Mitsubishi Melsec-Q QD75D1, User Manual

Page: 432 / 858

9 - 116
MELSEC-Q
9 MAJOR POSITIONING CONTROL
9.2.21 JUMP instruction
The JUMP instruction is used to control the operation so it jumps to a positioning data
No. set in the positioning data during "continuous positioning control" or "continuous
path control".
JUMP instruction include the following two types of JUMP.
(1) Unconditional JUMP
When no execution conditions are set for the JUMP instruction
(When "0" is set as the condition data No.)
(2) Conditional JUMP
When execution conditions are set for the JUMP instruction
(The conditions are set in the "condition data" used with "high-level positioning
control".)
Using the JUMP instruction enables repeating of the same positioning control, or
selection of positioning data by the execution conditions during "continuous positioning
control" or "continuous path control".
Operation
(1) Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the
positioning data No. set in "
Da.9
Dwell time".
(2) Conditional JUMP
The block start condition data is used as the JUMP instruction execution
conditions.
• When block positioning data No. 7000 to 7004 is started:
Each block condition data is used.
• When positioning data No. 1 to 600 is started:
Start block 0 condition data is used.
• When the execution conditions set in " Da.10 M code" of the JUMP
instruction have been established:
the JUMP instruction is executed to jump the operation to the positioning
data No. set in "
Da.9 Dwell time".
• When the execution conditions set in " Da.10 M code" of the JUMP
instruction have not been established:
the JUMP instruction is ignored, and the next positioning data No.is
executed.
Restrictions
(1) When using a conditional JUMP instruction, establish the JUMP instruction
execution conditions by the 4th positioning data No. before the JUMP
instruction positioning data No.
If the JUMP instruction execution conditions are not established by the time
the 4th positioning control is carried out before the JUMP instruction
positioning data No., the operation will be processed as an operation without
established JUMP instruction execution conditions.
(During execution of continuous path control/continuous positioning control,
the QD75 calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)