This can be set as any non-motion Program 1-15 and it will monitor the IPA status for faults and handle errors and recover. This is provided as a program sample:
PROGRAM
PBOOT
REM error recovery program
_LOOP
IF (BIT8467)
REM Kill all motion was signaled, check causes
IF (BIT8465)
REM DRIVE IS STILL ENABLED
GOSUB CheckLimits
ELSE IF (BIT10009)
REM TORQUE ENABLE INPUT WAS OPENED
GOSUB CheckTorqueEnable
ELSE IF (BIT9498)
REM DRIVE FAULTED
AXIS0 DRIVE RES
INH -8475 : REM WAIT FOR RESET TO COMPLETE
IF (BIT9498)
GOTO FaultLatched
ENDIF
ELSE IF (BIT8479)
REM EXCESS POSTION ERROR WAS TRIPPED
CLR 8467 CLR 522
ENDIF
ENDIF
ENDIF
IF (NOT BIT8467)
rem kill has been cleared, restart prog0
RUN PROG0
ENDIF
GOTO LOOP
_CheckTorqueEnable
IF (BIT10011)
REM torque enable inputs mismatch
REM requires a HARD power cycle
? "TORQUE ENABLE HEALTH EVENT"
? " CYCLE POWER"
GOTO FaultLatched
ENDIF
WHILE (BIT10010)
REM WAIT HERE UNTIL THE INPUT IS CLOSED
WEND
CLR 8467
AXIS0 DRIVE ON
RUN PROG0
RETURN
_CheckLimits
IF (BIT16132 OR BIT16133)
REM HARD LIMIT WAS HIT
CLR 8467
CLR 522
ENDIF
IF (BIT16136 OR BIT16137)
REM SOFT LIMIT WAS HIT
CLR 8467
CLR 522
ENDIF
RETURN
_FaultLatched
?"DRIVE FAULT DID NOT CLEAR, CHECK HARDWARE"
?"requires a HARD power cycle"
END
ENDP
3/15jh