Aerotech UNIDEX 600 Series, Руководство пользователя

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Introduction and Overview U600 User’s Guide
1-8
Aerotech, Inc
. Version 1.4
1.6. Faults
Faults are generated by the UNIDEX 600 when errant or unusual conditions occur. There
are many conditions that can cause faults, and through the use of Axis and Task
parameters the programmer can impose a wide variety of actions to occur from faults – so
faults is not a simple subject. What follows is a short summary; Chapter 2, under Axis
Faults and Task Faults provides more detail. There are two types of faults: task and axis,
refer to Table 1-3.
Table 1-3. Differences between Task and Axis Faults
Axis Fault Task Fault
Example Axis Error (e.g. No feedback
from drive) CNC line error (e.g.
“$GLOB1=7/0”)
Subsequent Action Controlled by bits (except “task
fault” bit) in FAULTMASK,
HALTMASK etc. Controlled by “taskfault” bit in
FAULTMASK, HALTMASK
etc.
Viewing in U600MMI
Flashes in red over position
display on Run/Manual Screen Bottom Right of Run/Manual
Screen
Viewing in AerDebug
PARMGET A FAULT PARMGET T TASKFAULT
Resetting in U600MMI Hit Fault acknowledge button Hit Fault acknowledge button
Resetting in AerDebug PARMSET A FAULT –1 PARMSET T TASKFAULT 0
Generates an Interrupt to
PC
Depends on INTMASK setting Yes
Scanned Every millisecond Every time CNC program
executes a line (see Section
1.4.1)
1.6.1. Axis Faults
The UNIDEX 600 Series controllers monitor a large range of axis conditions (such as
feedback error or too large position error) on a once per millisecond basis. When the axis
processor finds that the condition is true, a fault occurs. The programmer can determine if
one or more actions take place when these conditions occur, such as halting or aborting
axis motion, disabling drives, setting digital outputs and generating interrupts back to the
PC. The user can customize both the conditions to observe and the actions to take
independently for each axis, simply by setting axis parameters; no programming code is
necessary. The relevant axis parameters are: FAULT, FAULTMASK, HALTMASK,
ABORTMASK, DISABLEMASK, AUXMASK and INTMASK. Refer to Chapter 2: Getting
Started, under Fault Masks for a detailed description and examples.