Parker ACR Series

Parker Hannifin
REM --------- Excess position error ----------
IF (XExcessErrorFault)
XErrorCode = 5
$V2 = "Axis 0 disabled due to excess position error"
CLR XExcessErrorFault
ENDIF
REM -- Use only for servo axes !!! Encoder Signal Lost or Fault
IF (NOT XDriveEnabled AND (XErrorCode = 0) AND (XEncoderFault OR
XEncoderLost))
XErrorCode = 6
$V2 = "Axis 0 disabled due to encoder fault"
ENC 0 RES : REM try to reset encoder
ENDIF
REM if none of the errors above, then possible Drive Fault
REM Input caused error.
IF (XErrorCode = 0)
$V2 = ""
REM Drive Fault
IF (XDriveFault)
$V2 = $V2 + "Latched Drive Fault, Axis 0."
ELSE
$V2 = "Other fault (user set KAMR bit, EPL Network Fault, etc.)"
ENDIF
XErrorCode = 7 : REM no separate code for drive fault
ENDIF
REM --------- Clear KILL bits ---------
CLR XKillAllMotion : REM BIT8467
CLR KillMasterMoves : REM BIT522
ENDIF : REM end of Axis X checking
IF (XErrorCode = 0)
$V2 = "No errors on axis 0"
REM XErrorCode should be cleared/acknowledged by HMI/operator
REM interface
ENDIF
REM --------- Check Axis Y ---------
IF (YKillAllMotion AND NOT LatchedMEIOpen)
INH -824 : REM When KAMR flag is set, all motion stops with
REM JOG move
SET ErrorOccurred
YErrorCode = 0 : REM Error number for Axis 1
REM some "master" programs can be resumed, all others must be
REM halted when error occurs.
IF (HaltProgOnError)
HALT PROG0
ELSE
PAUSE PROG0 : REM issue RESUME PROG0 to continue
ENDIF
Error Handling 163