Command Descriptions
113
MULTI-TASKING
If you are operating multiple tasks, be aware that you must enable error conditions (
ERROR
) and
specify an error program (
ERRORP
) for each task (e.g.,
2%ERROR.2-1
and
2%ERRORP
FIX
for
Task 2). Each task has its own error status register (reported with
ER
,
TER
, and
TERF
).
The function of each error status bit is shown below.
Bit #
Function
(
1
= Yes;
Ø
= No)
1*
Stall Detected: Functions when stall detection has been enabled (
ESTALL
or
DSTALL
), and
ESK1
is set.
2
Hard Limit Hit: Functions when hard limits are enabled (
LH
).
3
Soft Limit Hit: Functions when soft limits are enabled (
LS
).
4
Drive Fault: Detected only if the drive is enabled (
DRIVE1
).
5
RESERVED (see note at end of table; refer to
ERROR
command)
6
Kill Input: When an input is defined as a Kill input (
INFNCi-C
), and that input becomes active.
7
User Fault Input: When an input is defined as a User Fault input (
INFNCi-F
), and that input becomes active.
8
Stop Input: When an input is defined as a Stop input (
INFNCi-D
), and that input becomes active.
9
Enable input is activated (not grounded).
10 Pre-emptive
(on-the-fly)
GO
or registration move profile not possible.
11 **
Target Zone Settling Timeout Period (set with the
STRGTT
command) is exceeded.
12 **
Maximum Position Error (set with the
SMPER
command) is exceeded.
13 RESERVED
14
Position relationship in
GOWHEN
already true when
GO
,
FSHFC
, or
FSHFD
was executed.
15 RESERVED
16
Bad command detected (bit is cleared with
TCMDER
command).
17 RESERVED
18
Cable to an expansion I/O brick is disconnected, or power to the I/O brick is lost; error is cleared by reconnecting
the I/O brick and issuing the
ERROR.18-0
command and then the
ERROR.18-1
command.
(Multi-tasking: This condition also kills all tasks.)
19 RESERVED
20 RESERVED
21 RESERVED
22 RESERVED
23
Ethernet Client connection error.
24
Ethernet Client polling error.
25-32 RESERVED
* Stepper axes only
** Servo axes only
NOTE
: When error bit 5 (Commanded Kill or Stop) of the
ERROR
command is enabled (
ERROR.5-1
), a Stop (
!S
) or
a Kill (
!K
or
<ctrl>K
) command will cause the drive to GOSUB or GOTO to the error program (
ERRORP
). Within
the error program the cause of the error will need to be determined. The
ER
or
TER
command can be used to determine
the cause of the error. If none of the error status bits are set, the cause of the error is a commanded kill or a commanded
stop. The reason for not setting a bit on this error condition is that there is no way to clear the error condition upon
leaving the error program.
Example:
ERROR111101101
; Enable error-checking bits 1-4, 6, 7, and 9
VARB1=ER
; Error status assigned to binary variable 1
VARB2=ER.4
; Error status bit 4 assigned to binary variable 2
VARB2
; Response if bit 4 is set to 1:
;
*VARB2=XXX1_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX
IF(ER=b1110X11X1)
; If the error status contains 1's for bit locations 1, 2, 3,
; 6, 7, and 9, and a 0 for bit location 4, do the IF statement
TREV
; Transfer revision level
NIF
; End if statement
IF(ER=hF600)
; If the error status contains 1's for bit locations 1, 2, 3,
; 4, 6, and 7, and 0's for every other bit location, do the
; IF statement
TREV
; Transfer revision level
NIF
; End if statement
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