1. Safety Framework and Program Management
Trio Training
Safety Framework and Program Management

2. Course Overview
In this module you build on the pre reading to program a motion manager program. By the end you should have an understanding of the following concepts:
Error detection and handling
Program management

3. Program Structure Drives Disabled Drives Enabled Machine Disabled
Motion Error
Drives
Disabled
Machine
Active
Machine
Datuming
Running
Motion
Drives
Enabled

4. Running and Stopping programs
RUN “program_name” [, process]
Runs a program on a particular process
The process can be left off and it will run on the highest process number available
Program must exist else an error occurs at runtime
STOP
Stops the current program
STOP “program_name” [, process]
Stops a specified program
The process can be left off and it will stop all instances of the program
HALT
Stops all programs

5. Stopping Motion
Motion can be stopped either across all axis or on a single axis
CANCEL
Stops the running move on the base axis
RAPIDSTOP
Stops the motion on all axis
CANCEL(2) and RAPIDSTOP(2)
Stops the motion, clears buffered moves and the PMOVE

6. Printing
You can print information to terminal windows in Motion perfect, the serial ports or to a file.
PRINT “text”
Prints text to channel 0 on the coordinator
PRINT#channel, “text”
Prints text to specified channel
Channel 5 is a terminal window in Motion Perfect
Other channels are shown in the manual

7. Print status message to user Exits to MACHINE ACTIVE
Machine Disabled
Machine
Datuming
Running
Motion
Motion Error
Active
Drives
Disabled
Enabled
Machine
Disabled
Stop running programs
Stop all motion
Set status
Machine status
Datuming status
Print status message to user
Exits to MACHINE ACTIVE
Master Switch ON

8. Machine Disabled machine_disabled: REPEAT
STOP "TUNING" 'Stop all programs from running
STOP "DATUMING"
STOP "MOTION1"
RAPIDSTOP(2) 'Stop all motion
WAIT IDLE AXIS(0) 'Wait for motion to stop
WAIT IDLE AXIS(1)
OP(8,OFF)'switch off status LED
WDOG=OFF
datum_complete=0 'set datum status flag
OP(9,OFF) 'set datum status led
PRINT#5, "Machine Idle"
PRINT#5, "Turn switch 2 ON to start“
WAIT UNTIL IN(2)=ON 'wait for machine to be turned ON
RUN "STARTUP" 'apply initial settings
GOSUB machine_active
UNTIL FALSE
STOP

9. Print status message to user Select program to run Drives
Machine Active
Enable Drives
Set Status
Print status message to user
Select program to run
Datum
Motion
Exits to MACHINE DATUM
Master switch ON and datum not complete
Exits to RUNNING MOTION
Master Switch ON and datum complete
Exits to MOTION ERROR
On Motion Error
Exits to Machine Disabled
Master switch OFF
Machine
Disabled
Datuming
Running
Motion
Motion Error
Drives
Enabled
Machine
Active

10. Machine Active machine_active: WHILE IN(2)=ON
WDOG=ON 'Enables the motors
OP(8,ON)'Turn on machine active lamp
PRINT#5,"Press button 3 to"
IF datum_complete THEN
PRINT#5, "start motion"
ELSE
PRINT#5, "start datuming"
ENDIF
WAIT UNTIL IN(3)=OFF OR IN(2)=OFF OR MOTION_ERROR
WAIT UNTIL IN(3)=ON OR IN(2)=OFF OR MOTION_ERROR
IF MOTION_ERROR THEN
GOSUB motionerror
ELSEIF datum_complete AND IN(2)=ON THEN
GOSUB running_program
ELSEIF NOT datum_complete AND IN(2)=ON THEN
GOSUB datuming
WEND
RETURN

11. Machine Datuming Run DATUMING program Drives Enabled
Disabled
Running
Motion
Motion Error
Active
Drives
Enabled
Run DATUMING program
Exits to MACHINE ACTIVE
Datuming Complete
Exits to MOTION ERROR
On Motion Error
Exits to Machine Disabled
Master switch OFF
Machine
Datuming

12. Machine Datuming datuming:
RUN "datuming",2 'move the motors to the home switch
'Stall this program until homing is complete
WAIT UNTIL PROC_STATUS PROC(2)<>0 OR IN(2)=OFF OR MOTION_ERROR
WAIT UNTIL PROC_STATUS PROC(2)=0 OR IN(2)=OFF OR MOTION_ERROR
IF MOTION_ERROR THEN
GOSUB motionerror
ELSEIF IN(2)=ON THEN
datum_complete=1 'set homing status flag
OP(9,ON) 'set homing indicator
PRINT#5, "Homing Complete"
ENDIF
RETURN

13. Select motion program from switch Run motion program
Running Program
Machine
Disabled
Datuming
Motion Error
Active
Drives
Enabled
Select motion program from switch
Run motion program
Exits to MACHINE ACTIVE
Program Complete
Exits to MOTION ERROR
On Motion Error
Exits to Machine Disabled
Master switch OFF
Running
Motion

14. Running Program running_program:
ON (IN(4,5)+1)GOTO prog_a, prog_b, prog_c' select program from switch
GOTO continue
prog_a:
RUN "tuning",2
PRINT#5, "Running Tuning"
prog_b:
prog_c:
continue:
'Stall this program until motion is complete
WAIT UNTIL PROC_STATUS PROC(2)<>0 OR IN(2)=OFF OR MOTION_ERROR
WAIT UNTIL PROC_STATUS PROC(2)=0 OR IN(2)=OFF OR MOTION_ERROR
IF MOTION_ERROR THEN
GOSUB motionerror
ELSEIF IN(2)=ON THEN
PRINT#5, "Program Complete"
ENDIF
RETURN

15. Clearing Errors
When an error occurs all SERVO are set to off and the error is held in AXISSTATUS
Errors can be cleared using the DATUM command
DATUM(0)
Special instance of datum
Resets AXISSTATUS errors
Following error warning
Remote drive communication error
Remote drive error
Following error exceeds limit

16. Print status message to user Flash status lamp Clear motion error
Machine
Disabled
Datuming
Running
Motion
Active
Drives
Enabled
Motion Error
Print status message to user
Flash status lamp
Clear motion error
Exits to MACHINE Disabled
Master switch OFF

17. Motion Error motionerror: PRINT#5, "Motion Error!"
PRINT#5, "Axis ";ERROR_AXIS[0]
PRINT#5, "Cycle switch 2 to restart."
REPEAT 'flash status lamp
OP(8,ON)
WA(200)
OP(8,OFF)
UNTIL IN(2)=OFF
DATUM(0) 'clears motion error
SERVO AXIS(0)=ON 'Activates the servo closed loop
SERVO AXIS(1)=ON
RETURN

18. Task Please add a new program “MAIN” to your project
Follow the handout Chapter 4 to create the state machine