5
Startup
Control via the process controller
Assembly and Operating Instructions – Parallel Arm Kinematics Kit
51
•
Program pause deactivated
•
Program stop deactivated
•
Rising edge from program start
The edge must be at least one cycle after the rising edge of setpoint active and
after the falling edges of the program pause and program stop so that the rising
edge starts the program.
Jog mode
•
Positive/Negative jog (at least one of the bits) = TRUE
5.7.5
Sample program for the IEC user program
You find the sample program for the control of the MOVIKIT
®
Robotics from the IEC in
the import for the IEC editor in the packed version of the MOVIKIT
®
Robotics.
The sample PRG_User_Robot1 is a free service that provides only a non-binding
sample of the basic procedure for creating a program for the process controller. SEW-
EURODRIVE is not liable for the content of the sample program.
5.7.6
Handling errors
You can detect whether the MOVIKIT
®
Robotics has an error status from the signal
error. The error can be caused by the controller or can be signalized by assigned in-
verters. You can detect whether there is an inverter error from the error outputs of the
individual axes. In the event of an error, the signal setpoint active is set to FALSE.
If the MOVIKIT
®
has an error status, deceleration is performed automatically using the
configured emergency stop ramps. If the cause of error was removed and the error is
reset, it can proceed further. The error is reset using the signal error reset.
To find the cause of an error, a unique error number is issued in the signal ErrorID and
an error text is issued in the signal sInfo. In the event of an inverter error, you can find
more information about the error number in the documentation of the device.
25797530/EN – 04/2018
