Parker ACR Series

Parker Hannifin
REM --------- Y Software EOT's ---------
IF (YPosSoftEOT AND YErrorCode <> 1)
INH -824
Set ErrorOccurred
YErrorCode = 1
$V3 = "Positive Software End-of-travel hit, Axis 1"
CLR YPosSoftEOT : REM EOT flag is automatically cleared,
REM but we clear it to prevent recursive
REM printing of error
INH -YPosSoftEOT
CLR KillMasterMoves
ENDIF
IF (YNegSoftEOT AND YErrorCode <> 2)
INH -824
Set ErrorOccurred
YErrorCode = 2
$V3 = "Negative Software End-of-travel hit, Axis 1"
CLR YNegSoftEOT : REM EOT flag is automatically cleared,
REM but we clear it to prevent recursive
REM printing of error
INH -YNegSoftEOT
CLR KillMasterMoves
ENDIF
REM --------- Check Axis X ---------
IF (XKillAllMotion AND NOT LatchedMEIOpen)
INH -792 : REM When KAMR flag is set, all motion stops with
REM JOG move
SET ErrorOccurred
XErrorCode = 0 : REM Error number for axis 0
REM some "master" programs can be resumed, all others must be
REM halted when error occurs.
IF (HaltProgOnError)
HALT PROG0 : REM stop program 0 and kill interpolated motion
REM (MOV, CIRCW, CIRCCW, SINE)
ELSE
PAUSE PROG0 : REM issue RESUME PROG0 or CLR1048 to
REM resume main prog
ENDIF
REM --------- Hardware EOT's ----------
IF (XPosHardEOT)
XErrorCode = 3
$V2 = "Positive Hardware End-of-travel hit, Axis 0"
CLR XPosHardEOT : REM EOT flag is not automatically
REM cleared, program must clear it
ENDIF
IF (XNegHardEOT)
XErrorCode = 4
$V2 = "Negative Hardware End-of-travel hit, Axis 0"
CLR XNegHardEOT : REM EOT flag is not automatically
REM cleared, program must clear it
ENDIF
162 Programmer’s Guide