Rexroth Indramat CLM1.4, Manual

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CLM01.4-LAP-01VRS Writing the User Program
5-23
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
CPJ – Compare and Jump
or
Target instruction
Tolerance field
Compare operand 2
Operational sign of compare operand 2
Compare conditions
= equal to (with tolerance field)
> greater than
< less than
>= greater than or equal to
<= less than or equal to
<> not equal to (with tolerance field)
Compare operand 1
The jump to the target location is executed when the comparison has
been made.
If the condition is not met, the program continues at the instruction with
the next higher number.
The program continues after the time period of one cycle.
Example: CPJ V600 >= +V601 0000.00 0400
V600 = 100.000
V601 = 090.000
The command branches to instruction 400
CPL - Clear Position Error
or
Axis: 1 to 4
The position lag of the axis is set to zero on a one-time basis. Normally,
this action is useful only for special tasks such as moving to a positive
stop. When this task is performed, buildup of a substantial position lag is
possible because the monitoring systems are deactivated and the
performance of the drive has been affected.
The program proceeds to the next instruction following the time period of
one cycle.
Note: This command directly accesses the position control circuit. It
is therefore possible for unauthorized changes to be made in
the values for length, position and acceleration.
CPJ V600
>
= + V601 V602 V603
CPJ V600
>
= +12345.123 1234.12 0400
CPL V600
CPL 1