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On Error Handler

Description

This program demonstrates the use of the On Error (OE) handler function.

Requirements

Compatible product with encoder
DC power supply
Communications/Network
Switches connected to I/O points 1 and 2

Example program

'MDRIVE DEMO PROGRAM
'Last modified 08/25/2016
'Sample test program for demonstration purposes only
'Not tested or verified for safety or any function
CP   'preclear program memory
'CODE         DESCRIPTION
'Parameter Setup
S1=2,0      'set input 1 as positive limit, low true
S2=3,0      'set input 2 as negative limit, low true
Ee=1        'enable encoder
Sm=0        'have motor stop on a stall detect
'===================================================
'Program
PG 1        'enter program mode at address 1
LB su       'reserved startup label
 OE j2      'on any error call sub j2
LB aa       'label aa
 Vm=30000   'set max velocity to 30000 steps/sec
 MA 102400  'move positive 102400 steps
            'close switch at input 1 to
            'stop motion in the positive direction
            'and cause an error 83
            'NOTE: PROGRAM CONTINUES TO EXECUTE
            'leave switch open and program runs normal
 H          'hold program execution until motion complete
 H 250      'hold program execution for 250 millisecond
 MA 0       'move to absolute 0
            'close switch at input 2 to
            'stop motion in the negative direction
            'and cause an error 84
            'NOTE: PROGRAM CONTINUES TO EXECUTE
 H          'hold program execution until motion complete
 H 250      'hold program execution for 250 millisecond
 BR aa      'branch to label aa
E           'end program
'========================================================
'On_Error Handler Subroutine
LB j2
PR "Error " Er 'print the error
BR se, Er=86   'if a stall jump to se
BR lp, Er=83   'jump if limit plus to lp
BR Ln, Er=84   'jump if limit minus to ln
LB ue          'end program if error unknown
 PR "Undefined Error"
 PR "Ending Program!"
 E
LB Ln         'limit minus - return to main pgm
 PR "Limit Minus"
 Er=0         'clear the error flag
 RT
LB lp         'limit plus - return to main pgm
 PR "Limit Plus"
 Er=0
 RT           'clear the error flag
LB se         'stall detected - end pgm
 PR "Stall"
 PR "Ending Program!"
 E
PG          'exit program mode
'hit "Esc" key to stop program

'MDRIVE DEMO PROGRAM

'Last modified 08/25/2016

'Sample test program for demonstration purposes only

'Not tested or verified for safety or any function

CP 'preclear program memory

'CODE DESCRIPTION

'Parameter Setup

S1=2,0 'set input 1 as positive limit, low true

S2=3,0 'set input 2 as negative limit, low true

Ee=1 'enable encoder

Sm=0 'have motor stop on a stall detect

'===================================================

'Program

PG 1 'enter program mode at address 1

LB su 'reserved startup label

OE j2 'on any error call sub j2

LB aa 'label aa

Vm=30000 'set max velocity to 30000 steps/sec

MA 102400 'move positive 102400 steps

'close switch at input 1 to

'stop motion in the positive direction

'and cause an error 83

'NOTE: PROGRAM CONTINUES TO EXECUTE

'leave switch open and program runs normal

H 'hold program execution until motion complete

H 250 'hold program execution for 250 millisecond

MA 0 'move to absolute 0

'close switch at input 2 to

'stop motion in the negative direction

'and cause an error 84

'NOTE: PROGRAM CONTINUES TO EXECUTE

H 'hold program execution until motion complete

H 250 'hold program execution for 250 millisecond

BR aa 'branch to label aa

E 'end program

'========================================================

'On_Error Handler Subroutine

LB j2

PR "Error " Er 'print the error

BR se, Er=86 'if a stall jump to se

BR lp, Er=83 'jump if limit plus to lp

BR Ln, Er=84 'jump if limit minus to ln

LB ue 'end program if error unknown

PR "Undefined Error"

PR "Ending Program!"

LB Ln 'limit minus - return to main pgm

PR "Limit Minus"

Er=0 'clear the error flag

LB lp 'limit plus - return to main pgm

PR "Limit Plus"

Er=0

RT 'clear the error flag

LB se 'stall detected - end pgm

PR "Stall"

PR "Ending Program!"

PG 'exit program mode

'hit "Esc" key to stop program

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