Aerotech UNIDEX 600 Series, Руководство пользователя

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Getting Started U600 User’s Guide
2-18
Aerotech, Inc.
Version 1.4
2.7. Task Faults
In addition to Axis faults there are Task Faults. A task runs a CNC program. Refer to
Chapter 3: Programming, under CNC Tasks and Programs for details.
Task faults indicate an error in the execution of a CNC program. For example, dividing
by zero or trying to set a non-existent parameter from a CNC program causes a task fault.
There are many conditions that can cause task faults (for application programmers, any
error prefixed by “AER960RET_” in AERCODE.H can potentially be returned as a task
fault). The user can also trigger a task fault manually, by setting the TaskFault task
parameter to non-zero, although only certain numbers (the AER960RET_” constants) will
yield a recognizable description. Refer to the TASKFAULT Task parameter in Appendix
C for more details.
2.8. Emergency Stop (ESTOP)
The UNIDEX 600 has a dedicated optically isolated emergency stop (ESTOP) sense
input. Refer to the UNIDEX 600 Hardware Manual, P/N EDU154, under Technical
Details for hardware details. If this input goes active, the axis processor generates an
ESTOP Task fault on all four CNC tasks. However, the EStopEnabled global parameter
must be set to 1 to enable the sensing of the opto-isolated emergency stop input.
Also, an emergency stop binary input may be defined for each task. Define the task
ESTOP by setting the EStopInput task parameter to the value of the binary input driven
by the external ESTOP circuit (set it to minus 1 if there is to be no task ESTOP). If this
input goes active, the axis processor generates an ESTOP Task fault on the given task
only.
Another parameter effecting ESTOP is the GlobalEstopEnabled Task parameter. If this
parameter is non-zero, then the global ESTOP is ignored for that task only. This allows
the user to use the global ESTOP on some tasks, but the task ESTOP on others. By
default this parameter is zero.
By default the EstopEnabled Global parameter is zero, so it must be set in order to
enable a global ESTOP. Note also that the EstopInput is minus one by default, so it
must be set in order to have a task ESTOP.
When an ESTOP occurs (either through the optically isolated input or a binary input), the
system generates an ESTOP Task fault.
What happens due to a Task fault is discussed in detail under the documentation for the
TaskFault Task parameter. In summary: an ESTOP task fault stops the CNC program,
and by default, generates axis faults on all the axes it is bound to, disabling those axes.
However, the behavior of the system after an ESTOP can be customized, please see the
TaskFault task parameter documentation for details.
The user cannot run programs on any task while the ESTOP task fault is on. However, the
user can run most immediate mode commands, excepting those that initiate motion, or
enable drives.