC TRANS 01 D s memory that was allocated for l O mapper strings 8KBytes has been exhausted Optimize the mapping program so that it fits into memory Ca
53. Type Input to TRANS 01 D Table 5 11 Jump On Event Signal Certain applications require that the current operating program be interrupted by an external signal or event and from that point continue in a different manner The Jump on Event signal is level sensitive The signal must be at least 50 milliseconds long in order to ensure that the TRANS 01 D will recognize it This input signal will be ignored if e a REVERSE program is in operation e a TOOL CHANGE program is in operation e Hand mode on the TRANS 01 D has been selected e aJUMP ON EVENT program is being currently processed e aSTART command has not been given If the Jump on Event signal has been received at the beginning of the FORWARD program the Jump on Event program will take place immediately Primary Overtravel Limit Switches Pin E2 Positive Overtravel limit Pin E3 Negative Overtravel limit Table 5 12 Primary Overtravel Limit Switch Signals Two hardware Overtravel limit switch inputs are provided on the DSS SERCOS card plugged into the U1 slot of the servo drive If desired the machine builder will wire these to physical travel limit switches on the machine This may be desirable because the software travel limits are not active until a homing cycle is performed Prior to that time the axis could be manually jogged past the software limits These inputs are active high If the user does not want to use them no connection needs to be made to t
54. a valid cam with index D stored on the CLC 488 Cam Error See Task A diag An error was issued during a cam command in task A D See the task diagnostic message T 0 0122 for a description 489 More than D cam axes selected The CLC limits the number of axes configured as CLC Cam Axes to D 490 System Memory Allocation Error The dynamic memory space on the CLC has been exhausted Contact Indramat Service for assistance 491 PC Communication Handshake The CLC P did not respond to an ASCII message Check the address Error configuration on both the PC config sys and system ini and the CLC P address jumper switches 492 Programs were lost User programs and data were lost The RAM backup battery has failed or was not connected or an internal system error has corrupted the memory For the CLC V the card may have been removed from the VME rack DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 9 TRANS 01 D TND ACTA code Deseription S 493 Data was restored from Flash User programs and parameters have been restored from Flash EPROM If the card has just been installed in the VME rack and a valid program is active clear this error and proceed If the card has not just been installed this indicates that the VME standby battery has failed and the previous program and data has been replaced with that stored in Flash 494 Sequencer init error see task T An error has occurred in a sequencer initialize
55. cca 119 List is finished This is an acknowledgment that a parameter or program list is complete It does not indicate an error 120 Parameter is a This parameter is a variable length list and its data List cannot be displayed as a normal parameter B 18 Direct ASCII Communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 121 Parameter is not a Only Variable Length List parameters can use the List Parameter List sequence 122 Invalid Variable The variable mnemonic was not l or F or the variable Number number is greater than the maximum number of variables allocated 123 Insufficient This message is sent after the CLC TRANS 01 D program space receives a P W program header if not enough contiguous memory is left on the CLC TRANS 01 D to store the program Other programs may need to be deleted or their order rearranged Check system parameters C1 91 C1 92 and C1 93 for CLC TRANS 01 D memory status 124 Maximum number The CLC TRANS 01 D allows up to 10 programs of files exceeded resident in the CLC TRANS 01 D This error message is sent when the CLC TRANS 01 D receives a PW program header and there are already 10 programs stored on the CLC TRANS 01 D One of the CLC TRANS 01 D resident program files must be deleted to make room to download the program 125 Invalid program The format of the program header sent to the CLC header TRANS 01 D is invalid or this command is not available
56. changed A 1 enables change 0 masks any change The least significant 16 bits changes the state of the I O register bits If RM is used to read the register the CLC TRANS 01 D returns the state of all bits See the notes above for changing I O register bits Format gt 1 RM 0 2 0x00600040 __ _ 16 bit word of new bit states 1__ _ 16 bit mask of bits to change gt 1 RM 0 2 0x00600040 bit 6 is turned on bit 7 off RM is a single use independent equivalent of setting a mask with an RF command then setting the actual I O bit states with an RC or RS command Since RM contains its own mask it does not affect the forcing mask set with RF See the RF RC and RS commands below I O Forcing Selection RF Example B 16 Direct ASCII Communication The forcing selection RF and forcing state RC and RS commands allow the Host to selectively force the state of individual bits in the I O registers Forcing commands take priority over the CLC TRANS 01 D I O mapper and I O devices The forcing remains in effect until the mask for each forced bit is cleared or until there is a timeout error on the serial port When the forcing state changes for bits in a CLC TRANS 01 D control register all edge detection is reset If a bit in the 16 bit forcing mask is set to 0 the corresponding bit in the I O register is controlled by the I O Mapper and physical I O If the forcing mask bit is set to 1 the I O register bit is forced by th
57. dard nn ne tin 5 16 Emergency Stop enr nn tuant ne 5 16 5 81 O Network Signals r Sinira rain nana apn rien ad EP aaa ra Caa kad Aa pi undip a tr 5 17 INPUT SIgNAlS Saen insana a ada ler ea er ne da el te 5 17 Output Signals x 5er el ei re alt HD an eee eed rt en nd 5 18 LO UW 23 41 gc PIEPER EE AE Renter ine etary rea errr er en M ne a TS E nn fn ra me 5 19 6 Diagnostics and Monitoring 6 1 6 1 System Diagnostics Codes and Messages 6 1 Status Messages 001 199 iii 6 2 Warning Messages 201 399 issue 6 3 Shutdown Messages 400 599 ire 6 4 Fatal Syst m Errors i hirnin tn nine aah nine nil 6 13 TRANS 01 D specific Messages ii 6 14 A CLC DDE SERVER A 1 A T Dynamic Data Exchange ie Ra meet A 1 The Dynamic Data Exchange Server issues A 1 IV Contents DOK CONTRL TRANSO01D RM ANW2 AE E1 44 INDRA DIAL Dynamic Data Exchange Interface A 2 The Communication Servers Main Window Settings Menu CLC Server Configuration 0 ccsceeeeeeeeeeeeeeteeeeeeeee Settings Menu Serial COMMUNICATIONS ccc cesses seeteeeeeeeeeeeseeeeees Settings Menu VME Communications Settings Menu PC Bus Communications cccccccceceestecesseteeeeeeneees A 3 AT Modem Configuration Dialog A 4 SERVER Topic Name nn B Direct ASCII Communication BA OVERJEN te pariani eaea E E Ta tr ai lard ea tery B 2 CLC Communication Protocol Reading Data fro
58. entered into the program block to clear the Tool Offset is T10 for X axis T20 for Y axis and T30 for Z axis These are the same commands used for internal Tool Offsets For those cases where the user wants to enter External Tool Correction values but they do not want to implement the handshaking the user also has the ability to send external data into the standard Tool Correction registers In order to do this the user must send the tool data as specified above except the Tool Correction register specified must be one of the standard registers When used in this way the TRANS 01 D will execute the user program reading the Tool Correction registers value during program execution but it will not monitor the handshaking signal for data validation Caution Because there will be no handshaking the TRANS 01 D will not set Global Integer 2 s value to 0 The user should be aware that this method does not allow the TRANS 01 D to validate the data per program cycle and could allow the wrong Tool Correction value to be used for the specific part being machined To avoid this the user must also make sure that the new Tool Correction value is sent down before the TRANS 01 D begins its program cycle This will assure the user that the correct value will be used when the cycle is initiated The checksum for the data string must still be sent with the data When entering Tool Correction register values this way the data header and checksum response is
59. fdbk as primary device Set resolution for external linear scale 0 0 21474 83647 Serial AP a 4 Same as above Protocol AP a 118 CTA 10 Aa04 oi use motor encoder use external linear anid use external rotary encoder 12 Default use motor feedback Note Additional interface cards may be necessary when external feedback devices are used Please consult machine documentation or call the Indramat at 800 860 1055 The option selected here is written to the TRANS 01 D Axis parameter A 0 0004 If the external encoder is to be used as the primary positioning device the CTA 10 will set Axis parameter A 0 0004 bit 10 to a 1 for a linear scale or an external rotary encoder The data entered into this parameter determines what the TRANS 01 D will write to Drive Parameter S 0 0032 The user cannot change this option by writing to drive parameter S 0 0032 directly because the TRANS 01 D will overwrite parameter S 0 0032 based upon the data in A 0 0004 when it exits Parameter Mode DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D The values entered in the last screen are entered into Drive Parameter S 0 0118 This parameter can also be set through Visual TRANS and the Serial Protocol Aa04 Positioning Feedback Type External Rotary Encoder Aa04 Positioning Aa04 Rotary Feedback Type Resolution I Motor Encoder 2 Linear Scale oan External Encoder gt If the external rotary feedback will be us
60. hardware error correct the problem and switch into and out of parameter mode to reinitialize the interface 412 No drives were found on ring No drives were found when the CLC initialized the SERCOS ring to Phase 1 Check the addresses set on the drives in the CLC program and in the CLC parameters Also check that power is applied to the drives and the fiber optic connections are correct 413 I O board was not found The selected 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 A VME arbiter must be present in the rack on CLC V switch SW5 8 must be on See the I O device descriptions for more information 414 Parameters were lost CLC System Task and Axis parameters were lost and defaults have been loaded The RAM backup battery has failed or was not connected or an internal system error or new software version has corrupted the memory 415 Drive D was not found A drive D that is used in a program or selected in the system parameters was not found on the SERCOS ring Check the fiber optic connections the address switches on the drives and the user program and parameters 416 Invalid Instruction at XXXX An invalid user program instruction was found by the CLC during compilation Recompile the program from the PC and download it again If the error still occurs check the source program for an instruction that may not be supported in th
61. is displaying If 1 CLC_DDE is actively communicating CLC DDE SERVER A 13 TRANS 01 D IID io ZADAIZAL A 14 CLC DDE SERVER DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D B Direct ASCII Communication B 1 Overview The Indramat CLC TRANS 01 D Motion Control can send and receive drive parameters system parameters user programs and tables through its serial port By using the text based protocol described in this section a wide variety of devices and programs can communicate with the CLC TRANS 01 D The protocol also supports ASCII PC ISA ESIA and VME bus communication DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 1 TRANS 01 D IDR ACTA B 2 CLC Communication Protocol Start Character Network Address Data Identifier Variable Length Data B 2 Direct ASCII Communication The ASCII protocol format for the CLC TRANS 01 D is designed so that all serial transmissions are similar in structure facilitating simple coding decoding routines The protocol is the same for sending or receiving so that data may be easily handled and tracked All serial communications use the following standard protocol template Information is classified using a three level system command class subclass and data identifier gt 1 CS s n 0123 CDEF cs r n l l _ End of Message ie cr lf _ Two Digit ASCII Checksum _ Variable Length Data Field Number Within Set Data Ide
62. linear encoder has not attained any amount of deflection at all i e the machine as not located the part 513 Positive Stop Not Found Fault message Programmed distance was achieved while executing a positioning move to a positive stop G75 Positive stop was not found Check e condition of positive stop and motor drive train e if present check for faulty wiring to solenoids or for defective solenoids 514 CLC System Error Hardware failure Replace TRANS 01 D 516 More than d registration Contact Indramat functions enabled 517 Axis d Missed registration mark Contact Indramat limit exceeded Power Supply Error on DEA C The 24V signal voltage on each CLC D must fall in the following range Min Typical Max External Supply Voltage 18V 24V 32V Output Driver Error on DEA C An output driver error turns the ERR LED on the DEA C card on This indicates that the current drawn by the outputs has caused the output drivers to shut down There is a protection circuit that prevents damage to the card in this condition This error is issued if the current is greater than 300mA for more than 1 microsecond Troubleshooting When a 507 error occurs check parameter C 0 0031 to find the cards that have the error condition Check the ERR LED on the DEA C If it is on check the current draw of the devices connected to the outputs If the ERR LED is off check the 24V external power supply signal to see if it is connected an
63. maximum 6 8 471 Invalid VME Base Address Page OxXXXX 6 8 DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIAL 472 VME Event Trigger Rejected 6 8 473 VME Event Trigger For Unit D Failed 6 8 474 Drive D cyclic data size too large 6 8 475 Axis D capture already configured 6 8 476 Axis D Real Time Bit Setup Error 6 9 477 Axis D probe edge not configured 6 9 478 Calc operand out of range 6 9 479 Drive D too many cyclic data elements 6 9 480 SERCOS Error MDT is too large 6 9 481 Event D is already armed 6 9 482 Checksum Error in Program 6 9 483 Parameter Init Error see Task A diag 6 9 484 CLC SYSTEM ERROR 6 9 485 SERCOS I O too many registers configured 6 9 486 SERCOS Device D is not adrive 6 9 487 Cam D is invalid or not stored 6 9 488 Cam Error See Task A diag 6 9 489 More than D cam axes selected 6 9 490 System Memory Allocation Error 6 9 491 PC Communication Handshake Error 6 9 492 Programs were lost 6 9 493 Data was restored from Flash 6 10 494 Sequencer init error see task T diag 6 10 495 Sequencer error see task T diag 6 10 496 Can t Execute this Instruction from an Event 6 10 497 Limit switch config error see ext diag 6 10 498 Drive D Shutdown Warning 6 10 499 Axis number D not supported in this version 6 10 5 500 Axis D is not referenced 6 10 501 Drive D communications error 6 10 502 ELS and cams not supported in this version 6 10 503 Executing empty block
64. number as described above The correction value in the referenced register is then added to the programmed dimensions to compensate for tool wear or the difference between tools To enter a new value or edit a Tool Correction registers value in Manual mode press the Tool Registers key on the CTA 10 This will display the current selected axis s tool correction registers and their values To edit a value move the arrow to the appropriate register and press ENTER The CTA will prompt you to enter the new value After entering the new value pressing ENTER again will store the new value Press the ESC key to return to the main CTA display screen Pressing the AXIS key on the CTA 10 will scroll the user through the register sets for the different axis Note that tool correction values can be positive or negative up to 3 0000 inches 30 000 mm The value entered into a register is limited by the axis parameter Ax15 Maximum Tool Correction Programming Tool Corrections To program a Tool Correction offset into a program NC Block the function command Txx must be used When the Txx function is programmed in a NC Block the Tool Correction register programmed must coincide with the axis programmed see table on previous pages The following example shows how a Tool Correction register is specified in a program NC Block N001 G01 G90 G62 Z4 56 F8 T31 M1000000 N002 G01 G90 G62 Z0 0 F150 T30 M0100000 JS000 In this example Tool Correctio
65. of a G08 command Note This parameter is only functional for the Adaptive Depth program block It is disabled for standard linear scale operation Access Method Identification Permissible Values Visual TRANS A 0 0317 0 value in Axis Parameter Aa10 Maximum Speed When the user has set up their TRANS 01 D system for Adaptive Depth the value entered in this parameter will be the maximum allowable program speed to be used in the adaptive depth G08 program block If the speed programmed in the block exceeds this value the error 780 Maximum Adaptive Depth feedrate exceeded will result Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 45 TRANS 01 D IID io ACTA Aa31 Linear Encoder Pre Limit Aa31 Linear Pre Limit nnnnn UM nnnnn Enter in the minimum amount of deflection Note This parameter is only functional for the Adaptive Depth program block It is disabled for standard linear scale operation Access Method Identification Permissible Values Visual TRANS A 0 0311 0 2 inches or 50 mm When Adaptive Depth is configured the TRANS 01 D will monitor the deflection on the linear encoder before it begins to execute the G08 program block Th
66. of the data blocks The options in the base objects can be dynamically selected via an index that operates as an object offset within the multiplex system as the current objects of the process data channel The depth of the multiplex channel is preset by a master by the TRANS 01 D Example of an Object of the Multiplex Channel The master configures object 5F10 in the process data channel as the input object With the cyclical setting of the index the master can now visualize the object 5F10 This object can for example be the actual positions of an axis DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 7 TRANS 01 D IDR ARIAL C 3 Communications Channel Direct Access to Data Objects There is direct access to all objects defined on the fieldbus except for data exchange objects via the communications channel It must thus be noted that e it is not possible to write access data objects already written into via the process data channel e write access to parameter objects are as with the process data channel presently not being supported e write access to CLC inputs not accounted for in the I O logic see section I O logic may be permitted but have no effect e read access to CLC outputs not accounted for the I O logic see section I O logic are permitted but only supply a base load value e read access to parameter objects not configured on the CLC are permitted but only supply a base load value
67. operating mode under manual control e select a connected axis for monitoring and control TRANS 01 D e start and stop program cycle under manual control e monitor actual position following error and velocity of the selected axis e jog an axis under manual control e view current diagnostic messages for the selected axis e view or edit tool correction values e view or edit parameter values e view or edit current program e easier setup and configuration of Indramat SERCOS power Once the TRANS 01 D has been set up and a program installed the operation of the control can be done via I O inputs through the DEA card It is then possible to disconnect the CTA 10 1 HMI and connect it to another TRANS 01 D without disrupting the operation of the first TRANS 01 D 2 2 Display and Keypad Overview The human machine interface is not menu driven it is driven by the keypad of the CTA 10 1 Figure 2 1 shows the displays that are available for controlling aspects of the TRANS 01 D Figure 2 2 shows the CTA 10 1 keypad Table 2 1 lists the various keys and which functions they control Initialization Display Parameter Mode 1 Input Param 2 Review 3 ESC Input Parameters 1 Process Param 2 Axis Paramet 3 ESC Review Parameter 1 Process Param 2 Axis Paramet 3 ESC Trans 01 D CTA10 T01 01V30 CLC D 2 1 262564 CLC DP T01 05V26 Programming Mode 1 Program Entry 2 Review 3 ESC Tool Offset 0 000000 000000 00000
68. operator controls are disabled until the slide has returned to the Home position DOK CONTRL TRANS0O1 D RM ANW2 AE E1 44 1 0 Functional Description 5 5 TRANS 01 D Toolchange Fault Clear 5 6 1 0 Functional Description IDR ARIAL Connector X17 on DEA 4 X Interbus S Object 5FB1 Pin or Bit Not Applicable 9 Type Input to TRANS 01 D Table 5 6 Toolchange Signal Generally wired to a push button The Automatic Manual switch must be in the MANUAL position to enable this button While this button is held depressed the slide travels to its programmed Tool Change position in Block N185 This will be a position of the slide which provides the proper clearance for tool changing Releasing the push button stops the movement Pressing and holding the button again continues the operation When pressed the TOOL CHANGE button will only become active if the correct program and zero references are present control at block zero and the axis is homed Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 7 Fault Clear Signal When a fault occurs in the TRANS 01 D system this input is used to clear the fault and get the TRANS 01 D back to a clear state This signal only clears the fault condition in the TRANS 01 D If the conditions that originally caused the fault are still present when the fault is cleared the fault may reoccur DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRA
69. option under this parameter When you are at the option you want to enable enter a O or a 1 Pressing the ENTER key will step to the next parameter option Note The functions selected in this parameter will not be enabled until the user has stepped through all of the options in this parameter After moving into the next parameter Aa02 the CTA 10 will enable the options selected If the user exits in the middle of Aa01 the selected functions will not be enabled When using Visual TRANS or Serial Protocol the options will be enabled when the user exits Parameter Mode After ENTER is pressed the TRANS 01 D will move to the next parameter DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 17 IDR ARIAL TRANS 01 D Aa01 Special Functions Adaptive Depth Aa01 Special Function Enables 4 18 Contents 1 Positive Stop Dis Adaptive Depth n Enter a 1 here to enable positioning using Adaptive Depth or 0 to disable Adaptive Depth positioning Access Method Identification Permissible Values Visual TRANS A 0 0301 bit 6 0 i e XXXXXXXXXX0XXXXX adaptive depth disabled bit 6 1 i e XXXXXXXXXX1XXXXX adaptive depth enabled CTA 10 Aa01 0 adaptive depth disabled 1 adaptive depth enabled Po Default adaptive depth disabled When this screen comes up the cursor will be blinking in the lower right hand corner of the display If the user program requires Adaptive Depth then this parameter must be set to 1
70. parameters were just downloaded switch back into parameter mode to reinitialize the interface 6 4 Diagnostics and Monitoring DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D code Description S 408 SERCOS Controller is in test mode The Indramat DAS2 SERCOS Controller is in test mode Set the mode switch on the front of the board to a position where this error does not occur Note This error is not issued in versions that use the SERCOS ASIC 409 SERCOS Disconnect Error The SERCOS fiber optic ring was disconnected or the drives were powered down while in Phase 3 or 4 A more descriptive message will be displayed in the extended diagnostics C1 124 Indicates the first drive in which the drive data failed 410 System Error This error is not issued in current CLC versions and is reserved for future use 411 Drive D Phase 4 Switch Error The SERCOS phase 4 switch command failed for the drive indicated This usually indicates that configuration parameters for the drive are invalid or have not been saved Check the Drive Status message parameter Dx 95 for drive D for a description of the error If the Drive Status indicates that parameters are invalid or lost display the Phase 3 error parameter list for Drive D Switch into parameter mode and change the invalid parameters or download a valid parameter file to the drive If the Drive Status indicates that there is a feedback error voltage error or other
71. 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 Time out a completed response from the CLC control card before diagnosing a disconnect The valid range of values is 1 900 seconds CLC Back Plane CLC V control cards have the ability to redirect incoming Relay Time out serial messages over the VME back plane to other CLC V cards in the same rack This allows a host to address multiple control cards with one serial connection These transmissions may require more time than a direct serial link The relay time out value is used for these transactions The valid range of values is 1 900 seconds Communication The number of times the server will re send a message Retry Attempts before it issues an error The valid range of values is 0 255 A 4 CLC DDE SERVER DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D 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 r
72. so that the axis is selected once 435 Axis D not associated with a task Axis D was not associated with a task using the TASK AXES command but was used in another command Modify the program so that the axis is selected 6 6 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D code Deseription S 436 General Compiler Error XXXX An error was found in a compile time instruction TASK AXES KINEMATIC after program activation See the task diagnostic message for a description If there is no task diagnostic message call Indramat for assistance 437 Axis D not controlled by this task Single axis motion was started from a task not associated with an axis Motion can only be started from a task with axes selected in the TASK AXES command 438 Invalid Axis Selected D Axis D was not found on the SERCOS ring or is an invalid axis number This error is issued during single axis or ELS motion commands Check the constant or variable that contains the axis number 439 Invalid Motion Type D The axis type does not match the type of motion used by the instruction This error is issued when a single axis command is given to a coordinated motion axis for example 440 I O Transfer Error see task diag An error occurred while reading or writing an I O register See the task diagnostic message for a description 441 DMA error while reading from local RAM 442 DMA error while reading from VME address 44
73. spindle position is within the position window S 0 0057 then status message IN POS appears in display and diagnostics Message in position S 0 336 is set The rotational direction used to find the cam edges can be fixed with function bits Positioning however always takes the shortest route Bit 0 and 1 from cam search direction is clockwise S 0 0154 position spindle 01 cam search direction is counterclockwise parameter 10 the rotational direction of the current actual velocity value is assumed for the cam search Bit 1 of P x 1216 ual rotational direction of motor and spindle is the same position spindle 1 rotational direction of motor and spindle is not the parameter same Position cam special bit 0 PQFUNCT 1 This cam positioning means a more rapid positioning with the same positioning accuracy in contrast to the cam positioning described in 8 2 1 More rapid positioning because the cam search has the higher S x 0222 same precision because the cam edge search has the lower P x 1215 Bit 6 of P x 1216 PQFUNCT and bit 0 of P x 1216 PQFUNCT 1 must be set The cam switch is connected at input EXTPOS X2 pin 37 The switch output is on the width of the cam 0 volt Once the spindle position command is activated the falling edge of the cam switch signal is searched for with position spindle speed S x 0222 Meanwhile HOMING appears in display and diagnostics The speed on the cam i
74. that set in Ramp 1 and is normally used up to base speed of the motor to produce a high accel decel rate in the constant torque region RPM 2 sets the upper limit for Ramp 2 Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 59 TRANS 01 D IID io ACTA SP9 Ramp 3 nnnnnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1205 0 999 rad s Ramp 3 Ramp 2 is active for acceleration and deceleration from RPM 2 to the maximum speed of the motor Parameter SA1 Ramp 3 can be used to reduce accel decel rates in the constant horsepower range from base speed to maximum speed or to minimize overshooting at the command speed Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 60 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP10 Gain 1 SP10 Gainl P Gainl I Gainl nnnn Enter the numerical value for the data Access Method Identification Permissible Values Visu
75. the only way for the external device to know if the TRANS 01 D received the data The table below shows the proper addressing for externally entering data into the standard Tool Correction registers Standard Tool Corresponds to Correction register Floating point T11 T19 11 19 T21 T29 21 29 T31 T39 31 39 Syntax example gt FP 0 31 0 547 e F indicates a floating point Integer e P indicates you want to read write data e 0 31 requests access to Floating Point register 31 standard Z axis tool correction register e 0 547 data sent to standard Z axis tool correction register 31 Substituting any other Floating Point register in the above data string will send the data to the Floating Point register that corresponds to the Tool Correction register for the desired axis Note The Checksum was left out of this example to avoid confusion in the example The Checksum is necessary when sending data to the TRANS 01 D card in an actual application DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ALIA TRANS 01 D Spindle Speed Control NC Code S Spindle speeds may be programmed in any NC Block in the user program provided it is enabled in the parameters Spindle velocity control is achieved via a SERCOS command Spindle speeds from 0 to the maximum spindle speed set in parameters may be programmed The value is programmed directly in output speed e g tool RPM Whenever a NC Block contains a spindle speed
76. the TRANS 01 D executes a spindle positioning command it sends the programmed position to the spindle drive After the position has been sent to the drive the TRANS 01 D will initiate the positioning procedure This internal procedure will position the spindle according to the parameter values set for speed and direction Therefore the sign of any position value programmed will be ignored It will also send a return signal to the TRANS 01 D once the positioning is complete Every spindle positioning command sent to the DIAX01 spindle drive will re initiate the internal positioning procedure Because of this if the same position is programmed in successive blocks each block executed will result in the spindle moving to the programmed position even if the programmed position is the same for each block DDS 2 1 DDS 3 1 DDC 1 1 or DKS 1 1 DIAXO2 XE spindle positioning DIAX02 When this servo drive family is used as a spindle drive it uses two different procedures for orienting To operate these drives as spindles the mode of the drive must be set to rotary This will allow the user to position the axis within the rotation of the tool In rotary mode there are three possibilities for positioning direction If shortest path is chosen the drive will position the spindle the same as it would position any rotary axis If Positive or Negative direction are chosen the drive will execute the internal Drive Controlled Homing procedure
77. the number of units the TRANS 01 D will use for each revolution of the rotary axis This parameter determines how many display programming units one revolution of the drive train output table for example will be divided into Any convenient value between 10 and 1000 may be set into this parameter with three decimal place precision e g 10 000 to 1000 000 Speeds in both parameters and programs are expressed in units table rev min Tool Correction values will also be in units per table rev Access Method Identification Permissible Values Visual TRANS A 0 0302 3 modulo S 0 0103 0 214748 3647 modulo value Serial Protocol AP a 302 Same as above DP d 103 CTA 10 10 000 1000 000 For example if programming in degrees is desired this parameter would be 360 Programming as well as the position display would then be in degrees with a resolution down to 0 001 degrees Speeds would be in degrees minute When a Units selection is entered the TRANS 01 D system will momentarily initialize to Phase 3 and then return to Phase 2 This will set the new units into the system All subsequent parameters that relate to speeds and positions must be re entered If the user is changing the measuring units after values have already been entered in other parameters those values must be re entered Press the ENTER key when all data is entered and all of the information entered for this parameter will be stored and the TRANS 01 D will ju
78. 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 Baud Rate 300 1200 2400 4800 Serial Port COM1 Options V Use Serial Event l RS485 Converter Save Cancel Baud Rate Check the proper baud rate to use when communicating serially with a CLC card Serial Port Select the serial communications port to use on the PC Use Serial Event Checking this box causes Windows to notify the server when a completed message is in the receive queue This will increase the number of serial messages sent over polling for a response Slower computers may not be able to utilize this feature RS485 Converter This option should be used when an RS232 to RS485 not available converter is present A delay will be inserted between with messages which is equal to at least one character TRANS 01 D transmission at the selected baud rate This is necessary to ensure that the CLC card has had sufficient time in which to turn the RS485 transmitter off and enable the receiver Please note that the converter must toggle the transmitter and receiver automatically and also that echo back must be disabled A 6 CLC DDE SERVER DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 RID io ACTA TRANS 01 D Settings Menu VME Communications The VME Communications dialog box allows the user to edit parameter
79. up In this case the diagnostic non supported firmware version of the interface card is generated Progression of the CLC is prevented till a permitted firmware version is installed on the interface card This error cannot be cleared In both cases fieldbus communications is inteferred with so that the master cannot clear it A control of the SYNAX application is not possible DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 1 3 TRANS 01 D INDRA DIAL Note The master recognizes all of these errors and eliminates them A diagnostic message on CLC D is not needed C 5 Interbus S Slave Boards DBS03 1 or DBS 4 1 Applications Function Overview C 14 Interbus Fieldbus Interface The interbus S slave boards DBS03 1 enables the integration of CLC D control board into an interbus S system The board supports the real time process data channel with up to 16 words It enables a non cyclical data exchange between master and slave via the PCP channel of interbus S This enables the transmission of parameters and data blocks of CLC D control board as well as parameters of the drive controllers connected to this control The parametrization of interbus S board DBS03 1 is also supported To achieve the highest degree of flexibility that is possible while applying the object structure of board DBS03 1 the user can freely configure both the process data channel and the PCP The PCP channel occupies one word of t
80. used against the stop is the amount of torque necessary to overcome any cutting thrust and wind up in the system Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 43 TRANS 01 D INR ACTA Aa22 Home to Stop Distance Aa22 Home to Pos Stop Distance nnnnnnnn UPM nnnnnnnn Enter the distance to move after the positive stop has been encountered Access Method Identification Permissible Values Visual TRANS A 0 0323 0 max distance allowed by travel limits This parameter defines the distance the axis should move away from the positive stop in a Homing to a Positive Stop G69 command block This value should be non signed as the direction will always be the inverse of Axis Parameter Aa11 Homing Direction value In the G69 Home to Positive Stop function after the move to the positive stop indicates that the positive stop has been found the value in this parameter will be commanded as an incremental move away from the positive stop 4 44 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa30 Maximum Speed for Adaptive Depth Aa30 Max Speed Adaptive Depth nnnnn UPM nnnnn Enter the maximum speed to be used for the execution
81. your gear ratio in Aa05 The TRANS 01 D will then internally calculate the current value for the system If you are unsure of the formula to use call the Indramat Service Hot Line at 800 860 1055 Use the arrow keys to move around within the data field Press ENTER when all data is entered and the TRANS 01 D will store all the data for this parameter and step to the next parameter DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa04 Positioning Feedback Type Motor Encoder Parameter Number Aa04 Positioning Aa04 Primary For A Axis 0 34 Feedback Type Positioning Encoder Aat 4 ls Motor Ta Motor Encoder gt Encoder Feedback Type 2 Linear Scale 2 Linear Scale 3 Ext Encoder 3 EXt Encoder Access Identification Permissible Values Method Visual A 0 0004 bit 11 0 i e XXXXX0XXXXXXXXXX USE TRANS motor fdbk as primary device bit 11 1 i e XXXXX1XXXXXXXXXX USE external fdbk as primary device Serial DP d 4 Same as above Protocol CTA 10 Aa04 use motor encoder use external linear ead use external rotary encoder a Default use motor feedback Press the number key or use the cursor control keys to move the arrow to the type of positioning device you want to use for this axis When selecting 1 the digital servo drive will automatically configure itself for the motor encoder If the motor encoder is different than the last time the drive was powered up
82. 0 0 000000 Axis Monitor Display Manual Mode 1 Hand Continuous Single Block Single Cycle Select Axis Axis 1 X Axis 2 Y Axis 3 Z Axis 4 S Axis 1 NOOO C Act Y Dev C Vel Figure 2 1 Keypad Driven Displays on the CTA 10 1 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Z Axis 0 00000 0 00000 0 00000 Baala AN E E E E E CTA 10 1 Operation 2 1 TRANS 01 D IID io ACTA 2y DOC JOU BUE DODE OBE Figure 2 2 CTA 10 1 Keypad 2 2 CTA 10 1 Operation DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IMDR ARIAL The lt ESC gt key clears any data in a numerical field or backs up to the previous menu In Auto mode the lt Menu gt key is disabled In Manual mode this key allows selection of one of four operating modes Hand Continuous Single Block and Single Cycle The lt Diag gt key displays messages indicating any current diagnostic condition The arrow keys are used to scroll between System level Physical I O Task A Task B and connected Drive diagnostics In Auto mode the lt Tool Offset gt key allows viewing of tool correction values In Manual mode this key allows the user to enter tool correction values In Auto mode the lt P gt key is disabled In Manual mode this key accesses a short list of parameters for editing In Auto mode the lt N gt key allows review of the currently executing program block In Manual m
83. 0 999V Sign Voltage Serial Protocol DP 4 33775 Same as above DP 4 33776 DP 4 33778 Default depends on motor drive combo Sign Slip This parameter defines the characteristic slip of the motor Sign RPM This parameter defines the starting point of slip increase The point which slip limit will be activated Sign Voltage This parameter indicates the motor s characteristic idle no load voltage at Sign RPM Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 85 TRANS 01 D IID io ACTA SM5 Motor Functions SM5 MOTFUNCT MOTFUNCT n Enter the numerical value for the data a EE This parameter controls various functions of the motor The sum of the selected function must be programmed in to this parameter Refer to the following Function Code Table 4 86 Contents VOLTFACT M 18 i operative SLIPFACT M 14 is operative VOLTFACT M 13 is not active but the standard voltage boost is operative SLIPFACT M 14 is not active Standard boost of slippage is operative Voltage command amplitude is No changes limited to 7V Voltage command voltage for the motor output is limited to 7 V during no load operation Same as MOTFUNCT 8
84. 0 1 29 KV The position loop gain desired should be entered here Default value is 1 The KV factor determines the gain of the position loop regulator throughout the entire velocity range This parameter can be used to regulate the stiffness of the system when positioning the spindle Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 54 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP4 Bi polar Velocity Limit SP4 Bi Polar Velocity Limit nnnnnnnnnn nnnnnn Enter the value to be used as the velocity limit for the spindle drive Access Method Identification Permissible Values Visual TRANS S 0 0091 0 10 000 rom If the gear ratio has been properly input then the bipolar velocity command value is limited to this value so that the spindle can never turn faster S x 0091 always relates to the load If a gear ratio has been input then set S x 0091 so that the maximum speed of the motor SA1 is not exceeded Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK C
85. 1 44 IID io ACTA TRANS 01 D Bit Assignment of Diagnostic Objects 5FF5 and 5FF6 Bit field Status CLC D object 5FF5 as u fis 2 n w o e 7 s s 4 s 2 1 Jo Ee SE ee ee er or x0 Status bit for the Process data channel PD channel 0 gt the process data channel is OK the data are valid 1 gt there is no error pending for the process data channel the data are invalid A precise diagnosis is possible with the help of the 8 lower bits of the bit field fault code CLC D object 5FF6 No interference bit for the PD channel is set here The data are thus not valid because the slave is still not ready x1 Status bit for the Communications channel 0 gt the communications channel is OK the previous data access was successful 1 gt No error has occurred in the communications channel data transmission error A more precise diagnosis can be obtained with the help of the 8 higher bits of bit field fault code CLC D object 5FF6 x13 x15 Fieldbus interface specification OS ES o oss voo ooo o EL SE ooo ooo o foe voo EE oo oe wooo o Jim Table C 6 Fieldbus interface specification _ Free status bit DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 9 TRANS 01 D IDR ARIAL Bit Field Fault Code CLC D Object 5FF6 FS EA a Ee D A EN a a EE ES C 1 O Interbus Fieldbus Interface x0 x1 x2 x3 x4 The interference bits in objec
