Lenze PM94P01C - Manual (Page 17)

PM94P01C 15
Introduction
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” output will turn off.
- Any Output with assigned special function “Fault” will turn on.
- Any Output with assigned special function “ready/enabled” will turn off.
- 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:
- Select the [ Reset] button from the toolbar.
- Execute the RESUME statement at the end of the Fault Handler routine (see Fault Handler
example).
- Send “Reset” command over the Host Interface.
- Cycle power (hard reset).
Fault Handler
The Fault Handler is a code segment that will be executed when the drive is experiencing a fault. The fault handler allows
the programmer to analyze the type of fault and define a recovery process for the drive and permits the continuation of
program execution. 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 should be treated as the drive’s first reaction
on fault. While it executes, the drive will not respond to any I/O, interface commands etc. 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 by executing a “
RESUME” statement for a full stop after statement. 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. Waiting
in Fault handler for I/O state change or for interface command is not allowed. Do that in the code where you point the
“RESUME” statement.
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 (Drive Disabled) 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
special functionality. The program execution will stop and any motion moves will be terminated. In this example the Pick
and Place arm may not be in a desired location when the program goes into the fault mode.