SCARA, 6-Axis and Modules
Technical Support Notes

Article ID: T57
Date: 12/07/00
Product: SPEL for Windows 2.0 (all versions)
Problem: Error 94 when Wait Dsw is executed in Trap Emergency handler

Symptoms
If Wait Dsw is used in a Trap Emergency handler, error 94, "Overtime error of Wait Sw command", occurs.  The following example will give error 94 after emergency stop is pressed during execution.

Function main
  Trap Emergency Call eTrap
  While True
    Print "Test"
    Wait 1
  Wend
Fend

Function eTrap
  Wait Dsw(3) = 4
  Restart
Fend

Causes
This is a bug in the SRC-3xx controller firmware.  

Remedies
Avoid using Wait Dsw in the trap emergency handler.  Instead, set a flag so that after restart, the main function can recover from the estop and execute the Wait statement.

Status
This problem will be fixed in a future version.


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