Calculated Industries 6250 Guide de l'utilisateur télécharger pdf (Page 114)

11/25/96

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6270 Programming Tips

In addition to canceling the branch to the error program, you must also remedy the cause of

the error; otherwise, the error program will be called again when you resume operation. Refer

to the

How to Remedy the Error

column in the table below for details.

ERROR Bit # Cause of the Error Branch Type to ERRORP How to Remedy the Error

2 Hard Limit Hit (hard limits must be

enabled first—see LH)

If COMEXLØ, then Goto;

If COMEXL1, then Gosub

Change direction & issue GO command on the axis that hit

the limit; or issue LHØ.

3 Soft Limit Hit (soft limits must be

enabled first—see LS)

If COMEXLØ, then Goto;

If COMEXL1, then Gosub

Change direction & issue GO command on the axis that hit

the limit; or issue LSØ.

4 Drive Fault (Input Functions must be

enabled—INFEN1; and Drive Fault

Level must be correct—DRFLVL)

Goto Clear the fault condition at the drive, & issue a DRIVE1

command for the faulted axis.

5 Commanded Stop or Kill (whenever a

!K, <ctrl>K, or !S command is

sent)

If !K, then Goto;

If !S & COMEXSØ, then Goto;

If !S & COMEXS1, then Gosub,

but need !C

No fault condition is present—there is no error to clear.

If you want the program to stop, you must issue

the !HALT command.

6 Kill Input Activated (see INFNCi-C) Goto Deactivate the kill input.

7 User Fault Input Activated (see

INFNCi-F)

Goto Deactivate the user fault input, or disable it by assigning it

a different function (INFNC).

9 ENBL input not grounded Goto Re-ground the ENBL input, and issue a DRIVE11

command.

11 Target Zone Timeout (STRGTT value

has been exceeded)

Gosub Issue these commands in this order:

STRGTEØ, DØ, GO, STRGTE1

12 Exceeded Max. Allowable Position

Error (set with the SMPER command).

Gosub Issue a DRIVE1 command to the axis that exceeded the

allowable position error. Verify that feedback device is

working properly.

Reserved Bits: Bits 1, 8, 10, 13 - 32 are reserved.

Branching Types: If the error condition calls for a GOSUB, then after the ERRORP program is executed, program control returns to the point at

which the error occurred. If you do not want to return to the point at which the error occurred, you can use the HALT command to end program

execution or you can use the GOTO command to go to a different program. If the error condition calls for a GOTO, there is no way to return to the

point at which the error occurred.

Error Program Set-up Example

The following is an example of how to set up an error program. This particular example is

for handling the occurrence of a user fault.

Step 1

Assign the user fault input function to programmable input #1. The purpose of the user fault

input is to detect the occurrence of a fault external to the 6270 and the motor/drive. This input

will generate an error condition.

Command Description

> INFNC1-F Defines programmable input #1 as a user fault input

> INFEN1 Enable input functions (For the purposes of this set-up

example, make sure programmable input #1 is not activated.)

Step 2

Define a program to respond to the user fault situation (call the program fault), and then

assign that program as the error program.

Command Description

> DEF fault Begin definition of program fault

- IF(ER.7=b1) Check if error bit 7 equals 1 (which means the user fault input

has been activated)

- WRITE"FAULT

INPUT\1Ø\13" Send the message FAULT INPUT

-T3 Wait 3 seconds

- NIF End IF command

- END End definition of program fault

> ERRORP fault Assigns the program called fault as the error program

The purpose of the fault program is to display a message to inform the operator that the

user fault input has been activated.

1 2 ... 109 110 111 112 113 114 115 116 117 118 119 ... 137 138

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Calculated Industries 6250 Guide de l'utilisateur Page 114

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