Aerotech UNIDEX 600 Series, User Manual

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U600 User’s Guide Introduction and Overview
Version 1.4
Aerotech, Inc
. 1-9
1.6.2. Task Faults
Task faults occur when a CNC program performs an illegal action, such as a division by
zero. Task faults stop the program running on the CNC task. The CNC programmer can
override this (keep the program running) with the ONGOSUB CNC command. If the
program was running a G1 or other synchronous motion command at the time, then that
motion stops. However, asynchronous motion is not normally halted by a Task Fault. To
do this the user must use the TaskFault bit of the FAULTMASK Axis parameter.
The user can customize other actions to occur on a task fault by using the Axis masks
FAULTMASK, HALTMASK etc. The bits of these parameters (see Chapter 2 under
Faults) normally represent different axis faults, however, one bit called taskfault is used
when encountering any task fault.
For example, if the taskfault bit is set for ABORTMASK of axis 1, then a task fault causes
axis 1 to abort its motion.
Unlike axis faults, the user cannot impose different actions based on different types
of task faults.