Omron trajexia CJ1W-MCH72 Operation Manual page 337

Practical examples
326
AXIS_ENABLE=0
SERVO=0
CANCEL(1) 'Cancel NTYPE
WA(1)
CANCEL(1) 'Cancel possible program buffer
NEXT i
RAPIDSTOP 'Cancel MTYPE
RETURN
'--------------------------------------------------------
start_app:
'Add all the application programs that should be started
'with the START signal
RUN "APPLICATION"
RETURN
'--------------------------------------------------------
reset_all:
'Uncorrect system setting
IF READ_BIT(15,diag01)=0 THEN GOSUB system_detection
'MECHATROLINK axes reset sequence
FOR i=0 TO max_axis
BASE(i)
IF ATYPE>=40 AND ATYPE<=42 THEN
'Reset sequence for MECHATROLINK communication error
IF (AXISSTATUS AND 4)<>0 THEN
PRINT "Resetting ML alarm"
GOSUB system_detection
ENDIF
'Reset sequence for DRIVE errors
IF (AXISSTATUS AND 8)<>0 THEN
VR(servo_alarm+i*2)=$CC THEN
GOSUB absencoder
ELSE
'Pending to handle diferently those alarms that cannot
'be resetted with DRIVE_CLEAR
DRIVE_CLEAR
ENDIF
ENDIF
ENDIF
NEXT i
'Reset sequence for AXIS error
DATUM(0)
CLEAR_BIT(0,status_bits)
'MECHATROLINK devices reset sequence
IF VR(servo_alarm+i*2)=$81
Section 5-2
OR