Omron trajexia CJ1W-MCH72, Operation Manual

Page: 338 / 374

Practical examples Section 5-2
327
IF (SYSTEM_ERROR AND $40000)<>0 THEN
'Omron Auto Generated - ML IO
'Warning: Automated code section - any manual code changes
'will be lost.
'Omron Auto Generated - ML IO End
'Same with the other IO devices
ELSEIF SYSTEM_ERROR<>0 THEN
'Other system error needs initialisation of the system
EX
ENDIF
RETURN
'--------------------------------------------------------
warning_seq:
IF READ_BIT(15,diag01) THEN
'Clear servodrive warning if any
IF res_bit=1 THEN
FOR i=0 TO max_axis
BASE(i)
IF ATYPE>=40 AND ATYPE<=42 THEN
IF (DRIVE_STATUS AND 2)>0 THEN DRIVE_CLEAR
ENDIF
NEXT i
ENDIF
ENDIF
RETURN
'--------------------------------------------------------
monitoring:
'Add monitoring depending on the application
RETURN
'--------------------------------------------------------
absencoder:
'To be implemented in the future
RETURN
'--------------------------------------------------------
system_detection:
status_word=0
action=0
VR(status_bits)=0