86. 1 D Table 5 9 Homing Request Signal In Automatic Mode receipt of this signal causes the unit to immediately execute the program beginning at the current reverse vector or block 195 if no reverse vector is specified If an automatic cycle is being executed it is interrupted Homing also performs the Emergency Home function The unit is homed per the user entered reverse program and can perform various functions such as tool retraction during program execution Conditions for acceptance of the Homing signal are e Station is in Automatic mode e Enable signal is present on the Cycle Interface Conditional Jump Inputs Connector X17 on DEA 4 X X32 on DEA 5 X Interbus S Object 5FB2 Cros us Sid id Cons vee OP energie wae a nos Jes fe Csews nomayon TRANS 01 D Table 5 10 Conditional Jump Signals Five inputs for conditional jumps are provided on the TRANS 01 D interface Up to 32 different program jumps can be performed using the 5 bits of the conditional jump control signal These could be used to call up various part programs or reverse programs stored in the TRANS 01 D These lines could be wired to a selector switch or tied to the Line Control Note If the system uses an I O Network parameter P02 specifies from where these conditional jump inputs will be accepted DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Jump on Event Connector X17 on DEA 4 X Interbus S Object 5FB1
87. 16 REVERSE OPERATING 6 16 TOOL CHANGE FINISHED 6 16 TOOL CHANGE IMMEDIATE STOP 6 16 TOOL CHANGE NO COMMAND 6 16 TOOL CHANGE OPERATING 6 16 X AXIS ADAPTIVE DEPTH 6 16 X AXIS HOMING 6 16 X AXIS HOMING FINISHED 6 16 X AXIS HOMING TO POSITIVE STOP 6 16 Y AXIS ADAPTIVE DEPTH 6 16 Y AXIS HOMING 6 16 Y AXIS HOMING FINISHED 6 16 Y AXIS HOMING TO POSITIVE STOP 6 17 Z AXIS ADAPTIVE DEPTH 6 17 Z AXIS HOMING 6 17 Index 3 TRANS 01 D 4 Index 748 749 752 753 754 755 756 757 758 759 760 761 762 763 764 766 767 768 769 770 771 772 773 774 775 776 777 779 780 781 782 783 784 785 786 787 788 Z AXIS HOMING FINISHED 6 17 Z AXIS HOMING TO POSITIVE STOP 6 17 X AXIS ESTABLISHING HOME POSITION 6 17 Y AXIS ESTABLISHING HOME POSITION 6 17 Z AXIS ESTABLISHING HOME POSITION 6 17 ABSOLUTE POSITIONAL MOVE 6 17 INCREMENTAL POSITIONAL MOVE 6 17 FEED TO POSITIVE STOP 6 17 ACKN INPUT 1 LOST 6 17 ACKN INPUT 2 LOST 6 17 ACKN INPUT 3 LOST 6 17 ACKN INPUT 4 LOST 6 18 ACKN INPUT 5 LOST 6 18 ACKN INPUT 6 LOST 6 18 ACKN INPUT 7 LOST 6 18 RETURN ILLEGAL 6 18 Drive s Feed to Positive Stop parameter set to Disabled 6 18 Feed to Positive Stop already on 6 18 Positive Stop Max feedrate exceeded 6 18 Auto Mode 6 18 Manual Mode 6 18 All Axis have NOT been homed 6 18 Internal Error 6 19 Waiting for External Tool Correction Data 6
88. 19 Feedrate exceeds Maximum Velocity parameter 6 19 Maximum of 9 consecutive G62 blocks exceeded 6 19 Position request during Positive Stop 6 19 Adaptive Depth not configured for this axis 3 15 6 19 Maximum Adaptive Depth feedrate exceeded 3 15 6 19 Maximum Adaptive Depth deflection exceeded 3 15 6 19 DIAX02 drive required for Feed Home to Positive Stop 6 19 Target position falls within blend radius 6 19 Cannot Enable Axis while in Positive Stop mode 6 19 Axis NOT configured for AF switching 6 19 Axis not configured for Home to Positive Stop operation 6 20 Jog Slow gt Rapid speed 6 20 Maximum subroutine nesting of 17 exceeded 6 20 IDR ARIAL 789 Jump Wait timeout 6 20 790 Rotary Modulo Exceeded in G90 mode 6 20 791 Spindle axis not configured 6 20 792 Spindle Positioning is Disabled 6 20 794 Part Program must be stopped in G61 mode 6 20 795 Maximum Tool Correction parameter exceeded 6 20 796 G69 Requires Software Travel Limits Enabled 6 20 797 Adaptive Depth Enabled 6 20 798 G62 not allowed with Feed to Positive Stop 6 20 799 Home Switch Error 6 21 800 Invalid Tool Correction Register specified 6 21 801 Spindle Positioning not allowed in G62 mode 6 21 802 Program Mode 6 21 803 Waiting for X axis in position 6 21 804 Waiting for Y axis in position 6 21 805 Waiting for Z axis in position 6 21 806 X Axis In Position timeout 6 21 807 Y Axis In Posi
89. 3 DMA error while writing to local RAM 444 DMA error while writing to VME address 445 DMA Access Time out Error DMA Access Time 445 DMA Access Time out Error Error 447 VME 447 VME SYSFAIL Detected Detected 448 Dy A VME SYSTA Detected _ Handshake Error D 449 VME Bus Error A VME bus error occurred while communicating to another card in pass through mode through the serial port or during a VME transfer instruction Check the extended diagnostics for the type of error and the address at which it occurred If VME transfers were not being performed or if the address does not match that in the program an internal CLC system error has occurred Notify Indramat Service of this system error 450 Event D invalid event type The event type selected in the event table is not valid or does not match the type of ee or event This error is also issued if an event trigger event arm is executed for a motion based event 451 Invalid event number D The event number is not within the bounds selected with the data size command for this task 452 More than D event timers armed Only D repeating timer events can be armed at one time Check the program flow to make sure that triggered events are being disabled 453 Homing param transfer error D A SERCOS communication error occurred during a drive controlled homing command D indicates the communication error code returned by the drive Try to home the axis again If this error still o
90. 6 3 203 Power Lost During Program 6 3 204 SERCOS Ring was disconnected 6 3 205 Parameter transfer warning in Task A 6 3 206 Battery is low replace itsoon 6 3 207 Axis D position limit reached 6 3 4 400 Emergency Stop 6 4 401 SERCOS Controller Error DD 6 4 403 System Error 6 4 404 Invalid Switch into Phase D 6 4 405 Phase D Drive did not respond 6 4 406 System Error 6 4 407 Drive D Phase 3 Switch Error 6 4 408 SERCOS Controller is in test mode 6 5 409 SERCOS Disconnect Error 6 5 410 System Error 6 5 411 Drive D Phase 4 Switch Error 6 5 412 No drives were found on ring 6 5 413 I O board was not found 6 5 413 I O board was not found 6 5 414 Parameters were lost 6 5 415 Drive D was not found 6 5 416 Invalid Instruction at XXXX 6 5 417 SYSTEM ERROR pSOS XXXX 6 5 418 No program is active 6 5 419 Invalid Program File 6 5 420 Drive D Shutdown Error 6 5 421 User Program Stack Overflow 6 6 422 Parameter transfer error in Task A 6 6 423 Unimplemented Instruction 6 6 424 System Error 6 6 425 TaskB 425 Depth Probe reading gt w3 not zeroed 30 3 15 425 Instruction Error see Task A diag 6 6 426 Drive D is not ready 6 6 IMDR ARIAL 427 Calc invalid table index D 6 6 428 Calc division by zero 6 6 429 Calc too many operands 6 6 430 Calc instruction invalid operator 6 6 431 Calc error see Task A diag 6 6 432 Calc too many nested expressions 6 6 433 Setup instruction outside of atask 6 6 434 Axis D configured mo
91. 6 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen e May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART e For momentary loss 24V input signal check for faulty wiring at switch e For voltage spike check for switch failure 764 ACKN INPUT 7 LOST During program cycle the status of ACKN INPUT 7 momentarily changes while the status of Auxiliary Function 7 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure 766 RETURN ILLEGAL Programming Error Program block contains a JReturn Return from Subroutine command while not in subroutine 767 Drive s Feed to Positive Stop Configuration Error Program block contains a Feed to Positive Stop parameter set to Disabled G75 command but Positive Stop is disabled in Axis Parameter Aa01 Special Functions e Change Special Functions parameter value for Positive Stop from 0 to 1 768 Feed to Positive Stop already on Programming Error Feed to Positive Stop G75 commanded in successive blocks 769 Positive Stop Max feedrate Programming Error Commanded feedrat
92. ANS Only the syntax used to send receive parameters is different The full description of the protocol used to upload and download parameter information to the TRANS 01 D is described in full in Chapter 7 To summarize all parameters accessed via Serial Protocol conform to the following format requirements e x adigit in the 16 bit word that should not be changed e d SERCOS drive number e a axis number same as the drive number e CP TRANS 01 D card parameter e AP TRANS 01 D axis parameter that resides on the CLC card these numbers are not identical to those of the CTA 10 e TP TRANS 01 D card task parameters used for internal position interpolator path planner DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D To change the parameter values the TRANS 01 D must be in Parameter Mode To write data to many of the system parameters you do not have to be in Parameter Mode but it is recommended that you only edit parameter values in Parameter Mode to avoid any unexpected changes in other parameter values When using Serial Protocol remember that the entire parameter value is written to the TRANS 01 D If the parameter you are writing to is a Hex value a set of 16 bits 0000000000000000 you must send the complete bit pattern for the entire parameter Neglecting to set other option bits may cause previous settings to be overwritten Ex lf the value in the parameter is 1000000000001011 and you want to change only t
93. ANS 01 D Reading Data from the CLC TRANS 01 D To read data the data portion of the string sent from the Host is empty For example The Host system requests a Drive Status Message gt 1 DP 1 95 r n _ No data sent requesting current data The CLC TRANS 01 D responds with the current status of the specified drive gt 1 DP 1 95 302 Position Mode Encoder 1 cs r n _ Data status message Writing Data to the CLC TRANS 01 D To write data send data in the data portion with the same starting protocol Data received from the CLC TRANS 01 D can be sent in the same format The CLC TRANS 01 D responds with an acknowledgment or an error message For example The Host sends the CLC TRANS 01 D the DDS drive Kv Parameter for drive 1 gt 1 DP 1 104 1 00 cs r n New data sent The CLC TRANS 01 D has successfully accepted the parameter since no error message was returned gt 1 DP 1 104 cs r n _ No message data stored successfully Communication Errors If there is a checksum error a format error or an error in the data sent to the CLC TRANS 01 D or the drive the CLC TRANS 01 D returns an error string in the data field The string begins with a character followed by an error code and a descriptive message Communication error codes and messages are listed at the end of this section For example gt 1 DP 1 104 05 Greater than maximum value cs r n _ Error message _ Error Code decimal _
94. C TRANS 01 D responds with an error DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL Example Example TRANS 01 D At the end of the upload the Host must close the list by sending a sequence number equal to length of list 1 The Host must always close a list when it is finished since each new list uses CLC TRANS 01 D resources 0 Host requests a list parameter using block transfer gt 1 DB 1 32840 0 r n Parameter P 0 72 cam table 1 CLC TRANS 01 D responds with the number of elements in the list gt 1 DB 1 32840 0 1024 cs r n 1024 points in cam table 64 steps 1 Host requests first 16 elements in list gt 1 DB 1 32840 1 r n CLC TRANS 01 D responds with first 16 elements gt 1 DB 1 32840 1 0 0 0 0015 0 002 0 01 0 015 11 more elements r n 2 Host requests elements 17 32 gt 1 DB 1 32840 2 r n CLC TRANS 01 D responds with next 16 elements gt 1 DB 1 32840 1 20 0 20 0015 14 more elements r n 3 64 Host continues to request items in list as above 65 To close the list host sends sequence number steps 1 gt 1 DB 1 32840 65 r n CLC TRANS 01 D acknowledges end of list gt 1 DB 1 32840 65 19 List is finished cs r n Sending a Block List Parameter To start sending a block list the Host sends sequence number 0 to the CLC TRANS 01 D along with the number of elements to be sent The number of steps in the list is equal to elements 15 16 The Host sends this number of steps
95. CONTRL TRANSO01D RM ANW2 AE E1 44 TRANS 01 D Auxiliary Function 4 wait for OFF acknowledgment 6 14 wait for ON acknowledgment 6 14 Auxiliary Function 5 wait for OFF acknowledgment 6 14 wait for ON acknowledgment 6 14 Auxiliary Function 6 wait for OFF acknowledgment 6 15 wait for ON acknowledgment 6 15 Auxiliary Function 7 wait for OFF acknowledgment 6 15 wait for ON acknowledgment 6 15 auxiliary function outputs 5 13 auxiliary function timing 5 15 auxiliary functions 3 29 auxiliary outputs at emergency stop 4 12 available number of 4 12 4 13 auxiliary outputs at immediate stop 4 13 axis enable disable 3 4 gains 4 34 axis clamping 3 20 4 42 Axis Configuration 4 10 B Backspaces and White spaces B 5 Base object C 7 Baud Rate A 6 bipolar torque limit 4 33 bipolar torque limit spindle 4 74 bi polar velocity limit spindle 4 59 block 185 toolchange signal 5 6 block 195 reverse signal 5 5 braking spindle power failure 4 69 Bus failure C 6 C Checksum B 4 clamping axis 3 20 4 42 CLC Back Plane Relay Time out A 4 Response Time out A 4 Server Configuration A 4 Status Display A 4 CLC DDE Server A 3 Communication Error Codes and Messages B 1 Index 5 TRANS 01 D 6 Index 101 SERCOS Error Code xxxx xxxx Error code B 1 102 Invalid Parameter Number B 1 103 Data is Read Only B 1 104 Write Protected in this mode phase B 1 105 Greater than maximum value B 1 106 Less than minimum value B 1
96. D 6 10 504 Communication Timeout 6 10 505 Axis D is not configured 6 10 506 I O Mapper initialization error 6 10 507 Option Card Power Supply Error 6 11 508 User Watchdog Timeout 6 11 509 CLC System Timing Error 6 11 511 Adaptive Depth Pre limit Error 3 15 6 11 512 Adaptive Depth Part Not Found 3 15 6 11 513 Positive Stop Not Found 6 11 514 CLC System Error 6 11 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 516 517 N 700 700 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 734 735 736 737 740 741 742 743 746 747 TRANS 01 D More than d registration functions enabled 6 11 Axis d Missed registration mark limit exceeded 6 11 ACKN INPUT 1 WAIT OFF 6 13 ACKN INPUT 1 WAIT ON 6 13 ACKN INPUT 2 WAIT OFF 6 13 ACKN INPUT 2 WAIT ON 6 13 ACKN INPUT 3 WAIT OFF 6 13 ACKN INPUT 3 WAIT ON 6 14 ACKN INPUT 4 WAIT OFF 6 14 ACKN INPUT 4 WAIT ON 6 14 ACKN INPUT 5 WAIT OFF 6 14 ACKN INPUT 5 WAIT ON 6 14 ACKN INPUT 6 WAIT OFF 6 15 ACKN INPUT 6 WAIT ON 6 15 ACKN INPUT 7 WAIT OFF 6 15 ACKN INPUT 7 WAIT ON 6 15 DWELL TIME 6 15 FORWARD FINISHED 6 15 FORWARD IMMEDIATE STOP 6 15 FORWARD NO COMMAND 6 16 FORWARD OPERATING 6 16 IMMEDIATE STOP 6 16 NO ENABLE 6 16 NO ENABLE FORWARD 6 16 NO START 6 16 OPERATOR NO COMMAND 6 16 READY MISSING 6 16 REVERSE FINISHED 6 16 REVERSE IMMEDIATE STOP 6 16 REVERSE NO COMMAND 6
97. DR ARIAL Set up Procedure 1 Ensure that the DIAX 03 drive system is powered off Install the DLF board Attach the Heidenhain External Encoder to the DLF board using the Indramat 03 0349 cable Power up the DIAX 03 drive system Start communicating with Visual TRANS using RS232 through the serial port X27 on the CLC D card on the DIAX 03 drive Using Visual TRANS check that SERCOS prm S 0 0030 Manufacturer Version displays the correct version of DSM DSM 2 3 ELS 04V28 The DIAX 03 has to be configured in Metric TRANS 01 D Axes prm 2 for this particular version of DSM firmware CLC D card prm C 0 0306 In position window needs to be set to 001mm to ensure that the DIAX 03 drive and EE home correctly Configuration Procedure 1 2 Put the TRANS 01 D into prm mode TRANS 01 D Axes prm 1 Part 2 needs to be a 1 to activate the G08 Adaptive Depth Command in the NC part program block If a G08 is used in a program without this prm activated the following alarm appears 779 Adaptive Depth not configured for this axis TRANS 01 D Axes prm 3 Feed Constant needs to contain an accurate value of the axis ballscrew that the Adaptive depth is being programmed on as this value is used to ensure consistency between the Motor Encoder feedback and the External Encoder feedback TRANS 01 D Axes prm 30 Adaptive Depth Max Speed needs to be set to maximum allowab
98. ETTA 5 1 5 2 I O Hardware Configuration and Reconfiguration c ccccceceeseeceeeeeeeeeeeeaeceeeeeeeeeesaaeeeeaaeeeeeeeseeeesneaeeteaes 5 2 AE E E E TENE E EEE A NEE TEENE A AEE NE AE SEA ETETEA E ET E ETET 5 3 lays ATIE E EE EE A TEETE AIETE E A E NEN ATE E EEE ET E E EE 5 3 Enabl FONN AT 208 Un Rs re CAAO re AFA ne a heen abla tena ne nage 5 3 5 4 Operator Interateneo ndadi aoea dire mana aa one d depri ada Bi een ln 5 4 Automatic Man al 5 aeeie aRar iaia a an ARARE re chashagd ches PUNTARA EFIA thewends nes ea anaucnashaseninieeadenshdeeaeain 5 4 a Af ES EA RE Re S EAEE NE N ETENE errr err erect eres ne AR crer yr eer errr te 5 5 aee sr Mn errr rere rie ere rarer A AT EET TE EATE A E Cer errr ere er ric eer eer err errr nee 5 5 A keyo os ni lale EET ner reer net eat nn ea er date msn nt ne 5 6 Fail Cl 28e man antenne EATE EE easter bana ress 5 6 5 5 Cycle Mtera E a aa raa deanna a e tante nine re tn Abid nd 5 7 a 010 EA RAR EEEE E EE E ETEEN EO IE ENT EAE E E E EN 5 7 OuUIPUISSs tata ann E TAE E E Mann ee 5 10 56 Auxillary FUNCIONS 2 5er tele ni EA AEDE re ent data aed dA AE DE ORARAA KARESA ARARAT KAREE entrant ne Ta AA 5 13 Auxillary Function O tpUtS 2 5228 area di dacbeg tag sadshacadhavvuiscpaadcaduessharcweshidaevi ad apiu at ne tient 5 13 Auxiliary Acknowledgments siennes 5 14 Line Control Interface Guidelines iii 5 15 5 7 Eme rg rncy Stop CIFCUIt 22255 retraite ane canal ner nn paved date rente
99. Entry Mode 5 na dex abeaaad aninezdaniaden bees POSITIONINQ Es sente ne Me ar eg dantedensabeaged te d m A tn ne da boedes tele ns Dwell TimMe 55 35 ressens etant fee rire DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Rotary Motion Control Feedrate NC Code F iii Dwell NC Code G04 iris Tool Corrections NC Code T Spindle Speed Control NC Code S Spindle Positioning Control NC Code P Auxiliary Functions NC Code M PrOgraMAJUMPS ss nre lable Saeveceds Saya bade emme tenaient rene tees cdebutes tion dns TRANS 01 D Contents Il Contents TRANS 01 D IND RADIAL Auxillary FUNCIONS ii ae rares dede Gel nde anti ahr nnd ee eee dre inerte reed eet cle 3 46 Home AXIS er dm in idei aa dan 2 nn da ae Gi ere annees ce love du 3 48 4 Parameters 4 5 AA AAMPOCUGCTION sec Red en nl dasa ss aie ddan Laas E ae dda oran dati ed dan Paname lente tan AA 4 5 CAO Eee A A Re A M Orr peers Rare anne es 4 5 VISUAL TRANS a a re a Ta des ta td eat de 4 6 S rlal COMMUNICATIONS 254527 aera adao naaraana anse a da etat li ane red ne rindai oai keie 4 6 42 Process Paramet rs oiae nAn er ne eeu FREAR AEE AAAI ANTARA ARAE RA FAATA EERROR TRHA RATAA TANLAR EER aai 4 8 POO TRANS 01 D N mb ri 2284 aaora aidian ada aa ada ta lee aies 4 8 POT Trans Group Number anni interne ie Bases eauecesadisebecbicaganteneeseds 4 9 POZ Axis Confi
100. Error The axis was moved to a positive stop G75 and Positive Stop mode then disabled G21 The program then attempted to re enable the axis G20 without first disabling Feed to Positive Stop G76 e Disable Feed to Positive Stop G76 before attempting to re enable the axis G20 785 Axis NOT configured for AF Configuration Error Program block contains a Disable Axis G21 switching command but Axis Parameter Aa16 Axis AF Switching is set to disable this function e Change the value of Axis AF Switching to enable this function DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 19 TRANS 01 D IID io ZADAIZAL 786 Axis not configured for Home to Configuration Error Program block contains Home to Positive Stop G69 Positive Stop operation command but Axis Parameter Aa12 Homing Reference is not set for homing to a positive stop NOTE Axis must be equipped with absolute feedback to enable Home to Positive Stop e Change the Homing Reference value to enable this function 787 Jog Slow gt Rapid speed Configuration Error The value for Slow Jog speed is set greater than the Rapid Jog speed both set in Axis Parameter Aa10 Speeds e Reduce the Slow Jog speed or increase the Rapid Jog speed 788 Maximum subroutine nesting of 17 Programming Error exceeded 789 Jump Wait timeout Soft fault The Jump and Wait has timed out before the needed condition occurred Program is halted e press FAULT CLEAR and
101. Error indicator DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 3 TRANS 01 D Checksum End of Message B 4 Direct ASCII Communication IDR ACTA A CLC TRANS 01 D checksum is sent as two ASCII hexadecimal digits preceded by an ASCII The checksum is optional when requesting data from the CLC TRANS 01 D When sending data to the CLC TRANS 01 D the checksum is required unless it is disabled in the checksum parameter To compute the checksum add the hexadecimal ASCII values of all of the characters before the including the starting gt character Then add the most significant digit of the checksum to the two least significant digits Negate on a calculator this value to form the two s complement The checksum transmitted to the CLC TRANS 01 D is the 2 least significant digits of this number This is the same checksum method used with the Indramat CLM Positioning Control and Station Operator Terminal SOT For example Checksum on gt 1 AP 1 1 2 3E hex 31 20 41 50 20 Sia 2E SAN 20 32 222 sum 22 two least significant digits 2 add two 24 two s complement Checksum 24 DC in hexadecimal An ASCII carriage return CR 13 in decimal or Od hexidecimal and linefeed LF 10 decimal or 0a hex combination is used for terminal compatibility This document uses the notation r return and n newline as used with the C programming languag
102. IDR ARIAL ready in Manual mode See Operator No Command current range 4 40 current reverse vector See reverse vector cycle interface input conditional jump 5 8 home switch 5 10 homing request 5 8 jump on event 5 9 limit switch 5 9 spindle enable 5 10 start 5 7 cycle interface output home 5 11 no system fault 5 12 ready 5 10 D DDC 1 1 spindle positioning 3 27 DDE A 2 A 5 Conversations A 9 Dde Server A 1 DDS 2 1 spindle positioning 3 27 DDS 2 2 spindle positioning 3 28 DDS 3 1 spindle positioning 3 27 DDS 3 2 spindle positioning 3 28 deactivate absolute encoder function 4 45 Default configuration C 4 C 5 DIAX01 spindle positioning 3 27 DIAX02 spindle positioning 3 27 DIAXO3 spindle positioning 3 28 DIAX04 spindle positioning 3 28 direction 4 37 spindle motor 4 69 distance home to positive stop 4 48 distance coded linear scale 3 16 DKR spindle positioning 3 28 DKS 1 1 spindle positioning 3 27 Drive and CLC Parameters and Subclasses B 1 DSS 4 10 dwell 3 22 Dynamic Data Exchange A 1 E EMC safety C 15 emergency stop auxiliary outputs 4 12 enable program changes 3 1 DOK CONTRL TRANS01D RM ANW2 AE E1 44 TRANS 01 D enable signal 5 3 enable forward signal 5 3 encoder See positioning feedback type deactivate absolute encoder function 4 45 linear direction 4 53 linear maximum deflection 4 51 linear pre limit 4 50 linear resolution 4 52 spindle positioning 4 69 encoder external control window 4 44
103. Indramat service for assistance 483 Parameter Init Error see Task A There is an error in the parameter initialization or bit initialization diag instruction which is executed when exiting parameter mode The parameter format parameter number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 In many cases this error is issued when a drive is not on the ring or the drive parameter is not found for a type of drive 484 CLC SYSTEM ERROR This error indicates a problem in the CLC executive firmware See the extended diagnostics parameter C 0 0124 for more information and call the Indramat service department for assistance 485 SERCOS I O too many registers More than 50 SERCOS I O registers were configured in the CLC which configured exceeds the system limit This includes both drive resident I O and SERCOS I O slaves 486 SERCOS Device D is not a drive The SERCOS device with address D was enabled in the user program or parameters as an axis but an I O slave or other type of slave was detected 487 Cam D is invalid or not stored In the cam activate command the selected cam D is not stored on the card or does not contain valid data Check the variable or constant that selects the cam Check that there is
104. NIT command is invalid not supported or inconsistent with the other options 468 ELS adjustment out of bounds The phase offset or fine ratio adjustment exceeded the bounds allowed by the drive The fine adjust must be between 100 and 300 469 Axis D accel lt 0 or gt maximum The acceleration or deceleration programmed for axis D is negative zero or exceeds the maximum acceleration or deceleration parameter Ax 21 or AX 22 470 Axis D velocity gt maximum The velocity programmed for axis D is exceeds the maximum velocity parameter Ax 20 471 Invalid VME Base Address Page The base address page selected in the VME parameter is invalid See the OxXXXX VME descriptions 472 VME Event Trigger Rejected A CLC did not respond to the VME broadcast event message See the VME event description 473 VME Event Trigger For Unit D Unit D did not respond to the VME mailbox event message See the Failed VME event description 474 Drive D cyclic data size too large Too much data is configured in the SERCOS cyclic telegram The drives currently support up to 16 bytes of configurable data Remove I O or registration options from the parameter or program configuration 475 Axis D capture already configured An axis has been configured for the feedback capture function in a previous user program command Only one capture setup command is allowed for each axis 6 8 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA T
105. NS 01 D 5 5 Cycle Interface Inputs For operation of the transfer line through discrete I O or Network control the TRANS 01 D requires the signals described below The machine builder will wire these signals to the Line Control as required by the overall system design When an I O Network is present the proper bits in parameter PO2 must be set to enable the TRANS 01 D to accept the Forward Enable Restart Enable Start Homing etc from the Network Interface The signals on the Cycle Interface are Start Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 8 Start Signal This signal initiates the Automatic cycle operating the TRANS 01 D in Single Cycle Mode assuming that the following conditions are present e Selector switch at the Operator Station is on Automatic e Enable and Enable Forward signals are present on the Cycle Interface e All acknowledgments agree with their associated auxiliary functions The TRANS 01 D ensures that all start conditions are present and issues a Ready signal on the Cycle Interface Start is a high level sensitive signal but its receipt is latched stored in the TRANS 01 D control assuming the above conditions are present DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 1 0 Functional Description 5 7 TRANS 01 D 5 8 1 0 Functional Description IDR ARIAL Homing Request Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 0
106. NS 01 D SA6 Motor Overtemperature Shutdown SA6 Motor Overtemp Shutdn nnn nnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0204 45 155 C This parameter gives the user the ability to set the motor temperature that when reached will cause the drive to shut down and issue the error message Motor Overtemp Shutdown The temperature can be set anywhere in the range of 45 to 155 Celsius It makes sense to set it 10 degrees above the value programmed in S 0 0201 motor overtemperature warning Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 73 TRANS 01 D IID io ACTA SA7 Directions SAT Directions SAT Directions Velocity Positioning n Enter 0 or 1 to set the desired direction Access Method Identification Permissible Values Visual TRANS S 0 0043 bit O 0 i e XXXXXXXXXXXXXXXO motor turns CW w positive S cmd bit O 1 i e XXXXXXXXXXXXXXX1 motor turns CCW w positive S cmd bit O 0 i e XXXXXXXXXXXXXXXO motor turns CW w positive P cmd bit 0 1 i e XXXXXXXXXXXXXXX1 motor turns CCW w positive P cmd Serial Protocol DP 4 43 Same as above DP 4 44 Velocity
107. NS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S 1 0 is used If you suspect a problem check for e abroken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 708 ACKN INPUT 5 WAIT OFF Status message The machine function controlled by Auxiliary Function 5 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 5 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S I O is used If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 709 ACKN INPUT 5 WAIT ON Status message The machine function controlled by Auxiliary Function 5 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 5 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S I O is used If you suspect a problem check for e a broken wire on the ack
108. Name The SERVER topic name allows a DDE client application access to CLC_DDE s parameter set and status The server will accept request and poke transactions When accessing a parameter the client application should specify the section and entry names from the INI file The two names must be separated by a pipe character When requesting status information the client should use STATUS as the section name i e STATUS ErrorState RW Read Write RO Read Only Section GENERAL Response_Timeout RW 1 900 Seconds Message response time out Relay_Timeout RW 1 900 Seconds Message time out when using VME pass through Communication_Retry RW 0 255 Number of times to re send a message Suspend_ Polling RO Oori If 1 CLC_DDE status polling will be disabled Display_CLC_Errors RW Oori If 1 CLC_DDE will intercept amp 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 Oor 1 Close CLC_DDE when last conversation terminates Monitor_List_Size RW 1 500 of entries in communication monitor window Editor RW 256 Name amp path of text editor to Characters use to display error log Section SERIAL Baudrate RO 38400 300 Baud rate for serial connection to CLC card Port RO 1 4 COM port number to use for serial connection Serial_Event RW Oor 1 Use serial event option to increase performance R
109. ONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 55 TRANS 01 D IID io ACTA SP5 Gear Ratio SP5 Gear Ratio Input REV nnn Output REV nnon nnn Enter the input and output revolution values for the gear ratio Access Method Identification Permissible Values Visual TRANS S 0 0121 1 9999 rpm Input Revolutions S 0 0122 1 9999 rpm Output Revolutions Serial Protocol DP 4 121 Same as above DP 4 122 The value of any gear ratio in the spindle system is entered here This parameter does not allow any decimal points It does allow for up to four digits as the gear ratio If the second encoder is not used or speed limits are not under consideration it is not necessary to program a gear ratio even if one is being used Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 56 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP6 Thresholds SP6 Thresholds rorgu e nnnnnn Power nnnnnn nnnnnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0126 1 100 Torque Threshold S 0 0158 1000 127000 W Power Threshold Serial Protocol DP 4 126 Same as above DP 4 158 Default 100 Torque Threshold 1000 W Power Threshold
110. Perea engineering lf8mannesmann E Rexroth TRANS 01 D Version 5VRS Motion and Logic Control System for Indramat DIAX02 Drives Reference Manual DOK CONTRL TRANSO1D RM ANW2 AE P Indramat 274706 TRANS 01 D Title Kind of documentation Docu type Internal filing remarks Purpose of this document Course of modifications Copyright Validity Published by ii About this documentation IDR ARIAL TRANS 01 D Motion and Logic Control System Reference Manual DOK CONTRL TRANS0O1D RM ANW2 AE E1 44 To familiarize the reader with the configuration and operation of the TRANS 01 D 497 initial Release Changes to Section 3 Programming Section 4 Parameters Section 5 I O Functional Description Section 6 Diagnostics and Monitoring Added Appendices A D 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 The Rexroth Corporation Indramat Division 5150 Prairie Stone Parkway Hoffman Estates Illinois e 60192 Ph 847 645 3600 Fax 847 645 6201 DOK CONT
111. RANS 01 D code Description S 476 Axis D Real Time Bit Setup Error A SERCOS error occurred while the CLC was configuring the drive s real time bits for the feedback capture function Clear the error enter parameter mode to reinitialize SERCOS and then exit parameter mode 477 Axis D probe edge not configured This error issued in the capture enable instruction indicates that the selected probe edge for the event has not been configured with the capture setup instruction 478 Calc operand out of range The operand of a calculation function is out of the range of valid arguments as when a square root or a logarithmic of a negative number is attempted 479 Drive D too many cyclic data The DDS 2 1 currently allows 4 cyclic data elements for the AT and MDT elements Remove options such as I O cards and probing Refer to the SERCOS Cyclic Telegram Configuration 480 SERCOS Error MDT is too large The DDS 2 1 currently allows 104 bytes in the MDT Remove options such as I O cards and probing or reduce the number of drives on the ring Refer to the SERCOS Cyclic Telegram Configuration 481 Event D is already armed An event that is currently armed has been armed again using event trigger event arm or the VME event instructions 482 Checksum Error in Program The currently active program s checksum doesn t match the checksum that is stored in memory This indicates that a system error has caused the CLC to overwrite memory Contact
112. RANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 48 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa34 Linear Encoder Direction Aa34 Linear Direction n Enter the direction polarity for the external linear scale Enter a O for positive and a 1 for negative Access Method Identification Permissible Values Visual TRANS S 0 0115 bit 4 0 i e 0000000000000xxx positive bit 4 1 i e 0000000000001xxx negative CTA 10 Aa34 si era Co When the TRANS 01 D is configured for Adaptive Depth this parameter determines which direction the external scale will travel for increasing or decreasing its position relative to the movement of the slide If set to 0 further deflection of the scale will cause the position value to increase in the positive direction If 1 is entered further deflection of the scale will cause the position value to increase in the negative direction Note To determine if the direction is entered correctly in this parameter set a small value in Aa18 and jog the slide with the external encoder deflected If the direction is incorrect the drive will issue a 36 error DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 49 TRANS 01 D IDR ARIAL 4 4 Spindle Parameters Spd Param Sx00 Select set 4 S set set Se General Param set 6 Motor Param
113. RL TRANSO1 D RM ANW2 AE E1 44 INDRA DIAL Contents 1 Introduction 1 1 TRANS 01 D Controls 52h aaa a a SA EEE a IEE a aAa 1 2 Technical Specifications 1 3 Purpose of Manual e erri Rene en nee ner ee en he di 2 CTA 10 1 Operation 2 1 Performing Tasks with the CTA 10 1 eccceeeeceeeeeeeeeeeeeeteeeeaeeeeeeeeseaeeeseaeeeeeeeess 2 2 Display and Keypad Overview 3 Programming 3 1 Enabling Program Changes cc ccccccceseeeeeeeeeeeeeeeeeeeeeaeeeeaeeseneeeseaeeesaeeseneeenaes 3 2 Programming Capability Description 3 3 Application Programming Requirements Start OF the POCA sinna ca theses en egies Sec chedenad er der indemne detente anane des End ofth Programs ss taire eat spin tr ane nnrere aan tea tunn Axis Enable and Disable G20 G21 Basic Homing Program 258 aee lives a Faehedis tons Nid obser enti Homing and Zero Offset NC Code G74 amp G69 nn Positioning NC Code G00 G01 G90 amp G91 oo eceeeeeteeeeeetteeeeeeaes With Without Lag During Positioning G61 amp G62 0 00 eeeteeeeteeeees Enable Disable Feed To A Positive Stop G75 amp G76 n se Adaptive Depth Control G08 eeeeceecceceeeeeseeeeeeeeeeeeeeeeeeeeseaeeesaeeeeneeeeaes External Feedback Devices Distance Coded Linear Scale 3 4 Programming Examples us Display Program BIOCKS 0 eccceeeeeeeeeeeeeeeeeeeeeaeeeseeeaeeeeeeaaeeeeeeaaeeeesenaeeeeeeaas Program i
114. RX or a decimal integer number command RD gt 1 Rt O nnn cs r n _ register number _ set ID always 0 for I O registers _ subclass type or format B binary D decimal X hexadecimal 1 0 Register Read Host requests the contents of register 1 in binary gt 1 RB 0 1 r n The CLC TRANS 01 D responds with gt 1 RB 0 1 0001001000110010 Scs r n _ least significant bit _ most significant bit The checksum is optional when reading data from the CLC TRANS 01 D Sending a 0 as the register index number returns the number of registers in the current system DOK CONTRL TRANS01D RM ANW2 AE E1 44 Direct ASCII Communication B 15 TRANS 01 D Example IDR ARIAL 1 0 Register Write The Host may send a value to a CLC TRANS 01 D I O register in hexadecimal RX binary RB or decimal RD using the same format as an I O read with the addition of a data field and checksum gt 1 RX 0 121 0x0040 Scs r n ale bet _ 16 bit hex word to write _ I O register number 121 _ always 0 for I O registers _ read write to register in hex Set Current I O State with Mask RM Example The RB RD and RX commands affect every bit of the destination I O register the new data word replaces the old word RM allows you to specify a mask in addition to data bits limiting the I O register bits that are changed The most significant 16 bits in this 32 bit word provide the mask selecting the bits that may be
115. S0149 Norm Drawing Number l 209 0050 4801 00 149 0 INDRAMALU Rev for Per E C O Repd By Per E C O Figure D 5 IKS0149 Cable Appvd Z 7 pe a fn Q O Ww O LL a wW LL wW ing a Ww 4 pa Ww a a e at w oa Q oO Ww a e F z gt F4 fe wW ao Ps fe Ww 5 ao ba O le 9 Q 2 Ww be oO Oo D Q TL T a Ww E a T a no o Z a Ww ra DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Drawings D 5 TRANS 01 D IID io ACTA INS 392 INS 439 Encoder side 2 1 0 25 mm el D 2 Hea 0 25 mm gt 0 25 mm 0 25 mm 0 25 ne Shield J2 Yellow 0 25 mm Spare Spare 5 Violet 0 25 mm Spare ov 5 Blue 0 25 mm gt 4 White 1 0 mm gt 3 i Brown 1 0 mm Shield is grounded to connector by means of Shield is grounded to metallic connector a metallic insert housing by means of cable strain relief Reinforce shield drain wire with heat shrink tubing Item No 8 9 Insulate soldered connections with heat shrink tubing Item No 7 Cut unused conductors flush with cable outer jacket Items must be purchased from Indramat Description Qty Drawing Type Part Number Details INK 280 227 266 248 635 INS 392 252 881 221 657 15 pin Male 220 623 218 326 1 16 dia Vendor 1 16 dia Vendor 3 32 dia Vendor
116. S485 Converter RW Oori Activate RS485 adapter code Section VME Sustain_Bus RW O or 1 Release every cycle option for XYCOM PC A32_Addressing RW Oori Use A32 addressing for XYCOM PC VME_IRQ RO 0 7 Number of VME IRQ to use 0 disabled A 12 CLC DDE SERVER DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA Section AT MODEM Section PC Section DDE Section STATUS Baudrate Port Auto Connect Phone Initialize_ Script Disconnect_Script Dial_Prefix Escape Sequence PC_IRQ Status Max_Conversations Max_Advise_ Items ErrorState ErrorText RequestState DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 RO RO RW RW RW RW RW RW RO RO RO RO RO RO RO 9600 300 1 4 Oori 50 Characters 100 Characters 100 Characters 50 Characters 50 Characters Oori 200 Characters 1 3274 1 3500 Oori 256 Characters Oori TRANS 01 D 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 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
117. SO1D RM ANW2 AE E1 44 IDR ARIZA Code 743 Y AXIS HOMING TO POSITIVE STOP 746 Z AXIS ADAPTIVE DEPTH 747 Z AXIS HOMING 748 Z AXIS HOMING FINISHED 749 Z AXIS HOMING TO POSITIVE STOP 752 X AXIS ESTABLISHING HOME POSITION 753 Y AXIS ESTABLISHING HOME POSITION 754 Z AXIS ESTABLISHING HOME POSITION 755 ABSOLUTE POSITIONAL MOVE 756 INCREMENTAL POSITIONAL MOVE 757 FEED TO POSITIVE STOP 758 ACKN INPUT 1 LOST 759 ACKN INPUT 2 LOST 760 ACKN INPUT 3 LOST DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D Status message Executing a homing to positive stop sequence G69 on the Y axis Status message Z axis is operating in adaptive depth positioning mode Status message Executing a homing function G74 on the previously referenced homed Y axis Status message Successful completion of home reference sequence but 24V still present at Home Request input Status message Executing a homing to positive stop sequence G69 on the Y axis Status message During initial and subsequent G74 homing of the X axis checking the value of the Reference Home position defined in the Axis Parameter Aa13 Reference Position Status message During initial and subsequent G74 homing of the Y axis checking the value of the Reference Home position defined in the Axis Parameter Aa13 Reference Position Status message During initial and subsequent G74 homing of the Z axis checking the value of the Refere
118. START RESTART 790 Rotary Modulo Exceeded in G90 Programming Error Value of the programmed absolute position is less mode than zero or larger than the number of Units per Table Revolution modulo set in Axis Parameter Aa02 Units e Change the value of the absolute position commanded in the program block so that it is greater than zero and less than or equal to the Units per Table Revolution value 791 Spindle axis not configured Configuration Error A spindle position P is commanded in a program block but the S axis 4 has not been enabled via System Parameter P02 Axis Configuration e Change the value of the Axis Configuration parameter for the S axis 4 from 0 zero to 1 792 Spindle Positioning is Disabled Configuration Error A spindle position P is commanded in a program block but the TRANS 01 D has not been configured via System Parameter P06 System Options as a spindle positioning control e Change the Spindle Positioning value of the System Options parameter from 0 zero to 1 794 Part Program must be stopped in Programming Error The final move in a forward profile followed by G61 mode JS000 Jump and Stop is not programmed with Lag Finishing G61 Program sequence is halted e Change G62 to G61 in the final program block containing a position command 795 Maximum Tool Correction Programming Error The value contained in the tool correction register parameter exceeded called in the program block is larg
119. The torque is always limited to this value 100 must be programmed if no limit is desired The message 90 load always refers to this torque limit value This means that it always responds just before a torque limit Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 7 1 TRANS 01 D TND ACTA SA5 Motor Overtemperature Warning SA5 Motor Overtemp Warning nnn nnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0201 45 155 C This parameter gives the user the ability to set the motor temperature that when reached will tell the drive when to issue the message Motor Overtemp Warning The temperature warning can be set anywhere in the range of 45 to 155 Celsius It makes sense to set it 10 degrees below that value programmed in S 0 0204 motor shutdown temperature Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 72 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRA
120. The various programming situations and the requirements for each are summarized in the following sections All machining programs must start with NC Block 000 If several different machining programs are to be written branching must be accomplished such that an unconditional or conditional jump from NC Block 000 will be executed to jump to the start of the program In order to assure that machining programs will be executed with a correct absolute reference under all circumstances the first positioning in a machining program should be programmed in Absolute Positioning Mode The TRANS 01 D user has the ability to program Incremental and Absolute positional moves These moves can be executed in program NC Blocks With or Without Lag Finishing The G62 Without Lag command in a program NC Block is used for velocity contouring between the current NC Block and the next program NC Block Because of this contouring the last motion NC Block in a profile must be programmed With Lag Finishing G61 Additionally when a NC Block is programmed with Without Lag Finishing G62 it cannot contain any NC Block jumps All programs must be terminated with a Jump To Block 000 And Stop command JS000 This applies equally to machining programs reverse programs and tool change programs It is very important that all programs end with a Jump To Block 000 And Stop command The TRANS 01 D uses this signal for many items such as monitoring of thermal overloads
