User guide

Chapter 1. Programming Fundamentals 31
Canceling the Branch to the Error Program
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. The error program
will be continuously called/repeated until you cancel the branch to the error program. (This is
true for all cases except error condition #9, PCUT or ENBL input activated, in which case the
error program is called only once.)
There are three options for canceling the branch to the error program:
• Disable the error-checking bit with the ERROR.n-Ø command, where "n" is the number
of the error-checking bit you wish to disable. For example, to disable error checking for
the kill input activation (bit #6), issue the ERROR.6-Ø command. To re-enable the
error-checking bit, issue the ERROR.n-1 command.
• Delete the program assigned as the ERRORP program (DEL <name of program>).
• Satisfy the How to Remedy the Error requirement identified in the table below.
NOTE
In addition to canceling the branch to the error program, you must also remedy the cause of
the error; otherwise, the error program will be called again when you resume operation. Refer
to the How to Remedy the Error column in the table below for details.
ERROR
Bit # Cause of the Error
Branch Type to Error
Program How to Remedy the Error
1 Steppers Only: Stall detected (Stall Detection and Kill
On Stall must be enabled first—see ESTALL and ESK,
respectively) n/a to OEM-AT6400
Gosub Issue a GO command.
2 Hard Limit Hit (hard limits must be enabled first—see
LH)
If COMEXLØ, then Goto;
If COMEXL1, then Gosub
Change direction & issue GO command on the axis
that hit the limit; or issue LHØ.
3 Soft Limit Hit (soft limits must be enabled first—see
LS)
If COMEXLØ, then Goto;
If COMEXL1, then Gosub
Change direction & issue GO command on the axis
that hit the limit; or issue LSØ.
4 Drive Fault (enable Input Functions with INFEN1; and
set Drive Fault Level with DRFLVL) n/a to OEM-AT6400
Goto Clear the fault condition at the drive, & issue a
DRIVE1 command for the faulted axis.
5 Commanded Stop or Kill (whenever a !K, <ctrl>K,
or !S command is sent)
If !K, then Goto;
If !S & COMEXSØ, then
Goto;
If !S & COMEXS1, then
Gosub, but need !C
No fault condition is present—there is no error to
clear.
If you want the program to stop, you must issue the
!HALT command.
6 Kill Input Activated (see INFNCi-C) Goto Deactivate the kill input.
7 User Fault Input Activated (see INFNCi-F) Goto Deactivate the user fault input, or disable it by
assigning it a different function (INFNC).
8 Stop input activated (see INFNCi-D) Goto Deactivate the stop input
9 Steppers: P-CUT input not grounded
Servos: ENBL input not grounded
Goto Re-ground the P-CUT input (steppers) or ENBL input
(servos), and issue a DRIVE1111 command.
10 Profile for pre-emptive GO or registration move not
possible
Gosub Issue another GO command.
11 Target Zone Timeout (STRGTT value has been
exceeded)
Gosub Issue these commands in this order:
STRGTEØ, DØ, GO, STRGTE1
12 Servos Only: Exceeded Max. Allowable Position Error
(set with the SMPER command).
Gosub Issue a DRIVE1 command to the axis that
exceeded the allowable position error. Verify that
feedback device is working properly.
14 GOWHEN condition was already true when the
subsequent GO, GOL, GSHFC, or FSHFD command
was executed.
Goto Issue a !K command and check the program logic.
Use the TRACE and STEP features if necessary.
15 Hydraulic Servos Only:
LDT position read error due to bad connection, LDT
failure, or LDTUPD value too small.
Gosub Depending on cause, connect LDT, replace faulty
LDT, or increase the LDTUPD value. Then issue
DRIVE1 to the affected axis. To enable an axis
without an LDT connected, connect GATE+ to GND.
16 Bad command was detected Gosub Issue the TCMDER command to I.D. the command.
Reserved Bits: Bits 13, and 17 - 32.
Branching Types: If the error condition calls for a GOSUB, then after the ERRORP program is executed, program control returns to the point at
which the error occurred. To prevent a return to the point at which the error occurred, use the HALT command to end program execution or use the
GOTO command to go to a different program. If the error condition calls for a GOTO, there is no way to return to the point at which the error occurred.