Lenze E94P PositionServo with MVOB - Manual (Page 12)

10 L PM94H201B_13xxxxxx_EN
Introduction
Set Breakpoint(s) in the program
- Select
[Indexer Program] in the Parameter (Node) Tree.
- Place the cursor in the ‘Breakpoint’ Column next to the line number on which a breakpoint is to be added.
- Right-click and select Add Breakpoint (or Clear Breakpoint).
A convenient way to debug a user program is to insert breakpoints at critical junctions throughout the program. These
breakpoints are marked by a red plus sign (+) and stop the drive from executing further program statements once a
breakpoint is reached, but do not disable the drive and the position variables. Once the program has stopped, the user
can continue to run the program, step through the program or reset the program.
Pause program execution
- Select [Indexer Program] in the Parameter (Node) Tree.
- Select [Pause] on the program toolbar.
The program will stop after completing the current statement. Select [Run] or use Step functions to resume the program
from the same point.
IMPORTANT!
The [Pause] button only stops the execution of the program code.
It does
not stop motion or disable the drive.
Reset Program execution
- Select [Indexer Program] in the Parameter (Node) Tree.
- Select [Reset] on the program toolbar.
The program will be reset and the drive will be disabled. Variables within the drive are not cleared (reset) when program
execution is reset. It is important that any variables used by the programmer are set to safe values at the start of the
user program.
1.4 Programming Basics
The user program consists of statements which when executed will not only initiate motion but will also process the
drives I/O and make decisions based on drive variables, calculations, and comparisons. Before motion can be initiated,
certain drive and I/O parameters must be configured. When first getting started with PositionServo programming it is
recommended that the following parameters be set within MotionView parameter folders to aid initial program creation.
Parameter setup
Select
[Parameter] folder in the Parameter (Node) Tree window and set the following parameters.
Set the Drive Operating Mode:
- Select [Drive mode] from the Parameter View Window.
- Select [Position], [Velocity], or [Torque] from the drop down menu depending on the mode the drive is to be
operated in. In order to execute the examples contained in this section of the manual the drive will need to be
in [Position] mode.
Set the [Reference] to [Internal]:
- Select [Reference] from the Parameter View Window.
- Select [Internal] from the pull down menu to select the user program as the source of the Torque, Velocity, or
Position Reference.
Select [Digital IO] folder in the Parameter (Node) Tree window and set the following parameter.
Set the [Enable switch function] to [Inhibit]:
- Select [Enable switch function] from the Parameter View Window.
- Select [Inhibit] from the menu to allow the user program control of the enable / disable status of the drive.
Input A3 will now act as a hardware inhibit.
I/O Configuration
Input A3 is the Inhibit/Enable special purpose input. Refer to the PS User Manual (S94H201) for more information. Before
executing any motion related statements, the drive must be enabled by executing “ENABLE” statement. “ENABLE”
statement can only be accepted if input A3 is made. If at any time while drive is enabled A3 deactivates then the fault
“F36” (“Drive Disabled”) will result. This is a hardware safety feature.