121. Trans Group Number PO1 Trans Group Number 1 10 Group 00 Under development DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 5 TRANS 01 D IID io ACTA P02 Axis Configuration DSS The rotary switch number on the SERCOS card plugged into the digital servo drive This number designates the axis number on the TRANS 01 D fiber optic ring This number cannot be changed here n Enter a 1 to enable the axis A 0 means the axis is disabled nnnn Enter the I O configuration to be used for this axis See the table below for the available options Access Method Identification Permissible Values Visual TRANS A 0 0300 0x0001 DBS3 0x0008 DER NOTE Thi sane must 0x000C DEA4 amp DEAS be set for each NOTE A 1 in the second least axis in the significant bit LSB indicates that system the axis is enabled e g 0x0018 would indicate that the axis is enabled and has a DEA4 installed CTA 10 PO2 n Oor 1 disabled or enabled nnnn 0000 No I O configuration associated with this axis 0001 A DBS 3 x or DBS 4 x Interbus S option card is installed for System I O 1000 A DEA 4 x card is installed for System I O 1100 DEA 4 x amp DEA 5 x cards are installed for System I O Default Z axis enabled with Interbus S I O This parameter enables the axis in the system and tells the TRANS 01 D which I O configuration will be used for the system The DSS will be displa
122. VME Addressing addressing A32 Release Bus Check this box if the PC should release the VME bus after Every Cycle every cycle This will increase communication overhead due to the additional bus arbitration cycles DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 CLC DDE SERVER A 7 TRANS 01 D TND ACTA 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 r CLC Status Indicators CLC Heart Beat CLC Executing pROBE Monitor CLC Is In Parameter Mode CLC Is In An Error State CLC Unit Number CLC Status Indicators CLC Heart Beat This indicator will blink indicating that the selected CLC control card is running CLC Executing This indicator will be marked if the selected CLC control pROBE Monitor card has faulted and is running the pPROBE monitor CLC Is In This indicator will be marked when the selected CLC Parameter Mode control card is in parameter mode CLC Is In An This indicator will be marked when the selected CLC Error State control card is in an error state Card parameter 122 will contain the specific error message CLC Unit Nu
123. Visual TRANS P 0 1201 0 999 rad s Ramp 1 P 0 1202 0 30 000 rpm RPM 1 Serial Protocol DP 4 33969 Same as above DP 4 33970 Default 0 Ramp 1 1 RPM 1 Ramp1 sets the acceleration and deceleration ramp to be used between zero speed and the speed value programmed in RPM 1 Normally Ramp 1 is used to reduce acceleration rates near zero to soften forces on the drive train during start stops and direction reversals CAUTION If one of the three ramps Ramp 1 Ramp 2 or Ramp 3 is programmed with O zero for maximum acceleration the other two ramps will be ignored and the acceleration and deceleration rates will be the maximum limited by the peak current rating of the drive Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 58 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP8 Ramp RPM2 nnnnnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1203 0 999 rad s Ramp 2 P 0 1204 0 30 000 rpm RPM 2 Serial Protocol DP 4 33971 Same as above DP 4 33972 Default 0 Ramp 2 1 RPM 2 Ramp 2 is active for acceleration and deceleration between RPM 1 and RPM 2 Ramp 2 can be used to produce a higher ramp rate than
124. When enabled the programmer will be allowed to call programming function G08 in their user program If this bit is set to 0 the user will not be given G08 as an option when programming block functions Note The functions selected in this parameter will not be enabled until the user has stepped through all of the options in this parameter After moving into the next parameter Aa02 the CTA 10 will enable the options selected If the user exits in the middle of Aa01 the selected functions will not be enabled When using Visual TRANS or Serial Protocol the options will be enabled when the user exits Parameter Mode The programmer will have the ability to select more than one option under this parameter When you are at the option you want to enable enter a 0 or a 1 Pressing the ENTER key will step to the next parameter option Note Using Adaptive Depth programming requires additional hardware for the servo drive Check machine documentation or contact your Indramat Application Engineer for the correct hardware required DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa01 Special Functions Home Switch Monitoring Aa01 Special Function Enables 3 Home Switch Monitoring Note This option should not be enabled when using an Absolute Encoder for positioning while absolute feedback is enabled n Enter a 1 here to enable Home Switch Monitoring or 0 to disable Home Switch Monitoring Access Method Iden
125. a number by zero See the diagnostic message for each task to find the task and the instruction then check the variables used in the expression 429 Calc too many operands In a user program calculation instruction more than 1000 operands and operators were in the string See the diagnostic message for each task to find the task and the instruction 430 Calc instruction invalid operator An invalid arithmetic operator was found in a user program calculation instruction Check the compiler and firmware version numbers and call Indramat service for assistance 431 Calc error see Task A diag An error has occurred in a user program calculation instruction See the task diagnostic message for a communication error message 432 Calc too many nested expressions In a user program calculation instruction more than 16 operations were pending See the diagnostic message for each task to find the task and the instruction Then check the number of operands in the expression looking for unbalanced parentheses 433 Setup instruction outside of a task The following commands must be placed in a task s main program TASK AXES KINEMATIC and DATA SIZE This error is issued if any of these commands are found in a subroutine Move the instructions to Task A B C or D following the TASK START instruction or Axis Setup icon 434 Axis D configured more than once Axis D was selected more than once in a TASK AXES command axis setup icon Modify the program
126. a a a i doute lt ne dresse 4 73 SA2 Zero Velocity WindOW 8 2vu een aio iada ei a a a iiiad i 4 74 SAS Velocity WINdOW mt st istie eia ia e i aaa ein a ania ae i 4 75 SA4 Bipolar Torque LiMitrsissiieiii aiai a i a i a ee 4 76 SA5 Motor Overtemperature Warning sise 4 77 SA6 Motor Overtemperature Shutdown iii 4 78 SAZ Directions ste Oa ohn MR nn ere nied re inerte le dede dca rien a 4 79 SA8 Resolution of External Feedback 4 80 SA9SRef renc OSes te nine airi A AEA boll deni E da 4 81 SA10 Motor Oscillation Settings iii 4 82 SAIT Funcion Le nn en ann enter ere wai eee agi ede re areas 4 83 SAIZ FONCION A ne men uen ren ere te re ae ere dan ere te are vastes 4 85 SMT Feedback re in en en Re an rene a ren en de Re 4 87 SM2 Poles LS Limitini ien eae Bean a dune rte levant 4 88 SMS Flux Curent eur Rire Nan nan re Gilani ne annee dede leat 4 89 OMA SIDE anani anya oa er a od dae deere nv Pau tete ie 4 90 DOK CONTRL TRANSO01D RM ANW2 AE E1 44 Contents II TRANS 01 D IND RADIAL SM5 Motor Functions tunnini he mens ann hulled dene 4 91 SM10 Feedback ss rs Gina ine iran ent nes ode ad does 4 92 SM 11 Poles Slip Lititas gis Shea ied Goliad eh ae earned die Gea lee 4 93 SMi2 FlUX Current rage Be eal eae Seay ee ee 4 94 SMAS SIGN a tithe nate tava eon a ae ahaa eee ia dee 4 95 OM14 Motor Functions rater pan aire ea dt eee a de entente dee 4 96 5 I O Functional Description 5 1 Dail MOGUCHO a P ERTE AEE E EAE T E E T AEE E A E E E
127. a a fe mania in tenant B 7 Input Output Registers ss I O Register Access RB RX RD Set Current I O State with Mask RM VO Forcing Selection RF ue I O Forcing State Change RC DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D Contents V TRANS 01 D IND RADIAL VO Binaty Forcing State RS Suave while Ae nial hie alae ae B 4 Erase All Forcing Masks RE sisi B 4 B 8 Communication Error Codes and Messages B 1 C Interbus Fieldbus Interface C 1 EREL AELE E a AAR EP TANE Pela dace Te a Te Te ane EA TEA AE T E EAS E TENET C 1 TOPOlOGY EEEE na NTM la re cee seas add cut eggs en A ne ne AT C 1 Data Objects AEE ne in at An attente ibn aie a nn C 1 Process Data Ch nn l r sn nhe nn na ter tt ie des C 1 Communications Channel sisi C 2 List of Data Accesses via Various Data Channels ccccccccseeeeeeeeeeeeeeeeaeeeseaeseeeeeeeeeesaeeesaeeeeeeeees C 2 G 2 Process Data Ghannel 5 20 4 cele eed die dant material are ae ni ee C 3 Default Configuration of the Process Data Channel of the Fieldbus Card 0 cccceeeceeeeeeeseeeetees C 3 Application Specific Configuration of the Process Data Channel C 3 Process Data Input Description with Object 6000 cceceeceeeeeeeeeeeeeeeceaeeeeaeeeeaaeseeeeeseaeeeseaeeneneeeeaes C 4 Process Data Output Description with Object 6001 00 cee ceeeeeeeeeeeee eens eeeaeeeeaaeseneeeseaeessaeeseaeeeeaes C 5 Monitoring the Process Data Ch
128. a15 Maximum Tool Correction Aal5 Maximum Tool Correction n nnnn UM nnnnnn Enter the value to be used as the maximum allowable Tool Correction value UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 Access Method Identification Permissible Values This parameter limits the maximum programmable values for tool correction This parameter is valid for both manual correction values and the external correction value Entering correction values larger that this maximum results in an Immediate Stop condition in the part program at the point where the correction value was to be used The Maximum Tool Correction Exceeded diagnostic message will be displayed Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 37 TRANS 01 D IID io ACTA Aa16 Axis AF Switching Aal Axis AF Switching 1 Disable 2 Enable Press the number key or use the cursor control keys to move the arrow to disable or enable AF switching Access Method Identification Permissible Values Visual TRANS A 0 0308
129. ages Status Messages Warnings and Shutdowns Diagnostic messages are preceded by an identifying code number Indramat assigns these code numbers using the following groups e Status Messages 001 199 e Warning Messages 201 399 e Shutdown Messages 400 599 A second error code is often included within the primary error message e X indicates a hexadecimal error code e D indicates a decimal error code The Host can request the currently active diagnostic message for the CLC system and for each user task In addition any parameters pertaining to Drive Diagnostics can be accessed through drive service channel Dx x parameters Refer to the Drive manual for descriptions of drive diagnostics See the Parameters section for more detailed descriptions of the CLC System and Task parameters For example e Parameter C 0 0122 Diagnostic Message e Parameter C 0 0123 Diagnostic Code e Parameter C 0 0124 Extended Diagnostics e Parameter T 0 0122 Task Diagnostic Message where s A B C or D for Task A D e Parameter S x 0095 Drive Diagnostic Message where x 1 8 for Drive 1 8 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 1 TRANS 01 D IID io ACTA 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 acknowledgme
130. al TRANS P 0 1207 0 9 99 P Gain 1 P 0 1208 0 9 99 I Gain 1 Serial Protocol DP 4 33975 Same as above DP 4 33976 Default depends on motor drive combo P Gain 1 This parameter is the proportional gain of the speed regulator below GAIN RPM Parameter Sx12 Normally this value should not require alteration in the field The linear torque producing characteristics of the drive s velocity loop is controlled by the P Gain The P Gain controls a percentage of torque that is generated by the drive when the it detects a difference between the commanded speed versus the actual speed of the motor If different velocity loop characteristics are desired this parameter can be used to control the proportional section of the loop and normal velocity loop principles apply l Gain 1 This parameter defines the integral gain of the speed regulator below GAIN RPM Parameter Sx12 The l Gain controls the torque producing rate characteristics of the drive s velocity loop The l Gain influences a rate of torque generated by the drive when it detects a difference between the commanded speed vs the actual speed of the motor Higher l Gain values translate to a quicker response in the drive s velocity loop to generate torque The characteristics of the drive motor combination are carefully analyzed to determine the value to be set in this parameter and this value should not require alteration in the field If different velocity loop characteris
131. alted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure Diagnostics and Monitoring 6 17 TRANS 01 D TND ACTA code Description S 761 ACKN INPUT 4 LOST During program cycle the status of ACKN INPUT 4 momentarily changes while the status of Auxiliary Function 4 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure 762 ACKN INPUT 5 LOST During program cycle the status of ACKN INPUT 5 momentarily changes while the status of Auxiliary Function 5 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure 763 ACKN INPUT 6 LOST During program cycle the status of ACKN INPUT 6 momentarily changes while the status of Auxiliary Function
132. alue in the correction register and cannot be used as an actual tool offset value Menu 7 Menu 7 1 NO00 POSITIONING NOOO POSITIONING pl SPINDLE Spindle RPM RPM Die SPINDLE POS 3 NON NOOO POSITIONING NO000 POSITIONING 1 SPINDLE RPM Spindle POS gt 2 SPINDLE POS P 3 NON 000 POSITIONING 1 SPINDLE RPM 2 SPINDLE POS 3 NON This menu appears if a spindle drive is on the SERCOS ring in Process Parameter No 2 SPINDLE RPM Key in the speed in rpm at which the spindle is to operate in this and subsequent NC Blocks then press ENTER The maximum spindle rpm range is 9999 rpm However your input range is limited in both and directions by the maximum rpm specified in parameter AS06 If the value of ASO6 is reduced after your program is entered the instructions will be executed but the spindle speed will be limited by the new value in ASO6 regardless of a higher speed entered in a program NC Block SPINDLE POS Enter the position you want the spindle to orient to This must be a value between 0 1 359 9 Positions must be entered in degrees with a resolution of 0 1 degree This position is in relation to the marker pulse on the spindle encoder The position of the marker pulse is pre defined as 0 degrees DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 39 TRANS 01 D 3 40 Contents Menu 8 IDR ARIAL NOOO POSITIONING Aux Function M This allows you to program the
133. am 3 Block 034 Any of these three programs can be executed based on the position of a selector switch by programming the following routine starting at NC Block NO000 with conditional jumps NOOO NOO1 N002 N003 Block number _ O J specifies Jump S specifies Stop Target NC Block Specified input line configuration Figure 3 6 Conditional Jump Example In the above example the program starting at NC Block N015 is executed when Line 3 of the selector switch is high and all others are low The program at NC Block N026 is executed when Line 2 of the selector switch is high and all others are low and the program at NC Block N034 is executed when Lines 3 and 2 are high and Line 1 is low Block 003 is programmed with a Jump To Block 000 And Stop In the case where the selector switch has an invalid input combination this will cause the program to return to the beginning and stop rather than proceeding in an uncontrolled manner Note Conditional jumps may point only to NC Blocks which contain valid program instructions Jump And Stop NC Code JS The Jump And Stop instruction causes an unconditional jump to the target NC Block and subsequent stop of the program without execution of that target NC Block Continuation of the program occurs only after a Start signal is issued again This instruction is used mainly at the end of a machining program where a Jump To Block 000 And Stop instruction is required Jump And Stop
134. an be X Y Z or S nn Servo axis number set by the rotary switches located on the DSS card plugged into the servo drive for this axis This number must be 01 02 or 03 The TRANS 01 D will always designate drive 01 as the X axis drive 02 as the Y axis drive 03 as the Z axis and drive 04 as the S or spindle axis For this reason the following table must be followed when assigning axis and drive numbers for the TRANS 01 D system Access Method Permissible Values DSS card switch 01 X axis 02 Y axis 03 Z axis 04 S axis setting After the password is entered and accepted by the TRANS 01 D this parameter will come up to show the programmer what axis parameter set it is in The current selected axis will be highlighted To change to another axis parameter set the programmer must press the ESC key on the CTA 10 and the TRANS 01 D will toggle through the parameter sets of all axis connected to the TRANS 01 D The TRANS 01 D will display the SERCOS of the first axis it finds on the SERCOS ring lowest drive If the number shown as the SERCOS number does not match the table shown below an ERROR will result To correct this error the switches on the DSS card must be changed to fit the correct axis designation After the switch settings are changed you must re cycle the power to the digital drive for the switch settings to take effect Each servo drive on the SERCOS ring must have a unique two digit identifier number
135. annel of the Fieldbus Cards C 6 Multiplex Channel resintere ennei daoen aged rente een Monnaies C 7 C 3 Communications Channel usines C 8 Direct Access to Data Objects sise C 8 C 4 Diagnosis on the Fieldbus Interface see C 8 Bit Assignment of Diagnostic Objects 5FF5 and 5FF6 C 9 Bit Assignment of Diagnostic Objects 5FFO and 5FF2 us C 12 GLG D DiagnOSiS 252580 dd re da rte min Ebda a nan Rs at ele C 13 C 5 Interbus S Slave Boards DBS03 1 or DBS 4 1 ie C 14 APPIICATONS aiea ARA A re nr nn ne md eee reset ENTA EEE AAAA RATA TARERE C 14 Function Overview nana nella tt ad ea raider li rar LIREU ets tete da C 14 Interbus S Int ressant ln tint ls AAS dde ta de C 15 DBS03 1 Board Hardware czsceisisleecsdesecevadiatecauasscecvad ev nevuatdeesvadlasieeaasanitasdiceieesatendevaddatvavuasazetvaacdeiess C 16 Appendix D Drawings D 1 VI Contents DOK CONTRL TRANSO01D RM ANW2 AE E1 44 IRI io ACTA TRANS 01 D 1 Introduction 1 1 TRANS 01 D Control The TRANS 01 D is designed for operation under control of a remote Line Control such as a programmable controller which interfaces to the TRANS 01 D via the Cycle Interface DEA Card or through an I O Network The TRANS 01 D will control three servo type axis and one spindle axis The drives will connect to the control via SERCOS ring The I O signals can be received either through a DEA interface card if only Discrete I O is used or
136. ansaction 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 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 IN e Access to server parameters and status through DDE e Supports Request Advise and Poke transactions DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 CLC DDE SERVER A 1 TRANS 01 D IDR ARIAL Dynamic Data Exchange Interface A 2 CLC DDE SERVER Example Example A windows application known as a client can pass information between other applications known as servers using Dynamic Data Exchange DDE A client establishes a conversation with a server specifying a Service and a Topic Once a conversation has been started a client may re
137. arameter Set B 1 116 List already in progress B 1 117 Invalid Sequence Number B 1 118 List has not started B 1 119 List is finished B 1 120 Parameter is a List B 1 121 Parameter is not a List B 2 122 Invalid Variable Number B 2 123 Insufficient program space B 2 124 Maximum number of files exceeded B 2 125 Invalid program header B 2 126 Checksum Error in Program B 2 127 Invalid Program Handle B 2 128 Function not Implemented B 2 129 File not Found B 2 180 Invalid I O Register B 2 181 Invalid Table Index B 2 182 Communication Error 32 B 2 183 Invalid Data Format B 2 134 Active program can t be deleted B 2 135 Parameter mode is required B 2 136 Invalid Event Number B 2 187 Invalid Event Function B 2 188 Program file version mismatch B 3 139 Can t activate while program running B 3 40 No programs are active B 3 141 System Error pSOS XXXX B 3 142 Mapper String DD invalid operator B 3 143 Mapper String DD too many operations B 3 144 Mapper String DD invalid register B 3 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D 145 Mapper String DD invalid bit or mask B 3 146 Mapper String DD register is read only B 3 147 Invalid Unit Number B 3 148 VME Bus Error B 3 149 VME Communication Handshake Error D B 3 150 Invalid Download Block B 3 151 Unit D Invalid VME Base Address Page B 3 152 Axis Disabled B 3 153 Waiting for service channel B 3 154 List or String is too short B 3 155
138. as UNITS TABLE REV If travel limits are enabled a programmed move to a destination outside of the specified travel range will generate a travel limit violation error Note G91 type positioning is not supported for use with the G37 command DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 19 TRANS 01 D 3 20 Contents G90 IDR ARIAL NC code G38 The intent of this G code is to give the user the ability to program an absolute G90 move inside of the modulo value that is greater than 180 degrees away from their current position and choose negative as the direction the axis should travel to that position instead of the axis taking the shortest path When a positional move is commanded the axis will move to the programmed destination in the negative direction only The destination may be any value between 0 and the number set in the parameters as UNITS TABLE REV If travel limits are enabled a programmed move to a destination outside of the specified travel range will generate a travel limit violation error Note G91 type positioning is not supported for use with the G37 command Clamping using G20 G21 program commands When the cutting force exerted on a rotary table is high it is possible for the position of the drive train to shift For this reason many machine builders will clamp the drive train to prevent unwanted movement If it is not the system may attempt to hold a position or even move the drive train ca
139. ased applications The CLC communication server uses the dynamic data exchange management library DDEML which is built on top of the DDE protocol The DDEML provides services that the message based DDE protocol does not support Under the DDEML a client application requests information from a server application or it sends unsolicited data to the server The client does this by passing predefined ASCII strings to the server through the DDEML Before a client and server can exchange data they must first agree upon what they are going talk about This is done by establishing a conversation Conversations are defined by a service name and a topic name The CLC server application uses this information to specify how and who to communicate with After having established a conversation the client application can now pass data This is done by specifying an item name The item name identifies the specific data to be passed There are three basic types of data transactions which can be initiated by the client application A request transaction is used to obtain data from the server The server application knows how to obtain the requested information The second type of transaction is an advise link After a client application establishes an advise link with a server it is up to the server to poll the data for changes If the server finds that the data has changed it will notify the client application The third type of transaction is a poke A poke tr
140. ation 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 X Service CLC_DDE Topic SERIAL_0 Format LF_TEXT Transaction Type ADVISE Previous Cancel DOK CONTRL TRANS01D RM ANW2 AE E1 44 CLC DDE SERVER A 9 TRANS 01 D A 10 CLC DDE SERVER INDRA DIAL 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 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D A 3 AT Modem Configuration Dialog CLC_DDE supports communications with a telephone modem which uses the AT protocol The server will initiate the modem link and instruct it to dial the desired number by sending standard AT commands The AT Modem Configuration dialog box i
141. but voltage increases to the maximum value during deceleration DC current braking active without optional bleeder resistor During main power loss condition RAC will utilize DC current to decelerate the motor PWM Frequency changes 565 micro seconds for RAC 2 2 250 DC current braking not active PWM frequency stays at 600 micro seconds for RAC 2 2 250 Bigger SLIP boost for water 64 Normal SLIP boost cooled motor Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIAL SM10 Feedback TRANS 01 D n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1022 1 6 feedback type P 0 1023 0 3 T filter Serial Protocol DP 4 33790 Same as above DP 4 33791 Feedback type Type 1 indicates that the standard 1024 LPR lines per revolution encoder is used Type 3 indicates that Indramat s High Resolution feedback is used Motor name plate example 2AD 132 D B35 0B1 BS01 dd2 Re 0 No Feedback BAT 1 WI 519 1024 LPR Feedback lowe 3 HG 0101 High Resolution Feedback T Filter This parameter is the filtering factor for the signal from the motor feedback Used for feedback filterin
142. can also be used at other positions in a program if it is desirable to continue the program only after a renewed state 3 30 Contents DOK CONTRL TRANS01D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D Reverse Vector NC Code JR When an executing user program is interrupted with a Home Reverse signal and the axis is to be returned to the Home position it is often necessary to execute different program sequences depending on the status of the user program at the time the Return signal was received For example if the tool is in the part your Return Reverse program may be different than if the tool were at the face of the workpiece This situation may occur in slide units both during manual operation when the Reverse input is triggered and during automatic operation when the Homing input is triggered A special type of jump command the Reverse Vector Jump specifies with which NC Block the Return program is to start when a Reverse or Homing signal is issued The reverse vector is set to NC Block 195 when the TRANS 01 D is reset Each time the TRANS 01 D executes a Jump To Block 000 And Stop jump to beginning of program the reverse vector is reset to NC Block 195 As previously described NC Block 195 is the beginning location for the basic homing program At any point in the forward program you can use the Reverse Vector Jump command to set some NC Block other than NC Block 195 as the start of your Return Reverse program A starting poi
143. cation Permissible Values Visual TRANS A 0 0302 axis units 0 inches 1 mm 3 Suns per table revolution CTA 10 Aa02 ane cae per table revolution When a Units selection is entered the TRANS 01 D system will momentarily initialize to Phase 4 and then return to Phase 2 This will set the new units into the system All subsequent parameters that relate to speeds and positions must be re entered The TRANS 01 D does not re calculate new values when the type of units used is changed it will only move the decimal point If the user is changing the measuring units after values have already been entered in other parameters those values must be re entered Pressing any key except 4 will enable that measuring system See the next page for an explanation of key number 4 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Aa02 Units Aa02 Units 3 RPM Enter Units Per 4 Units Rev Table Revolution nnnnnnnn Press the number key or use the cursor control keys to move the arrow to the measuring system you want to use for this axis nnnnnnnn Enter the number of units per table revolution In this parameter the user specifies which measuring units will be used for this axis e 4 Units per table revolution Used for Rotary applications When this option is selected the user will be shown the screen above right where he will be asked to enter the units for the rotary application The value entered here will be
144. ccurs call Indramat for assistance 454 Axis D homing not complete The drive did not successfully complete the homing sequence See the drive diagnostics for a status or error message 455 Invalid VME Data Transfer Class During a VME READ or VME WRITE instruction the transfer class e 116 F32 etc is invalid 456 Invalid VME Address During a VME READ or VME WRITE instruction the VME address does not lie within the valid VME address range 457 Table Bounds Error During VME The variable or point table index exceeds the size of the table configured Read in the DATA SIZE instructions DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 7 TRANS 01 D IID io ACTA 458 Table Bounds Error During VME The variable or point table index exceeds the size of the table configured Write in the DATA SIZE instructions 459 Axis D target position out of bounds The programmed position in an axis move command exceeds the drive s travel limits Adjust the travel limits or check the variable or constant containing the position 460 Invalid program D from binary The program selected from the Binary Program Select bits does not exist inputs on the card or is greater than the maximum number of programs 461 System Error This error is not issued in current CLC versions and is reserved for future use 462 System Error This error is not issued in current CLC versions and is reserved for future use 463 Ratio command invalid ratio In t
145. ce as long as all conditions for an automatic cycle remain acceptable These conditions are e Automatic Mode selected connector X17 pin 2 high e Axis normalized homing performed since power up or clear e Block 000 selected When the Ready line is high a Start signal from the Line Control will be accepted by the TRANS 01 D as long as the Enables are also present DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D Home X17 on DEA 4 X Interbus S Object 5F91 a ai atome Pei at Home TFS ais at Home Stas ETS OOOO Oooo RE soo ES TRANS 01 D Table 5 16 Homing Signal The Home output indicates that all enabled slides are in a position where the tool is clear of the workpiece therefore a part transfer is possible It is also related to the Home Limit switch when used and indicates that the slide is at or behind the Home position The following conditions must also be satisfied e Reference position is known homing done since last reset e Slide is stopped and in position e No program is being executed The Home outputs are designed to show the user the status of each axis after homing If only one axis and a Spindle are used the output on Pin 18 or Interbus S Object 5F91 will be used If multiple axis are configured the output on Pin 18 or Interbus S Object 5F91 will be an all axis at Home output If the user requires additional outputs to determine when each axis is at Home the outputs in Interbus S
146. command the spindle will first be commanded to run at the new speed the TRANS 01 D will wait for acknowledgment that the spindle has reached that speed then the remainder of the NC Block positioning homing dwell etc will be executed Any time a spindle speed of zero is commanded the spindle s enable is removed spindle disabled after zero RPM is reached This allows the spindle to be free to move Spindle Positioning Control NC Code P A spindle positioning function is available and when enabled via parameters may be programmed in any NC Block in the user program The G01 command must be used in the program NC Block along with the Pxx x program command to position the spindle Because the TRANS 01 D considers positioning the spindle as an axis positioning command no other axis X Y or Z can be programmed in the same NC Block When positioning the spindle Position values from 0 0 degrees to 359 9 degrees in 0 1 degree steps may be programmed After a spindle positioning procedure the spindle s enable remains high meaning the spindle is rigidly held in position In cases where this is undesirable such as automatic tool changers simply programming a spindle speed of zero RPM after the positioning procedure i e in the next NC Block will drop the spindle enable allowing the spindle to be freely moved TDA KDA or RAC DIAX01 The positioning of the spindle is carried out using a drive internal positioning procedure When
147. ct the blinking option When editing parameter or tool correction values press this key to load the new value When editing a program press this key load the data and move the cursor CTA 10 1 Operation 2 3 TRANS 01 D IID io ZADAIZAL 2 4 CTA 10 1 Operation DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 3 Programming This chapter contains e Overview of all possible G code functionality that will be available on the TRANS 01 D e A discussion of required programming formats for each type of function which can be selected e A description of the procedures required for entry of each possible type of program line 3 1 Enabling Program Changes Because it is important to protect the part program from accidental or unauthorized alterations program changes must be enabled as follows 1 Portable CTA 10 Connect the serial cable from the CTA 10 to the selected TRANS 01 D 2 Establish communication between the CTA 10 and the selected TRANS 01 D 3 Enter the Password to enable Program Entry Edit Mode The current password is pre set at 1234 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 1 TRANS 01 D IDR ARIAL 3 2 Programming Capability Description 3 2 Contents The TRANS 01 D has 200 programmable NC Blocks The following functions can be programmed in each NC Block depending on which parameters are selected Rotary Positioning Negative Direction Only Disable Axis Rotary Posit
148. ction Access Method Identification Permissible Values Visual TRANS P 0 1106 XXXXXNXNXNNXXNXX bit 2 0 disable motor winding switching 1 enable motor winding switching bit 5 0 TRANS controlled braking 1 drive controlled braking Bit 6 0 do not raise bus voltage 1 raise bus voltage Bit 8 0 disable bleeder monitor 1 enable bleeder monitor Bit 10 0 internal monitor of ext enc Active 1 internal monitor of ext enc inactive Motor Winding Switching Bit 2 When set to a 0 normal function of the second encoder input X5 is available no motor or winding switch over When set to a 1 two options are possible 1 Two motor switch over possible if second encoder input X5 is implemented and SA11 FUNCT 1 bit 3 0 and 2 Winding switch over Wye Delta if SA11 FUNCT1 bit 3 1 Velocity Ramp for E Stop Bit 5 When set to a 0 the drive s decel ramp does not function with E stop and bleeder braking the Trans 01 D will control the stop When set to a 1 the speed ramp in the drive is active with E stop and bleeder braking and the drive will decel the motor in an E Stop condition RAC Chopper Active Bit 6 When set to a 0 the bus voltage will not be raised if the mains are low When set to a 1 Raising the DC Bus voltage will 4 80 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D be activated with mains under voltage RAC3 This prevents a drop in peak power with
149. ctive SP14 PQ FUNCT Bit 6 Position to Home n Switch n SP14 PQ FUNCT Bit 8 Power Failure Handling n n Enter a 1 to enable the function a 0 disables the specified function Access Method Identification Permissible Values Visual TRANS P 0 1216 XXXXXXXNXNXXXNNN bit O 0 disable special positioning 1 enable special positioning bit 1 0 spindle motor same direction 1 spindle motor not same dir Bit 2 0 Gain always active 1 Gain not always active Bit 6 0 Positioning w spindle encoder 1 Positioning w home switch Bit 8 0 drive controlled braking 1 TRANS controlled braking Special Positioning Bit 0 Position cam standard bit 0 PQFUNCT 0 Bit 6 of P x 1216 PQFUNCT 1 and bit 0 of P x 1216 PQFUNCT 0 must be set The cam switch must be connected at input EXTPOS X2 pin 37 The switch output is on the width of the cam 24 volt Once the command spindle position is activated then the rising edge of the cam switch signal is searched for with speed P x 1215 cam search speed Meanwhile HOMING appears in display and diagnostics Positioning uses the speed S 0 0222 spindle positioning speed on the rising edge of the cam switch signal with position offset S 0 0153 spindle angle position S 0 0151 homing dimension offset 2 Meanwhile POSORDER appears in the display and diagnostics Contents 4 65 TRANS 01 D 4 66 Contents IDR ARIZA If the
150. d Factor INDRA DIAL Aal4 Overload Factor nnnn nnnn Enter the percentage value for the Overload Factor you want to use for this axis Peta 100 4 36 Contents This parameter sets the allowable intermittent current and torque range of the servo system There are three important current levels continuous intermittent and peak Theoretically peak current is dependent upon the drive selection and should be available for 300 500 msec However under load the time that may be spent at peak current is affected by the intermittent current level and the switch on time above or below this level the more time spent above intermittent current level the less time is available at peak current Conversely the more time spent below the intermittent current level the more time is available at peak current Also the higher the intermittent current level the less time is available at peak current 300ms 100ms Time spent at peak current is limited because there is a limit to the drive s ability to dissipate heat Thus generally speaking according to the following equation Intermittent Current Continuous Current x Overload Factor the higher the overload factor the lower the maximum available torque which is dependent upon available peak current For more information on these relationships refer to the DDS 2 10 SERCOS Drive Application Manual DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D A
151. d and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 83 TRANS 01 D IID io ACTA SM3 Flux Current SM3 FLUX CURRENT Flux Current n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1005 1 400 Poles P 0 1006 1 400 Slip Limit Serial Protocol DP 4 33773 Same as above DP 4 33774 Default depends on motor drive combo Flux This parameter defines the motor magnetizing flux current required for developing the rated torque Do not exceed the maximum value specified in the DIAX01 2AD Motor Parameter List for the motor drive combination Current This parameter determines the maximum motor current peak value in Amps Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 84 Contents DOK CONTRL TRANSO01D RM ANW2 AE E1 44 IDR ARIZA SM4 Sign TRANS 01 D SM4 SIGN Slip Rpm Volt n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1007 0 414 Sign Slip P 0 1008 500 30 000 rpm Sign RPM P 0 1010
152. d if it falls in the range above DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 11 TRANS 01 D IID io ACTA Fatal System Errors When a microprocessor exception or an unrecoverable system error occurs the CLC may stop communicating with Visual Motion and teach pendant interfaces If possible control is passed to a CLC resident monitor routine that can provide debugging information to an ASCII terminal connected to the Host serial port If a fatal error repeatedly occurs and cannot be recovered call Indramat Service for assistance in debugging 6 12 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D TRANS 01 D specific Messages code Description S 700 ACKN INPUT 1 WAIT OFF Status message The machine function controlled by Auxiliary Function 1 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 1 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 701 ACKN INPUT 1 WAIT ON Status message The machine function controlled by Auxiliary Function 1 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 1 The TRANS 01 D will wait indefinitely for the acknowledgment i e
153. data 0 1000 10 e Hexadecimal data 0x12AB 0x1234ABCD e Binary data 0000111100001111 Format of Data Sent to the CLC TRANS 01 D Any resolution can be used for data sent to the CLC TRANS 01 D Numbers may be padded with zeros or spaces at either end as a visual formatting aid when entering data from a terminal Padding applies to data identifiers as well as the data field The resolution of the data stored on the CLC TRANS 01 D is the resolution of the data the CLC TRANS 01 D sends to the Host on request Floating point numbers may also be sent in scientific notation DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 5 TRANS 01 D IID io ACTA B 3 Command Classes Subclasses The tables below list the command class identifier and the subclass identifier for each of the available subclasses within the command class Parameters Command Class Command Subclass A CLC TRANS 01 D Axis A Attributes Parameters Pp Essen otitis CS Peter it iS eme time pr Parareter ate C CLC TRANS 01 D Card Same subclasses as CLC TRANS 01 Parameters D Axis Parameters D SERCOS Drive Parameters Same subclasses as CLC TRANS 01 D Axis Parameters T Task Parameters Same subclasses as CLC TRANS 01 D Axis Parameters Command Class Command Subclass G Global Integer Variables T Text Label Program Communication Command Class Command Subclass B TRANS 01 D A CTA 10 Parameter Set Variables
154. dicates 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 EH CLC Dde Server Iof x Fie Settings DDE Help CEC 007 Program Running A DDE INDRAMA 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 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 CLC DDE SERVER A 3 TRANS 01 D TND ACTA 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 r Communications CLC Status Display SERIAL_0 z CLC Response Timeout Seconds CLC Back Plane Relay Timeout ns Seconds Communication Retry Attempts i Error Handling NM Display Server Errors M Intercept CLC Errors And Display V 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 Communications CLC Status Selects the CLC device unit i e serial_0 combination to Display be displayed in the status window of the server The
155. 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 Code eseription S O 400 Emergency Stop The Emergency Stop input is active low The E Stop circuit has been opened due to activation of the E Stop push button or external logic All drives on the ring are disabled Release the E Stop button or correct the error condition 401 SERCOS Controller Error DD The SERCOS communications controller has indicated an error on the SERCOS ring Check the fiber optic connections the addresses set on the drives and the drive configuration 402 SERCOS Config Error see ext An error in the SERCOS service channel has occurred when the CLC was diag or SERCOS Interface Error XXXX initializing the timing and scaling parameters The extended diagnostics versions before 01 20 C1 124 gives a description of the error If the extended diagnostic indicates a timing error or data limit error check the amount of data or drives on the ring and the minimum cycle time parameter Otherwise check the fiber optic connections the addresses set on the drives and drive firmware versions 403 System Error This error is not issued in current CLC versions and is reserved for future use 404 Invalid Switch into Phase D The SERCOS communications controller did not al
