Lenze E94P PositionServo with MVOB - Manual (Page 18)

16 L PM94H201B_13xxxxxx_EN
Introduction
With Fault Handler
Add the following code to the end of your sample program. When the program is running, switch the ENABLE input
IN_A3, to the off state. This will cause the drive to generate an F_36 fault ((Hardware disable while drive enabled in
inhibit mode) and put the drive into a Fault Mode. From this point the Fault Handler Routine will take over.
F_PROCESS:
WAIT UNTIL IN_A4==1 ;Wait until reset switch is made
WAIT UNTIL IN_A4==0 ;and then released before
GOTO RESET_DRIVE ;returning to the beginning of the program
END
;*********************** Sub-Routines **************************************
Enter Sub-Routines here;
;*********************** Fault Handler Routine *****************************
ON FAULT ;Statement starts fault handler routine
;Motion stopped, drive disabled, and events no longer
;scanned while executing the fault handler routine.
OUT2 = 0 ;Output 1 off to Disengage gripper.
;This will drop the part in the gripper
OUT1 = 0 ;Retract Pick arm to make sure it is up and out of the way
RESUME F_PROCESS ;program restarts from label F_PROCESS
ENDFAULT ;fault handler MUST end with this statement
NOTE
The following statements can not be used inside the Fault Handler Routine:
ENABLE
WAIT
MOVE
MOVED
MOVEP
MOVEDR
MOVEPR
MDV
MOTION SUSPEND
MOTION RESUME
GOTO, GOSUB
JUMP
VELOCITY ON/OFF
WHILE / ENDWHILE
DO / UNTIL
EVENT (ON, OFF)
EVENTS (ON, OFF)
HOME
HALT
STOP MOTION (QUICK)
Refer to section 2.1 for additional details and the Language Reference section for the statement
“ON FAULT/ENDFAULT”.