- Parker Compact Servo Controller User Guide

Positioning and control functions
STOP / BREAK handling [IF STOP GOSUB xxx]
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and is used to bring the individual outputs (e.g. the control output for a pump or a
valve) into a safe status.
Each error program must contain a 'WAIT START' instruction.
The 'WAIT START' instruction causes the programming procedure to stop until an
external QUIT and START occurs.
Then OUTPUT instructions can again be present for resetting the outputs.
There must be a RETURN or END instruction at the end of the error program.
♦
The END instruction stops the program.
♦
The RETURN instruction executes a jump back into the program line which was
previously interrupted. If necessary, an interrupted movement is continued
(provided that the error has been acknowledged).
Main Program Error Program
N001: IF ERROR GOSUB 200 N200: OUTPUT O9=0
N002: OUTPUT O9=1 N201: WAIT START
N003: POSA 0 N202: OUTPUT O9=1
N004: POSA 4000 N203: RETURN
N005: OUTPUT O9=0
N006: GOTO 002
If the axis is now stopped and switched off due to an error, e.g. during POSA 4000
positioning, a sub-program jump is then executed to program line 200 and output
O9 is set to zero at this point.
The program then stops in program line 201 and waits until the error has been
acknowledged and, if necessary, a new start is made.
At program line 202, output O9 is switched on again, at program line 203, a jump is
made back to the previously interrupted program line N004.
The axis executes the rest of the travel to position 4000, and the main program is
then continued at program line N005.
If the error program is concluded with END rather than RETURN, the program
indicator remains in the same position. The program stops running at this point.
Machine zero then has to approached or the program indicator must be reset
explicity.
8.4.29 STOP / BREAK handling [IF STOP GOSUB xxx]
For influencing behavior after STOP or BREAK.
IF STOP GOSUB xxx
This instruction can only be programmed, like normal IF instructions, in the
program. It controls the procedure executed in the program when a stop status
occurs.
Normally, a STOP / BREAK command in the COMPAX will cause a actively
running move to be interrupted; the program is stopped.
The 'IF STOP GOSUB xxx' instruction makes it possible to set the outputs to
defined states in a stopped condition.
If such an instruction has already run in the program and a stop command occurs
later:
♦
the current travel motion is interrupted and then
♦
a 'Stop program' is run, this is stored from program line number xxx.
Error program with
WAIT START
Example:
IF STOP
GOSUB xxx
Syntax: