User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-31
7
3: DWELL 100
ENDPROG
In this example, the CTL01 bit is tested throughout the PMOVE because the PMOVE and JUMP
commands are in the same Block.
The DSM314 can perform a Conditional JUMP from an active CMOVE to a program block
containing a CMOVE or PMOVE without stopping.
For the axis to jump without stopping, the
distance represented by the CMOVE or PMOVE in the Jump block must be greater than
the servo stopping distance.
The servo stopping distance is computed using the present
commanded velocity and the acceleration parameters that would be in effect when the jump block
became active.
The axis will STOP before jumping if a Conditional Jump trigger occurs under any of the
following conditions:
When a PMOVE is active
When a CMOVE is active and the Jump destination block contains a CMOVE or PMOVE
representing motion in the opposite direction.
When a CMOVE is active and the Jump destination block contains a CMOVE or PMOVE
representing motion in the same direction with insufficient distance for the axis to stop.
When a CMOVE is active and the Jump destination block contains a DWELL, WAIT or
END (program) command.
If the axis does STOP before a Conditional Jump, the current programmed acceleration and
acceleration mode will be used.
Unconditional Jumps do not force the axis to stop before jumping to a new program block. For
example, a CMOVE followed by a JUMP Unconditional to another CMOVE will behave just as if
the two CMOVEs occurred without an intervening Unconditional JUMP.
If Conditional Jump testing is active when the DSM314 command processor encounters a CALL
SUBROUTINE command, the axis will
stop
and terminate jump testing before the CALL is
executed.
If Conditional Jump testing is active when the DSM314 command processor encounters an END
SUBROUTINE command, the axis will
stop
and terminate jump testing before the END
SUBROUTINE is executed.
Jump Testing
Conditional jumps perform jump testing. If the CTL bit is ON, the jump is immediately
performed. If the CTL bit is OFF, the DSM314 watches the CTL bit and keeps track of the JUMP
destination. This monitoring of the CTL bit is called jump testing. If during jump testing the
CTL bit turns ON before a BLOCK command, another JUMP command, or a CALL command is
encountered, the jump is performed. These commands will end jump testing.
Example 7: Jump Testing
Consider the following two single-axis program section examples. In Example 1, the move to
position 2000 is completed before jump testing begins. The block number occurring immediately
after the JUMP command ends jump testing. Thus, the duration for which the CTL bit is