Omron trajexia CJ1W-MCH72 Operation Manual page 329

How-to's
318
integrity of the application and execution of all other application programs.
This program is usually referred to as a SHELL program. For more information
on designing a SHELL program, see section 5-2-1.
Suppose that program is designed in a way the it contains a following fraction
of code:
'When there is an error, we stop all programs. No new
'oscilloscope captures are done. And we have stored in
'the selected TABLES the last data trace in which the
'error has occurred. Therefore, we can recover this
'trace and analyze it.
loop:
IF MOTION_ERROR<>0 THEN HALT
GOTO loop
This programming code causes all the programs and tracing to stop when an
error happens on any axis. The data is already captured in the Table memory,
and we can start using the oscilloscope to see the status of the desired
parameters at the moment the error occurred.
The measured position of the master axis, given in red, does not seem to be
the cause, because there is no discontinuity on it. We discard a mechanical
problem as well, because the torque, given in green, has low values. An the
moment of the problem the speed of the slave axis, given in yellow, was
smooth and low, therefore this is no problem either.
The next step is to analyze the CAM table, to see which values were used for
demanding the position of the slave axis. To do that, we change the data trace
to show a block of values from Table(0) to Table(999) in red, because these
entries are where the CAM table is created (see the part of the program that
creates the CAM table above). The changed configuration is shown in the
figure.
Section 5-1