User guide

6000 Series Programmer's Guide

Error Handling

DEBUG TOOLS

For information on

program debug tools,

refer to page 231.

The 6000 Series products have the ability to detect and recover the following error conditions:

• Steppers Only: Stall detected on any axis (error bit #1) -- not applicable to OEM-AT6400

• Hardware end-of-travel limit encountered on any axis (error bit #2)

• Software end-of-travel limit encountered on any axis (error bit #3)

• Drive fault input activated any axis (error bit #4)

• Commanded kill or stop (error bit #5)

• Kill input activated (error bit #6)

• User fault input activated (error bit #7)

• Stop input activated (error bit #8)

• Steppers Only: Pulse cut-off (PCUT) input not grounded (error bit #9)

Servos Only: Enable (ENBL) input not grounded (error bit #9)

• Profile for a pre-emptive GO or a registration move is not possible (error bit #10)

• Servos Only: Target zone settling timeout (error bit #11)

• Servos Only: Allowable position error (SMPER) exceeded (error bit #12)

• Servos Only: GOWHEN condition already true when the subsequent GO, GOL, FSHFC, or

FSHFD command was executed (error bit #14)

• Hydraulic Servos Only: LDT position read error (error bit #15)

Enabling Error Checking

To detect and respond to the error conditions noted above, the corresponding error-checking

bit(s) must be enabled with the ERROR command (refer to the ERROR Bit # column in the

table below). If an error condition occurs and the associated error-checking bit has been

enabled with the ERROR command, the 6000 controller will branch to the error program.

For example, if you wish the 6000 controller to branch to the error program when a hardware

end-of-travel limit is encountered (error bit #2) or when a drive fault occurs (error bit #4), you

would issue the ERRORØ1Ø1 command to enable error-checking bits #2 and #4.

☞ Helpful Hint: Within your program structure, you can use the IF and ER commands to

conditionally enable the error-checking bits that will in turn call the

ERRORP program (refer to the programming example below).

Defining the Error Program

The purpose of the error program is to provide a programmed response to certain error

conditions (see list above) that may occur during the operation of your system. Programmed

responses typically include actions such as shutting down the drive(s), activating or de-

activating outputs, etc. Refer to the error program set-up example below.

Using the ERRORP command, you can assign any previously defined program as the error

program. For example, to assign a previously defined program named CRASH as the error

program, enter the ERRORP CRASH command. To un-assign a program from being the error

program, issue the ERRORP CLR command (e.g., as in this example, it does not delete the

CRASH program, but merely unlinks it from its assignment as the error program).