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4 Functional Description
4.6 Sequence programs
The command JMPLA3 jumps to address 3 if the velocity value returned with GN is less than 100 rpm
(value of variable A).
Entry addresses are defined via command A. In the case of a jump, the sequence is continued at this
point.
The value range for jump commands extends from 0 to 255. Accordingly, a maximum of 256 differ-
ent entry points can be defined with JMP, JPx, ERI and CALL.
Error Interrupt
During execution of the ERI command, nothing happens initially. Only if an error situation subse-
quently occurs does the sequence jump immediately to the specified address. This enables sensible
continuation of the program in the event of error.
The RETI command enables you to return to the position at which the sequence was interrupted.
Please note that the interrupted command is no longer executed, but is continued with the next
command.
No new error interruption can take place within the error handling routine. The error handling sta-
tus is cancelled as soon as the RETI or JMP command is executed. After this, the commands are inter-
rupted again if an error occurs. It should therefore be ensured that the error situation disappears in
the error handling routine. Otherwise, the error handling call will be repeated.
Homing
The HN/SHN command enables you to stop the sequence until the limit switch is reached. In order to
correctly execute the GOHOSEQ command within a sequence, it is essential to set the SHN command
accordingly when defining the homing sequence. This is necessary particularly if you wish to use the
Power-On Homing sequence (POHOSEQ1).
Notify commands
Notify commands enable you to generate complicated motion profiles.
Example:
LA100000
SP5000
AC50
NV1000
M
AC100
NV2000
M
AC50
NP
M
With this sequence, the acceleration is increased during boot-up at 1000 rpm. It is decreased again
at 2000 rpm.
The NP command without argument stops the sequence until the target position is reached.
NOTE
