Parker ACR Series

Parker Hannifin
Error Handling 161
SET 5647 : REM request reset of the MEI input latched status
REM flag (bit 5645)
INH -5647 : REM wait until request has finished
REM Clear axis KAMR flags
CLR XKillAllMotion
CLR YKillAllMotion
$V0 = "Motion Enable Input is good"
ENDIF
REM - Check CANopen (PIO) status (only needed if using CANopen I/O)
IF (P32779 > 0)
IF (P32779 = 2)
$V1 = "CANopen status is good"
CANopenErrorCode = 0
ELSE IF (P32779 = 1)
$V1 = "CANopen is ready to start (SET 11265)"
CANopenErrorCode = 0
ELSE IF (P32779 > 2 AND CANopenErrorCode = 0)
REM prevents recursive error display
CANopenErrorCode = P32779
SET ErrorOccurred
$V1 = "CANopen network problem occurred."
ENDIF
ENDIF
REM --------- SOFTWARE EOT's -------------------------
REM Software End-of-Travels (EOT's) do not set the axis
REM Kill All Motion Request (KAMR) flags so must be
REM handled separately.
REM --------- X Software EOT's ---------
IF (XPosSoftEOT AND XErrorCode <> 1)
INH -792
Set ErrorOccurred
XErrorCode = 1
$V2 = "Positive Software End-of-travel hit, Axis 0"
CLR XPosSoftEOT : REM EOT flag is automatically cleared,
REM but we clear it to prevent recursive
REM printing of error
INH –XPosSoftEOT
CLR KillMasterMoves
ENDIF
IF (XNegSoftEOT AND XErrorCode <> 2)
INH -792
Set ErrorOccurred
XErrorCode = 2
$V2 = "Negative Software End-of-travel hit, Axis 0"
CLR XNegSoftEOT : REM EOT flag is automatically cleared,
REM but we clear it to prevent recursive
REM printing of error
INH -XNegSoftEOT
CLR KillMasterMoves
ENDIF