156. dition input signals 5 8 conditional 3 29 reverse vector 3 31 unconditional 3 29 Jump And Stop 3 30 Jump on Event 3 32 jump on event input signal 5 9 Jump to Block 000 and Stop program termination 3 3 Jump To Subroutine 3 33 K KDA spindle positioning 3 27 KV 4 34 KV factor spindle 4 58 L Lag Finishing 3 10 language 4 16 limit over travel 4 32 bipolar torque 4 33 bipolar torque spindle 4 74 bi polar velocity spindle 4 59 limit switch input signals 5 9 linear encoder direction 4 53 maximum deflection 4 51 pre limit 4 50 resolution 4 52 Linear Encoder Pre Limit 6 11 linear scale positioning feedback type 4 28 Manual Mode 3 34 4 14 reverse vector 3 31 marker pulse 4 38 maximum path acceleration 4 18 maximum path speed 4 17 maximum speed for adaptive depth 4 49 maximum speed to positive stop 4 46 maximum tool correction 4 41 microprocessor exception 6 12 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D mode switching between auto and manual 4 14 monitor window spindle 4 57 monitoring window 4 43 motor encoder positioning feedback type 4 27 motor overtemp shutdown spindle 4 76 motor overtemp warning spindle 4 75 motor speed spindle 4 71 multiplexing 5 19 N no system fault output signal 5 12 not homed status See Ready Missing number TRANS 01 D 4 8 number Trans group 4 9 Numeric Data Formats B 5 O operator controls auto manual mode signal 5 4 fault clear signal 5 6 forward
157. e auxiliary output contact to prevent the acknowledgment from turning off until the proper conditions have occurred DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 I O Functional Description 5 15 TRANS 01 D IDR ARIAL 5 7 Emergency Stop Circuit Emergency Stop 5 16 1 0 Functional Description The TRANS 01 D system includes an Emergency Stop circuit for protection of both the equipment and operating personnel through the DSS 1 3 card in the servo drive It is important to connect pin 6 of X12 directly with no interruption in the circuit This is necessary to ensure that the TRANS 01 D will always detect when an Emergency Stop condition exists The reason the Emergency Stop circuit is wired is so that the TRANS 01 D can 1 detect when an E Stop condition has occurred on the machine and 2 to determine and display the appropriate diagnostic Connector X12 on DSS 1 3 Pins E6 Status Normally closed Type Inputs to Digital Drive through SERCOS DSS 1 3 card This signal is normally supplied by the machine builder depending on the emergency stop design for the system If this line opens the servo drive will shut down using the shutdown configuration specified in the drive parameters and the display will show E5 If this input is not provided the machine builder must wire pin 5 to 24 volts Note See the DDS Drive Manual for a full description of the parameter P 0 0007 Error Reaction Mode DOK CONTRL TRANSO1 D RM ANW2 AE
158. e interchangeably with the CR LF notation The CLC TRANS 01 D always sends a CR LF combination but will accept either a single LF or a CR LF from the Host device DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL TRANS 01 D Backspaces and White spaces Numeric Data Formats The ASCII backspace character 8 decimal or hex erases the previous character from the CLC TRANS 01 D s serial buffer except at the start of a message This is useful for editing strings entered at a terminal Also any whitespace character tab or space can be used as a delimiter in strings Whitespaces between fields or at the end of a message are discarded by the CLC TRANS 01 D The CLC TRANS 01 D sends numeric data in ASCII parameter specified units and scaling format The format of floating point data depends on the data s use and how and where it is stored Floating point data of fixed precision e g drive data uses fixed resolution The resolution of data stored on the CLC TRANS 01 D card i e local or global variables depends on the storage precision used 32 or 64 bit Floating point data that is too large or small to be printed in decimal format is represented in scientific notation Hexadecimal data is sent and received with an 0x prefix Binary data is represented as a 16 digit string of ASCII 1 or O characters For example e Floating point position data 0 0100 123 4567 12 0000 12 3e 16 resolution 0 0001 units e Integer
159. e C 2 Front view of the DBS03 1 DBS03 1 Structure The DBS03 1 board is conceived as a plug in group which is directly inserted into the control board Once it has been screwed onto the control board with three guide pins it becomes a unit with the CLC D which can only together be inserted in the drive or a separate CCD card rack Note Additional boards can be inserted onto DBS03 1 into the system This should be noted when dismantling or removing the card rack Power is supplied 5V by the drive or CCD card rack via a connector on the back Signals are always exchanged via the connector to the CLC D The interface to the CLC D is a 68020 bus Only one DBS03 1 board can be switched together with the CLC D DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA Interface to the Drive or CCD Card Rack Interface to CLC D or Other Card Racks External Inputs External Power Source Serial Interface Interbus S Long Distance Bus Incoming Interface Interbus S Long Distance Bus Outgoing Interface DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D Note The DBS03 1 board may not be operated together with a profibus slave board DPF05 1 The DBS03 1 has the following interfaces This interface is used to supply power to the DBS03 1 board if the CLC D does not supply the power Information is exchanged between CLC D and other card racks via this interface The interface is a 68020 bus interface with partial coding of
160. e Host RC or RS command The data format of the RF 16 bit forcing mask word is always binary DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL TRANS 01 D gt 1 RF 0 2 0000000001001000 __ _ bits 4 and 7 are forced bits and are controlled by the Host all other bits are controlled by the physical I O and the CLC TRANS 01 D I O Mapper I O Forcing State Change RC Example The most significant 16 bits in this 32 bit word select which bits in the I O register may be affected and the least significant 16 bits changes the states of those bits If it is read it returns the state of all bits The data format of the RC state change word is always a 32 bit hexadecimal longword Format gt 1 RC 0 2 0x00600040 __ _ 16 bit word of new bit states __ _ 16 bit mask of bits to change gt 1 RC 0 2 0x00600040 _ bit 6 on bit 7 off _ allow changes to bits 6 and 7 1 0 Binary Forcing State RS Example The RS command is used to read and write the state of the forcing bits for the selected register If bits are to be affected the desired bits in the I O register must have had forcing enabled by a forcing mask set with the RF command The data format of the RS 16 bit forcing state word is always binary gt 1 RS 0 2 0000000100000001 _ bits 1 and 9 are turned on all other bits turned off if the bits have forcing enabled by an REF command Erase All Forcing Masks RE Example Thi
161. e Limit Error The EE is deflected more than TRANS 01 D prm 31 at the beginning of the G08 part Adaptive Depth Part Not Found The TRANS 01 D has reached the position commanded in the G62 block preceding the G08 command plus the Pre limit value and still has not detected more than 50 micro meters deflection on the EE Adaptive Depth not configured for this axis A G08 was issued in an NC part program block without TRANS 01 D Axis prm 1 being enabled for Adaptive Depth programming Maximum Adaptive Depth feedrate exceeded The feedrate programmed in the G08 is greater than the value in TRANS 01 D Axes prm 30 Maximum Adaptive Depth deflection exceeded The distance traveled by the EE is greater than TRANS 01 D Axes prm 32 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Ensure that CLC D card prm C 0 0 306 In Position Window is less than 50 micro meters 1 The part may be out of tolerance and this is a correct diagnostic 2 The Pre Limit value in TRANS 01 D prm 31 is too small 3 There is some mechanical blockage with the EE 1 The part may be out of tolerance and this is a correct diagnostic 2 Test to ensure data is being read from EE by monitoring SERCOS prm S 0 0053 when EE is in motion There is an error in reading the EE data Problem with EE or Feedback cable or DLF card Make TRANS 01 D Axis prm 1 such Adaptive Depth programming is enabled Decrease the feedrat
162. e a clamping operation should be programmed with lag finishing G61 so that the motor is stopped in position before the Controller Enable is removed If the block is programmed without lag finishing the commanded position may not be reached before power to the motor is dropped DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Typical sequence of events for Rotary Operation 1 2 Program is running table is being positioned Table is in position G61 move Auxiliary output is turned on to signal the Line Control that the table is ready to be clamped Table is clamped through Line Control logic Ack is sent to TRANS 01 D signaling table is clamped Execute G21 program command TRANS 01 D brings servo drive from AF to Ab and sets servo motor brake Turn on programmed Aux output to signal that the drive is disabled Machining takes place Machining is completed Ack is sent to TRANS 01 D signaling machining is complete Execute G20 program command TRANS 01 D brings drive from Ab to AF and releases brake Aux Output is turned on to signal table is ready to be unclamped Table is unclamped through Line Control logic Ack is brought low to confirm table is unclamped TRANS 01 D begins execution of next program block DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 21 TRANS 01 D Feedrate NC Code F Dwell NC Code G04 IDR ARIAL In order to enable position commands a feedrate must be programmed
163. e a mistake entering this value press the ESC key and enter the correct value 4 76 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D SA10 Motor Oscillation Settings SA10 Set Osc Speed nnnnnnn Of Speednnnnnnn Cyc Time nnnnn nnnnn nn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0213 1 200 rpm Oscillation Speed S 0 0214 1 200 rpm Oscillation Offset Speed S 0 0215 82 655504 0 ms Oscillation Cycle Time Serial Protocol DP 4 213 Same as above DP 4 214 DP 4 215 Default 1 rom oscillation amp offset speed 32ms oscillation cycle time The Engaging dither amplitude defines the maximum speed of the drive in both directions during the Drive controlled gear engaging procedure command Data reference is the motor shaft Oscillation speed Sets the maximum speed to be used when the Drive Controlled Oscillation command is set to accommodate a gear change Oscillation Offset speed During the Drive Controlled Oscillation procedure command the drive adds this speed value to the programmed oscillation speed Oscillating Cycle time During the Drive Controlled Oscillation procedure command the drive oscillates at its programmed speed for the time entered in this parameter Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the
164. e control tool expansion etc Outputs are 24 Vdc 100 mA per output short circuit protected optically isolated from internal circuitry Note that each auxiliary function has an associated acknowledgment input When an auxiliary function is turned on or off an acknowledgment is required because the control issues the output then waits for the acknowledgment before continuing with its cycle 1 0 Functional Description 5 13 TRANS 01 D IDR AGTAU Auxiliary Acknowledgments 5 14 1 0 Functional Description Connector X17 on DEA 4 X X32 on DEA 5 X Interbus S Object 5FB2 Pin or Bit 9 Ackn 1 10 Ackn 2 11 Ackn 3 n a Ackn 7 Type Output from TRANS 01 D Table 5 19 Auxiliary Acknowledgment Signals Each of the acknowledgment inputs is associated with a corresponding auxiliary function When that function line is turned on or off under program control an acknowledgment of that action can be required to be returned to the TRANS 01 D for programmed operations to continue Once an acknowledgment is issued it must remain unchanged in that state until the corresponding auxiliary function output is changed Otherwise a soft fault will occur Note If the system uses a Line Control Network parameter P02 specifies from where the acknowledgments will be accepted From the TRANS 01 D interface DEA cards or accept the acknowledgment inputs only from the I O Bus DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ALIA
165. e enable input signal 5 10 spindle positioning 3 27 4 15 DIAX01 3 27 Spindle speed 3 27 start of program 3 3 start signal 5 7 status messages See 001 199 and 700 899 switch home 4 38 switching special functions adaptive depth 4 22 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 AF 4 42 TRANS 01 D 12 Index auto manual 4 14 T T Label Text B 2 TDA spindle positioning 3 27 threshold spindle power 4 61 spindle torque 4 61 timing auxiliary function 5 15 tool change enable forward signal 5 3 tool correction 3 22 external transfer 3 24 maximum 4 41 program block 3 23 toolchange signal auto manual mode signal 5 6 block 185 5 6 Topic Name A 2 torque max to positive stop 4 47 bipolar limit spindle 4 74 bipolar limit 4 33 maximum relative to overload factor 4 40 torque threshold 4 61 TRANS 01 D specific messages See 700 899 travel limits 4 32 U UL error 4 27 unconditional jump 3 29 units 4 24 4 26 process position 4 19 units per table revolution 4 25 unrecoverable system error 6 12 User Program Variables B 1 V velocity bi polar limit spindle 4 59 velocity loop integral reaction time 4 34 velocity window spindle 4 73 Visual TRANS parameter sets 4 6 V Loop INT 4 34 VME Communications A 7 IDR ARIAL WwW warning messages See 200 399 and 700 899 window external encoder control 4 44 monitoring 4 43 position 4 43 spindle monitor 4 57 spindle position 4 57 velocity
166. e for G69 or G75 move is higher exceeded than the value in Axis Parameter Aa20 Maximum Speed to Positive Stop Program is halted e Reduce programmed feedrate then start program cycle 770 Auto Mode Status message 24V present at Auto Manual input 771 Manual Mode Status message 24V not present at Auto Manual input 772 All Axis have NOT been homed Attempted to start program cycle but all of the axes have not been homed 6 18 Diagnostics and Monitoring DOK CONTRL TRANS01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D code Description S 773 Internal Error Hard fault To clear e press FAULT CLEAR e power down and then power up the TRANS 01 D e contact Indramat 774 Waiting for External Tool Status message TRANS 01 D is executing a program block specifying an Correction Data external offset tool correction register and is waiting for the register information to be validated 775 Feedrate exceeds Maximum Programming Error Programmed feedrate is greater than value in Velocity parameter parameter Aa10 Maximum Speed Program is halted e Decrease programmed feedrate or increase the value of Axis Parameter Aa10 776 Maximum of 9 consecutive G62 Programming Error blocks exceeded 777 Position request during Positive After executing a move to a positive stop G75 a position command e g Stop G91 is subsequently programmed before disabling Feed to Positive Stop G76 e Use G76 before programming a position request
167. e less then the value in TRANS 01 D Axes prm 30 or increase this prm greater than the value on the G08 command depends on the mechanical limitation of the system Either decrease the distance in the G08 NC block or increase the value in TRANS 01 D Axes prm 32 need to consider mechanical limitations Contents 3 15 TRANS 01 D IDR ARIAL External Feedback Devices Distance Coded Linear Scale 3 16 Contents Note This information applies only to TRANS 01 D software versions 5V59 and later For the use of Distance Coded Linear scales the operation of the TRANS 01 D will remain the same except for the following cases e When referencing for the first time after powering up or in those instances where the axis has lost its reference e When executing a Home command G74 when the axis is referenced e When the user has made changes to the Reference position since the last time it was Homed or Referenced Relevant parameters for Distance Coded Linear scales include e S 0 0115 Position Feedback Type set second LSB to 1 to set distance coded linear scale as feedback type for servo drive e 0 0118 Resolution of Linear Feedback e S 0 0165 distance coded linear scale Distance coded Reference Dimension 1 e S 0 0166 distance coded linear scale Distance coded Reference Dimension 2 e S 0 0178 distance coded linear scale Absolute Offset 2 Operation of Servo Drive with Distance Coded Linear Scale The Dista
168. e set to 1 for homing with an external encoder DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa05 Gear Ratio Aa05 Gear Ratio Revs Eh Revs Out 0001 0001 nnnn Enter the input and output turns for the ratio Access Method Identification Permissible Values Visual TRANS S 0 0121 1 2147483647 gearbox input S 0 0122 revolutions 1 2147483647 gearbox output revolutions Serial Protocol DP d 121 Same as above DP d 122 CTA 10 1 9999 revs in and revs out When this screen first appears the cursor will be on the extreme right digit for Revs In The programmer can move the cursor to any of the digits and begin entering from there As each digit is entered the data will move to the left Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 27 TRANS 01 D TND ACTA Aa06 Overtravel Limits Aa06 Overtravel Aa06 Overtravel Limits Limits 1 Limit nnnnnnn 2 Limit nnnnnnn nnnnn Enter the extreme travel distances for this axis UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can
169. e the scale to the machine slide If the axis has not lost its reference the G74 command moves the slide to the already established Home position When the axis has been moved to its established Home position the Home output from the TRANS 01 D Cycle interface goes high If the user has changed the value of the TRANS 01 D Reference position by changing the value of the axis word in the Homing Block the system does not re establish the Home position unless it has lost reference However it does move the axis to the newly designated Home position and output the Home signal to notify the line control that the axis is at the Home position If the Reference position parameter value has been changed the TRANS 01 D once again issues a Drive Generated Homing Command to re establish its Home position The user should enter the value to be displayed when at the Home position using the already established methods Axis word in the G74 Homing block and by entering a value into the Reference Position parameter CTA 10 Aa13 or Axis parameter A 0 0318 These two values are summed and placed into S 0 0054 Position Feedback 2 Reference Distance as the value to be displayed when at the Home position DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 17 TRANS 01 D Rotary Motion Control 3 18 Contents IDR ARIAL The TRANS 01 D executive software is configured to include the ability to control a rotary application This option can be used for a
170. e value entered in this parameter is the minimum amount of deflection that must be seen on the external scale before the G08 program block is executed This parameter can be used as a part location monitor If the value in this parameter is not reached before the execution of the G08 block the error 511 Adaptive Depth Pre Limit Error will be issued Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 46 Contents DOK CONTRL TRANS01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa32 Linear Encoder Maximum Deflection Aa32 Linear Enc Max Deflection nnnnn UM nnnnn Enter in the maximum deflection allowed Note This parameter is only functional for the Adaptive Depth program block It is disabled for standard linear scale operation Access Method Identification Permissible Values Visual TRANS A 0 0316 0 2 inches or 50 mm When the TRANS 01 D is configured for Adaptive Depth this parameter sets the maximum allowable deflection on the external linear scale If this value is exceeded in a G08 program block the error 781 Maximum Adaptive Depth deflection exceeded will be issued The value entered into this parameter should be the maximum distance the scale can be deflected without causing damage to
171. e variable length lists Parameter list formats are described later in this section SERCOS Parameter Sets The SERCOS specifications allow a digital drive to have both Standard and Product Specific Parameter Sets The Standard parameters are accessed by the parameter number E G 1 95 Product Specific Parameters can be accessed using a P prefix which adds 32768 to the parameter number For example Parameter P 0 0005 can also be accessed as 1 32773 or 1 P5 The Host requests the name data and units for Drive 1 parameter 123 gt 1 DT 1 123 r n parameter 123 gt 1 DP 1 123 r n gt 1 DU 1 123 r n measurement request drive 1 text name for request drive 1 parameter data request drive 1 units of The DDS drive responds through the CLC TRANS 01 D gt 1 DT Feed gt 1 DP value gt 1 DU 1 123 Feed Constant cs r n the name is Constant 1 123 6 2832 S cs r n the parameter is 6 2832 1 123 mm Scs r n the measurement units are in mm DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D B 5 Parameter Lists Some CLC TRANS 01 D functions and parameters and SERCOS parameters are implemented as variable length data lists Lists of parameters are used to determine all the parameters present on the DDS drive or CLC TRANS 01 D card and to classify or request parameters by function or type The DDS 2 oscilloscope function data tables are accessed as parameter list
172. eader This input starts the program cycle in Hand Mode This input stops the program cycle in Hand Mode Not enabled at this time 1 0 Functional Description 5 17 TRANS 01 D IID io ACTA Output Signals Output Port 2 Parameter This output will go high when the TRANS 01 D is in Mode Parameter Mode 1 Programming This output will go high when the TRANS 01 D is in Mode Programming Mode X Axis at Signifies that the X axis has been referenced Home Homed and is on the Home Switch Y Axis at Signifies that the Y axis has been referenced Home Homed and is on the Home Switch Z Axis at Signifies that the Z axis has been referenced Home Homed and is on the Home Switch Spindle in When using a Spindle this output will notify the user Position that the Spindle has reached its commanded position Spindle at Signifies that the S axis has been referenced Home Homed and is at the Home position Program This output will be high when the TRANS 01 D Paused program is paused or in an Immediate Stop Immediate condition Stop e Mutisoning See Table 525 fordescrpion o Mutipexing See Table 525 ordescrpion 12 Spindle at 0 This output will be high when the Spindle axis has Speed reached 0 speed Rapid Jog Not enabled at this time 14 Single Cycle This output will go high when the TRANS 01 D is in Hand Mode running the program in Single Cycle Mode 15 Automatic This output will be high whenever the TRANS 01 D Mode is in Au
173. ecceceeeeeneeaeceeeeeeeseceaeaeeeeeeesesecaeaeeeeeeeeeeeeaaees 4 52 Aa33 Linear Encoder Resolution 4 53 Aa34 Linear Encoder Direction see 4 54 4 4 Spindi Parameters ainni ian Bele ant ele fu Bi ine de atl aan ater ees 4 55 User Selectable Parameter P Q R and S Sets 0 cccccccccssececessneceeessneeeesseeeeeseeeeesesneeeeesseeeenees 4 55 General Parameter and Motor Parameter Sets 4 55 Displaying Spindle Motor Controller Information 0 c ccceecceceeeeeeeeeeeeeeeceaeeeeaaeeeeeeseeeeeseaeeesaeeeeneeeed 4 56 SP1 Positioning Speeds 208 ities dues hte durent veel Gavan seen et levant 4 57 SP2 Control Windows ressens lente ect Brie reddit cnelv ec ete eat een dede ve e 4 58 SPS KV Fac O e re et ev ave Rie nie terne re bare ta Gan levels 4 59 SP4 Bi polar Velocity Limit wetted heii Hanna a ves ved Gil invective 4 60 SPS Gear PRAU a a e E ane einai doh Bie enn iene odin Part ee ner eat 4 61 SPE Thresholds sereine annee A Runner ne Minded 4 62 SPZ RamMp RPM eee Andee alin Code den an vanne 4 63 SP8 Ramp RPM due Aaah ain Coda enn an eee 4 64 SPI Ramps teva ite ie Adee ae Sele vad Gl dened dele eel 4 65 SP10 Gall iis ate ae Gere en ea een eel a a ee 4 66 SPA GAME eee a Gna ova eh Bae a Oh oa ee 4 67 SP12 Gan RPM iiie a ne nue rata Gon de ntm EA AEE eves 4 68 SPIS POS Gains an a ne A bello retail cova tete diel tay dev de ere en eva 4 69 SPT POFUNCIONS esed an nn ohio mienne a dd ieee 4 70 SA Maximum SpeedS 82 unes e
174. ecks before the slave assumes it as valid and makes it effective Data detected as faulty during transmission hamming distance 4 with all supported fieldbusses is not relayed to the CLC D This of course also applies to data sent to the master Behavior with Bus Failure It is possible that the fieldbus completely fails This can be due to a break in the cable or a slave failure In this case the data entered once would be retained until the next update This could lead to application related problems The fieldbus assemblies are therefore equipped with a monitor These are watchdog terminals which make a very specific response caused by a bus failure possible Watchdog Function Via object 6003 PD monitoring span the time can be set in ms once the error reaction is set after the fieldbus fails DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA Output Data Remain Intact Output Data Cleared Multiplex Channel TRANS 01 D Note When setting PD monitoring span it should be taken into account that fieldbus cycles can fail under normal operating conditions Error Reaction with Bus Failure The fieldbus board enables the setting of two error reactions for the process data channel These can meet various demands Via object 6004 error reaction PD channel the following options are available If object 6004 is set to value 0x0000 the output data remains intact even with a bus failure In other words the previously outp
175. ected to the digital servo drive to be used as the primary positioning device the Indramat servo drive constantly monitors the difference between the external encoder and the motor encoder for an additional error check on the machine mechanics This monitoring is designed to show that the relationship between the motor encoder and the external encoder has changed If the position difference between these two encoders exceeds this value the digital drive will issue a 36 error The error will alert the user to this condition The cause of the difference can be loose mechanics or a slipping drive belt 4 40 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Aa19 Deactivate Absolute Encoder Function Aal9 Deactivate Absolute Encoder Function n n Enter a 0 here to disable this function Entering a 1 will enable this function Access Method Identification Permissible Values Visual TRANS P 0 0138 0 disabled 1 enabled When an Indramat digital servo drive is connected to a motor with a Multi turn absolute feedback the user may want to disable the absolute function and use the motor as if it was configured with a single turn feedback Entering a 1 in this parameter will cause the servo drive to operate as if it was connected to a motor with a single turn feedback In this configuration when power is applied to the system the axis will have to be referenced before any program can be executed If this
176. ection The bus specification fixes the data direction e Data direction input The data transmission from slave to master is data direction input e Data direction output The data transmission from master to slave is data direction output Process Data Input Description with Object 6000 Example C 4 Interbus Fieldbus Interface The process data input description is stored in object 6000 This description applies to all fieldbusses as per interbus S specification profile 12 The structure of this object is depicted in the default configuration example The Basic Structure The length of object 6000 is determined by the maximum number of words on the fieldbus without taking the communications channel into account The bus length in bytes hex is entered in the first byte of object 6000 The entries for each byte on the bus follow in rising order The object number index is entered for each byte as two byte data A byte for a subindex is also left available This byte is always zero for the fieldbus assemblies If an object is made up of several bytes standard word structure for fieldbus assemblies is always at least 2 bytes there must then always be an entry in the first byte for the object number The assignment of object numbers to the remaining bytes uses the subindex zero Default configuration in interbus S rine comin se arse eF srrou Table C 2 Default assignment of the process data channel in interbus S
177. ection This parameter will determine what direction the motor will turn when using G37 and G38 G codes Homing and Zero Offset NC code G74 A 0 or a 1 in the Homing direction parameter will cause it to Home in only one direction When Homing is selected during programming the TRANS 01 D will display ZERO OFFSET The value entered as the zero offset will determine the value of the home position on the absolute grid of the table For example if degrees are used as the units 360 units table rev and 10 is programmed as the zero offset home position will be called 10 degrees If an absolute move to zero degrees is commanded after that the table would move 10 degrees No additional motion will occur with the inclusion of a zero offset It is simply a value to be used for home position once it is reached If a value other than zero is programmed in the parameter for reference position this value will be added to the zero offset in the homing block to determine the value for home Using the above example again if 25 was programmed as the reference position home would be called 25 10 or 15 degrees Since the display will only show positive values this would appear as 360 15 or 345 degrees DOK CONTRL TRANS01D RM ANW2 AE E1 44 IDR ARIAL G90 G91 G90 TRANS 01 D Positioning NC code G90 G91 When an axis is designated as rotary in the servo drive setup all positional moves will be made according to the modul
178. ed differently than the set used with the CTA 10 The set accessed with Visual TRANS is the SERCOS parameter set that all TRANS 01 D systems use All parameters follow the SERCOS identification format e C 0 nnnn TRANS 01 D card parameter e A 0 nnnn TRANS 01 D axis parameter these numbers do not correspond exactly to those of the CTA 10 e T 0 nnnn TRANS 01 D task parameters Task C is the only valid task in the TRANS 01 D Visual TRANS can only access the TRANS 01 D parameter sets when it is actively communicating to the TRANS 01 D The parameters are divided into four 4 sets These sets are CLC Card Parameters C set Drive parameters D set Axis parameters A set and Task parameters T set To access the TRANS 01 D parameters start the Visual TRANS program On the main Visual TRANS screen choose the Setup option on the menu bar In the menu that drops down choose Drives This will take you to the Drive Parameter Editor screen On the main menu bar on this screen choose Parameters On this drop down menu choose Overview In the lower left hand corner of the screen you may choose the parameter set you wish to view edit In the sections that follow the SERCOS designation for each parameter will be listed to aid you in finding specific parameters Parameter ranges are displayed as you edit the values The parameter labeling for this communication protocol is similar to that viewed using Visual TR
179. ed for primary axis positioning select 3 at the screen shown on the left After that the user will be moved to the screen on the right At this screen you must enter the lines per revolution for the external encoder you will be using usually contained in the machine documentation or the manufacturer s specification sheet Please consult this documentation or call the Indramat Service Hotline at 800 860 1055 When a value is entered on the third screen the TRANS 01 D will store the data and step to the next parameter nnnn Enter the line count per revolution of the external encoder being used UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 Access Method Identification Permissible Values Visual TRANS 0 bit 11 0 i e xxxxxXOXXXXXXXXXX USE motor fdbk as primary device bit 11 1 i e XXXXX1XXXXXXXXXX USE external fdbk as primary device na Set resolution for external rotary encoder 0 0 21474 83647 Serial Protocol DP d 4 Same as above DP d 117 CTA 10 Aa04 use motor encoder use external linear scale use external rotary encoder Note Additional interface cards may be necessary when external feedback devices are used Please consult machine documentation or call the Indramat at 800 860 1055 The option selected here is written t
180. eferenced The value in Menu 1 is the offset distance to Home position that is displayed after it finishes Homing Menu 2 specifies the speed which the axis travels to the designated homing position The TRANS 01 D gives the user two feedrate options for homing If the axis is referenced for the first time it uses the feedrate entered into the Homing Speed parameter If the axis has already been referenced it used the feedrate entered into the Homing block This was done to allow a faster return to the home position after the axis has been referenced but defaulting to a lower feedrate when seeking home for the first time NOOO HOME Feedra F Menu 3 1 NOOO HOME AXIS Spindle RPM HOME AXIS SPINDLE SPINDLE NON HOME AXIS SPINDLE NOOO HOME AXIS Spindle POS SPINDLE BS 0 NON HOME AXIS SPINDLE SPINDLE NON NOOO HOME AXIS Aux Function M DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D Menu 5 Menu 5 1 NOOO HOME AXIS D1 No Jump 2 JN uncond She subroutine NOOO HOME AXIS NOOO HOMI 1 No Jump Jump gt 2 JN uncond JN ia subroutine NOOO HOME AXIS NOOO HOME 1 No Jump Jump 2 JN uncond JU D3 subrouti NOOO HOME AXIS NOOO HOMI b4 JR reverse Jump 5v7 jump stop 6 condition NOOO HOME AXIS NOOO HOMI 4 JR reverse Jump gt 5 JS jump stop JS 6 JC condition NOOO HOME AXIS NOOO HOMI
181. en homed trying to Rapid Jog the axis will not be possible Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 32 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Aa11 Directions Aall Directions Program Jogging Homing n Enter a 1 or a 0 to select the direction for the specified function See note below for Rotary operation Access Method Identification Permissible Values Visual TRANS 0 CW or 1 CCW A 0 0309 program direction A 0 0310 jogging direction A 0 0305 homing direction Serial Protocol AP a 309 Same as above AP a 310 AP a 305 The direction of the motion can be changed here by toggling between 1 and 0 With a motion commanded in the positive direction the TRANS 01 D will cause the motor to turn in a clockwise direction when looking at the front of the motor shaft If another direction is needed for any of the above functions the direction change must be made here Note When operating in Rotary mode placing a 0 or a 1 here will Home the axis in the specified direction only Placing a 2 here will cause the unit to always Home using the shortest path to Home This will cause the axis to Home in either direction depending on its position The programmer will have the ab
182. er than the value set in Axis Parameter Aa15 Maximum Tool Correction e Reduce the value in the tool correction register change the program block to call the correct tool correction register or increase the Maximum Tool Correction value 796 G69 Requires Software Travel Configuration Error A Home to Positive Stop command has been Limits Enabled requested but overtravel limits have been disabled i e Axis Parameter Aa06 Overtravel Limits are set to 0 zero Change the values in parameter Aa06 as required 797 Adaptive Depth Enabled Programming Error With a DIAXO2 drive a Feed to Positive Stop G75 is commanded but the axis is already enabled for adaptive depth control G08 or vice versa These two commands are mutually exclusive Disable one function before programming the other 798 G62 not allowed with Feed to Programming Error Feed to Positive Stop G75 is programmed G62 Positive Stop without lag Change to G61 Finishing with Lag 6 20 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D code Description S 799 Home Switch Error Soft Fault While Axis Parameter Aa01 is configured to monitor the home switch one of three events occurred 1 the homed axis was commanded to move off the Home switch but the Home switch input does not go low 24V not present within four encoder revolutions the homed axis is away from the Home switch but the Home switch input goes hi
183. er to easily configure their unit with a minimum of keystrokes The P parameter set is the first parameter set to be displayed It encompasses those parameters that are more process in nature This group also includes parameters that will be used to enable different axes various functions and I O configurations When the different functions are enabled in this parameter set this causes those parameters specific to that function to be displayed in the other sets If a function is not enabled in the P set its relative parameters will not be displayed This is done so the programmer does not have to contend with parameters that are not relevant to his process If a programmer does not see the necessary parameters for his process he knows that he has not enabled that function in the P parameter set The second parameter set displayed is the A set The A set is the servo parameters These are the parameters that are specific to each servo axis The information entered here is sent to the TRANS 01 D and the digital drive Using these parameters the programmer will be able to configure the TRANS 01 D to his specific application Any options that are drive specific such as encoder options operating modes special functions etc will be handled here In the Multi axis version of the TRANS 01 D all three servo axis parameter sets are displayed here The numbering will be Aa00 where on the a denotes axis designation The axis designations w
184. eter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 88 Contents DOK CONTRL TRANSO01D RM ANW2 AE E1 44 TND ACTA TRANS 01 D SM12 Flux Current SM12 FLUX CURRENT Flux Current n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1025 1 400 Poles P 0 1026 1 400 Slip Limit Serial Protocol DP 4 33793 Same as above DP 4 33794 Default depends on motor drive combo Flux This parameter defines the motor magnetizing flux current required for developing the rated torque Do not exceed the maximum value specified in the DIAX01 2AD Motor Parameter List for the motor drive combination Current This parameter determines the maximum motor current peak value in Amps Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 89 TRANS 01 D SM13 Sign 4 90 Contents IDR ARIAL SM13 SIGN Slip Rpm Volt n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1027 0 414 Sign Slip P 0 1028 500 30 000 rpm Sign RPM P 0 1030 0 999V Sign Voltage Serial Pro
185. eturned 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 allowed Conversations 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 allowed Items 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 CONTRL TRANSO1 D RM ANW2 AE E1 44 CLC DDE SERVER A 5 TRANS 01 D IRI ie ACTA Settings Menu Serial Communications The Serial Communications dialog box allows the user to select the serial communication parameters the server will use When
186. f Diagnostic Objects 5FFO and 5FF2 Bit Field Status Fieldbus Object 5FF2 pe ee ee eo xs a xs Tu 0 x0 x1 x4 x5 x15 Status bit for internal DPR communication of the fieldbus slave fo fo a reset has been conducted on the DPR o 1 the DPR has only been initialized by the fieldbus card 1 Jo the DPR is complete i e the CLC has also initialized it 1 1 the internal communication of the fieldbus slave especially the watchdog function is not working correctly Table C 7 Status bit for the internal DPR communication of the fieldbus slave Status bit for the active bus capabilities of the fieldbus slaves 0 gt the fieldbus slave is not yet ready for data exchange 1 gt the fieldbus slave can actively participate on the bus Status bit for communications channel 0 gt the communications channel can not yet be used 1 gt the communications channel is available Status bit for Reconfiguring the process data channel 0 gt the process data channel is being reconfigured on the fieldbus card at this moment 1 gt the process data channel on the fieldbus card is configured Status bit for the Multiplex channel 0 gt the multiplex channel is not yet active 1 gt the multiplex channel is active Free status bit Bit Field Diagnostic Fieldbus Object 5FF0 This object is made up objects 5FF2 5FF5 5FF6 and the following internal 16 bit field described
187. f the G75 block is programmed the theoretical end position should be at least four times the following error past the mechanical positive stop The following error is calculated as follows Following Error Programmed speed in G75 block Kv factor Aa08 1000 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 11 TRANS 01 D IDR ARIAL Adaptive Depth Control G08 3 12 Contents Adaptive Depth arises from the final depth of a positional move being dependent on the location of the part surface and not the referenced position of the motor encoder This is made possible by using an external encoder to determine the final position This form of positioning has the following advantages e t compensates for both drive train and work piece variations while the tool is actually performing the cut e Using incremental positioning it s possible to program distances relative to the face of the part The TRANS 01 D begins adjusting the final depth of a positional move using the secondary device when a G08 Adaptive Depth Command is issued in the NC block of the part program This G08 command must be preceded by a G62 without lag command In an ideal situation once a G08 command has been issued the drive will continue to move until the position reading from the External Encoder EE is equal to that of the G08 command But the final position also takes into account whatever minimal deflection that may have existed e g due to vibrat
188. face Ay transmitter X10 TX S3 HIGH S2 LOW X11 RX referencing switch Siete pos travel zone limit switch e neg travel zone limit switch probe 1 probe 2 i sek es E STOP DC 24V external DC OV external 9 pin screw down push in terminals i looking onto front of part no 241 591 panel APDSS13 Figure D 4 DDS 1 3 Terminal Diagram D 4 Drawings DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D L SPECIFY LENGTH INS0456 CLC X27 X28 0 25 mm Brown 0 25 mm Green __ 0 25 mm Yellow 0 25 mm spare shields spare shields Shield is grounded to connector housing by means of metallic insert max Cable length 15 m Insulate soldered connections with heat shrink tubing Item No 7 Cut unused conductors flush with cable outer jacket Description Qty Drawing Type Part Number Details INK0233 219 758 L1 Specify length 9 pin Male 220 624 225 424 INS0456 221 657 218 326 Light Blue 237 489 1 16 dia Vendor 3 8 dia Vendor 0 25 mm 238 514 Cable Connector Receptacle Connector Housing Screws Cable Label Wire End Ferrules Heat Shrink Tubing Heat ShrinkTubing Clear Conductor p a je tp fe a jo 1995 C O ENT3A IKS 149 Part No 267 280 Drawn Page Description 1 IK
189. from the list until the list is finished The data in the strings must be space delimited The host can send the data with any resolution with or without decimal point If the number of elements in the list is not evenly divisible by 16 the host must fill the last string with space delimited zeros for each remaining element If the number of elements in the string is less than 16 the CLC TRANS 01 D responds with the message 54 List or String is too short If the length of the data portion of the string sent to the CLC TRANS 01 D minus protocol header checksum and terminator is greater than 220 characters the CLC TRANS 01 D responds with the message 55 List or string is too long At the end of the download the Host must close the list by sending a sequence number equal to length of list 1 The string for this step must include at least one data element For simplicity the host can send 16 space delimited zeros 0 Host starts sending a list parameter using block transfer gt 1 DB 1 32840 0 1024 cs rin Parameter P 0 72 cam table 1 31024 points in cam table 64 steps CLC TRANS 01 D responds with an acknowledgment gt 1 DB 1 32840 0 cs r n 1 Host sends first 16 elements in list gt 1 DB 1 32840 1 0 0 0 0015 0 002 0 01 0 015 11 more elements cs r n DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 11 TRANS 01 D IID io ACTA CLC TRANS 01 D acknowledges gt 1 DB 1 32840
