User`s manual

7-32 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
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monitored is very short. However, in Example 2, the JUMP command is encountered before the
CMOVE command. This starts the jump testing before motion begins, and jump testing continues
as long as the move lasts. If the CTL bit turns ON while the move is being performed, the jump
will be performed. After the move completes, the next block number is encountered, which ends
jump testing, and program execution continues normally. If additional moves were programmed
ahead of the next block number, jump testing would continue during those moves until the next
block number was encountered.
Example 1
Example 2
ACCEL 5000
VELOC 1000
1:
CMOVE 2000, ABS, LINEAR
JUMP CTL01, 3
2:
ACCEL 5000
VELOC 1000
1:
JUMP CTL01, 3
CMOVE 2000, ABS, LINEAR
2:
Normal Stop Before JUMP
A conditional jump command is similar to Type 2 commands in that jump testing does not start
until the Type 3 command immediately after the JUMP is executed. If this Type 3 command
would normally stop motion, then motion will stop before jump testing begins. Type 3 commands
that will stop motion are: DWELL, WAIT, ENDPROG, and moves in the opposite direction.
Thus even though the CTL bit may be ON before the block with the conditional JUMP and Type 3
command is executed, axis motion will stop before program execution continues at the jump
destination. This stopping is NOT a Jump Stop, which is described in Example 10.
Example 8: Normal Stop Before JUMP
The following example contains a jump followed by a DWELL command. The DSM314, because
it processes ahead, knows it must stop after the CMOVE command. Thus, it comes to a stop
before the DWELL is executed. Since jump testing does not begin until the DWELL is executed,
testing begins after motion stops. Jump testing ends when the following CMOVE begins due to
the associated BLOCK command. The dashed lines in the velocity profile indicate when jump
testing takes place. In this example, the CTL03 bit does not turn ON during the program
execution.
1: ACCEL 5000
VELOC 10000
CMOVE 60000, INCR, LINEAR
2: JUMP CTL03, 4
DWELL 4000
3: ACCEL 10000
VELOC 5000
CMOVE 15000, INCR, LINEAR
4:
Figure 7-11. Normal Stop Before JUMP
t
v
JUMP
Testing