Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.2 Positioning Data Setting
JUMP instruction
The JUMP instruction is used to jump to the positioning data No. set in the positioning data during Continuous positioning
control or Continuous path control.
The following two JUMP instructions can be used.
By using the JUMP instruction, performing the same positioning control repeatedly and selecting positioning data No. or
execution conditions are enabled when Continuous positioning control or Continuous path control is performed.
Operation
■ When the unconditional JUMP is used
The JUMP instruction is unconditionally executed and the operation jumps to the positioning data No. set in [Da.9] Dwell time.
■
When the conditional JUMP is used
The block start condition data is used as the execution condition of the JUMP instruction.
• When block positioning data (No.7000 to 7004) is started, the condition data of each block is used.
• When the positioning data No.1 to 600 are started, the condition data of the start block 0 is used.
• If the execution condition set in [Da.10] M code of the JUMP instruction is satisfied, the JUMP instruction is executed to
jump to the positioning data No. set in [Da.9] Dwell time.
• If the execution condition set in [Da.10] M code of the JUMP instruction is not satisfied, the JUMP instruction is ignored and
the next positioning data No. is executed.
Restrictions
• When using a conditional JUMP instruction, establish the execution conditions of the JUMP instruction by when the
positioning data whose number is four number before the positioning data No. of the JUMP instruction is executed. If the
execution conditions of the JUMP instruction are not established by the time, the processing for when execution conditions
are not established is performed. (During the execution of the continuous path control or continuous positioning control, the
RD75 calculates the positioning data of the positioning data No. four items after the current positioning data.)
• The positioning control such as the one keeps looping until the conditions are satisfied cannot be executed only using the
conditional JUMP instruction. For the target of the JUMP instruction, specify the positioning data whose control method is
other than the JUMP instruction and NOP instruction.
JUMP instruction Description
Unconditional JUMP When no execution condition is set for the JUMP instruction (when 0 is set as the condition data No.)
Conditional JUMP When execution conditions are set for the JUMP instruction (The conditions are set in the condition data
used with Advanced positioning control.)