Omron TJ1-MC04 - PROGRAMMING 1 Programming Manual page 276

Examples and tips
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
fig. 46
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. Following the scenario described above, with the
oscilloscope settings as in fig. 44, the result is given in fig. 46.
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.
PROGRAMMING MANUAL 276