Lenze PM94P01C - Manual (Page 12)

PM94P01C 10
Introduction
Stop program execution
- Select [Indexer Program] in the Node Tree.
- Select [Stop] on the program toolbar.
The program will stop after completing the current statement. Select [Run] to resume the program from the
same point.
IMPORTANT!
The [Stop] button only stops the execution of the program code.
It does
not stop motion or disable the drive.
Restart Program execution
- Select [Indexer Program] in the 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 moves but also process
the drives I/O and make decisions based on drive parameters. Before motion can be initiated, certain drive and I/O
parameters must be configured. To configure these parameters perform the following procedure.
Parameter setup
Select
[Parameter] folder in the Node Tree window and set the following parameters.
Set the “Drive” to “Position”:
- 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.
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 (S94P01) 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.