Lenze E94P PositionServo with MVOB Manuel d'utilisateur télécharger pdf (Page 18)

16 L PM94H201B_13xxxxxx_EN

Introduction

With Fault Handler

Add the following code to the end of your sample program. When the program is running, switch the ENABLE input

IN_A3, to the off state. This will cause the drive to generate an F_36 fault ((Hardware disable while drive enabled in

inhibit mode) and put the drive into a Fault Mode. From this point the Fault Handler Routine will take over.

F_PROCESS:

WAIT UNTIL IN_A4==1 ;Wait until reset switch is made

WAIT UNTIL IN_A4==0 ;and then released before

GOTO RESET_DRIVE ;returning to the beginning of the program

END

;*********************** Sub-Routines **************************************

Enter Sub-Routines here;

;*********************** Fault Handler Routine *****************************

ON FAULT ;Statement starts fault handler routine

;Motion stopped, drive disabled, and events no longer

;scanned while executing the fault handler routine.

OUT2 = 0 ;Output 1 off to Disengage gripper.

;This will drop the part in the gripper

OUT1 = 0 ;Retract Pick arm to make sure it is up and out of the way

RESUME F_PROCESS ;program restarts from label F_PROCESS

ENDFAULT ;fault handler MUST end with this statement

NOTE

The following statements can not be used inside the Fault Handler Routine:

ENABLE

WAIT

MOVE

MOVED

MOVEP

MOVEDR

MOVEPR

MDV

MOTION SUSPEND

MOTION RESUME

GOTO, GOSUB

JUMP

VELOCITY ON/OFF

WHILE / ENDWHILE

DO / UNTIL

EVENT (ON, OFF)

EVENTS (ON, OFF)

HOME

HALT

STOP MOTION (QUICK)

Refer to section 2.1 for additional details and the Language Reference section for the statement

“ON FAULT/ENDFAULT”.

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Lenze E94P PositionServo with MVOB Manuel d'utilisateur Page 18

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