IPA SOFTWARE - EXAMPLE - ERROR RECOVERY PROGRAM

This can be set as any non-motion Program 1-15 and it will monitor the IPA status for faults and handle errors and recover. This is provided as a program sample:

IPA_error_recovery.txt

PROGRAM

PBOOT

REM error recovery program

_LOOP

IF (BIT8467)

REM Kill all motion was signaled, check causes

IF (BIT8465)

REM DRIVE IS STILL ENABLED

GOSUB CheckLimits

ELSE IF (BIT10009)

REM TORQUE ENABLE INPUT WAS OPENED

GOSUB CheckTorqueEnable

ELSE IF (BIT9498)

REM DRIVE FAULTED

AXIS0 DRIVE RES

INH -8475 : REM WAIT FOR RESET TO COMPLETE

IF (BIT9498)

GOTO FaultLatched

ENDIF

ELSE IF (BIT8479)

REM EXCESS POSTION ERROR WAS TRIPPED

CLR 8467 CLR 522

ENDIF

ENDIF

ENDIF

IF (NOT BIT8467)

rem kill has been cleared, restart prog0

RUN PROG0

ENDIF

GOTO LOOP

_CheckTorqueEnable

IF (BIT10011)

REM torque enable inputs mismatch

REM requires a HARD power cycle

? "TORQUE ENABLE HEALTH EVENT"
? " CYCLE POWER"

GOTO FaultLatched

ENDIF

WHILE (BIT10010)

REM WAIT HERE UNTIL THE INPUT IS CLOSED

WEND

CLR 8467

AXIS0 DRIVE ON

RUN PROG0

RETURN

_CheckLimits

IF (BIT16132 OR BIT16133)

REM HARD LIMIT WAS HIT

CLR 8467

CLR 522

ENDIF

IF (BIT16136 OR BIT16137)

REM SOFT LIMIT WAS HIT

CLR 8467

CLR 522

ENDIF

RETURN

_FaultLatched

?"DRIVE FAULT DID NOT CLEAR, CHECK HARDWARE"

?"requires a HARD power cycle"

END

ENDP

3/15jh