190. g For the type 1 feedback T filtering should be set at 3 For the type 3 feedback T filtering should be set at 1 NOTE Ifa high resolution feedback is used only the values greater than or equal to 0 1 and 2 are permitted Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 87 TRANS 01 D IID io ACTA SM11 Poles Slip Limit ES SLIP IT n Slip Limit n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1021 2 8 Poles P 0 1024 1 7 9 Slip Limit Serial Protocol DP 4 33789 Same as above DP 4 33792 Default depends on motor drive combo Poles This is a physical parameter of the induction motor which defines the number of poles This parameter must be programmed as specified in the DIAX01 2AD Parameter List for the given motor drive combination Please refer to the appropriate DIAXO1 drive controller manual for the correct parameter lists Slip Limit This parameter defines the slip limit as a multiple of the signature slip rated slip parameter SM4 Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this param
191. gh 24V present the axis reaches the Home Reference position but the Home switch input does not go high 24V present NOTE This message is displayed only after program cycle completion JS000 is executed Check for loose contact wire at home switch loose encoder coupling faulty home switch chips tangled in home switch partially welded home switch contacts excessive backlash in drive train 800 Invalid Tool Correction Register Programming Error Tool register specified for disabled axis Enable axis or specify correct tool correction register 801 Spindle Positioning not allowed in Programming Error Spindle axis position P is programmed G62 without G62 mode lag Change to G61 Finishing with Lag 802 Program Mode Status message 803 Waiting for X axis in position Status message The TRANS 01 D is waiting for the actual position of the X axis to reach the In Position tolerance defined in Axis Parameter Aa17 Control Windows of the commanded programmed position The control will wait up to 30 seconds 804 Waiting for Y axis in position Status message The TRANS 01 D is waiting for the actual position of the Y axis to reach the In Position tolerance defined in Axis Parameter Aa17 Control Windows of the commanded programmed position The control will wait up to 30 seconds 805 Waiting for Z axis in position Status message The TRANS 01 D is waiting for the actual position of the Z axis to reach the In Position tolera
192. guration are nearer dar ne in dites hr abadian fan 4 10 PO3 Auxiliary Outputs at Emergency Stop sisi 4 12 P04 Auxiliary Outputs at Immediate Stop su 4 13 PO5 Automatic Manual Switching iii 4 14 P06 System Options x m0 ner nina a te edit weed rte nn nt ten le 4 15 HOTAD EEL E E le 1 ETEEN PE PEN Dane E TETEE as EENE ad ee net ee 4 16 PO8 Maximum Path Speed iii 4 17 POO Maximum Path Acceleration sise 4 18 P10 Process Position UNIS erroia iriri dait aneirin Mi mate cand in inserer 4 19 ESANS PRAES s EAE AAR aAA RA nine med rene Es ne tan re te ELERA ai 4 20 AaQ0 Parameter Sete ae adian aaro a abed daa aa nid dla apaa Tad ere ne nr ten 4 20 Aa01 Special Functions Feed to Positive Stop 0 cecccceeeeeeeeeceeeeeeeeeeeeeeeeeeaeeeeeeeseeeesaeeesaeeeeeeeeed 4 21 Aa01 Special Functions Adaptive Depth 0 cccceceeeceeseeeeeeeeceeeeeeeeeecaeeeeaaeeseaeeseeeeesaeeeeaeeeeeeeeed 4 22 Aa01 Special Functions Home Switch Monitoring 4 23 PAOD UTS acces TEE cha datas daa bas dan dace teed an ntm E A T E A O 4 25 Aa03 Feed Constant sure Mas aeaea a eaaa ids eet a n lin anal nr ne 4 27 Aa04 Positioning Feedback Type Motor Encoder 4 28 Aa04 Positioning Feedback Type Linear Scale 4 29 Aa04 Positioning Feedback Type External Rotary Encoder ccecceceeeeeeeeeeeeeeeeeeeeneeeeeeneeeeees 4 30 Aa04 Positioning Feedback Type External Rotary Absolute Encoder
193. he LSB from a 1 to a 0 you must send down 1000000000001010 If you send 0000000000000000 the value of the parameter will become 0000000000000000 If you send only 0 the TRANS 01 D will give you an invalid data format error When entering values for the P set in the servo drive add 32768 to the P parameter number to obtain the correct number to use Ex P 0 0006 32768 32774 Enter DP n 32774 to change the value of P 0 0006 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 3 TRANS 01 D TND ACTA 4 2 Process Parameters POO TRANS 01 D Number POO Trans Number E gt 00 15 2 Trans 00 nn Unique number for this TRANS 01 D on the network Can be any number from 0 15 Access Method Identification Permissible Values Serial Protocol CP 2 0 0 15 When multiple TRANS 01 Ds are networked together using the RS485 communication link each unit in the network must have a unique number to identify it If the TRANS 01 Ds are not linked together this parameter is not used Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value Note For more information on using the RS485 communication link refer to the DDE Server appendix 4 4 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D P01
194. he RATIO command one of the factors is too large or the master factor is zero 464 Can t activate while program A new program cannot selected through the Binary Program Select inputs running unless the program is stopped 465 Drive D config error see ext diag Drive D does not support a product specific option or a drive configuration or Drive D telegram type not supported calculation has failed Product specific options include ELS single axis versions before 01 20 motion or l O cards The extended diagnostic message C1 124 or in Status System menu describes the error in more detail It often shows the parameter that failed along with a short message describing the error If it indicates that a parameter is invalid or a configuration is not supported check the axis configuration with the drive hardware or software If the extended diagnostic indicates an error such as Handshake time out or Drive is not responding the SERCOS ring may have been disconnected during initialization Check the fiber optic connections and the addresses of the drives on the ring 466 Drive D scaling type not supported Drive D does not support an option such as ELS or single axis motion which are product specific Check the axis configuration with the drive hardware or software Note This error is issued only in versions that do not use the SERCOS ASIC firmware versions less than 01 20 467 Invalid ELS Master Option An option in the ELS I
195. he process data channel in the bus A reconfiguration of the process data channel is only possible via the PCP channel that is the communications channel of the interbus S Note The use of a master circuit of the 4th generation is recommended The DBS03 1 board has the following features e interbus S slave supports PCP 2 0 e long distance bus circuit with galvanically isolated interfaces e freely configurable process data channel 1 of 16 word data width at the bus e intrinsic microprocessor for support of the PCP protocol and object management e process data channel and PCP channel monitoring e data exchange for CLC D control board via dual port RAM e hardware and software synchronization using the CLC D control board e LED diagnostics display integrated into the front panel in accordance with interbus S guidelines e implementation of an object structure to simplify access to variables and parameters belonging to the control board and drive e Upload download function via 4 arrays of 16 to 128 bytes are used PCP service DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IMDR ARIAL Interbus S Interface TRANS 01 D The interbus S interface of board DBS03 1 is constructed as a long distance bus circuit and corresponds to interbus S certification standards and requirements To guarantee European standards for EMC safety the board on the bus side has been entirely galvanically decoupled To maintain resistance to interference t
196. he user may only use those connectors on the front that guarantee complete shielding and are laid out so that there is absolutely no contact between incoming and outgoing connectors As per standard DIN E 19258 the interbus S is equipped with a DBS03 1 with 9 pin D subminiature connector for an incoming and outgoing bus e X40 incoming bus 9 pin D subminiature connector e X41 outcoming bus 9 pin D subminiature bushing Note The plug in connector configuration corresponds to DIN E 19258 standards Based on the bus structure of the interbus S all participants of an interbus S ring must be switched on to guarantee the bus function The failure of a participant means a breakdown of bus operations Note If it is desirable to maintain bus functions with the DBS board powered down then DBS 4 1 interbus S board with repeater function must be used Eight LEDs are on DBSO3 1 board for the purpose of diagnosing the interbus S function It is located on the front panel The definition can be found in section DBS03 1 Diagnostic page C 20 DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 15 TRANS 01 D INDRA DIZAL DBS03 1 Board Hardware C 1 6 Interbus Fieldbus Interface Front View of DBSO3 1 part no 253897 X38 Connection X38 f m1 24V has no function OV with DBS03 1M part no 254006 X39 not used gt 8 Diagnostic LEDs arriving bus departing bus front view SY4FB140 Figur
197. hese inputs DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 1 0 Functional Description 5 9 TRANS 01 D Outputs 5 10 1 0 Functional Description IMDR ALIA Home Limit Switch Table 5 13 Home Limit Switch Signals This switch is closed when the slide is physically at the Home position Because the TRANS 01 D performs time critical monitoring of this switch it must be wired Directly To The Input not through other logic i e PLC level shifters etc Manual Spindle Enable Connector X32 on DEA 5 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 14 Spindle Enable Signal When the TRANS 01 D is in Automatic Mode program execution can only occur if the connected spindle controller is operational and returning the Spindle Ready signal however during manual mode the spindle will only run and its diagnostic signals interrogated if this signal is high This allows operation of the slide in manual mode without running the spindle necessary during startup retooling or in the case of a defective spindle drive train This signal is normally connected to the line controller e g programmable controller or a manual operator device Ready Connector X17 on DEA 4 X Interbus S Object 5F91 Type Output from TRANS 01 D Table 5 15 Ready Signal The TRANS 01 D issues the Ready signal to indicate that all conditions are correct for the automatic cycle Ready will continue to be present on the Cycle Interfa
198. his parameter After this parameter has been entered the TRANS 01 D must be reset powered down and re powered up in order to initialize the changed I O structure Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key on the CTA 10 and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 7 TRANS 01 D INR ACTA P03 Auxiliary Outputs at Emergency Stop PO3 Auxiliary Outputs at Emergency Stop nnnnnnn n Auxiliary Output status when an Emergency Stop occurs Either a 0 1 or 2 must be entered here Access Method Identification Permissible Values Visual aa oe 0 0300 2222222 Interbus S 22222222222 DEA I O Es Protocol poe x 300 Same as above Same as above above CTA 10 for each of the seven Auxiliary Function outputs n 0 off n 1 on n 2 unchanged Default unchanged for all outputs In the event of an Emergency Stop it may be necessary to re configure the Auxiliary Outputs in order to safely or more easily recover from the fault This parameter gives the user the ability to do that The number of outputs available is dependent on the I O configuration programmed in P02 Axis Enable When Interbus S is selected the user has seven 7 outputs available When a DEA 4 x or DEA4 x DEA 5 x cards a
199. ically set the default systems gains in the servo drive These gains are based on the assumption that the inertia relationship of motor to load is 1 1 The CTA 10 will tell the user when it is loading the default gains After the default gains have been set if the programmer wants to change them he can re enter this parameter and chose Set Gains and make the changes The programmer will have the ability to select more than one option under this parameter When you are at the option you want to enable enter a 0 or a 1 Pressing the ENTER key will step to the next parameter option DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Aa09 Ramp Aa09 Ramp Ramp nnnnnn nnnnnn Enter the value to be used as the specified acceleration deceleration ramps Access Method Identification Permissible Values Visual TRANS A 0 0021 0 System Max max acceleration A 0 0022 0 System Max max deceleration Serial Protocol AP a 21 Same as above AP a 22 The Ramp will be the rate used as the primary acceleration rate for this axis The axis acceleration is limited to this value during a coordinated interpolated move On the drive level the acceleration capability is limited by the amount of peak torque that the drive and motor are rated for Press ENTER when all data is entered and the TRANS 01 D will store all the data for this parameter and step to the next parameter DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4
200. ications Channel The communications channel supports the acyclic transmission of data where time is not a critical factor All data objects defined for the fieldbus can be taken into consideration as per the determined data access Parameter objects specified in the CLC in the relevant configuration lists can thus be accessed directly via the data objects Accessing the data of any parameter list or the CLC mode is conducted indirectly via data exchange objects The data is transmitted with a data storage protocol Note 1 The CLC is still presently supporting a write access of parameter objects via the process data channel Note 2 It is not permitted to write access data already written into the process data channel List of Data Accesses via Various Data Channels C 2 Interbus Fieldbus Interface The fieldbus interface makes it possible to e write access parameters via the process data channel e directly read access parameters configured in the CLC via the communications channel e transmit parameters via the communications channel using data exchange objects e transmit digital inputs outputs via the process data channel e directly access digital inputs outputs via the communications channel e switch from operating into parametrization mode via the communications channel using data exchange objects e read access diagnostic objects via the process data channel e directly read access diagnostic objects via the communicatio
201. ied by designating these identical sections as subroutines or subprograms These subroutines can be executed called from the main program by executing a Jump To Subroutine instruction When the Jump To Subroutine occurs the TRANS 01 D transfers program execution to the NC Block number specified in the Jump instruction while storing the number of the NC Block which initiated the jump to subroutine When the TRANS 01 D encounters a JReturn instruction in the subroutine sequence it returns program control to the main program NC Block from which it executed the Jump To Subroutine instruction Program execution then continues with the next NC Block A Jump To Subroutine can be executed from any point in the main program and a return to that point is assured after completion of the subroutine Note A Jump To Subroutine must jump to a valid NC Block Subroutines are programmed just like main programs Note however that a subroutine must always contain a JReturn instruction as its last entry However a JReturn may not appear in a program which has not been declared as a subroutine because this would confuse the program sequence JReturn Used to return the user program back to the block that was left with a JU Jump to Subroutine This block jump can also be used to return the program back to the block that was being executed when the Jump on Event input went high DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 33 TRANS 01 D IDR ARIAL
202. iliary Function 7 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 7 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when Interbus S 1 0 is used If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 713 ACKN INPUT 7 WAIT ON Status message The machine function controlled by Auxiliary Function 7 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 7 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when Interbus S 1 0 is used If you suspect a problem check for e abroken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 714 DWELL TIME Status message Executing a dwell time function G04 as part of program sequence 715 FORWARD FINISHED Manual mode forward program cycle completed but Forward input still at 24V high Control push button may be stuck or PLC output may be latched high 716 FORWARD IMMEDIATE STOP Status message Manual mode forward program cycle begun at CTA 10 is interrupted either by CTA 10 Cycle Stop button or a soft fault To continue e press Cycle Start button on CTA 10 e press Fault Clear pushbutton on I O control pane
203. ility to select more than one option under this parameter When you are at the option you want to enable enter a 0 or a 1 Pressing the ENTER key will step to the next parameter option Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 33 TRANS 01 D IMDR ARIZA Aa12 Homing Reference Aal2 Homing Aal2 Homing Reference Reference 4 34 Contents 1 Switch Mpulse 3 Marker Pulse 2 Switch 4 Positive Stop Press the number key or use the cursor control keys to move the arrow to the referencing method you want to use for this axis Access Method Identification Permissible Values Visual TRANS A 0 0306 home to marker pulse and switch one to switch 3 home to marker pulse 4 home to positive stop The user has the option of using the Marker pulse the Home switch both the Marker and the Switch or a Positive Stop as the machine Home reference point When the TRANS 01 D is commanded to Home an axis G74 the Homing sequence used is the sequence pre defined in the digital drive The Home position is determined by the drive and relayed to the TRANS 01 D via the SERCOS channel For a full explanation of the Homing routine please see the appropriate manual for the digi
204. ill be X Y or Z The third parameter set is similar to the second set except that it covers the spindle axis These are the parameters specific to the spindle axis The information entered here is sent to the TRANS 01 D and the spindle digital drive Using these parameters the programmer is able to configure the spindle drive to his specific application Any options that are spindle specific such as encoder options operating modes special functions etc will be handled here The numbering will be SOO where the S denotes it is the spindle axis DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 1 TRANS 01 D Visual TRANS Serial Communications 4 2 Contents INDRA DIAL When used in a data field such as when numerical data must be entered the cursor shows up first on the extreme right digit of the first data field In the case where only one digit is in the data field the cursor will show up at that digit As information is entered the cursor will remain in that right digit location while the data moves to the left If you enter a value incorrectly you may press the CTA 10 s lt ESC gt key and re enter the value Visual TRANS is a Windows based utility that can be used for programming monitoring and configuration of your TRANS 01 D system For a complete description of the Visual TRANS software please see the Indramat Visual TRANS Reference Manual The parameter sets that are accessible through Visual TRANS are structur
205. ime the Line Control issues a Start signal Manual control at the unit Operator Station is possible only with the selector switch in MANUAL line open and when the TRANS 01 D diagnostic checking has not detected any interruptions Should the TRANS 01 D refuse to operate it will diagnose and display the reason If the TRANS 01 D is in Automatic Mode and is executing a part program bringing this input low will force the TRANS 01 D into Manual Mode within the conditions set up in parameter P05 The TRANS 01 D may be switched back into Automatic Mode and restarted by the Start signal provided that no hand jogging operations have been performed or any soft or hard faults have occurred If hand operations have been performed a restart in Automatic Mode is not possible DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA Forward Reverse TRANS 01 D Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 4 Forward Signal Generally wired to a push button The Automatic Manual switch must be in MANUAL position and the Enable Forward signal must be present to enable this button While this button is held depressed the TRANS 01 D will perform the programmed operation beginning at block 000 following the programmed forward profile Releasing the push button stops the movement Pressing the button again continues the operation When the control completes execution of a block containing a reverse vector
206. immediately jumps to NC Block N170 and begins to execute the program from that point When this happens the TRANS 01 D sets an internal flag to specify that it is running a Jump on Event program While this flag is set no other Jump on Event inputs are recognized After the Jump on Event program is finished the flag is reset The Jump on Event program begins with NC Block N170 and ends with program NC Block N179 The Jump on Event program can be extended if a jump is made to another section of programming NC Blocks that are available other than N170 to N179 Inside a Jump on Event program you can use all the same programming options as in the normal TRANS 01 D program The program must start in NC Block N170 and must end either with a programmed jump in NC Block N179 with a Jump and Stop to 000 or a JReturn which causes the TRANS 01 D to return to the program block it was executing when the Jump on Event input went high F500 S1000 F500 Signal JUMP ON EVENT N170 G01 G91 X10 F50 N171 JU070 N172 JN 179 N179 JN 003 NO70 G04 F2 S500 N071 G01 G90 X99 F100 N072 Jreturn N003 G01 A X50 F500 Traverse N004 JS000 JUMP ON EVI Program Figure 3 7 Jump On Event Programming Example and Program Sequence DOK CONTRL TRANS01D RM ANW2 AE E1 44 INDRAMAN TRANS 01 D Jump to Subroutine Programs which contain identical program sequences in two or more places can be simplif
207. indle positioning command it will move the spindle to the programmed position using the Drive Controlled Homing procedure The speed and direction it will use for the positioning will be determined by the values entered into the axis Homing Speed and Homing Direction parameters Because it is using the Homing procedure once the axis is positioned any subsequent positioning command will cause the axis to re home itself to the new position The exception to this is if the subsequent positioning command is to the same position the axis will not re position itself DDS 2 2 DDS 3 2 DKR DIAX03 and HDD HDS DIAX04 When using either of these two drive families for spindle drives the user must use drive firmware type SHS Drive firmware type SSE should not be used in these drives for spindle applications These drive families with SHS type firmware operate similar to the DIAX01 family except the spindle is positioned directly with the programmed position The direction of the orientation can be changed by changing the sign of the programmed position DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL TRANS 01 D Auxiliary Functions NC Code M Program Jumps Auxiliary function outputs are available in the system They are used to operate position dependent functions such as solenoids switches clamps full depth indicators lights that must be turned on dependent on a position etc Auxiliary functions can be turned on off or left
208. ing command in the part program after reverse vector JROOO however it is not required The TRANS 01 D operates correctly without the homing command in all cases except where all power has dropped after execution of reverse vector JROOO and before execution as the Jump to Block 000 and Stop In that case when power is re applied the TRANS 01 D has stored the fact that a reverse program was in progress and it continues where it left off when the Home command is received Automatic Mode or the Reverse push button is pressed Manual Mode DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 31 TRANS 01 D Programming Blocks for the Jump on Event Programming Procedure 3 32 Contents NOOO G01 X99 NOO1 G04 F2 NO02 G01 X110 INDRA DIAL Some users omit the homing command in the reverse program because they don t want to take the time for the system to execute the complete homing process in each cycle Instead they program an absolute move to zero Unlike many other controls this is not a problem in the TRANS 01 D because it executes the complete homing process only when first powered up Subsequent homing commands are essentially an absolute move to zero with the TRANS 01 D remembering where Home is and checking that it is reached when commanded Jump on Event Program Jump on Event is a jump that is executed when the Jump on Event input to the TRANS 01 D goes high When the Jump on Event input goes high the TRANS 01 D
209. instruction in task T The diag task diagnostic T 0 0122 and the extended diagnostic C 0 0124 give a more detailed description of the error 495 Sequencer error see task T diag An error has occurred in a sequencer execute instruction in task T The task diagnostic T 0 0122 and the extended diagnostic C 0 0124 give a more detailed description of the error 496 Can t Execute this Instruction from This user program instruction cannot be executed from within an event an Event See the task error descriptions and the current program instruction Some operations such as sequencer initialization cannot take place during an event Move the instruction into a main user task or subroutine 497 Limit switch config error see ext This error is issued at activation of a program when one of the PLS diag parameters defined in the program is invalid It is also issued when the ELS setup is incorrect for PLS operation Parameter C 0 0124 provides a detailed description of the error as an extended diagnostic message 498 Drive D Shutdown Warning This error is issued when any drive has a Class 2 shutdown warning The tasks that stop for errors switch into manual mode and perform a controlled stop of all axes A drive warning indicates a condition that will later cause a shutdown but is serious enough to require immediate attention Since the warning may have already been cleared on the drive the extended diagnostic C 0 0124 latches the c
210. ion DC current braking active without optional bleeder resistor During main power loss condition RAC will utilize DC current to decelerate the motor PWM Frequency changes 565 micro seconds for RAC 2 2 250 DC current braking not active PWM frequency stays at 600 micro seconds for RAC 2 2 250 Bigger SLIP boost for water 64 Normal SLIP boost cooled motor Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 9 1 IDR ARIZA TRANS 01 D 5 1 0 Functional Description 5 1 Introduction This chapter provides a functional description of the TRANS 01 D interfaces to the machine builder s equipment and describes the power interrupt handling features of the TRANS 01 D Also included here is a description of how to configure or re configure I O hardware These interfaces to machine builder s equipment are Interface to the Operator Station which contains the pushbuttons for manual controls Cycle Interface to the customer s Line Control usually a programmable control which controls automatic operation of the system I O Networks When a network is present Process Parameter P02 is used to specify whether signals are accepted from the I O Network or from the
211. ion mechanical bindage etc on the EE To do this the TRANS 01 D takes a snap shot of the EE feedback position when it reaches the first NC block containing a G62 move preceding a G08 NC part In reality the final positional reading of the EE equals the deflection seen on the EE when the first G62 NC block preceding a G08 was issues plus the distance commanded in the G08 NC block The final destination point of this G62 move must be such that the EE has been depressed by at least 50 micro meters and not more than the value set in TRANS 01 D Axes Prm 31 Linear Encoder Pre Limit If the value of the position in the final G62 block plus the position value located in the G08 block is greater than the value in TRANS 01 D Prm 6 an over travel fault Position out of bounds will occur Once the TRANS 01 D is in any other NC block other than one that contains a G08 command then the EE is not being used for positioning Hardware and Software Requirements Indramat Servo Drive DIAX 03 Type Drive Firmware TRANS 01 D 05V44 or higher DIAX 03 Drive DSM 2 2 ELS 04V28 Indramat Interface Card DLF latest revision Indramat Encoder Cable Type 03 0349 Online Programming Tool Indramat Visual TRANS software External Linear Encoder Heidenhain MT25W incremental measuring device DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IRI io ACTA TRANS 01 D FIXED MACHINE DATUM POIN RENCE POSITION WORKPIECE NY
212. ion after a Soft Fault has been cleared or if an Error occurred and was removed during the cycle Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key on the CTA 10 and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 9 TRANS 01 D INR ACTA P05 Automatic Manual Switching PO5 Auto Manual Switching 1 End of Cycle 2 Immediate 1 or 2 Select the option desired when the mode of the TRANS 01 D is switched during a cycle Access Method Identification Permissible Values Visual TRANS C 0 0302 0 immediate 1 end of cycle CTA 10 P05 1 end of cycle 2 immediate If the mode of the TRANS 01 D is changed while it is in cycle changing from Automatic to Manual mode the user has the option of telling the TRANS 01 D how they want it to respond Do they want it to finish the cycle and then change modes If so press 1 If they want it to come to an Immediate Stop in mid cycle press 2 The programmer can also use the arrow keys to move the pointer to the desired selection and press ENTER When the Numeric or ENTER key is pressed the TRANS 01 D stores the option and automatically steps to the next parameter 4 10 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D P06 System Options PO6 System
213. ion with Interbus S Data Objects The data exchange is conducted by means of the data objects assigned to the fieldbus interfaces Several data objects for 2 or 4 byte data are defined to which the master directly and cyclically has access in real time A transmission of longer data blocks e g parameter lists and accessing the CLC mode can only occur acyclically via data exchange objects These four objects are byte arrays of various lengths via which data can be exchanged The fieldbus interface supports two separate channels to transfer data Process Data Channel The process data channel is used for the exchange of data blocks in real time The exchange of data takes place on the CLC in the SERCOS cycle Thus max SERCOS cycle bus cycle i e the maximum of bus and SERCOS cycle determines the updating cycle for the process data The input and output data of the process data channel are written by the fieldbus master into configuration objects 6000 and 6001 see section Process Data Channel page C 1 With these objects the master determines which data object is to be cyclically exchanged Parameters or I O objects identified by the master must be specified in the CLC in the relevant configuration lists Note The CLC is still presently supporting a write access of parameter objects via the process data channel DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 1 TRANS 01 D IDR ARIAL Commun
214. ioning Shortest Path With Lag Finishing Rotary Positioning Positive Direction Only Position command Incremental Distance G00 G01 G04 G08 G20 G21 G36 G37 G38 G61 G62 G69 G74 G75 G76 G90 Spindle position Auxiliary functions Program jumps JN Unconditional jump Ju Jump to subroutine JR Reverse vector programming JS Jump and stop JC Conditional jump JW Conditional Jump with a Wait Time JReturn Return from subroutine Table 3 1 Available Program Functions F T S M Jx G91 DOK CONTRL TRANS01D RM ANW2 AE E1 44 INDRA DIAL TRANS 01 D 3 3 Application Programming Requirements Start of the Program First Positioning End of the Program Remote operation of the TRANS 01 D via the Operator Interface requires that certain rules for machining reverse movements and tool change programs must be established and scrupulously observed by the programmer This is necessary to insure that program execution will always be started in the proper manner independent of unexpected events and actions and that the system will always remain controllable in all operating situations via the Operator and Cycle Interfaces If the programming rules are not obeyed the TRANS 01 D will depending on the type of violation refuse to issue a Ready signal for the start of automatic operation or it will not be possible to execute a homing command or manual operation selected from the Operator Station
215. is firmware version 417 SYSTEM ERROR pSOS XXXX An internal CLC operating system error has occurred Contact Indramat Service for assistance 418 No program is active No active user program was found on the CLC during initialization Download and activate a program from the user interface then clear the error 419 Invalid Program File A checksum or file format error was found in the active program file Recompile the program from the PC and download it again If the error still occurs call Indramat Service for assistance 420 Drive xx Shutdown Error The drive has issued a shutdown error which disables motion Check the SERCOS Drive Status message parameter Dx 95 for a description of this error Refer to the drive manual for more information DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 5 TRANS 01 D IID io ACTA code Description S 421 User Program Stack Overflow The subroutine call stack for a user program task has overflowed Check the program for the following conditions there is not a return for every subroutine call a subroutine is calling itself program flow has caused multiple returns more than 256 subroutines are nested See the diagnostic message Error Reference source not found or task error bit for each task to find out which task has this error 422 Parameter transfer error in Task yy There is an error in the parameter transfer instruction The parameter format parameter
216. is parameter is entered in the user program an error will occur before the block is executed Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 42 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Aa21 Positive Stop Torque Aa21 Positive Aa21 Positive nn Enter the value in percentage of maximum for the selected torque to be used when feeding the axis to a positive stop The values entered above are in percentage of maximum The Bipolar Torque value entered into the digital drive is the maximum value the drive will allow Access Method Identification Permissible Values Visual TRANS A 0 0314 0 400 A 0 0315 Serial Protocol AP a 314 Same as above AP a 315 When an axis is feeding to a positive stop it is recommended that the speed and torque of the servo system be reduced in the motion block during which the axis will encounter the stop This will reduce the stress on the system mechanics To the Stop is the reduced torque value to be used when the stop is encountered After the stop has been encountered the torque should be reduced again to avoid holding against the stop with excessive torque At the Stop is the torque value to be used when up against the stop Typically the torque
217. key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 67 TRANS 01 D TND ACTA SAT Maximum Speeds SAl Max Speed Programnnnnnnnnn Motor nnnnnnnnn n Enter the numerical values for the data Access Method Identification Permissible Values Visual TRANS A 0 0320 1 10 000 rpm Program speed This value is read from the Trans 01 D and cannot be changed here Motor speed This sets the maximum speed the drive will allow the motor to turn The drive will not allow the motor to run at speeds greater than this value If a speed greater than this is programmed an error will be issued by the Trans 01 D Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 68 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SA2 Zero Velocity Window SA2 Zero Velocity Window nnnnnnnnn n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0124 1 99 rpm This window sets the minimum velocity in which the motor operates If the motor operates below this value it is considered to be at zero velocity If the motor velocity is below this value the Spindle at 0 Speed output will turn on high Enter the number t
218. l DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 15 TRANS 01 D IID io ACTA code Description S 717 FORWARD NO COMMAND Forward signal lost during manual mode program cycle Push button may have been released but also check for e loose or broken connection to push button switch e switch failure e lost PLC output 718 FORWARD OPERATING Status message Manual mode forward program cycle in progress 719 IMMEDIATE STOP Status message TRANS 01 D status after a soft hard fault condition has been cleared Servo drive power is present and machine is ready for Start Restart signal or Forward Reverse signal high 720 NO ENABLE 24V not present at Enable input 721 NO ENABLE FORWARD 24V not present at Enable Forward input 722 NO START Machine is in Auto mode and ready for Start signal all axes are enabled and homed and there are no faults 723 OPERATOR NO COMMAND Status message Machine is in Manual mode and ready for Start signal from CTA 10 724 READY MISSING Status message In Auto mode one or more axes have not been homed 725 REVERSE FINISHED Status message Manual mode reverse program cycle completed but Reverse input still at 24V high Control push button may be stuck or PLC output may be latched high 726 REVERSE IMMEDIATE STOP Status message Manual mode reverse program cycle begun at CTA 10 is interrupted either by CTA 10 Cycle Stop button or a soft fault To continue e press Cyc
219. l from the motor feedback Used for feedback filtering For the type 1 feedback T filtering should be set at 3 For the type 3 feedback T filtering should be set at 1 NOTE Ifa high resolution feedback is used only the values greater than or equal to 0 1 and 2 are permitted Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D SM2 Poles Slip Limit SM2 POLES SLIP LIMIT Poles n Slip Limit n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1001 2 8 Poles P 0 1004 1 7 9 Slip Limit Serial Protocol DP 4 33769 Same as above DP 4 33772 Default depends on motor drive combo Poles This is a physical parameter of the induction motor which defines the number of poles This parameter must be programmed as specified in the DIAX01 2AD Parameter List for the given motor drive combination Please refer to the appropriate DIAXO1 drive controller manual for the correct parameter lists Slip Limit This parameter defines the slip limit as a multiple of the signature slip rated slip parameter SM4 Enter the number to be used for this parameter Press ENTER when all data is entere
220. lass 2 diagnostic bits drive parameter S 0 0012 from the drive so that this condition can be corrected Note Class 2 warnings may not be detected by the CLC if drive parameter S 0 0012 is being continuously read by the user interface or user program since the diagnostic change bit is reset whenever this parameter is read 499 Axis number D not supported in this This version of CLC software is limited to less than D axes The axis version number is limited to the number of axes allowed Currently the standard version of CLC allows 4 axes and the enhanced version 40 axes 500 Axis D is not referenced Axis D has not been homed the reference position has not been set or the reference position has been lost The reference position bit in drive parameter S 0 0403 is zero To enable or disable this error use parameter A 0 0006 501 Drive D communications error An error in drive communications has occurred while the CLC was reading or writing a service channel parameter for an internal operation Parameter C1 124 extended diagnostics has a detailed description of the error 502 ELS and cams not supported in this The ELS and cam features are not supported in this version of the CLC version GPS and GPE are the only firmware versions that include these features 503 Executing empty block D This error is reserved for use by the TRANSO1 D control See the documentation for this version 504 Communication Timeout During a timed serial port t
221. le Start button on CTA 10 e press Fault Clear pushbutton on I O control panel 727 REVERSE NO COMMAND Reverse signal lost during manual mode program cycle Push button may have been released but also check for e loose or broken connection to push button switch e switch failure e lost PLC output 728 REVERSE OPERATING Status message Manual mode reverse program cycle in progress 729 TOOL CHANGE FINISHED Yet to be implemented 730 TOOL CHANGE IMMEDIATE Yet to be implemented STOP 731 TOOL CHANGE NO COMMAND Yet to be implemented 732 TOOL CHANGE OPERATING Yet to be implemented 734 X AXIS ADAPTIVE DEPTH Status message X axis is operating in adaptive depth positioning mode 735 X AXIS HOMING Status message Executing a homing function G74 on the previously referenced homed X axis 736 X AXIS HOMING FINISHED Status message Successful completion of home reference sequence but 24V still present at Home Request input 737 X AXIS HOMING TO POSITIVE Status message Executing a Homing to Positive Stop sequence G69 STOP on the X axis 740 Y AXIS ADAPTIVE DEPTH Status message Y axis is operating in adaptive depth positioning mode 741 Y AXIS HOMING Status message Executing a homing function G74 on the previously referenced homed Y axis 742 Y AXIS HOMING FINISHED Status message Successful completion of home reference sequence but 24V still present at Home Request input 6 16 Diagnostics and Monitoring DOK CONTRL TRAN
222. le velocity when programming a G08 Adaptive Depth Command Using Visual TRANS this prm corresponds to Axes Prm 317 lf a value greater than this prm is programmed in a G08 command block the following alarm appears 780 Maximum Adaptive Depth feedrate exceeded TRANS 01 D Axes prm 31 Linear Encoder Pre limit contains the value that the TRANS 01 D will compare to the EE position at the beginning of the G08 NC block If the position from the EE is greater than Axes Prm 31 the TRANS 01 D will move to the position within the preceding G62 block plus the Pre limit deflection value and then the following alarm appears System 511 Adaptive Depth Pre Limit Error Using Visual TRANS make SERCOS Prm P 0 0075 Interface Feedback 2 equal to 2 This configures the DLF board as the source of secondary feedback Exit from Prm Mode To ensure that the External Encoder is feeding information back to the DIAX 03 drive push the tip of the MT25W in amp out The position display on SERCOS Prm S 0 0053 Position Feedback Value 2 Ext Feedback should change correspondingly DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IMDR ARIAL TRANS 01 D Alarm Diagnostic Cause Action Required to Reset Number Condition Task B 425 Depth Probe reading gt w3 not zeroed 30 When referencing the motor encoder performing a G74 the EE was not set to a value less than 50 micro meters Adaptive Depth Pr
