User Manual
Chapter 7
GFK-1742F
Jan 2020
Programmed Motion
200
ENDPROG
In the example above, The CTL01 bit test occurs just once because the PMOVE following the
JUMP contains a new Block Number (2). However, changing the location of Block Number 2
causes CTL bit testing throughout the PMOVE following the JUMP, as seen in the following
example:
Conditional Jump Example 3:
PROGRAM 3 AXIS1
VELOC 10000
ACCEL
10000
1:
CMOVE 20000, ABS, LINEAR
2:
JUMP CTL01, 3
PMOVE 40000, ABS, LINEAR //CTL01 tested throughout PMOVE
3:
DWELL 100
ENDPROG
In this example, the CTL01 bit is tested throughout the PMOVE because the PMOVE and
JUMP commands are in the same Block.
The DSM314 can perform a Conditional JUMP from an active CMOVE to a program block
containing a CMOVE or PMOVE without stopping. For the axis to jump without stopping,
the distance represented by the CMOVE or PMOVE in the Jump block must be greater than
the servo stopping distance. The servo stopping distance is computed using the present
commanded velocity and the acceleration parameters that would be in effect when the
jump block became active.
The axis will STOP before jumping if a Conditional Jump trigger occurs under any of the
following conditions:
•
When a PMOVE is active
•
When a CMOVE is active and the Jump destination block contains a CMOVE or
PMOVE representing motion in the opposite direction.
•
When a CMOVE is active and the Jump destination block contains a CMOVE or
PMOVE representing motion in the same direction with insufficient distance for the
axis to stop.
•
When a CMOVE is active and the Jump destination block contains a DWELL, WAIT or
END (program) command.
If the axis does STOP before a Conditional Jump, the current programmed acceleration and
acceleration mode will be used.
Unconditional Jumps do not force the axis to stop before jumping to a new program block.
For example, a CMOVE followed by a JUMP Unconditional to another CMOVE will behave just
as if the two CMOVEs occurred without an intervening Unconditional JUMP.