Lenze E94P PositionServo with MVOB - Manual (Page 100)

98 L PM94H201B_13xxxxxx_EN
Reference
Table 53: ON FAULT/ENDFAULT
ON FAULT/
ENDFAULT
Defines Fault Handler Statement
Purpose This statement defines the Fault Handler section of the User Program. The Fault Handler is a section
of code which is executed when a fault occurs in the drive. The Fault Handler program must begin
with the “ON FAULT” statement and end with the “ENDFAULT” statement. If a Fault Handler routine
is not defined, then the User Program will be terminated and the drive disabled upon the drive
detecting a fault. Subsequently, if a Fault Handler is defined and a fault is detected, the drive will be
disabled, all scanned events will be disabled, and the Fault Handler routine will be executed. The
RESUME statement can be used to redirect the program execution from the Fault Handler back to the
main program. If this statement is not utilized then the program will terminate once the ENDFAULT
statement is executed.
The following statements can’t be used in fault handler:
DO / UNTIL, ENABLE, EVENT (ON, OFF), EVENTS (ON, OFF), GOTO, GOSUB, HALT, HOME,
JUMP, MDV, MOTION RESUME, MOTION SUSPEND, MOVE, MOVED, MOVEP, MOVEDR,
MOVEPR, STOP MOTION (QUICK), VELOCITY ON/OFF, WAIT and WHILE / ENDWHILE
Syntax
ON FAULT
{…statements}
ENDFAULT
See Also RESUME
Example:
…{statements} ;User program
FaultRecovery: ;Recovery procedure
…{statements}
END
ON FAULT
;Once fault occurs program is directed here
…{statements} ;code to deal with fault
RESUME FaultRecovery ;Execution of RESUME ends Fault Handler and directs
;execution back to User Program.
ENDFAULT ;If RESUME is omitted the program will terminate here
Fault routine must end with an ENDFAULT statement
Table 54: REGISTRATION ON
REGISTRATION ON Registration On Statement
Purpose This statement arms the registration input (input IN_C3). When the registration is armed and the
registration input activated the Flag “F_REGISTRATION” is set and the current position is captured
and stored to the “RPOS” System Variable. The “REGISTRATION ON” statement, when executed will
reset the “F_REGISTRATION” flag ready for detection of the next registration input.
Syntax REGISTRATION ON Flag “F_REGISTRATION” is reset and
registration input is armed
See Also MOVEDR, MOVEPR
Example:
; Moves until registration input is activated and then returns to the sensor position.
…{statements}
REGISTRATION ON
;Arm registration input
MOVE UNTIL F_REGISTRATION ;Move until registration flag is activated (triggered by
;registration input to C3), (sensor hit)
;Drive will decelerate to stop beyond Sensor position
MOVEP RPOS ;Absolute move back to the position of the sensor
…{statements}