Lenze E94P v2.0 - Manual (Page 8)

8 P940HBK01B
WAITENABLE:
WAIT UNTIL IN_A3 ; wait until A3 - hardware “enable” closed
ENABLE ; enable/start drive (& brake if assigned)
WAIT TIME 1000 ; wait 1 second to release brake
OUT2 = 1 ; Release Brake
WAIT TIME 1000 ; Wait 1 sec.
VAR_REFERENCE = 0 ; external reference for speed control
OUT1 = 0 ; clear “fault” outputs
V0 = 0
Again:
; Empty loop does nothing while the motor spins
GOTO Again ; execute motions in the loop
END ; shouldn’t get here anyway
;-------------------------------------------------------------------------------
;The Fault handling code below directs the code execution here when a fault
occurs
;-------------------------------------------------------------------------------
PROCESSFAULT:
V0 = DFAULTS ; do this so you can see that it was a fault
OUT1 = 1 ; indicate fault on LED output too
IF DFAULTS == 36 ; user switch disabled
IREF = 0 ; set internal speed reference to zero
VAR_REFERENCE = 1 ; select Internal reference
WAIT TIME 1000 ; Wait 1 sec. (for motor to stop)
OUT2 = 0 ; engage Brake
DISABLE ; disable outputs (incl. brake if assigned)
GOTO START ; reinitialize and wait for user to enable
ENDIF
GOTO WAITENABLE ; continue program
;********************************* Fault Handling Code ************************
ON FAULT
RESUME PROCESSFAULT
ENDFAULT