223. low a phase switch Check if power is applied to the drives and if the fiber optic connections and the drive addresses are correct If drive parameters were just downloaded switch back into parameter mode to reinitialize the interface If the above conditions are O K the SERCOS interface board may be faulty Note This error is issued only in versions that do not use the SERCOS ASIC firmware versions less than 01 20 405 Phase D Drive did not respond A time out in the SERCOS ring has occurred when the CLC was initializing timing and scaling parameters Check the fiber optic connections the addresses set on the drives and the drive firmware versions This distinguishes a communication error from an actual phase switch error 406 System Error This error is not issued in current CLC versions and is reserved for future use 407 Drive D Phase 3 Switch Error The SERCOS phase 3 switch command failed for the drive indicated This usually indicates that configuration parameters for the drive are invalid or have not been saved Check the Drive Status message parameter Dx 95 for drive D for a description of the error If the Drive Status indicates that parameters are invalid or lost display the Phase 2 error parameter list for Drive D Switch into parameter mode and change the invalid parameters or download a valid parameter file to the drive If the drive is not communicating check the connections and the addresses If drive
224. m data cannot be changed unless no axes are currently using it Deactivate the cam for axis D then send the cam again This is an internal error generated by the SERCOS ASIC Change modes or reset the card If it happens again call Indramat Service The executable portion of the user program downloaded to the CLC TRANS 01 D exceeds the maximum limit which is indicated in the message dd in kilobytes Optimize the program and download it again or update the firmware to a version that has a larger program limit The dynamic memory space on the CLC TRANS 01 D has been exhausted Call Indramat Service for assistance All values in the x column right hand column of the cam file sent to the CLC TRANS 01 D must be between zero and the modulo value of the master In the cam file sent to the CLC TRANS 01 D 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 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 The sequence number D is zero or is greater than the allocated maximum number of sequencers for this program The sequencer step number D is zero or is greater than the allocated maximum number of steps for this program The function number D selected for a sequencer step is invalid or refers to a f
225. m jumps are available as discussed in the following paragraphs If program jumps have been selected in a NC Block together with other functions their execution will occur at the end of the NC Block after all other functions have been executed Note Block Jumps cannot be programmed in a NC Block if motion is programmed with G62 Without Lag Finishing Unconditional Jump NC Code JN With an unconditional jump the TRANS 01 D transfers control to another NC Block anywhere in the program This allows the programmer to change the sequence of program execution This is helpful when patching programs The required new program section can be written into some available NC Block locations and tied to the original program by an unconditional jump instruction A jump instruction at the end of the new program section can transfer control back to the original program Conditional Jump NC Code JC A conditional jump transfers program control to the specified NC Block only if the programmed condition exists on the conditional jump control inputs These are user interface inputs allowing the user to determine via external signals such as selector switch inputs whether a programmed jump should be executed DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 29 TRANS 01 D IID io ACTA Example Assume the TRANS 01 D has three different programs which start at the following NC Block numbers Program 1 Block 015 Program 2 Block 026 Progr
226. m the CLC TRANS 01 D seeeseeseeseeseeeerreeressrresenens Writing Data to the CLC TRANS 01 D esseeeeeeeeereeireeresresrrrssresns Communication Errors ss COCK SUI ace feta tesecits name nn E nl ai talent End of Message M nat tee NARR ads Backspaces and White spaces eect eeeneeeeeeeeaeeeeeeaeeeeeeeaeeeeeeeaaes Numeric Data Format 2 ccecceceeeeeeeeeeeceeeeeeeeeeeeseneaeaeeceeeeeeeeeeeeeaees Format of Data Sent to the CLC TRANS 01 D B 3 Command Classes Subclasses ccccceceeeeeeeeeceeeeeceeeeeeeaeeseeeeeseaeeeseaaeeeeees Parame t rs sstine ments rider rai EE A ne rad T sta citer re ela Matlab les ic ss nine re rai ner tete Program Communication lO Reqgistersis se dede nie nie dates B 4 Drive and CLC TRANS 01 D Parameters and Subclasses Parameter Data Subclass nren ntn netnnsen nnen nenn Name T xt SU DCIASS rte mire era dti ire Units Text SUBCIASS serai enr ne acnechezszcabagadbrecuvaatsastasdtbesvade Upper Limit L Lower Limit Subclasses c cceeceeeeteeeeeeeeeeeeeeeeeeeeees Atiribute SUBCIASS vis fede cic three sde dada dan aAA T Ri d Ra Parameter Lists Subclasses ccceceeeeeceeeeeeeeeeeeeaeeeaeeseeeeeseaeeesaeeeeeeeee SERCOS Parameter Sets is B 5 Parameter LIStS 5 58e 08e nie nn nette tement ENa PEHA Listing a Parameter sisi Parameter List Block Transfer TLabel TORT oar
227. mains under voltage Bleeder Monitor Bit 8 If set to a 0 the bleeder monitoring in the drive is not active If set to a 1 Bleeder monitoring is active in RAC drives with Z1 option Monitor External Feedback Bit 10 When set to 0 with position control using an external encoder the internal monitoring of the external encoder is active When set to 1 monitoring of the external encoder not is not active Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 8 1 TRANS 01 D SM1 Feedback 4 82 Contents INDRA DIAL SM1 FEEDBACK Feedback type n T Filter n n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1002 1 6 feedback type P 0 1003 0 3 T filter Serial Protocol DP 4 33770 Same as above DP 4 33771 Feedback type Type 1 indicates that the standard 1024 LPR lines per revolution encoder is used Type 3 indicates that Indramat s High Resolution feedback is used Motor name plate example 2AD 132 D B35 0B1 BS01 dd1 Siete 0 No Feedback ane 1 WI 519 1024 LPR Feedback pitiless 3 HG 0101 High Resolution Feedback T Filter This parameter is the filtering factor for the signa
228. mber Use this pull down list to select the unit number to display the status indicators for Use PC When selected this option will force all CLC P control Handshaking cards to terminate communication responses with a PC Interrupt IRQ 9 interrupt RQ 9 Hardware jumper S5 must be inserted on the CLC P card for this option to work properly If this option is not used the server will poll for a communication response every 55 milliseconds Note When using the interrupt option on the CLC P control card no other hardware devices may use IRQ 9 DDE Menu A 8 CLC DDE SERVER DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IRI io ACTA TRANS 01 D 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 4 Conversation Service Topic Item Handle Handle Handle Count 00450728 0000C4D1 00000252 0000C4D1 00000252 Expand 0000C4D1 0000C252 0000C4D1 0000C252 Gael 0000C4D1 00000252 0000C4D1 0000C252 0037083C 0000C4D1 0000C252 DDE Convers
229. meric index e g 1 for I 1 or 15 for F 15 of the desired variable The variable number 0 is used to request a count of the variables used by the selected program DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 13 TRANS 01 D T Label Text Examples IDR ARIAL Type String The text label for any variable can be obtained by using the T subclass If no text label is found an ASCII space character is returned Since the program labels are fixed when the program is compiled labels cannot be changed with this command The Host requests the number of integer variables used by program 1 gt 1 IP 1 0 r n The CLC TRANS 01 D responds with gt 1 IP 1 0 20 r n 20 variables The Host sends floating point data 123 456 to Variable F12 for the program with handle 2 gt 1 FP 2 12 123 456 Scs r n The CLC TRANS 01 D acknowledges with gt 1 FP 2 12 Scs r n The Host requests the label name for Variable 120 for the current program gt 1 IP 0 20 r n The CLC TRANS 01 D returns the name count gt 1 IP 0 20 count r n B 7 Input Output Registers B 14 Direct ASCII Communication The Host system may read the CLC TRANS 01 D s input and output registers at any time including control status and programmable registers The CLC TRANS 01 D s axis system and task status registers are normally read only and are only changed by the CLC TRANS 01 D I O mapper executive task or the register fo
230. mit switch and that no movement of the slide will occur when programming a zero offset The zero offset provides the flexibility to change the reference point whenever a different part is handled on the TRANS 01 D transfer line or to correct differences between actual and designed Home position Note For information specific to Homing a rotary axis refer to the Rotary Motion Control section DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D G69 Home to a Positive Stop Home to Positive stop is a feature used for convenience to initialize the position of an Indramat multi turn absolute feedback This is a requirement encountered in the commissioning of machines using absolute feedback devices When first installed or whenever the feedback to machine orientation is disrupted the feedback will report a position that is not relevant to the actual machine state A method must be available to orient the machine to a known position then load the absolute feedback with that value SERCOS equipped Indramat drives contain a feature that allows this via the setting of a SERCOS procedure The SERCOS Ident used is P 0 0012 This function is also available in Indramat s Visual TRANS software in easy to use graphic screens G69 offers an alternative method to perform this orientation It achieves this by moving the slide in the following sequence 1 The axis moves in a parameter dictated direction until a stalled motor condition i
231. mp to parameter Aa04 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 2 1 TRANS 01 D Aa03 Feed Constant 4 22 Contents IDR ARIAL Aa03 Sys Config Feed Constant Units nnnnnnnnnn nnnnnnnnn Enter the calculated Feed Constant for this axis in the units selected in Parameter Aad2 UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 Note This parameter is not used when a rotary application has been selected for the axis Axis Parameter Aa02 has been configured with Units per Table Revolution Access Method Identification Permissible Values Visual TRANS S 0 0123 0 21478 3647 There are many different types of mechanical configurations available for use with electronic servo systems The parameters of the TRANS 01 D are designed to accept all of them This number is the distance the axis will travel for one revolution of the motor Some formulas for calculating the axis Feed Constant for ballscrews Ballscrew lead Gear ratio for rack and pinion Pinion diameter X Gear ratio for roller systems Roll diameter x 7 Gear ratio If you have used the gear ratio in your calculation of the feed constant you must enter 1 1 in parameter Aa05 Otherwise calculate your feed constant without the gear ratio Then enter
232. mple Motion Profile Note Step 1 will attempt a move of 22 44 20 0 4 1 10 If the positive stop is not found in this range a Positive Stop Missing error will result Note Any subsequent G74 homing commands would move to the position defined here as reference position Any Zero offset value in them would be added to the value of the reference position parameter after reaching this point and its value would change to that result DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 9 TRANS 01 D IDR ARIAL Positioning NC Code G00 G01 G90 amp G91 G00 and G01 specify that a positioning move will be executed in this program NC Block GOO specifies the speed to use for the commanded move will be at the Rapid Speed entered into the axis parameter In this case a Feedrate is not required in this NC Block G01 specifies a positional move but the programmer is prompted to enter a Feedrate value to be used for this move If the programmer does not enter a Feedrate in this NC Block it will be executed using the last feedrate value used for a positional move Two types of positioning can be selected in the system absolute G90 and incremental G91 Note For information specific to Positioning a rotary axis refer to the Rotary Motion Control section In absolute positioning G90 all movements of the slide are made to some absolute distance from the machine reference position which will either be Home or
233. n nnnnnn n Us2 n nnnnn Enter the acceleration rate to be used for the specified function Access Method Identification Permissible Values Visual TRANS T 0 0021 nnnnnn n max path accel T 0 0022 nnnnnn n max path decel Serial Protocol TP 3 21 Same as above TP 3 22 CTA 10 PO9 0 002 9999999 pF taut 200 units per second Note When setting task parameter values keep in mind that Task C is the only valid task in the TRANS 01 D The values entered in this parameter will be used as the accel decel rates for the various functions specified Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value Note Although Visual TRANS and Serial Protocol have access to separate acceleration and deceleration parameters TRANS 01 D firmware version 5VRS requires that the same values be used for both parameters 4 14 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D P10 Process Position Units P10 Units 1 Inches 2 Millimeters Note This parameter is only available with CTA 10 software 1V33 or greater Access Method Identification Permissible Values Visual TRANS T 0 0005 world position units 0 inches 1 mm CTA 10 P10 world position units 1 inches 2 mm Note Whe
234. n register 31 was programmed Before this NC Block is executed the TRANS 01 D will verify that the programmed position plus the Tool Correction registers value will not move the slide beyond a software Overtravel Limit parameter Ax6 If the move will take it beyond the Overtravel Limit if executed the TRANS 01 D will issue an error Axis move is out of bounds before the program NC Block is executed It is recommended to clear the Tool Correction memory after the end of each axis program cycle To do this the return NC Block in the cycle must be programmed with the Tx0 Tool Correction register for the appropriate axis In the example above Tool Correction register T30 clears the Tool Correction memory for the Z axis DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 23 TRANS 01 D External Tool Correction 3 24 Contents IDR ARIAL Tool Correction registers can also be programmed from an external device to the TRANS 01 D through the RS232 485 port on the front of the TRANS 01 D The protocol used to do this is the same protocol used to communicate with the TRANS 01 D using Terminal Mode The TRANS 01 D has Tool Correction registers T01 T04 set aside for this function Programming these Tool Corrections is the same as it is for the internal registers The Tool Correction device is connected to the TRANS 01 D at the CLC D board s serial port A i e X27 using an RS 232 electrical protocol or the data can be sent via the In
235. n setting task parameter values keep in mind that Task C is the only valid task in the TRANS 01 D This parameter specifies the measuring units that will be used by the TRANS 01 D system for all motion commands Only one unit may be chosen Press the number key or use the cursor control keys to move the arrow to the measuring system you want to use for this axis e 1 Inches All programmed distances and destinations will be in inches Feedrates will be in inches per minute All Tool Correction data will be in inches e 2 MM All programmed distances and destinations will be in millimeters Feedrates will be in millimeters per minute All Tool Correction data will in millimeters This will set the new units into the system All subsequent parameters that relate to speeds and positions must be re entered The TRANS 01 D does not re calculate new values when the type of units used is changed it will only move the decimal point If the user is changing the measuring units after values have already been entered in other parameters those values must be re entered Note If the TRANS 01 D is only controlling a single axis and its positioning units are set for rotary operation the value of this parameter is ignored DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 15 TRANS 01 D IDR ARIAL 4 3 Axis Parameters Aa00 Parameter Set 4 16 Contents Example X axis ERCOS nn d Axis designation C
236. nce Home position defined in the Axis Parameter Aa13 Reference Position Status message Executing an axis move G90 to an absolute position Status message Executing an axis move G91 across an incremental distance Status message Executing a positioning move to a positive stop G75 as part of program sequence During program cycle the status of ACKN INPUT 1 momentarily changes while the status of Auxiliary Function 1 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure During program cycle the status of ACKN INPUT 2 momentarily changes while the status of Auxiliary Function 2 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is halted control program sequence is frozen May be due to temporary condition e g air bubble in cooling hose press FAULT CLEAR and START RESTART For momentary loss 24V input signal check for faulty wiring at switch For voltage spike check for switch failure During program cycle the status of ACKN INPUT 3 momentarily changes while the status of Auxiliary Function 3 output does not i e momentary spike from OV or momentary loss of 24V Axis motion is h
237. nce defined in Axis Parameter Aa17 Control Windows of the commanded programmed position The control will wait up to 30 seconds 806 X Axis In Position timeout Hard Fault X axis never reached In Position tolerance of commanded programmed position Check for e obstruction of axis drive train e _In Position Window Axis Parameter Aa17 too small e velocity loop gain Axis Parameter Aa08 too low 807 Y Axis In Position timeout Hard Fault Y axis never reached In Position tolerance of commanded programmed position Check for e obstruction of axis drive train e _In Position Window Axis Parameter Aa17 too small e velocity loop gain Axis Parameter Aa08 too low DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 21 TRANS 01 D DDR AA e ET ES 808 Z Axis In Position timeout Hard Fault Z axis never reached In Position tolerance of commanded programmed position Check for e obstruction of axis drive train e _In Position Window Axis Parameter Aa17 too small e velocity loop gain Axis Parameter Aa08 too low 6 22 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D A CLC DDE SERVER A 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 b
238. nce Coded Linear scale is a hybrid device that initially acts like an incremental feedback device but once it is referenced to the machine position grid it will act as an absolute feedback device The advantage of the Distance coded scale is the user does not have to re establish a Home position it only needs to establish where it is in relation to the machine reference point if axis reference is ever lost On power up or when axis has lost its reference the system will not be referenced S 0 0403 LSB will be 0 When a Drive Generated Homing Command is issued the axis will traverse the distance necessary to pass two marker pulses in the direction specified in the Homing Parameter as the Homing direction After it has traversed this distance it will stop moving and display its absolute position as defined by the scale At this time the servo drive will set S 0 0403 LSB to a 1 to signal that the axis is referenced Any subsequent Drive Generated Homing Commands that are issued will be ignored by the drive DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D TRANS 01 D Operation The TRANS 01 D treats the Distance Coded Linear scale as an incremental feedback device in those cases where the axis will loose its reference i e Exiting parameter mode certain drive errors or when the system has lost all power In these cases if reference is lost the G74 command initiates a Drive Controlled Homing Procedure to once again referenc
239. nd Zero Offset NC Code G74 amp G69 3 6 Contents G74 Standard Homing When G74 Homing is selected during dialog programming the CTA 10 will display ZERO OFFSET Note that a reference value is entered as a system parameter Ax13 This reference value is used to establish the machine reference point as some point other than Home such as the center point of the slide If all references to the part are to be programmed with respect to this machine reference point a zero offset value of 0 must be entered However if the measurements in the program are to be programmed with respect to some other reference such as the face of the workpiece the distance from the machine reference point to the workpiece reference point is entered as the zero offset providing a new reference point which is offset some specified distance from the machine reference point The value entered as the zero offset is added to the reference position after homing has occurred Thus the zero offset can be used by the programmer in order to program the measurements in a machining program with respect to one of the surfaces of the work piece In order to assure correct measuring references programs which use zero offset referenced measurements must be started with a homing instruction which sets the corresponding zero offset Note that the control is at Home when the slide is at the position where the first marker pulse zero pulse occurs after closure of the Home Li
240. next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 77 TRANS 01 D IDR ARIAL SA11 Function 1 4 78 Contents SA11 FUNCTI Bi Position to Feedback SA11 FUNCTI Bit 6 N Output Variable or Torque n N Outpu Motor Temp n Enter 0 to disable or 1 to enable the function Access Method Identification Permissible Values Visual TRANS P 0 1105 XXXXXXXXNNNXNXXN bit O 0 limit torque and power 1 limit torque only bit 3 0 use external encoder 1 ignore ext encoder Bit 5 0 N output is speed 1 N output is bus voltage Bit 6 0 N output torque is smoothed 1 N output torque is actual Bit 7 0 N output is speed 1 N output is motor temperature Torque Power Limiting Bit 0 When set to a 0 the bipolar torque limit value limits torque and output on a percentage basis When set to a 1 only the torque is limited This means that within the field weakening range where the maximum torque has for example fallen to 50 a reduction only then sets in if the bipolar torque limit value is less than 50 In this case a limitation would not take place until above twice the drop off speed Position to External Feedback Bit 3 When set to a 0 the Second encoder input X5 is used for spindle positioning requires an external feedback device When set to a 1 the second encoder input X5 is ign
241. ng of axis movements in a very logical step like manner for the programmer All of the ten main screens are listed below The TRANS 01 D automatically progresses to the next menu when a choice has been made in the current menu To make a selection from a particular menu either select the number corresponding to your choice or arrow down to your choice and hit ENTER When all the Menu choices are selected press the Block Store key to save the NC Block Main Screen NO00 pl Positioning 2 Dwell Time Sn Aux Function This gives the choice of selecting what type of command is to be programmed to the TRANS 01 D Select 1 Positioning and Menu 0 appears Menu 0 NOOO POSITIONING Pl Normal 2 Rapid This menu allows the user select whether to program the position in Normal mode where a feed rate has to be entered OR whether to program in Rapid mode where the Feed rate for the move is automatically taken from Parameter Ax 10 Max Axis Speed Menu 1 NOOO POSITIONING 1 Absolute 2 Incremental This positioning menu allows movement to be programmed in either an Absolute G90 or an Incremental G91 mode In Absolute positioning G90 all movements of the slide are made to some absolute position based on the machine reference position Thus if the slide is at 5 inches a command to travel to 6 results in a 1 inch feed in the positive direction When selecting Incremental positioning G91 the
242. nowledgment input e a faulty input switch e an incorrectly timed PLC program 6 14 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D code Description S 710 ACKN INPUT 6 WAIT OFF Status message The machine function controlled by Auxiliary Function 6 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 6 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S I O is used If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 711 ACKN INPUT 6 WAIT ON Status message The machine function controlled by Auxiliary Function 6 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 6 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S 1 0 is used If you suspect a problem check for e a broken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 712 ACKN INPUT 7 WAIT OFF Status message The machine function controlled by Aux
243. ns channel DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRA DIAL TRANS 01 D C 2 Process Data Channel Default Configuration of the Process Data Channel of the Fieldbus Card The default configuration supports applications on the CLC D wth TRANS 01 D firmware This is the only Interbus S configuration possible with Trans 01 D firmware up to and including version 5 VRS Default Configuration of the Process Data Channel of the Fieldbus Card The process data channel occupies five words on the bus in both data directions These five words on the bus are assigned to the following objects Piss comin sav or sr voi _ sFr00 Table C 1 Default assignment of the process data channel with Interbus S The user can only use four of the five bus words directly Word 1 is used for the communications channel even if it is not being used In other words it is always reserved for the communications channel Note 1 Word 1 can be disabled by setting bit 12 of DD word 5FF1 to 1 Note 2 These usable process objects are assigned on the CLC card The master is informed via the user s id code of the number of words on the bus and about a possible support of the communications channel Data Direction The bus specification fixes the data direction e Data direction input The data transmission from slave to master is data direction input e Data direction output The data transmission from master to slave is data direction output Ap
244. nt is required for a change in a status message Code Description 001 Initializing The CLC is initializing the executive firmware the System SERCOS ring and other devices at power up or exit from parameter mode 002 Parameter Mode The CLC is in parameter mode and the drives are in Phase 2 003 Initializing Drives SERCOS has been reconfigured and the ring is being initialized 004 System is Ready The system has been initialized and is ready for operation 005 Manual Mode All four user program tasks are in manual mode 006 Automatic Mode The user program tasks indicated at the end of the ABCD 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 The user program tasks indicated at the end of the Running ABCD message are running and the rest are not running or are single stepping 008 Single Stepping The user program tasks indicated at the end of the ABCD message are in single step mode The other tasks are not running 009 Select Parameter An error during system initialization occurred and was Mode to Continue cleared but the error condition was not corrected Switch into Parameter Mode to continue 010 Breakpoint The user tasks indicated at the end of the message Reached ABCD have reached a user program breakpoint and the rest of the tasks are not running 6 2 Diagnostics and Monitoring DOK CONTRL TRANSO1
245. nt programmed in this manner will remain effective until it is replaced by a new reverse vector of the same type executed in your program This allows coordination of very complicated Reverse programs within the user program with a minimum of programming overhead Reverse Vector JR000 Because NC Block 000 the starting NC Block of the program could never be used as a reverse vector reverse vector JROOO is used for a special purpose Whenever the TRANS 01 D executes a NC Block containing a reverse vector of JROOO it considers all following NC Blocks to be the return portion of the part program even if they specify forward motions Reverse vector JROOO is useful primarily in manual mode but also has an important effect in automatic mode In Manual Mode You should program a NC Block containing a Reverse Vector Jump to JROOO to indicate the end of the Forward program profile In Manual Mode pressing and holding the FORWARD button at the operator Station causes the TRANS 01 D to execute the Forward program When the TRANS 01 D completes execution of a NC Block containing a reverse vector of JROOO the Forward input will be ignored and only the Return Reverse input can be used Note if reverse vector JROOO is not programmed at the end of the Forward program depressing the Forward button while in manual mode will cause the TRANS 01 D to execute the entire program both the Forward and Reverse profiles It is good practice to program a hom
246. ntation or it can be obtained from the manufacturer of the feedback device If the value for this parameter is not known contact the Indramat Service Hotline at 1 800 860 1055 for assistance Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 75 TRANS 01 D INR ACTA SA9 Reference Offsets SA9 Ref Offsets otor Fdbk nnnn Fdbk nnnn Motor nnnn n Enter the numerical value for the data Offsets values are in degrees Access Method Identification Permissible Values Visual TRANS S 0 0150 0 359 9 Motor Feedback S 0 0151 0 359 92 External Feedback P 0 1020 0 359 92 2 Motor Serial Protocol DP 4 150 Same as above DP 4 151 DP 4 33788 Motor Feedback Shifts the motor zero point by the value entered here External Feedback Shifts the zero point of the second encoder This value also affects the Home switch zero point if Home switch positioning has been enabled in Sx14 bit 6 2 motor Shifts the motor zero point of the second motor with a two motor changeover Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you mak
247. ntered must be less than or equal to the value entered in Axis Parameter Aa20 Maximum Speed to Positive Stop or an error will result during execution If no feedrate value is entered the TRANS 01 D will default to the value in Aa20 max speed to positive stop G69 always operates with G61 With Lag Finishing An error will result if an attempt is made to execute a G69 function with G62 Without Lag Finishing active G62 is a modal value however it is recommended that G61 always accompany a G69 move for clarity and certainty DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D N190 G69 G61 Z0 000 F10 JS 000 Block Number e g 190 Homing to a positive stop command With Lag Finishing Axis to be initialized Zero offset O Feedrate 10 UPM J specifies Jump S specifies Stop Target NC Block 000 Figure 3 2 Example Program Block Operation Using the previous example N190 G69 G61 ZO F10 JS000 with the following parameter conditions e Aa06 Overtravel Limits 20 000 and 0 400 e Aaii Directions Homing 1 Find stop in Negative Direction e Aai4 Reference Position 4 000 e Aa22 Home to Stop Distance 0 500 The motion profile would be as follows Directions T Starting Point F 10 UPM Step 1 Move to Positive Stop F 10 UPM Final Reference Position Value of position is 4 000 Step 2 Move out Home to Stop Distance Figure 3 3 Exa
248. ntifier _ ASCII period 0x2E _ Set Type Data Identifier _ optional ASCII space character 0x20 _ Command Subclass _ Command Class _ required ASCII space 0x20 _ Network Address i e card position identifier __ Start Character 0x3E The beginning of each message is identified by the gt character ASCII 62 decimal 3E hex The network address can be used to support data transfer across a bus or communication system to multiple CLC TRANS 01 D cards The network address must be followed by an ASCII space character 0x20 An ASCII space character may be used to address the VME card containing the Host Communication serial port The Data Identifier field is a variable length field used to identify the data set being sent or requested This identifier is in the format s n or s n x where s the set identifier may be a program handle drive number task ID etc and n the numeric identifier used for items such as parameter numbers table indexes and register numbers The third field called a Step x identifier is used for parameter lists No white space is allowed between the identifiers and the separating dot operators This field contains the actual data being sent to or received from the CLC TRANS 01 D All subclasses have read and write capability The same strings can be used for both responses and downloads DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TR
249. number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 423 Unimplemented Instruction The instruction is not implemented in this version Recompile the program without this instruction indicated by the current instruction pointer or update the CLC firmware or PC software 424 System Error This error is not issued in current CLC versions and is reserved for future use 425 Instruction Error see Task A diag An error has occurred in a user program instruction A more specific message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 This error usually applies to coordinated motion instructions 426 Drive xx is not ready Drives must be enabled before motion commands are issued to them in a user program Check the Axis Disable bit in Axis D s Control Register Axis D s status bits the fiber optic ring and the power circuit 427 Calc invalid table index D In a user program calculation expression the index to a point or event table is invalid See the diagnostic message for each task to find out which task has this error then check the variable that is used to index the table 428 Calc division by zero In a user program calculation instruction an attempt was made to divide
250. o cam search direction is clockwise Position spindle 1 cam search direction is counterclockwise parameter Spindle Motor direction Bit 1 If rotational direction of motor and spindle are the same set this bit to 0 If rotational direction of motor and spindle are not the same set this bit to 1 I Gain active Bit 2 If the integral action component of the speed controller is always active set this bit to 0 Dead beat stop if the velocity command value S 0 36 does not achieve the value programmed in zero velocity window S 0 124 then the integral action component of the speed controller is switched off also see bit 4 P 0 1105 Position to Home Switch Bit 6 If you want Spindle positioning without a spindle encoder but with a Home limit switch instead set this bit to 1 If you are positioning the spindle with a second encoder interface and a spindle encoder set this bit to a 0 Power Failure Handling Bit 8 If set to a 1 with a power failure the Trans 01 D controls the stoppage of the spindle motor using the appropriate command values For this option the RAC drive requires the use of option Z internal bleeder resistor installed If set to a 0 the drive will control the braking Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC
251. o be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 69 TRANS 01 D TND ACTA SA3 Velocity Window SA3 Velocity Window nnnnnnnnn n Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0157 1 99 rpm The actual velocity may deviate from the commanded velocity by this amount for the message Nac Nema to be displayed and for the corresponding output from the Trans 01 D will to go high The message and output only come when the drive is in velocity mode and the drive is enabled Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 70 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D SA4 Bipolar Torque Limit SA4 Bipolar Torque Limit nnnn nnnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS S 0 0092 1 100 This value corresponds to the torque command and actual values It is a percentage of the continuous torque available in the system
252. o the TRANS 01 D Axis parameter A 0 0004 If the external encoder is to be used as the primary positioning device the CTA 10 will set Axis parameter A 0 0004 bit 10 to a 1 for a linear scale or an external rotary encoder The data entered into this parameter determines what the TRANS 01 D will write to Drive Parameter S 0 0032 The user cannot change this option by writing to drive parameter S 0 0032 directly because the TRANS 01 D will overwrite parameter S 0 0032 based upon the data in A 0 0004 when it exits Parameter Mode DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 25 TRANS 01 D IDR ARIAL The values entered in the last screen are entered into Drive Parameter S 0 0117 This parameter can also be set through Visual Trans and the Serial Protocol Aa04 Positioning Feedback Type External Rotary Absolute Encoder 4 26 Contents When an external absolute encoder is required for positioning please contact the Indramat Service Hotline at 800 860 1055 Note The External Absolute Encoder must be an Indramat GDM type feedback This encoder requires a DFF card to interface to the Indramat drive this card is only compatible with the DIAX 03 drive family Other parameters that are associated with the setting up of these encoders e S 0 0391 External Encoder Monitoring Window e P 0 0075 Interface Feedback 1 Needs to be set to 4 for a DFF card e S 0 0147 Homing Parameter Fourth least significant bit from right needs to b
253. o value specified A rotary axis can be interpolated along with a linear axis Positioning of the rotary axis can be performed as either absolute positioning G90 or Incremental positioning G91 The G90 and G91 commands are modal in the rotary mode of the TRANS 01 D This is the default mode for rotary operation By default all G01 rotary motion commanded in the TRANS 01 D will be absolute using the shortest path for the move When a positional move is commanded the axis will move to the programmed destination using the shortest possible path positive or negative direction whichever is less than one half of a table revolution away from the commanded position The destination may be any value between 0 and the number set in the parameters as UNITS TABLE REV No negative values are allowed To specify a direction for the G90 absolute move in the cases where the shortest path is not desirable or possible the user has the ability to use two additional G codes These two G codes G37 and G38 can be used to specify what direction the axis must take when executing the programmed move This command for a rotary axis does not require an additional rotary operation G code The G01 positional move command will cause the rotary axis to move the incremental distance specified in this program block This type of move will cause the axis to move the specified distance from its present position Direction may be specified by programming the distance as a
254. ode this key allows review or editing of the current program block by block Within menus the arrow keys are used to scroll up or down In Manual mode the lt Feedrate Override gt key s LED is lit to indicate that the the axis can be jogged at its rapid jog speed This key is only enabled after the axis has been homed In Auto mode this key is disabled In Manual mode the lt Start gt key starts the cycle In Auto mode this key is disabled In both modes this key s LED is lit to indicate a program is running Table 2 1 Keypad Functions DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D In Auto mode the lt Stop gt key s LED is lit when the cycle has been stopped In Manual mode this key stops the cycle In Auto mode both the forward and reverse lt Jog gt keys are disabled The lt blank gt key returns the display to the Main Menu In Auto mode the lt Home gt key is disabled In Manual mode this key homes the selected axis or moves it the current reverse vector The lt Save gt key saves the current program block The lt CLEAR gt key s LED is lit to indicate an error has occured This key should be pressed to attempt to clear the error The lt Axis gt key is used to select an axis CTA 10 1 Reinitialization key sequence lt ESC gt lt CR gt Access to Text Window for Serial Port Messages lt CR gt lt Menu gt In menus press the lt Enter gt key to sele
255. only be changed in Parameter Aa02 Access Method Identification Permissible Values Visual TRANS S 0 0049 2147483647 positive travel limit S 0 0050 2147483647 negative travel limit Serial Protocol DP d 49 Same as above DP d 50 The values to be used as positive and negative software over travel limits are entered here When this screen first appears the cursor will be on the extreme right digit for the Limit As the numbers are entered they will scroll to the left The Overtravel Limit screen will appear first After entering the proper value press ENTER and the TRANS 01 D will jump to the Overtravel Limit value After entering this value pressing ENTER will store both values and step the programmer to the next parameter Entering 0 for your and travel limits disables the travel limits Press ENTER when each Overtravel Limit is entered and the TRANS 01 D will store all the data for this parameter and step to the next parameter 4 28 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Aa07 Bipolar Torque Limit Aa07 Bipolar Torque Limit 400 0 nnnn Enter the value in percentage for the selected torque to be used This value is a percentage of the system s continuous torque The bipolar torque limit value determines the maximum allowable torque in either direction Access Method Identification Permissible Values Visual TRANS S 0 0092 0 3276 7 DOK CONTRL TRANS01D RM
256. or CLC TRANS 01 D Parameter Descriptions 108 Drive was not The requested drive was not found on the SERCOS found ring 109 Drive not ready for The requested drive or the SERCOS ring has not been communication initialized 110 Drive is not The drive did not respond to a service channel request responding Check system diagnostics for the state of the SERCOS ring 111 Service channel is When switching between initialization phases data from not open the drive is momentarily invalid and this message is sent instead of the requested data 112 Invalid Command A serial port command is invalid or not supported at this Class time 113 Checksum Error The CLC TRANS 01 D detected an invalid or missing xx xx checksum that checksum in data that was sent to it As a debugging CLC TRANS 01 D aid the checksum that the CLC TRANS 01 D calculated calculated on the incoming data is also sent with this message 114 Invalid Command A serial port command option is invalid or not supported Subclass 115 Invalid Parameter The parameter set number task or axis is invalid Set 116 List already in An attempt has been made to start a parameter or progress program list that is already in progress 117 Invalid Sequence The sequence number of a parameter or program list is Number invalid or has been sent out of order 118 List has not A parameter or program list has not been initiated i e started sequence number was sent before list was
