3. Operation
3.3 Outputs Off by Emergency Stop and Reset Instruction
NOTE
)
You can configure the system so that all outputs including the fieldbus outputs will be turned off when the emergency stop occurs and when a Reset instruction is executed. For details of the configuration, refer to the chapter SPEL+ Options in the EPSON RC+ User's Guide.
A command that was issued just before an emergency stop can be executed after the emergency stop condition is cleared. If the outputs from the fieldbus involve risk, the “Outputs off during Emergency Stop” option should be enabled to remove all power to output devices when an emergency stop occurs.
3.4 Waiting for Input or Output Status
The SPEL+ Wait statement cannot be used for Fieldbus I/O. You can make your own function to handle this.
For example:
Function WaitFbusInput(bus As Integer, device As Integer, bit As Integer, state As Integer)
Do
If FbusIO_Sw(bus, device, bit) = state Then
Exit Function
EndIf
Wait .01
Loop
Fend
In the program example above, a Wait statement is used to prevent the task from using too much CPU. You can remove the Wait for faster response, but the task will use more CPU. You may also want to add a timeout or other checks.
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