Faulhaber MCDC2805 series, Инструкция по эксплуатации, Страница: 39 / 60

Saving and Running Programs
39
About the ERI Command
At first after entering the ERI command nothing
happens. The command only takes effect after
an error occurs. The program then jumps to the
given address.
In this way a continuation of the program even
after an error occurs is possible.
With the RETI command, the program jumps
back to the position it was in before the error
occured. Note that the command that caused
the error (or the point at which the error
occurred in the program) will not be repeated.
The program will continue from the next part of
the sequence. Once an error has occured no
other errors can be registered until the RETI or
the JMP command have been executed.
Therefore the error routine must be pro-
grammed to make sure that the error “dis-
appears” or is corrected before the program
resumes. If not, the error routine will be called
up repeatedly.
About the Homing Sequence
With the HN command the program can be
stopped until the limiter switch has been
reached. In order to be able to use the
GOHOSEQ command effectively during a
program, the HN command must be set correctly
in the Homing Sequence.
This is especially important when a Power On
Homing sequence is to be run (POHOSEQ1).
About the Notify Commands
With the Notify commands it is possible to
create very complex motion profiles.
Example:
LA10000
SP5000
AC50
NV1000
M
AC100
NV2000
M
AC50
NP
M
The acceleration is increased when the motor
reaches 1000 rpm and then is decreased again
when it reaches 2000.
Note: When the NP command is used without an
arguement the program is interrupted until the
predefined position is achieved.
About the CALL Command
The CALL command makes it possible to call up
subroutines at any time from various sources.
Once a subroutine is called up all commands are
available except the CALL command.
To return to the main program, use the RET
command.
In General
After a program has been run and is complete
(and without a JMP command at the end) the
motor sends an ‘n’ to the RS-232 if the ANSW1 is
set.
To create a continuous loop, for example for
stand-alone applications, a JMP command at the
end of the program is necessary.
Memory Size: 7936 Bytes