Lenze PM94P01C - Manual (Page 18)

PM94P01C 16
Introduction
With Fault Handler
Add the following code to the end of your sample 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 a Fault
Mode. From this point the Fault Handler Routine will take over.
F_PROCESS:
WAIT UNTIL IN_A4==1 ;Wait until reset switch is made
WAIT UNTIL IN_A4==0 ;and then released before
GOTO RESET_DRIVE
;returning to the beginning of the program
END
;*********************** Sub-Routines **************************************
Enter Sub-Routines here;
;*********************** Fault Handler Routine *****************************
ON FAULT
;Statement starts fault handler routine
;Motion stopped, drive disabled, and events no longer
;scanned while executing the fault handler routine.
OUT2 = 0 ;Output 1 off to Disengage gripper.
;This will drop the part in the gripper
OUT1 = 0 ;Retract Pick arm to make sure it is up and out of the way
RESUME F_PROCESS ;program restarts from label F_PROCESS
ENDFAULT ;fault handler MUST end with this statement
NOTE
The following statements can not be used inside the Fault Handler Routine:
- ENABLE
- WAIT
- MOVE
- MOVED
- MOVEP
- MOVEDR
- MOVEPR
- MDV
- MOTION SUSPEND
- MOTION RESUME
- GOTO, GOSUB
- JUMP
- ENABLE
- VELOCITY ON/OFF
Refer to section 2.1 for additional details and the Language Reference section for the statement
“ON FAULT/ENDFAULT”.