Installation manual

Chapter 6 Programming
6-74
（３）JUMP Condition
JUMP condition divides 32bit positive numbers into four and gives them significance.
MSB
LSB
31 24 23 16 15 8 7 0
Valid flag JUMP command Logic Reference destination DI
JUMP condition consists of four: valid flag, JUMP command, logic and reference
destination DI. See below: these instructions are not automatically set at the motion
control side. All are performed by setting orders from the upper point.
VALID FLAG ： JUMPENABLEDISABLE
Designation Value Function
JMP_ON 0x01000000 Condition check performance (valid)
JMP_OFF 0x00000000 No condition check performance (invalid)
JUMP COMMAND ：JUMPORDER
Designation Value Function
NO_JUMP 0x00010000
JUMP to the designated teach data and ID
number. (Unconditional JUMP)
DI_JUMP 0x00020000
If DI condition is checked and established, JUMP.
If not, playback has to be continued.
DI_WAITJUMP 0x00030000
If DI condition is checked and established, JUMP.
If not, waits and rechecks at the next cycle.
DI_WAIT 0x00040000
Waits until DI condition is checked and
established. (ATTENTION! This function does
not perform the motion between teach points
JUMP.)
LOGIC ： JUMPDILOGIC
Designation Value Function
LEVEL_ON 0x00000100 DI condition is established when designated bit input is 1.
LEVEL_OFF 0x00000200 DI condition is established when designated bit input is 0.
EDGE_ON 0x00000400
DI condition is established when designated bit
input is changed from 0 to 1.
EDGE_OFF 0x00000800
DI condition is established when designated bit
input is changed from 1 to 0.
REFFERENCE DI ： DIOKIND
Designation Value Function
DIO_INTERNAL 0x00000000 DI condition test is performed in the system DI.
DIO_EXTERNAL 0x00000001 DI condition test is performed in the extension
DI.
One teach data can obtain plural JUMP conditions. But, one JUMP condition cannot be
obtained by plural teach data. For this reason, the same JUMP condition number 1 of
two different teach data “Key” is recognized as a completely different one.