User guide

98 6250 Servo Controller User Guide
The 6270 has the ability to detect and recover the following error conditions:
❏ Hardware end-of-travel limit encountered on any axis (error bit #2)
❏ Software end-of-travel l 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)
❏ Enable (
ENBL) input open (error bit #9)
❏ Target zone settling timeout (error bit #11)
❏ Allowable position error (SMPER) exceeded (error bit #12)
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 6270 will branch to the error program.
For example, if you wish the 6270 to branch to the error program when a hardware end-of-
travel limit is encountered (error bit #2) or when the enable input is removed from ground
(error bit #9), you would issue the ERRORØ1ØØØØØ1 command to enable error-checking bits
#2 and #9.
☞
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
☞
Error program template
provided on
6000 DOS Support Disk .
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. An error program template is provided on the DOS support software
diskette that ships with the 6270—see file name ((____)) in the sub-directory
SAMPLES. You can also 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 the program from being the
error program, issue the ERRORP CLR command.
Cancelling 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 6270 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, ENBL input activated, in which case the error program is
called only once.)
There are four 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.
❏ Issue the ERRORP CLR command to un-assign the program assigned as the error program. This
cancels the branch without having to delete the assigned error program as described in the method
below. To reassign a program as the error program, re-issue the ERRORP command followed by
the desired program name.
❏ 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