Faulhaber 3564K024B CS, Instruction Manual

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5 Parameter description
5.6 Commands for sequence programs
Additional commands for use within sequence programs:
Command Argument Function Description
DELAY Value Delay Stop sequence for a defined time
Argument: in 1/100 seconds
Value: 0 to 65535
TIMEOUT Value Timeout With Notify commands, only wait for the specified time and then continue the
sequence again. Can also be used via RS232: Send an “o” if Notify condition
has not been fulfilled.
Argument: in 1/100 seconds
Value: 0 to 65535
JMP Adr Jump Jump to specified address. (Can also be used via RS232).
Address: 0...255
JMPGx Adr Jump if
greater
than x
Jump to the specified address if result of last query command is greater than
variable x (A, B, C).
Address: 0...255
JMPLx Adr Jump if less
than x
Jump to the specified address if result of last query command is less than vari-
able x (A, B, C).
Address: 0...255
JMPEx Adr Jump if
equal x
Jump to specified address if result of last query command is equal to variable
x (A, B, C).
Address: 0...255
JPH Adr Jump if
Hard-Input
activated
Jump to the specified address if the analog input is active
(HP determines the polarity).
Address: 0...255
JPF Adr Jump if
Hard-Input
activated
Jump to the specified address if the Fault Pin input is active (HP determines
the polarity). Fault Pin must be configured as input (REFIN).
Address: 0...255
JPT Adr Jump if
3. Input
activated
Jump to the specified address if the 3rd input is active
(HP determines the polarity).
Address: 0...255
JPD
(only MCDC)
Adr Jump if
4. Input
activated
Jump to the specified address if the 4th input is active
(HP determines the polarity).
Address: 0...255
JPE
(only MCDC)
Adr Jump if
5. Input
activated
Jump to the specified address if the 5th input is active
(HP determines the polarity).
Address: 0...255
SETx Value Set
Variable x
Set variable x (A, B, C) to the specified value. Value: Int32
Without argument: Result of last query command is loaded into the variable.
Value: - 2147483648 ... + 2147483647
GETx – Get
Variable x
Query content of variable x (A, B, C).
ADDx Value Add to
Variable x
Add or subtract variable x (A, B, C) with given value.
Value: - 2147483648 ... + 2147483647
SETARGx – Set
argument
Set value of variable x (A, B, C) as argument for the next command (if no argu-
ment is given there).
DxJNZ Adr Decrement
x, Jump if
not Zero
Decrease the value of variable x (A, B, C) by one and jump to specified address
if the value is not 0.
Address: 0...255
ERI Adr Error
Interrupt
An error interrupt is activated from execution of this command. This means
that if an error subsequently occurs (overvoltage, current limitation…), then
the sequence branches to the specified address. The error handling mode is
ended if a JMP or RETI command is executed.
Address: 0...255
RETI – Return Error
Interrupt
Return from an error handling routine.
Important: the interrupted command is not continued, even if it was not com-
pleted at the time of interruption!
DIERI – Disable Error
Interrupt
The ERI command is deactivated, i.e. in the event of an error the program does
not jump to the error handling routine.
CALL Adr Call
Subroutine
Call a subroutine at specified address.
Address: 0...255
RET – Return from
Subroutine
Return from a subroutine.
Please note that only one subroutine level is possible, i.e. no subroutines can
be called within subroutines!
A Adr Define
Address
Definition of current position as entry address for jump commands.
Address: 0...255