257. ored Exception winding switch over see SA12 FUNCT2 N Output RPM or Bus voltage Bit 5 When set to a 0 the N output analog output on the drive represents the speed of the spindle motor When set to a 1 the N output analog output on the drive represents the level of the internal DC bus DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL TRANS 01 D N Output Variable or Torque Bit 6 When set to a 0 the torque value on the N output analog output on the drive represents a smoothed representation of the drives torque When set to a 1 the torque value on the N output analog output on the drive represents the actual un smoothed value of the drives torque N Output RPM or Motor Temperature Bit 7 When set to a 0 the N output analog output on the drive represents the speed of the spindle motor When set to a 1 the N output analog output on the drive represents the temperature of the spindle motor Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 79 TRANS 01 D IID io ACTA SA12 Function 2 SA12 FUNCT2 Bit 6 RAC Chopper Active n or Torque SA12 FUNCT2 Bit 10 Monitor External feedback n n Enter 0 to disable or 1 to enable the fun
258. parameter Aa21 Torque at Pos Stop This torque value will still be used for any Dwell or other waiting period i e auxiliary function acknowledgments The torque value will be switched back to its previous value when the Trans 01 D executes a G76 program command The distance G91 incremental or destination G90 absolute programmed with this function is the maximum distance the slide will be allowed to travel and should be a point just past the expected positive stop If the slide reaches this position without the motor stalling movement will stop the diagnostic POS STOP MISSING will be displayed and a soft fault will result To recover you must press the CE Clear Error key An incremental distance G91 command programmed in a block following a feed to positive stop will be based on that point where the stall occurred If the theoretical programmed position is too close to the positive stop the error message Positive Stop Missing will be displayed The TRANS 01 D will recognize the positive stop in two ways 1 The feedback velocity falls below 1 of the commanded velocity and 2 the torque value exceeds the pre set value in parameter Aa21 Torque to the Stop for 48 mS If both of the aforementioned situations occur together for 120 mS the TRANS 01 D will consider the positive stop as found It will then reduce the drive s torque level to the value set in Aa21 Torque at the Stop When the theoretical end position o
259. parameter is set to a 0 default the motor drive system will operate as originally configured Note This parameter is only effective on servo systems that have a multi turn absolute feedback mounted on the servo motor This parameter is not functional on a system that has a single turn feedback installed Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 4 1 TRANS 01 D INR ACTA Aa20 Maximum Speed to Positive Stop Aa20 Max Speed To Positive Stop nnnnnnn UPM nnnnn Enter the maximum speed to be used when feeding to the positive stop UPM The units per minute of the measuring system chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 Access Method Identification Permissible Values Visual TRANS A 0 0313 0 System Max When feeding to a positive stop it is recommended that it be done at a reduced feedrate This prevents hitting the stop at too high a speed The value entered here will be used as the maximum feedrate that can be programmed in a block using the G75 or G69 command If a value greater that th
260. ple gt FP 0 1 113 Checksum Error 37 2F After the correct External Tool offset value has been sent to the TRANS 01 D you must also send a handshaking signal to the TRANS 01 D to let it know that the value currently in the offset register is valid for the current program block This handshaking requires you to send a non zero value to a Global Integer Typically a value of one 1 is sent When the TRANS executes a program block with an external offset register specified it checks to see if the Global Integer s value is not zero 0 To set this value to one 1 send the following data string to the TRANS 01 D after the correct value has been sent to the offset register gt GP 0 2 1 G indicates a global Integer P indicates you want to read write data O 2 requests access to Global Integer 2 The 1 is the data value sent This can be any non zero value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 3 25 TRANS 01 D 3 26 Contents IDR ARIAL During program block execution the TRANS 01 D will look for this Integer value to be non zero If it is zero the TRANS 01 D will stop program block execution and issue an error message to tell the user this situation exists If the value is non zero the TRANS 01 D will read the current register value and set this global integer GI2 to zero Doing this prevents the TRANS 01 D from executing another cycle with an invalid data value The Tx0 value that should be
261. plication Specific Configuration of the Process Data Channel Object 6000 The user can determine each desired configuration of the process data channel himself using the objects for configuration of this channel Process Input Data Description This object illustrates the structure and thus the number of words and their assignment to objects indices for process input data Using read and write of the communications channel the user can read the existing structure and determine a new configuration for the process input data by inputting a new structure DOK CONTRL TRANSO1D RM ANW2 AE E1 44 Interbus Fieldbus Interface C 3 TRANS 01 D Object 6001 INDRA DIAL Note The documentation on the fieldbus specific slave assemblies DBS03 1 describes the communication channel services supported The master uses this configuration for its Knowledge about the position of the individual objects on the bus Note A maximum of 5 words per data direction are configured on the bus with the fieldbus option cards even if the specific fieldbus permits longer project data blocks The first word is always used for the communications channel Process Output Data Description The structure of the process output data is stored in this object The current structure and thus the assignment on the bus can be read with this object via the communications channel The user can change the process data channel by entering a new structure Data Dir
262. positive or negative value The value of the distance is limited to plus or minus the value for the maximum travel distance of the digital drive system in modulo mode Note The G91 command is not valid for G36 G37 nor G38 moves NC code G36 This modal command can be used to specify that the ensuing absolute moves for the rotary axis should use the shortest path positioning mode This is the default mode for all absolute moves If all absolute positional moves to be made will be made using the shortest path this command will not be necessary This command is necessary when the user has completed a move using either the G37 or G38 command and they want the next series of moves to be executed using the shortest path mode In that case the user must program the first absolute move that is to use the shortest path using this command This modal command will then be used for each succeeding program block until it is changed by programming a G37 or G38 NC code G37 This G code gives the user the ability to program an absolute G90 move inside of the modulo value that is greater than 180 degrees away from their current position and choose positive as the direction the axis should travel to that position instead of the axis taking the shortest path When a positional move is commanded the axis moves to the programmed destination in the positive direction only The destination may be any value between 0 and the number set in the parameters
263. power shutdown To insure this the TRANS 01 D has been provided with reverse vectors which will determine the NC Block number to which the program will jump if a Homing Reverse command is issued in Manual or Automatic modes The DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 5 TRANS 01 D INDRA DIAL Reverse Vector is initially set to NC Block 195 but can be changed to any NC Block number in the machining program Each time the TRANS 01 D executes a Jump To Block 000 And Stop the reverse vector is reset to 195 The reverse vector number is retained even if a power failure occurs As described in the section titled Auxiliary Functions NC Code M auxiliary outputs can be issued at various points in the program and the TRANS 01 D waits for an acknowledgment for each output turned on or off before it executes the next NC Block The one exception to this is that a jump to a reverse program is performed even if the acknowledgments do not match their associated outputs provided that the first NC Block of that program performs only auxiliary output functions This is useful for an emergency return or upon recovery from a power failure This first NC Block in the reverse program usually 195 should force the auxiliary outputs into a state where they match their acknowledgments The next NC Block then will usually be a homing command This should only be performed if it is indeed safe to force auxiliary outputs off and move Homing a
264. pplications such as rotary tables or lift and transfer drives The software will allow programming rotary positions in UNITS TABLE REVOLUTION Rotary speeds are also entered in these same units Note The TRANS 01 D can only be configured to control one rotary axis When used in a multi axis system only one of the axes may be rotary Rotary software uses conventional TRANS 01 D programming techniques Only certain motions and or working units change The program commands G20 and G21 are functional in rotary operation Associated Parameters Since the system of units for rotary motions is arbitrary the UNITS parameter gives the user the option of specifying the UNITS TABLE REV to be used for his application The software and or hardware Travel Limits can be used to limit the motion to less than one revolution As an example the motion on a typical rotary crank arm transfer drive should not travel greater that 180 for its total travel Using the Travel limits any motion outside of 270 90 will cause an Overtravel fault The standard parameters used for Rotary operation are described below Parameter Description A02 UNITS TABLE REVOLUTION A05 GEAR RATIO A10 SPEEDS Homing Speed Rapid Speed Jogging Speed Jogging Rapid Max Cutting and Max Speed to Positive Stop are all expressed in unit table rev min A11 DIRECTIONS Homing Direction Determines the direction the axis will move when commanded to Home Program Dir
265. priate jump command has been selected then menu 9 1 appears All that is required here is that the correct three digit NC Block address be inserted When the user has programmed all of the above options the NC Block store button needs to be depressed to save the NC Program Block into memory DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 41 TRANS 01 D Dwell Time 3 42 Contents Menu 1 Menu 3 IDR ARIAL Note Not Selecting Anything And Hitting Enter In Any Of The Above Menus Except Menu 5 Will Enter The Default Value For That Menu Using the information in the section titled Program Entry Mode select the 2 DWELL TIME programming NC Block Positioning Dwell Time Aux Function NOOO DWELL TIME Feedrate F Menu 2 Menu 2 1 DWELL TIME NOOO DWELL TIME SPINDLE Spindle RE SPINDLE NO DWELL TIME NOOO DWELL TIME SPINDLE Spindle POS SPINDLE PS NON DWELL TIME SPINDLE SPINDLE gt 3 NON NOOO DWELL TIME Aux Functio M DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL TRANS 01 D Menu 4 Menu 4 1 NOOO DWELL TIME Pl No Jump 2 JN uncond She JU subroutine NOOO DWELL TIME 1 No Jump gt 2 JN uncond i JU subroutine NOOO DWELL TIME NOOO DWELL 1 No Jump Jump 2 JN uncond JU D3 JU subroutine
266. quest or send information by specifying an item Service Name The CLC communication server supports two DDE service names The standard service name is CLC_DDE This should be used for all connections except when connecting to a CLC compiled program file For this case use CLC_FILE Topic Name When the standard service name is used to exchange CLC data the topic name identifies the method of connection to the CLC card and the card unit number Valid strings consist of a communication device name and a unit number Valid device names are SERIAL AT MODEM XYCOM GE_P amp P_ DEMO_ or ISA_ and valid card unit numbers are 0 to F Connections which use the CLC_FILE service should specify the CLC program file as the topic name If the file is not located in the same directory as clc_dde exe then the complete path should be included To exchange server data the service name should be CLC_DDE and the topic name should be SERVER This is the only topic which will not support an advise link See section SERVER Topic Name SERIAL_ 0 Serial connection to a CLC card designated as unit 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_P card designated as unit 1 SERVER Exchange CLC_DDE server information Item Name The item name identifies the specific data to exchange When exchanging CLC data the item name consists of a string which contains the class
267. r option Position Window When the axis position is found to be within the limits defined by this parameter it is considered to be in position and the drive will acknowledge as such Monitoring Window The maximum following error which is allowed by the position loop can be defined in the monitoring window When the position error exceeds the maximum window value the drive sets an excessive position error in Class 1 Diagnostics IDN S 0 0011 This is also shown on the H1 display as a 28 error Excessive Deviation When this error occurs the maximum deviation which was encountered is stored in parameter P 0 0098 in percent with 100 360 A procedure for setting this parameter is as follows 1 Set this parameter S 0 0159 Monitoring Window to 50 2 Run the axis with its maximum velocity and acceleration for the application 3 Read the maximum model deviation from IDN P 0 0098 4 Multiply the max model deviation by 2 and enter into parameter S 0 0159 DOK CONTRL TRANSO01D RM ANW2 AE E1 44 Contents 4 39 TRANS 01 D INR ACTA Aa18 External Encoder Control Window Aa18 EXE Encoder Control Window UM 0 00000 nnnn Enter the value to be used for the maximum position difference to be allowed Leaving the value of this parameter at 0 0000 disables the monitoring function Access Method Identification Permissible Values Visual TRANS P 0 0120 0 214748 3647 When an external encoder is conn
268. ransmission the serial port has not responded within the time set in parameter C 0 0016 Timed transmissions used for jogging through Visual Motion If this error occurs increase the timeout value in C 0 0016 505 Axis D is not configured A user program command was issued to Axis D but axis D is not configured in the program Modify the user program so that the correct axis is addressed or exclude the axis from the system using parameter A 0 0007 506 I O Mapper initialization error The I O mapper was invalid at initialization due to loss of memory or an incompatibility in the mapper version 6 10 Diagnostics and Monitoring DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 507 Option Card Power Supply Error There is an external power supply or output driver error on a DEA 08 1C DEA 09 1C or DEA 10 1C expansion cards connected to the CLC D This error is issued only in Run Mode phase 4 All inputs are read as 0 and all outputs are turned off 508 User Watchdog Timeout Contact Indramat 509 CLC System Timing Error Contact Indramat 511 Adaptive Depth Pre Limit Error Before executing an adaptive depth controlled move G08 the linear encoder has not attained the minimum amount of deflection as set in Axis Parameter Aa31 Linear Encoder Pre Limit That is the tool or axis has moved close enough to the surface of the part 512 Adaptive Depth Part Not Found Before executing an adaptive depth controlled move G08 the
269. rcing Masks RE B 4 I O Binary Forcing State RS B 4 IDR ARIAL I O Forcing Selection RF B 3 1 0 Forcing State Change RC B 4 I O Register Access RB RX RD B 2 Input Output Registers B 2 Set Current I O State with Mask RM B 3 program direction 4 37 program start 3 3 program termination 3 3 proportional gain 4 34 R RAC spindle positioning 3 27 ramp 4 35 ramp1 4 62 ramp2 4 63 ramp3 4 64 rapid jog speed 4 36 rapid speed 4 36 Reading Data from the CLC B 3 ready output signal 5 10 Reference Position 4 39 homing 3 8 registers tool correction 3 22 3 23 return 3 33 reverse program enable forward signal 5 3 reverse signal auto manual mode signal 5 5 block 195 5 5 JROOO 5 5 reverse vector 5 5 reverse vector 3 31 auxiliary functions 3 29 end forward cycle 5 5 homing 3 6 rotary units 4 25 rotary external absolute encoder positioning feedback type 4 30 rotary external encoder positioning feedback type 4 29 rotary operation disable servo current flow 4 42 RPM1 4 62 RPM2 4 63 RPM3 4 64 RS485 Converter A 6 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA S S 0 0115 Position Feedback Type distance coded linear scale 3 16 S 0 0118 Resolution of Linear Feedback distance coded linear scale 3 16 S 0 0165 Distance coded Reference Dimension 1 distance coded linear scale 3 16 S 0 0166 Distance coded Reference Dimension 2 distance coded linear scale 3 16 S 0 0178 Absolute Off
270. rcing commands see below Setting I O registers directly using the RB RX and RD commands has the lowest priority of all I O access methods Directly accessing I O registers should be done with caution The CLC TRANS 01 D is a multitasking system and as such the potential for I O contention always exists between user tasks the Host communication the I O Mapper and the I O subsystem It is the programmer s responsibility to anticipate contention problems and synchronize accesses to data between asynchronous CLC TRANS 01 D tasks when necessary The forcing commands RM RF RC and RS are provided primarily for debugging purposes Forcing commands should be used with extreme caution since they can be used to override the state of system control registers and have higher priority than the CLC TRANS 01 D s I O mapper or Host direct access commands The requirement for a checksum may be disabled by parameter This practice is not suggested It results in no communication error checking of data sent to the CLC TRANS 01 D that may effect safe operation of the system DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ACTA TRANS 01 D I O Register Access RB RX RD Example Example Input registers are accessed using R data type commands and a register specifying index number within the range 1 to 200 The current contents of the register may be read as a 16 bit binary number command RB a 4 digit hex number command
271. re used the user has eleven 11 outputs available The TRANS 01 D recognizes an Emergency Stop as when the Emergency Stop input on the DSS card goes low Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key on the CTA 10 and enter the correct value 4 8 Contents DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D P04 Auxiliary Outputs at Immediate Stop P04 Auxiliary Outputs at Immediate Stop nnnnnnn n Auxiliary Output status when an Immediate Stop occurs Either a 0 1 or 2 must be entered here Access Method Identification Permissible Values Visual aa eee 0 0301 2222222 Interbus S 22222222222 DEA I O CTA 10 for each of the seven Auxiliary Function outputs n 0 off n 1 on n 2 unchanged In the event of an Immediate Stop it may be necessary to re configure the Auxiliary Outputs in order to safely or more easily recover from the situation This parameter gives the user the ability to do that The number of outputs available is dependent on the I O configuration programmed in P02 Axis Enable When Interbus S is selected the user has seven 7 outputs available When a DEA 4 x or DEA4 x DEA 5 x cards are used the user has eleven 11 outputs available The TRANS 01 D recognizes an Immediate Stop condit
272. re than once 6 6 435 Axis D not associated with a task 6 6 436 General Compiler Error XXXX 6 7 437 Axis D not controlled by this task 6 7 438 Invalid Axis Selected D 6 7 439 Invalid Motion Type D 6 7 440 I O Transfer Error see task diag 6 7 441 DMA error while reading from local RAM 6 7 442 DMA error while reading from VME address 6 7 443 DMA error while writing to local RAM 6 7 444 DMA error while writing to VME address 6 7 445 DMA Access Timeout Error 6 7 446 DMA Timeout Error 6 7 447 VME SYSFAIL Detected 6 7 448 VME Communication Handshake Error D 6 7 449 VME Bus Error 6 7 450 Event D invalid event type 6 7 451 Invalid event number D 6 7 452 More than D event timers armed 6 7 453 Homing param transfer error D 6 7 454 Axis D homing not complete 6 7 455 Invalid VME Data Transfer Class 6 7 456 Invalid VME Address 6 7 457 Table Bounds Error During VME Read 6 7 458 Table Bounds Error During VME Write 6 8 459 Axis D target position out of bounds 6 8 460 Invalid program D from binary inputs 6 8 461 System Error 6 8 462 System Error 6 8 463 Ratio commandl invalid ratio 6 8 464 Can t activate while program running 6 8 465 Drive D config error see ext diag or Drive D telegram type not supported 6 8 466 Drive D scaling type not supported 6 8 467 Invalid ELS Master Option 6 8 468 ELS adjustment out of bounds 6 8 469 Axis D accel lt 0 or gt maximum 6 8 470 Axis D velocity gt
273. release whose purpose is to ensure that motion of the unit can occur only when the machine is in the correct state such as a workpiece in correct position guards closed etc Connector X17 on DEA 4 X Interbus S Object 5FB1 Enable Forward Type Input to TRANS 01 D Table 5 2 Enable Forward Signal This signal is required to enable operation of the Forward cycle in both Manual and Automatic Modes Loss of this signal stops execution of the Forward program This signal is ignored in both the Tool Change and Homing Reverse programs DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 1 0 Functional Description 5 3 TRANS 01 D IDR ARIAL 5 4 Operator Interface Automatic Manual 5 4 1 0 Functional Description Operator manual controls are available through a parallel operator interface The machine builder can wire these signals to selector switches and pushbuttons at the transfer station The normal programmed movements may be executed manually from this station and they may be made only when the necessary enables are present The following signals are provided Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 3 Automatic Manual Signal With Automatic selected input high the TRANS 01 D will be in Automatic Mode and can be operated only by control signals provided by the Line Control This is the normal mode of operation for the TRANS 01 D where it performs a single program cycle each t
274. rement are inches or metric NOOO POSITIONING Feedrate F This Feedrate menu allows you to enter a value to specify what speed will be used to reach the required position entered in Menu 4 If you attempt to select a feedrate greater than the parameter specified Ax10 a fault alarm occurs DOK CONTRL TRANS01D RM ANW2 AE E1 44 IDR ARIAL Menu 6 TRANS 01 D NOOO POSITIONING Tool Correction T This menu allows for corrections to be entered to compensate for changes in the tool Program entry is in a two digit Tool Correction register which has an associated correction or compensation value Ten tool correction registers are available per axis Tx0 Tx9 The values in these registers can be either positive or negative Positive values will be assumed if no sign bit is entered along with the register s value These values can be entered through the CTA keypad or through the RS232 port When the TRANS 01 D is operating the correction value in the specified tool correction register will be added to the programmed position value i e the target position of the TRANS 01 D is the sum of the programmed position and the correction value If the total distance programmed exceeds one of the software limits the TRANS 01 D will issue the soft fault Axis position is out of bounds Zero setting of the tool correction value is accomplished by specifying tool correction register Tx0 Tx0O is only used to clear the v
275. riate parameter set the CTA 10 will step you through the available parameters for data entry See the following pages for the descriptions of the various parameters in each parameter set Moving the cursor to the desired option or pressing the numerical key associated with the desired option will step the user into the appropriate parameter set If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Displaying Spindle Motor Controller Information Pressing the right arrow key on the CTA 10 will also display the spindle controller and spindle motor information such as drive firmware version and complete type codes The following screens show how this data is displayed Controller Type FW Type Code TDA1 3 100 3 L00 TL 29 5 HASE3VO7 Motor Type Code SERCOS FW Type 2AD 132C B35 0B1 v 01 02 The values entered into these parameters cannot be changed except for the Motor Type Code This value must be entered as it is not read from the motor itself The following table shows the locations for the above mentioned information Access Method Identification Permissible Values Visual TRANS S 0 0140 Controller Type Code S 0 0030 Controller Firmware Type Code S 0 0143 SERCOS Interface Firmware Version S 0 0141 Spindle Motor Type Code Serial Protocol DP 4 140 Same as above DP 4 30 DP 4 143 DP 4 141 DOK CONTRL TRANSO1 D RM ANW2
276. ring is now initialized To continue activate the clear input This message allows detection of an intermittent break in the fiber optic ring 205 Parameter There is an error in the parameter transfer instruction transfer warning in This indicates a warning condition that does not shut Task yy down the task The parameter format parameter number or stored value may be invalid A communication error message is displayed in the diagnostic message for the task A D in which the error occurred T 0 0122 Information on the actual parameter number that caused the error is provided in extended diagnostics C 0 0124 206 Battery is low A low voltage on the RAM backup battery has been replace it soon detected at power up or initialization from parameter mode Replace the battery to prevent any loss of data 207 Axis zz position The negative or positive travel limit of axis D was limit reached reached preventing a jog from occurring DOK CONTRL TRANS01D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 3 TRANS 01 D IID io ACTA 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 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
277. rogrammed in a state of 0 Output turned off 1 Output turned on or 2 Do not change Some of the Aux outputs are acknowledgeable This depends upon the selected I O option Refer to Section 4 Parameters The status of the corresponding input must match the status of the output or an Error or program pause will occur NOOO AUX FUNC Aux Function M DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA Menu 2 NOOO AUX FUNC D1 No Jump 2 JN uncond She subroutine NOOO AUX FUNC 1 No Jump gt 2 JN uncond A N J N uncond D3 subroutine NOOO AUX FUNC DA JR reverse 5r jump amp stop 6 condition NOOO AUX FUNC 4 JR reverse gt 5 JS jump amp stop 6 JE condition NOOO AUX FUNC 4 JR reverse Ge J jump amp stop D6 JC conditio NOOO AUX FUNC SE jump stop 6 condition 7 JReturn DOK CONTRL TRANS01D RM ANW2 AE E1 44 Menu 2 1 NOOO AUX Jump JN NOOO AUX Jump JU NOOO AUX Jump NOOO AUX Jump JS NOOO AUX Jump DCE TRANS 01 D Contents 3 45 TRANS 01 D Home Axis 3 46 Contents Menu 1 Menu 2 Menu 4 IDR ARIAL Using the information in the section titled Program Entry Mode select the 5 HOME AXIS programming NC Block NOOO FUNCTION 4 Special Func gt 5 Home Axis 6 To Pos Stop This function specifies a position that the appropriate axis must return to when the machine is r
278. rt on the front if the TRANS 01 D Register Tx0 is used in the program to clear the Tool Correction memory i e X axis is T10 Y axis is T20 etc External registers do not have a clear as any new value entered will overwrite the existing value When the TRANS 01 D is operating the correction value in the specified tool correction register will be added to the programmed position value The target position of the TRANS 01 D is the sum of the programmed position and the correction value If the total distance programmed exceeds one of the software Travel Limits the TRANS 01 D will issue the soft fault Axis position is out of bounds Zero setting of the tool correction memory is accomplished by specifying tool correction register Tx0 Tx0 is only used to clear the value in the correction memory and cannot be used as an actual tool offset value Tool Correction registers can be viewed in both Manual and Automatic modes by pressing the Tool Correction Register key on the CTA 10 Tool Correction registers can only be edited in Manual mode DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Entering Tool Correction Register Values The TRANS 01 D allows the toolsetter the ability to enter one or more correction compensation values to compensate for tool wear or when changing tools to compensate for differences between tools The operating program is written to refer to one of these values by its tool correction register
279. rt parameter indicates the percentage of available torque the motor should be limited to when 1 Approaching the positive stop To the Stop and 2 once the positive stop is detected At the Stop These values are used for both Move to Positive Stop G75 and Home to Positive Stop G69 Home to Stop Distance During a G69 function the TRANS 01D uses this parameter to Programming determine the distance the axis should move away from the positive stop before stopping and setting reference position The value is non signed as the direction is determined by the inverse of the state of parameter Aa11 G69 is programmed similar to any move command Required block contents G69 is entered into the block as the block function Axis Word X Y or Z Feedrate F Lag Finishing 3 8 Contents The block must contain the axis word for the desired axis The axis word must have a value associated with it equal to zero example X0 Zero offsets such as those available with G74 are not available with G69 Zero Offsets are used to temporarily change axis offsets as an aid to simplify part programming for multiple parts G69 is intended for machine commissioning and repair only and therefore should not be used to temporarily change axis co ordinates Only one axis is allowed per G69 operation It is suggested that a feedrate always accompany a G69 function in a block for clarity and safety The feedrate e
280. s Sequence numbers are used to list each parameter in the list allowing other transmissions to the CLC TRANS 01 D during the list upload List Parameter Command gt 1 xD a x n r n _ Step Sequence number 0 to length 1 _ Number Parameter number Set Axis drive or task number _ Subclass Command List Parameter or Table __ Class A axis C card D drive T task Listing a Parameter To request a parameter list the Host sends the list parameter command with the sequence number 0 to the CLC TRANS 01 D The CLC TRANS 01 D responds with the sequence number replace with a count of the number of items in the list The Host then requests each list item sequentially beginning with sequence number 1 The sequence number is then incremented by one and the request repeated until all needed items or the entire list has been received The CLC TRANS 01 D requires parameter list sequence numbers to be incremented sequentially If an error occurs the request for the current list item may be immediately repeated allowing the Host to request missed data and ensuring that the data is sent in the proper order The CLC TRANS 01 D will respond with an error if sent an invalid sequence number At the end of the upload the Host must signal the CLC TRANS 01 D to close the list by sending a sequence number equal to the length of the list 1 If required more than one parameter list can be active at one time The Ho
281. s 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 xi CLC P t arameters cave CLC Unit Number Cancel Short ddress Page _ Cancel Base Address Page 0x0020 XYCOM Options YHE Handshaking Interrupt None M M Allow Extended YME Addressing A32 M Release Bus Every Cycle 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 the Page selected CLC card resides Base Address The address page in Standard or Extended memory Page space where the CLC s shared RAM is located Note The default server settings correspond to the default CLC control card settings and should not need to be altered XYCOM Options VME Select the VME interrupt which all CLC V control cards Handshaking should use to terminate a communication response If Interrupt this option is not used the server will poll 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
282. s automatically displayed when a DDE conversation which specifies the AT MODEM x topic is started The box will again appear when the conversation is terminated The dialog contains setup data and connection status To initiate the modem connection first enter the baud rate serial port and phone number The next step is to select the Connect button and watch the status box After the sending and receiving modems have connected press the Cancel button to close the dialog box The modems used for communication must respond to the AT protocol CLC_DDE will initialize the sending modem and establish a connection with the receiving modem The receiving modem should be configured in auto answer mode The CLC card must be configured to the same baud rate as the receiving modem Baud Rate Select the baud rate to use to talk to the sending modem Serial Port 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 Check this box if you wish CLC_DDE to automatically Connect On Start attempt a connection when a conversation is started The Up telephone number is saved in the INI file If this box is not check the user will need to select the Connect button DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 CLC DDE SERVER A 11 TRANS 01 D IID io ACTA A 4 SERVER Topic
283. s auxiliary outputs see the section titled Auxiliary Functions NC Code M for more information which are to turn on only when the axis is in position Without Lag Finishing G62 specifies that the velocity profile will be contoured from one NC Block s feedrate to the next NC Block s feedrate to avoid a stoppage of motion between NC Blocks The position programmed in a G62 NC Block will be the position at which the axis has reached the next NC Block s feedrate The move is considered to be finished once the axis is accellerating decelerating into the subsequent feedrate but prior to the time the position is actually reached Thus any auxiliary functions in this NC Block may be turned on while the axis is still in motion Therefore With Lag Finishing may not be necessary to your positioning operation but you may need to select it to insure that auxiliary functions are not turned on too soon DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Enable Disable Feed To A Positive Stop G75 amp G76 This function may be used when it is necessary to position the slide against a positive mechanical stop The slide will move at the feedrate programmed in this block The available torque of the motor will be reduced to the percentage value specified in parameter Aa21 Torque To Pos Stop When the Trans 01 D senses that the motor has stalled the motor s available torque will be changed to the percentage value programmed in
284. s command sets all forcing masks and states to zero and returns the I O system to normal control The command only takes effect at the time that it is sent Caution should be used when using this command The I O registers are directly affected and clearing the mask s may cause immediate unwanted motion in the system The data format of the RE command is ASCII integer gt 1 RE 0 1 1 _ set to 1 to erase forcing masks _ always 0 1 DOK CONTRL TRANSO01D RM ANW2 AE E1 44 Direct ASCII Communication B 17 TRANS 01 D IID io ACTA B 8 Communication Error Codes and Messages 101 SERCOS Error This is the code set in the data status word of the DDS 2 Code xxxx drive if SERCOS communication is invalid Call xxxx Error code Indramat Service if this error occurs 102 Invalid Parameter The requested or sent parameter does not exist on the Number CLC TRANS 01 D or the drive or the format of the parameter is incorrect 103 Data is Read Only The data in this parameter may not be modified 104 Write Protected in The data in this parameter can not be written in this this mode phase mode or communication phase Switch into parameter mode phase 2 to enter the parameter 105 Greater than The parameter exceeds the maximum allowed value maximum value 106 Less than The parameter is less than the minimum allowed value minimum value 107 Data is Invalid Parameter data is invalid or the format of the parameter is invalid See the DDS
285. s detected that is a positive stop is found The length of this move is limited to the total travel distance as defined in the travel limit parameters Aa06 plus 10 If the stop is not found in this distance an error results 2 The axis reverses direction and moves away from the stop a distance equal to the value programmed in parameter Aa22 Home to Stop Distance 3 When the axis has reached the above position the absolute encoder value is reset to the value stored in the Reference Position parameter Aa13 Note G69 is intended for use only during initial machine commissioning or when alterations have been made to the drive train that destroy the relationship between the absolute encoder and the actual machine position This could occur for example during removal of the motor gearbox or ballscrew A move to a positive stop is not always a repeatable function Changes in drive train temperature friction or compliance as well as contamination in the area of the stop such as cutting chips can cause the relationship between actual slide position and the absolute encoder setting to be different between two homes to positive stops For this reason axis position should be accurately checked after the operation Note G69 should not be programmed as a machine operator accessible function It should only be accessible to maintenance personnel During machine commissioning it is advisable to disable the function via parame
286. s in the ring leading from this participant to the next If this path is OK then the LED is swtiched on The LED is st with the initialization of the INTERBUS S ring if detected that it is OK e H14A green SW RUN Software RUN This LED is used with the LED H14C It support the diagnostic of the correct software RUN and displays the successful synchronization between CLC D and DBS03 1 LED H14A and H14C simultaneously specify via their flash frequency the current SERCOS cycle time If synchronization between CLC D and DBS03 1 is corrected then these LEDs flash alternately A rhythmic flashing indicates a working INTERBUS S interface but a faulty synchronization of the CLC e H14B green 24V external 24V applied This LED is only used with DBS 4 2 board e H14C green SW RUN software RUN See description on LED H2A e H14D red RD Remote Bus disable This LED is on if the relaying bus is not working Whether a relaying bus is mounted or not is detected by that board with the RBST signal which is connected to 5V via a relaying bridge If a relaying cable is mounted but the connection to the next participant has broken down then this LED is switched on if the master runs his bus check DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D D Drawings INPUTS
287. s reduced to cam search speed P x 1215 With this speed the rising edge of the cam switch signal is searched for HOMING is still in display and diagnostics If the cam search direction was positive Positioning uses position spindle speed S 0 0222 on the falling edge of the cam switch signal with offset spindle angle position S 0 0153 Meanwhile POSORDER appears in display and diagnostics If the cam search direction was negative Positioning uses position spindle speed S 0 0222 on the falling edge of the cam switch signal with offset spindle angle position S 0 0153 homing offset 2 S 0 0151 Meanwhile POSORDER appears in display and diagnostics The physical width of the cam at the load must be entered in S 0 0151 so that the same position can be achieved regardless of the direction of search If the spindle position is within the position window S 0 0057 then message IN POS appears in display and diagnostics Message in position S 0 336 is set The rotational direction for finding the cam edge can be fixed with function bits Positioning always however takes the shortest path DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Bit 0 and 1 of S 0 ES cam search direction is clockwise 0154 position spindle cam search direction is counterclockwise parameter the rotational direction of the current actual velocity is used in the cam search Bit 1 of P x 1216
288. set 2 distance coded linear scale 3 16 feed to positive stop 4 21 home switch monitoring 4 23 speed 3 10 homing 4 36 jogging 4 36 maximum path 4 17 maximum for adaptive depth 4 49 maximum to positive stop 4 46 rapid 4 36 rapid jog 4 36 spindle 3 27 spindle motor 4 71 spindle TRANS 01 D SA1 SA2 SA3 SA4 SA5 4 71 4 72 4 73 4 74 4 75 bipolar torque limit 4 74 bi polar velocity limit 4 59 control windows 4 57 direction motor 4 69 Gain RPM 4 67 SA6 4 76 SERCOS ring number 4 8 4 20 SERCOS rotary switch number 4 10 Serial Communications A 6 Serial Event A 6 Serial Port A 6 serial protocol parameter sets 4 6 SERVER Topic Name A 12 Service Name A 2 Set Current I O State with Mask RM B 3 shortest path homing rotary axis 4 37 shutdown messages See 400 599 and 700 Gain1 4 65 Gain2 4 66 gear ratio 4 60 I Gain activation 4 69 KV factor 4 58 motor overtemp shutdown 4 76 motor overtemp warning 4 75 motor speed 4 71 POS Gain 4 68 positioning speeds 4 56 positioning w encoder or home switch 4 69 ramp1 ramp2 ramp3 RPM1 RPM2 4 62 4 63 4 64 4 62 4 63 software travel limits 4 32 SP1 SP10 SP11 SP12 SP13 SP14 SP2 SP3 SP4 SP5 SP6 SP7 SP8 SP9 899 4 56 4 65 4 66 4 67 4 68 4 69 4 57 4 58 4 59 4 60 4 61 4 62 4 63 4 64 RPM3 4 64 special positioning 4 69 torque power threshold 4 61 velocity window 4 73 zero velocity window 4 72 spindl
289. signal 5 5 reverse signal 5 5 toolchange signal 5 6 output signal auxiliary functions 5 13 home 5 11 no system fault 5 12 ready 5 10 output signals I O network 5 18 overload factor 4 40 overtemperature shutdown spindle 4 76 warning spindle 4 75 overtravel limits 4 32 P P Data B 1 POO 4 8 P01 4 9 P02 4 10 PO3 4 12 P04 4 13 PO5 4 14 auto manual mode signal 5 4 PO6 4 15 PO7 4 16 PO8 4 17 Index 9 TRANS 01 D 1 O Index PO9 4 18 4 19 Parameter Data Subclass B 1 Parameter Lists B 3 parameter set 4 20 parameter sets CTA 10 1 4 5 serial protocol 4 6 Visual TRANS 4 6 password 3 1 3 35 path maximum acceleration 4 18 maximum speed 4 17 PC Bus A 8 PCP channel C 14 peak current 4 40 P Gain 4 34 P Gain1 spindle 4 65 P Gain2 spindle 4 66 POS Gain spindle 4 68 position loop gain 4 34 position window 4 43 position window spindle 4 57 positional move 3 10 positioning absolute 3 10 incremental 3 10 special spindle 4 69 spindle 3 27 spindle w encoder or home switch 4 69 positioning feedback type external rotary absolute encoder 4 30 external rotary encoder 4 29 linear scale 4 28 motor encoder 4 27 positioning speeds spindle 4 56 Positive Stop home to stop distance 4 48 homing 3 7 maximum speed to 4 46 torque percentage 4 47 power failure spindle braking 4 69 power loss reverse vector 3 31 power threshold 4 61 process position units 4 19 program changes enable 3 1 Program Communication Erase All Fo
