Parker ACR Series Programmer's Guide

Parker Hannifin
REM --------- Hardware EOT's ---------
IF (YPosHardEOT)
YErrorCode = 3
$V3 = "Positive Hardware End-of-travel hit, Axis 1"
CLR YPosHardEOT : REM EOT flag is not automatically
REM cleared, program must clear it
ENDIF
IF (YNegHardEOT)
YErrorCode = 4
$V3 = "Negative Hardware End-of-travel hit, Axis 1"
CLR YNegHardEOT : REM EOT flag is not automatically
REM cleared, program must clear it
ENDIF
REM --------- Excess position error ------------
IF (YExcessErrorFault)
YErrorCode = 5
$V3 = "Axis 1 disabled due to excess position error"
CLR YExcessErrorFault
ENDIF
REM -- Use only for servo axes !!! Encoder Signal Lost or Fault
IF (NOT YDriveEnabled AND (YErrorCode = 0) AND (YEncoderFault OR
YEncoderLost))
YErrorCode = 6
$V3 = "Axis 1 disabled due to encoder fault"
ENC 1 RES : REM try to reset encoder
ENDIF
REM if none of the errors above, then possible Drive Fault Input
REM caused error.
IF (YErrorCode = 0)
$V3 = ""
REM Drive Fault
IF (YDriveFault)
$V3 = $V3 + "Latched Drive Fault, Axis 1."
ELSE
$V3 = "Other fault (user set KAMR bit, EPL Network Fault, etc.)"
ENDIF
YErrorCode = 7 : REM no separate code for drive fault vs.
ENDIF
REM --------- Clear KILL bits ---------
CLR YKillAllMotion : REM BIT8499
CLR KillMasterMoves : REM BIT522
ENDIF : REM end of Axis Y checking
IF (YErrorCode = 0)
$V3 = "No errors on Axis 1"
REM YErrorCode should be cleared/acknowledged by HMI/front end
REM application
ENDIF
164 Programmer’s Guide

Parker ACR Series Specifications

General

Brand	Parker
Model	ACR Series
Category	Controller
Language	English