Lenze PMSS1000 Simple Servo - Manual (Page 68)

Indexer-Programmer-Manual.pdf REV 1.3
ON FAULT/ENDFAULT On Fault Statement
Purpose
Statement starts fault handler section. Fault handler is a piece of code which called
upon any fault occurrence. Fault handler starts with ON FAULT statement and must
be ended with ENDFAULT statement. If fault handler is not defined any fault will
cause user program termination. When SSi goes to fault state it will disable drive and
enter fault handler. All scanned events will be disabled until program in fault handler.
Fault handler needs to be ended with RESUME or RESET statements. If program
reaches statement ENDFAULT before RESUME or RESET statements user program
will terminate (come to the end). Certain statements can't be used in fault handler.
Following statements can't be used in fault handler:
MOVE,MOVED,MOVEP,MOVEDR,MOVEPR,MDV,
MOTION SUSPEND
MOTION RESUME
GOTO
GOSUB
JUMP
ENABLE
GEAR ON/OFF
VELOCITY ON/OFF
Syntax
ON FAULT
{…statements}
ENDFAULT
See Also
RESUME, RESET
Example:
…{statements}
FaultRecovery:
…{statements}
END
ON FAULT
;any fault gets program flow here
…{statements}
RESUME FaultRecovery
;execution of resume ends fault handler
;if resume is omitted program will terminate
ENDFAULT ;must end with this terminator
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