290. sition Window 10 Monitoring Window Position Window The value entered into this parameter sets the tolerance window for the spindle in position output If the spindle is positioned in a program block when the position of the spindle is within this distance from the programmed position the Spindle In Position bit will be set high Monitor Window The value entered into this parameter sets the tolerance window for the DEV gt MAX error If the following error S 0 0189 exceeds the value programmed here then the drive shuts down issuing the error message DEV gt MAX The maximum value of this parameter is 169 9 If the position loop gain factor 1 then this corresponds to 470 rpm with following distance in position control If higher roms are needed then the KV factor parameter SP03 value must be increased Position control without following distance is recommended Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANS01D RM ANW2 AE E1 44 Contents 4 53 TRANS 01 D IID io ACTA SP3 KV Factor SP3 KV factor nnnnnn nnnnnn Enter the value to be used as the position loop gain KV factor when positioning the spindle Access Method Identification Permissible Values Visual TRANS S 0 0104
291. slide will travel the programmed distance from its current position in the specified direction DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 37 TRANS 01 D 3 38 Contents Menu 2 Menu 3 Menu 4 Menu 5 IDR ARIAL NOOO POSITIONING Pl Without Lag 2 With Lag This positioning menu allows movement to be programmed either With Lag G61 or Without Lag G62 Specifying positioning With Lag finishing G61 requires that the slide must be stopped in position before any miscellaneous functions e g auxiliary functions and NC Block jumps remaining in this NC Block are executed or before the next NC Block is executed Selecting positioning Without Lag finishing means the position lag from one NC Block will not be completed before the next NC Block is executed NOOO POSITIONING Rotary gt Shortest Path Positive Dir Neg Dir This positioning menu allows movement of a rotary axis to be further defined by the direction of travel to the desired position This option is only valid with G90 absolute type moves Only one type of motion can be selected NOOO POSITIONING Destination Z This menu is not available if Rapid has been selected in the first menu This positioning menu allows the destination of the axis to be specified here we have selected Z axis Before entering a value ensure whether the TRANS 01 D is in either Absolute or Incremental positioning mode and whether the units of measu
292. some offset position from Home Thus if the slide is at 2 inches from Home a command to travel to 3 inches results in a one inch feed in the positive direction In incremental positioning G91 all movements of the slide are made in the commanded direction to the distance specified starting from the current position of the slide Thus if the slide is at 2 inches from Home a command to travel 3 inches incrementally results in the slide positioned at 5 inches from Home With Without Lag During Positioning G61 amp G62 3 10 Contents When a position command is issued the servo motor moves the axis in response to that command There will always be some finite lag time between the time the command is issued and the time the servo motor brings the axis into position It is important to note that in a program NC Block the TRANS 01 D does the positioning first then performs any miscellaneous functions such as jumps or turning auxiliary functions on or off when it finishes the movement When programming your positioning commands you will be required to respond to the With Without Lag display With Lag Finishing G61 specifies that the axis must be in position before any miscellaneous functions remaining in the NC Block are executed or before the next NC Block is executed This would be required at full depth for examplelt is important to note that this is also required where you have programmed miscellaneous functions such a
293. st must always close a list when it is finished since each open list uses CLC TRANS 01 D resources Example of Parameter List request 1 The Host requests a List Parameter gt 1 DD 1 17 0 r n Parameter S 0 17 The CLC TRANS 01 D responds with length of the list gt 1 DD 1 17 0 180 S cs r n 180 parameters in list 2 The Host requests the first parameter in the list gt DD Lee NENH The CLC TRANS 01 D responds with the first parameter gt 1 DD 1 17 1 44 cs r n 3 The Host requests the second parameter in the list DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 9 TRANS 01 D INDRA DIAL ST DD der 2 NENN The CLC TRANS 01 D responds with the second parameter gt 1 DD 1 17 2 104 S cs r n 180 The Host continues to sequentially request items in list 181 The Host closes the list by sending a sequence number the list length 1 gt 1 DD 1 17 181 r n The CLC TRANS 01 D acknowledges the end of the list gt 1 DD 1 117 181 19 List is finished cs r n Parameter List Block Transfer B 10 Direct ASCII Communication Classes C A D T Subclass B Data Type List of space delimited strings with ASCII integers or floats For faster communications the CLC TRANS 01 D can send and receive parameter lists 16 elements at a time Drive parameter lists allowing block transfer include cam tables oscilloscope data and any other non text parameter list The B subclass works similar
294. status register 147 Invalid Unit The unit number second character in string is nota Number number between 1 and F or an ASCII space character 148 VME Bus Error A VME bus error occurred while communicating to another card in pass through mode through the serial port 149 VME The card addressed by the unit number in pass through Communication mode does not exist or its parameters are not Handshake Error D configured properly Change the unit number to correspond to a card in the rack or set it to a space No longer issued on CLC TRANS 01 D D 150 Invalid Download The block sent during a program download is incorrect Block in length or is not in hexadecimal format 151 Unit D Invalid The VME base address page parameter is set to an VME Base Address invalid address for the indicated VME unit number Page 152 Axis Disabled The parameter set for the requested axis does not exist Either this axis is disabled or the CLC TRANS 01 D does not support this number of axes 153 Waiting for When switching between drive initialization phases data service channel from the drive is momentarily invalid This message is sent instead of the requested data This message will also be issued whenever a service channel transaction cannot be completed Continue to retry the message until a valid response is returned 154 List or String is The text string or parameter list is smaller than the too short minimum length allowed by the CLC
295. t 5FF6 are broken down in 8 bits each for the process data and the communications channel The lower 8 bits are for the process data channel the higher for the communications channel The interference bits for the process data channel are written first The errors in the process data channel are bit coded and show a faulty configuration of the process data or multiplex channels MUX The slave recognizes them by means of the initialization or after a reconfiguration and keeps them pending until a new correct configuration as no sensible cyclical data exchange is possible Interference bit for support of data objects 0 gt All data objects are supported in the process data channel 1 gt at least one data object is not available via the process data channel Interference bit for access to data objects 0 gt access to the data objects if correct 1 gt at least one data object has been incorrectly accessed read or write access not permitted Interference bit for object length of process data 0 gt the lengths of the process data channel fixed by the master agree with the lengths specified for the fieldbus 1 gt the lengths of the process data channel fixed by the master do not agree with the length of at least one data object specified for the fieldbus Interference bit for configuration as fieldbus and SERCOS object 0 gt all drive parameters are configured in the relevant drive telegram 1 gt atleas
296. t according to its attributes decimal hexadecimal text etc The T subclass provides the name of the parameter provided as a text string in the language selected for the CLC TRANS 01 D The ability to specify actual text for the parameter name permits the host software to be independent of CLC TRANS 01 D or Drive parameter updates The U subclass returns the system units in inches or mm millimeters as an ASCII text string Upper Limit L Lower Limit Subclasses Attribute Subclass The H and U subclasses return the range of permissible data entry that is set by the DDS drive or CLC TRANS 01 D for numeric data Limits are always returned as floating point type data The A subclass request a hexadecimal longword 16 bits Bits in this longword are set for data type and scaling according to the SERCOS specification The attribute data is available for informational purposes or DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Direct ASCII Communication B 7 TRANS 01 D Parameter Lists Subclasses Examples B 8 Direct ASCII Communication INDRA DIAL may be used to detect if a SERCOS parameter is a command or a status value The D subclass is used to request lists of parameters Since new versions of DDS drives and the CLC TRANS 01 D may expand or change the parameter sets lists of all parameters and all required parameters can be uploaded by the Host program Parameters such as the DDS oscilloscope function also us
297. t one drive parameter is not configured in the drive telegram Possible causes are one configuration list has been incorrectly parametrized drive parameter not transmitted to the drive telegram in configured operating mode see A 0 0001 A 0 0003 and A 0 0070 data object set in the process data channel does not belong to this SYNAX application Interference bit for multiplex channel length 0 gt the length of the multiplex channel set in object 5FFE Start offset multiplex channel is permissible 1 gt the length of the multiplex channel set in object 5FFE Start offset multiplex channel is not permissible This state occurs for example if the start object and the length of the multiplex channel have been selected so that at least one multiplex object falls into a different object class DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IDR ARIAL y0 y1 y2 y3 y4 TRANS 01 D The interference bits for the communications channel are described below They remain pending until the next correct access to a data object If the diagnostic object 5FF6 fault code CLC D is not configured in the process data channel then note the following when diagnosing problems Note After an error in communications channel immediately read diagnostic object 5FF6 fault code CLC D before further diagnosis to avoid clearing interference bits with next valid access Interference bit for support of data objects 0
298. tal drive used Marker Pulse and Switch The Home position will be the first marker pulse encountered after the Home switch is made Marker Pulse The axis will home to the first marker pulse it encounters after it receives the Home input or Reverse in Manual mode Switch The TRANS 01 D will Home to the first switch input it sees The position at which it saw the switch will be considered Home Note Homing to a switch is not available when using an Absolute Encoder for positioning while absolute feedback is enabled Home to a Positive Stop When a G69 command is programmed in the Homing block the TRANS 01 D will execute a feed to a positive stop to an incremental programmed distance If the incremental distance is reached the TRANS 01 D will issue a Positive Stop Missing diagnostic If the positive stop is encountered correctly the TRANS 01 D will move away from the Positive stop the distance entered in Parameter Ax22 Home to Stop Distance and declare that position to be Home machine zero For a full explanation of this feature please see the Homing Section in the Programming chapter Note Homing to a Positive Stop is only available on systems that use absolute feedback devices When you have entered your option the TRANS 01 D will store this and step ahead to the next parameter DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D Aa13 Reference Position Aal3 Reference Position nnnnnnn UM
299. tation Department Rexroth Corporation Indramat Division 5150 Prairie Stone Parkway Hoffman Estates Illinois 60192 U S A The Rexroth Corporation Indramat Division Main Office 5150 Prairie Stone Parkway Hoffman Estates IL 60192 Tel 847 645 3600 FAX 847 645 6201 Rexroth Indramat Technical Center 2110 Austin Avenue Rochester Hills MI 48309 Tel 810 853 8290 FAX 810 853 8298 Part No 274706 mannesmann technology a a Indramat
300. ted switch e an improperly programmed PLC contact DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Diagnostics and Monitoring 6 13 TRANS 01 D IID io ACTA code Description S 705 ACKN INPUT 3 WAIT ON Status message The machine function controlled by Auxiliary Function 3 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 3 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout If you suspect a problem check for e a broken wire on the acknowledgment input e a faulty input switch e an incorrectly timed PLC program 706 ACKN INPUT 4 WAIT OFF Status message The machine function controlled by Auxiliary Function 4 output has turned off but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is still present at ACKN INPUT 4 The TRANS 01 D will wait indefinitely for the acknowledgment i e there is no timeout Only available when DEA 4 X and DEA 5 X I O cards are present in combination and configured correctly or when Interbus S 1 0 is used If you suspect a problem check for e a stuck or shorted switch e an improperly programmed PLC contact 707 ACKN INPUT 4 WAIT ON Status message The machine function controlled by Auxiliary Function 4 output has turned on but the TRANS 01 D has not yet received acknowledgment The program is paused and 24V is not present at ACKN INPUT 4 The TRA
301. ter Aa12 after the absolute feedback is set to prevent unintentional repeats of the function afterwards An alternative to this function is to use the absolute encoder initialization routine available in Visual TRANS software Note Do not program a G69 function in the default block for homing N195 This will cause the TRANS to execute the procedure every time the TRANS 01 is commanded to return resulting in possible position errors See warnings above DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 7 TRANS 01 D Associated Parameters Aa11 Directions Homing Reference Reference Position IDR ARIAL The homing direction parameter will determine the direction the axis will move when first searching for the positive stop A 0 programmed in this parameter will cause the axis to search in the plus direction A 1 will cause the axis to search in the minus direction This parameter indicates the method used to determine the initial home position Home to a Positive Stop is enabled here by selecting option 4 This parameter contains the absolute value that should be used for home position when it is found The actual position register is loaded with this value at the end of a G69 function Positive Stop Feedrate Aa20 contains the maximum feedrate that can be programmed when executing any positive stop functions This also applies to G69 Home to Positive Stop Positive Stop Torque This two pa
302. terbus S PCP channel The serial communication characteristics are as follows e 9600 baud e no parity e 8 data bits e 1 stop bit The Tool Correction data transmitted to the TRANS 01 D is contained in the CLC communication protocol packet described below 123 456 cs r n End of Message Hex ASCII Checksum Variable Length Data Floating Point number Blank 0x20 Data Number Identifier Floating Pt Register 1 Period 0x2E Data Set Identifier Active Program Blank 0x20 Command Subclass Data Command Class Floating Point Variable Blank 0x20 art Character 0x3E To compute the checksum do a 16 bit accumulation of all of the characters before the Then add the most significant byte of the checksum to the least significant byte Negate this value to form the two s complement The last 2 digits of this result is the checksum to be transmitted to the CLC D DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D For example Checksum on gt FP 0 1 1 23 C7 least significant byte 2 most significant byte C9 TRANS 01 D Checksum C9 37 The response of the TRANS 01 D after receiving a valid communication packet is to simply echo back the packet header For example the TRANS 01 D s response to the above example would be gt FP 0 1 1C r n If there is an error in the data sent to the TRANS 01 D a message is sent starting with an in the data field For exam
303. terface C 1 7 TRANS 01 D IID io ACTA Signal Configuration X40 Connector on Interbus S Incoming Bus Das sarai Besigraion x40 Sat Beignaion Out RS 485 e DO1 OutRS 485 IN RS 485 IDI 1 IN RS 485 ra GND reference poeme 8 Nous ra nous of nues s Nues Table C 9 Signal configuration X40 connector on interbus S incoming bus Plug in connector 9 pin D subminiature connector strip Signal Configuration X41 Connector on Interbus S Outgoing Bus Designation xa0 Sina Designation Counsas 6 oe ownesas_ reference poiniei 8 mins mad not used RBST remote bus control Table C 10 Signal configuration X41connector on Interbus S outgoing bus Plug in connector 9 pin D subminiature bushing strip Signal Configuration X3 Connector External Inputs Input voltage high Input voltage low 16 V 32 V 0 5 V 8 V 16 V 32 V 0 5V 8 V 16 V 32 V 0 5 V 8 V reference potential OV reference potential OV Table C 11 Signal configuration X3 connector external inputs C 1 8 Interbus Fieldbus Interface DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Signal Configuration X4 Connector on CLC D Card fas p22 Bts fes pes Bers fcs df no 7 as GND fee Sf P30 Bers ce psi Ts a aps Bers feo en co ar 6 BTs A10 A Jav 2 wf cra mes as EBUSINT 0 06 813 osacki ooc fcis end 7 Table C 12
304. the address space so that other card boards can also be mounted There are three hardware outputs 24V on the DBS08 1 This inputs can only be used with the CLC D if this is supported by the appropriate firmware The signal states at this input are transmitted from the interbus S on off state to the CLC D They can aso be queried by the interbus S master via the PD or the PCP channel Note The external inputs are not supported by the CLC D The DBS03 1 board has no interbus S repater function which is maintained by an external power source if the DBS board is removed from the internal power source Note If a repeater function is needed with an external power source then a DBS4 1 board must be used A serial interface is on the DBS03 1 board for testing The user cannot access it This interface needs a special firmware version This is the interbus S standard interface as per DIN E 19258 for long distance bus participants via a 9 pin D subminiature connector The interface is completely galvanically isolated It contains a duplex circuit based on an RS 485 It couples with the previous participant of the interbus S ring This is the interbus S standard interface as per DIN E 19258 for long distance bus participants via a 9 pin D subminiature bushing The interface is completely galvanically isolated It contains a duplex circuit based on an RS 485 A strobe signal to detect a relaying interbus S is included Interbus Fieldbus In
305. the machine tooling or the linear scale If the user programs a position that will take the unit outside of this value the same error will be issued Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 47 TRANS 01 D INR ACTA Aa33 Linear Encoder Resolution Aa33 Linear Resolution nnnnn UM nnnnn Enter the resolution of the external linear scale Access Method Identification Permissible Values Visual TRANS S 0 0118 0 21474 83647 When the TRANS 01 D is configured for Adaptive Depth this parameter sets the resolution of the external linear scale The value to be entered here can be found in the manufacturer s documentation for the linear scale or in the OEMs machine documentation Entering an incorrect value here will cause intermittent positioning errors and mis positioning of the axis when executing the G08 program block To determine if the value entered in this parameter is correct mark off a known distance on the machine slide and jog the axis this distance Compare the actual slide position with the marks to verify that the correct distance was traversed Enter the number to be used for this parameter Press ENTER when all data is entered and the T
306. through an Interbus S card DBS 3 x Access to the TRANS 01 D s controls parameters and program is provided at several different levels to allow for maximum security of machine operations For Operator security level access to the TRANS 01 D is provided by a separate Cycle Interface DEA Card This allows certain manual operations and does not require a CTA 10 Indramat provided MMI Interface For Toolsetter security level the operator will have access to a CTA 10 and can display current program parameter and tool correction data Another level of security via password has been added to prohibit editing program and parameter menus without prior authorization 1 2 Technical Specifications Number of feed axes controlled three Number of spindle axes controlled one inch or metric 0 0001 inches 0 001 mm 838 8600 in 8388 600 mm Dimensioning system Programming resolution Maximum traverse Feedrate Rapid traverse rate Jogging Number of program blocks Repetition cycles blocks Programmed tool position corr Dwell time Auxiliary function outputs w DEA discrete I O card w DBS Interbus S I O card programmable programmable parameter Aa10 Forward reverse up to 200 up to 99 10 registers per axis programmable from 0 01 to 99 99 sec 11 individually programmable on off 7 individually programmable on off Introduction 1 1 DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TRANS 01 D IDR ARIAL 1 3 Purpose of
307. tics are desired this parameter can be used to control the integral section of the loop and normal velocity loop principles apply Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 4 6 1 TRANS 01 D IID io ACTA SP11 Gain 2 SP11 Gain2 P Gain2 I Gain2 nnnn Enter the numerical value for the data Access Method Identification Permissible Values Visual TRANS P 0 1210 0 9 99 P Gain 2 P 0 1211 0 9 99 I Gain 2 Serial Protocol DP 4 33978 Same as above DP 4 33979 Default depends on motor drive combo P Gain 2 This parameter defines the proportional gain of the speed regulator above the GAIN RPM Parameter Sx12 l Gain 2 This parameter defines the integral gain of the speed regulator above the GAIN RPM Parameter Sx12 Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value 4 62 Contents DOK CONTRL TRANS01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D SP12 Gain RPM SP12 Gain RPM nnnnnn nnnnnn Enter the numerical value for the data
308. tification Permissible Values Visual TRANS A 0 0301 bit 5 0 i e XXXXXXXXXXX0XXXX Home switch monitor disabled bit 5 1 i e XXXXXXXXXXX1 XXXX Home switch monitor enabled CTA 10 Aa01 0 Home switch monitor disabled 1 acne switch monitor ne Default Home switch monitor disabled The TRANS 01 D can monitor the Home Switch at all times and give an error message if it is activated when the axis is off of the switch or if it is activated in a different position than the first time it was activated If the Home Switch input should go high whenever the TRANS 01 D has the axis moved off of the switch the TRANS 01 D can monitor this input and issue a warning diagnostic This diagnostic and the error will be issued at the end of the current machining cycle such as when a Jump and Stop is executed This diagnostic is not a hard fault that requires a system reset but a soft fault that is meant to let the operator know that the Home switch input was unstable during the last cycle If the axis has already been Homed and an absolute move to 0 is commanded in a program block the TRANS 01 D will check to make sure the Home switch is made within the same revolution as it was when the axis was first Homed If it is not the digital drive will issue a 35 error If the axis is commanded to move off of the Home switch and it does not move off of the Home switch within 2 1 encoder revolutions the TRANS 01 D will issue the diagnostic
309. tion You can then power down the system change the switch settings and then power up the system After the system has finished initializing go into Parameter mode and re enable the affected axes and re designate the I O configuration Failure to follow this procedure could cause a 413 I O Board not found error that can only be cleared by restoring the system pre switch change configuration After that follow this procedure to change drive numbering configurations Similarly if the I O card is to be moved to another drive remove associated I O configuration setting from the current drive then power down the system Place the I O card into its new drive location and power up the system After the system has finished initializing go into Parameter mode and configure the I O card to the proper axis DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D 5 3 Enables There are two enable signals which must be provided by the machine builder to enable operation of the TRANS 01 D They are provided on the parallel Cycle Interface or by the I O Network when the proper bits in parameter P02 are set Enable Connector X17 on DEA 4 X Interbus S Object 5FB1 Type Input to TRANS 01 D Table 5 1 Enable Signal This signal is required to enable operation of the TRANS 01 D Loss of the Enable signal interrupts both Automatic and Manual operation The Enable line does not reset the program in any way Enable is a master
310. tion timeout 6 21 808 Z Axis In Position timeout 6 22 A A02 A05 A10 A11 Aa00 Aa01 Aa02 Aa03 Aa04 Aa05 Aa06 Aa07 Aa08 Aa09 Aa10 Aa11 Aa11 Aa12 Aa12 Aa13 Aa14 Aa14 Aa15 3 18 3 18 3 18 3 18 4 20 4 21 4 22 4 23 4 24 4 26 4 26 4 27 4 28 4 29 4 30 4 26 4 31 4 32 4 33 4 34 4 35 4 36 4 37 3 8 4 38 3 8 4 39 4 40 3 8 4 41 DOK CONTRL TRANS01D RM ANW2 AE E1 44 IDR ARIAL Aai6 4 42 Aai7 4 43 Aai8 4 44 Aai9 4 45 Aa20 4 46 Aa20 3 8 Aa21 4 47 Aa21 3 8 Aa22 4 48 Aa22 3 8 Aa30 4 49 Aa31 4 50 Aa31 6 11 Aa32 4 51 Aa33 4 52 Aa34 4 53 absolute encoder deactivate function 4 45 positioning feedback type 4 30 absolute positioning 3 10 acceleration coordinated interpolated motion 4 35 maximum path 4 18 adaptive depth 4 22 linear encoder direction 4 53 linear encoder max deflection 4 51 linear encoder pre limit 4 50 linear encoder resolution 4 52 maximum speed 4 49 part not found 6 11 pre limit error 6 11 programming 3 12 AF switching 4 42 AT Modem A 11 auto manual mode PO5 5 4 auto manual mode signal enable signal 5 3 start signal 5 4 Automatic Mode 4 14 reverse vector 3 31 auxiliary acknowledgments 5 14 Auxiliary Function 1 wait for OFF acknowledgment 6 13 wait for ON acknowledgment 6 13 Auxiliary Function 2 wait for OFF acknowledgment 6 13 wait for ON acknowledgment 6 13 Auxiliary Function 3 wait for OFF acknowledgment 6 13 wait for ON acknowledgment 6 14 DOK
311. to the D parameter list subclass but instead of sending one item at a time 16 elements are sent gt u xB a s n r n Step Sequence number 0 to length 1 Number Parameter number _Set Axis drive or task number Subclass Command List Parameter or Table _Class A axis C system D drive T task Requesting a Block List Parameter To request the start of a list the Host sends sequence number 0 to the CLC TRANS 01 D The CLC TRANS 01 D responds with the number of elements in the list The number of steps in the list is equal to elements 15 16 The Host requests this number of steps from the list until the list is finished The data in the response strings is space delimited Floating point and decimal values are scaled the same as when they are printed individually If the number of elements in the list is not evenly divisible by 16 the CLC TRANS 01 D will fill the last response string with space delimited zeros for each remaining element If the data cannot be printed in less than 220 characters the error message 55 List or string is too long is issued The CLC TRANS 01 D requires that step numbers be incremented by one but any previous step may be repeated This allows the host to request any missed data and ensures that the data is sent in the proper order For example the sequence 1 2 3 3 4 is valid but 1 2 3 5 is not If an invalid step number is sent the CL
312. tocol DP 4 33795 Same as above DP 4 33796 DP 4 33798 Default depends on motor drive combo Sign Slip This parameter defines the characteristic slip of the motor Sign RPM This parameter defines the starting point of slip increase The point which slip limit will be activated Sign Voltage This parameter indicates the motor s characteristic idle no load voltage at Sign RPM Enter the number to be used for this parameter Press ENTER when all data is entered and the TRANS 01 D will store the data for this parameter and step to the next parameter If you make a mistake entering this value press the ESC key and enter the correct value DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 TND ACTA TRANS 01 D SM14 Motor Functions SM14 MOT MOTFUNCT n Enter the numerical value for the data CT om 5 SC This parameter controls various functions of the motor The sum of the selected function must be programmed in to this parameter Refer to the following Function Code Table VOLTFACT M 18 i operative SLIPFACT M 14 is operative VOLTFACT M 13 is not active but the standard voltage boost is operative SLIPFACT M 14 is not active Standard boost of slippage is operative Voltage command amplitude is No changes limited to 7V Voltage command voltage for the motor output is limited to 7 V during no load operation Same as MOTFUNCT 8 but voltage increases to the maximum value during decelerat
313. tomatic Mode Table 5 21 Output Signals 5 18 1 0 Functional Description DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IMDR ARIAL Multiplexing TRANS 01 D The TRANS 01 D gives the user the ability to receive Position Soeed Torque and Diagnostic data through the 1 0 network if the I O network used can support this data By setting up the respective I O bits the information requested can be sent out to a register designated by the I O bus for further processing Input Port 3 mas onor onse wiomaton enso onmo x fo o Diagnossies o Jo vo po f Pesion ES EE z EE NS ES EEE NE s a toe Table 5 22 Multiplexed Input Signals Output Port 3 Bit Bit 9 Bit 8 10 ro fo _ Diagnoses a nier z n Jo ses 1 o S 1 1 1 1 Table 5 23 Multiplexed Output Signals Input Port 3 5FB3 Bit Bit Axis 7 8 9 10 Info X 0 0 0 0 Diagnostics Y 0 1 0 1 Position Z 1 0 1 0 Speed X 1 1 1 1 Torque Input Port 2 5F92 Bit Bit Axis 10 11 9 8 Info X 0 0 0 0 Diagnostics Y 0 1 0 1 Position Z 1 0 1 0 Speed X 1 1 1 1 Torque Table 5 24 Data Multiplexing Formats DOK CONTRL TRANS01D RM ANW2 AE E1 44 1O Functional Description 5 19 TRANS 01 D IID io ZADAIZAL 5 20 1 0 Functional Description DOK CONTRL TRANSO1D RM ANW2 AE E1 44 TND ACTA TRANS 01 D 6 Diagnostics and Monitoring 6 1 System Diagnostics Codes and Messages The CLC provides three types of diagnostic mess
314. unchanged by entering a 0 1 or a 2 in the proper command positions When an auxiliary function is selected it is turned on or off at the completion of the G code movement or dwell An acknowledgment may be required for the programmed auxiliary functions depending on the I O system used When the command is executed the TRANS 01 D awaits the acknowledgments for any functions which were turned on or off before it executes the next NC Block Once an acknowledgment is issued the signal line must be held in that state until the function output changes If not program execution halts and a soft fault occurs There is one important exception to the above The TRANS 01 D allows a jump to the reverse program to be performed even if the acknowledgments do not match their associated auxiliary outputs This can occur on an emergency return or upon recovery from a power failure In this case in the first NC Block of the Homing program it is necessary to insure that all auxiliary outputs are forced into a state where they match their acknowledgments The easiest way to do this is to program the first NC Block of the reverse program usually 195 to turn off all auxiliary functions and program the next NC Block with a Homing function Assuming all acknowledgments will also be off then homing will always be possible When programming this of course it must be certain that axis movement is possible and safe with all outputs off Several types of progra
315. unction that does not exist on the card 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 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 number of functions remaining Reduce the number of functions used or allocate more function slots in the data sizing instruction The number of steps in a sequence exceeds the number D allocated for the program in the data sizing instruction Direct ASCII Communication B 21 TRANS 01 D IID io ACTA 171 Maximum Up to D functions can be used in one sequencer step functions per step This is a CLC TRANS 01 D system limit which in exceeded D version GPS 02 00 is 100 172 Program does not PLS data was requested from a program that does not include a PLS support the Programmable Limit Switch function or does not have any PLS s configured 173 Invalid ABS or Point D is zero or is greater than the allocated maximum REL point index D number of points for the selected point table 174 Error in command A procedure command set in the CLC TRANS 01 D or execution drive parameter has not been successfully completed 175 Comm port buffer The serial port receive buffer has overflowed In current overflow versions of the CLC TRANS 01 D this buffer is 512
316. using servo overload The program command G21 is functional in rotary mode to accommodate this need This program command should be used for no other purpose than clamping or braking the drive train If G21 is commanded during program execution the AC Servo Controller Enable will be removed the drive will go from AF to Ab allowing free movement of the servo motor no servo lock A programmed Auxiliary output can also be used to notify the line control when it is safe to energize the clamp or brake The Controller Enable will be restored when the G20 program command is executed During the time that the G21 command is in operation no movements should be commanded otherwise an error will appear on the display resulting in a fault Only dwell times block jumps or waits for acknowledgments should be performed while the G21 command is active While the G21 function is in operation the destination will be made equal to the actual position so that no jump will occur if the motor is rotated This means that the next positioning command made after a clamping operation should be an absolute move Incremental moves would be made referenced to the present position including any move made while clamped rather than the last commanded position If incremental moves are required after a move to positive stop they should be preceded by an absolute move to the last position to correct for any shift in position during clamping The last move made befor
317. ut data remains effective A bus failure is signalled in the status register of the CLC D It makes sense for critical applications in particular those in which motion is controlled by the output signals to be able to clear the outputs If the value 0x0001 is entered in object 6004 then the output data will be cleared if the fieldbus fails Note All data is entered only dynamically in the objects After the board is switched off the default setting once again becomes effective if the user does not secure the data of the objects before hand See documentation on the fieldbus specification of slave board DBS03 x or DBS4 4 The Interbus S fieldbus interface to the TRANS 01 D has a 5 word wide process data channel This means that standard applications can be processed without a problem With some applications it is however necessary to relay the data of numerous axes to the master This would considerably exceed the data width of a slave in the fieldbus ring It is for this reason that a multiplex system has been installed in the process data channel for the transmission of data for the fieldbus interface The multiplex system permits different axis data within the process data channel in both data directions This data is on a preset index coming from the master in the form of current real time data Only the base objects of the multiplex system are configured in the process data channel Permissible base objects are all elements
318. vent table does not Function exist on the CLC TRANS 01 D card or is not defined as an event function DOK CONTRL TRANS01D RM ANW2 AE E1 44 Direct ASCII Communication B 19 TRANS 01 D INDRAMAN 138 Program file The version of the file system on the card does not version mismatch match that of the downloaded file Upgrade to the latest versions of the Visual Motion compiler and CLC TRANS 01 D executive 139 Can t activate A new program cannot be activated unless all user tasks while program running are stopped 140 No programs are No programs are active on the CLC TRANS 01 D card active Download a program to the card 141 System Error This is an internal CLC TRANS 01 D system error Call pSOS XXXX Indramat Service for assistance 142 Mapper String DD An invalid boolean operator was found in I O Mapper invalid operator String DD when it was sent to the CLC TRANS 01 D 143 Mapper String DD Sending the string DD exceeded the maximum number too many operations of boolean operations allowed by the CLC TRANS 01 D I O mapper 144 Mapper String DD A register in Mapper String DD exceeds the maximum invalid register number of registers or is 0 145 Mapper String DD The bit number or mask sent in string DD exceeds 16 invalid bit or mask bits 146 Mapper String DD An assignment to a read only register or bit was made in register is read only I O mapper string DD e g attempting to write to a CLC TRANS 01 D
319. ver NC Block number that needs to be seen and type ENTER Press ESC twice to return to original screen DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 INDRA DIAL Program Entry Mode TRANS 01 D 1 To enter programming mode complete Steps 1 to 3 in 3 5 1 2 Select 1 Program Entry This will call up the Password screen Programming Mode Password Key in Password and press ENTER 3 Enter the correct password 1234 and this will bring up the Program Mode screen Programming Mode 1 Program Edit Sip OUTE 4 Select 1 Program This creates a screen requesting the number of NC Blocks that will be programmed using the CTA 10 s touch pad key in the desired NC Block number 0 199 that will be programmed Block Number 5 The next screen lists the possible programming functions that are available NOO1 1 Positioning 2 Dwell Time 3 Aux Function 4 Special Func 5 Home Axis 6 To Pos Stop 7 Spindle Func 8 AF Switching D2 No Operation The following sections Positioning Dwell Time Auxiliary Functions and DOK CONTRL TRANSO1 D RM ANW2 AE E1 44 Contents 3 35 TRANS 01 D INR ACTA Home Axis will deal with the respective choices of possible program NC Blocks listed above 3 36 Contents DOK CONTRL TRANSO01D RM ANW2 AE E1 44 IID io ACTA TRANS 01 D Positioning In keeping with the TRANS 01 D s philosophy of programming this positioning function allows programmi
320. xits Parameter Mode When 1 is selected on the second screen the TRANS 01 D will store the data and step to the next parameter DOK CONTRL TRANSO01D RM ANW2 AE E1 44 Contents 4 23 TRANS 01 D IDR ARIAL Aa04 Positioning Feedback Type Linear Scale Aa04 Positioning Aa04 Linear 4 24 Contents UM Pulse Linear Scale External Encoder If the external linear scale will be used for primary axis positioning select 2 at the screen shown on the left After that the user will be moved to the screen on the right At this screen you must enter the distance per pulse for the linear scale you will be using usually contained in the linear scale manufacturers documentation It may also be contained in the machine documentation Please consult this documentation or call the Indramat Service Hotline at 800 860 1055 When a value is entered on the second screen the TRANS 01 D will store the data and step to the next parameter nnnnnn Enter the distance per pulse of the linear scale being used for positioning UM The units of measure chosen in Parameter Aa02 will be displayed here for the programmers reference This is displayed for reference only and cannot be changed in this parameter The units can only be changed in Parameter Aa02 Access Identification Permissible Values Method Visual bit 11 0 i e XXXXX0XXXXXXXXXX USE TRANS motor fdbk as primary device bit 11 1 i e XXXXX1XXXXXXXXXX USE external
321. yed by the CTA 10 as a reference To change the axis number on the fiber optic ring the rotary switch on the DSS card must be moved and the digital drive must then be re powered up See Parameter Aa00 for a complete description on changing the axis number Enter a 1 under the letter E for each axis you want to enable Enter a 0 for each axis you want to disable These designations follow the axis designations used for CNC type machines If an axis that is not on the ring is enabled the TRANS 01 D will issue an Axis n not found on ring error message To correct this error re designate the axis correctly 4 6 Contents DOK CONTRL TRANSO1D RM ANW2 AE E1 44 IDR ARIZA TRANS 01 D Note No servo operation is possible with the S axis nor can a servo axis X Y or Z be designated as a spindle You can however use a digital servo drive as a spindle drive The TRANS 01 D has the option of using discrete I O and or handling I O across the Interbus S network To use discrete I O the user can install an Indramat DEA 4 x and if needed a DEA 5 x I O card into the digital drive When this I O configuration is used the user must tell the digital drive which type of I O card option is being used To use the Interbus S option a DBS 3 x or DBS 4 x option card must be plugged into the TRANS 01 D and installed into the servo drive The following table lists the options available The number in the left column is entered into the I O field in t
322. you will get a UL error on the digital drive H1 display Pressing the S1 reset switch on the digital drive will load the parameters for the new feedback into the servo drive Every Indramat digital servo drive uses the motor encoder for axis control It can also use it for axis positioning If your application will be using the motor encoder for axis positioning then select 1 for this parameter After you have selected 1 you must tell the TRANS 01 D if the motor encoder will be used as the primary positioning device If no other positioning device is connected to the TRANS 01 D system select 1 at this screen By doing that all positional moves in the user program will be based upon the position from the motor encoder Refer to the subsections for Aa04 Positioning Feedback Type Linear Scale or Aa04 Positioning Feedback Type External Rotary Encoder if one of these types of feedback devices are to be used The option entered here is written to the TRANS 01 D Axis parameter A 0 0004 If the external encoder is to be used as the primary positioning device the CTA 10 will set Axis parameter A 0 0004 bit 10 to a 1 for a linear scale or an external rotary encoder The data entered into this parameter determines what the TRANS 01 D will write to Drive Parameter S 0 0032 The user cannot change this option by writing to drive parameter S 0 0032 directly because the TRANS 01 D will overwrite parameter S 0 0032 based upon the data in A 0 0004 when it e

TRANS 01-D 05VRS Motion and Logic Control System

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