Lenze E94P PositionServo with MVOB - Manual (Page 17)

PM94H201B_13xxxxxx_EN L 15
Introduction
When the “ Enable switch function” parameter is set to Inhibit, and Input A3 is on, the drive will be disabled and remain
disabled until the ENABLE statement is executed by the User Program.
- Select [IO] then [Digital IO] from the Parameter Tree Window.
- Select “ Enable switch function” from the Parameter View Window.
- Select “ Inhibit” from the popup menu.
Faults
When a fault condition has been detected by the drive, the following actions will occur:
- Drive will Immediately be placed in a Disabled Condition.
- Motion Stack will be flushed of any Motion Commands
- Execution of the user program will be terminated and program control will be handed over to the Fault Handler
section. If no Fault handler is described then program execution will terminate. See fault handler section.
- A fault code defining the nature of the drive trip will be written to the DFAULTS system variable and can be
accessed by the fault handler. Refer to section 2.13 for a list of fault codes.
- The fault code will will be displayed on the drive display.
- Dedicated Ready/Enabled output will turn off, provided drive was in enable state prior to fault detection.
- Any Output with assigned special function “Fault” will turn on.
- Any Output with assigned special function “ready/enabled” will turn off, provided drive was in enable state prior
to fault detection
- The “enable” status indicator on the drive display will turn off indicating drive in disabled state.
Clearing a fault condition can be done in one of the following ways:
Reset
- Select the [ Reset] button from the toolbar.
- Execute the RESUME statement at the end of the Fault Handler routine (see Fault Handler
example). This permits the continuation of program execution at the discretion of the programmer
and when the fault does not present an issue to the safety or integrity of the system.
- Send “Reset” command over the Host Interface.
- Cycle power (hard reset).
Fault Handler
The Fault Handler is a code segment that will be executed immediately on the drive detecting a fault condition. The fault
handler allows the programmer to analyze the type of fault and (when necessary) define a recovery process for the drive
Full stop. While the drive is executing the Fault Handler Routine the drive is disabled and therefore will not be able to
detect any additional faults that might occur. Fault handler code is the drive’s first reaction to a fault condition. While it
executes, the drive will not respond to any I/O, interface commands or program events. Therefore the user should use
the fault handler to manipulate time critical and safety related I/O and variables and then exit the Fault Handler Routine
either by executing a “
RESUME” statement or by executing the EndFault statement and ending program execution.
The Resume statement permits program execution to leave the fault handler and resume back in the main program
section of the user code. Use the Resume statement to jump back to a section of the main program that designates the
recovery process for the fault. Wait statements within the fault handler for I/O state change or for interface command is
not allowed. If a wait statement is required (for example from a fault reset input) then this must be done subsequent to
the Resume command when program execution is handed back to the main program.
Without Fault Handler
To simulate a fault, restart the Pick and Place example program. While 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 Fault Mode. While the drive is in Fault Mode, any digital output currently active will remain
active and any output deactivated will remain deactivated, excluding the dedicated ready output and any output that has
been assigned pre-defined functionality. The program execution will stop and any motion commands will be terminated.