Jump Instruction - Mitsubishi Electric MELSEC iQ-R Series User Manual

JUMP instruction

The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during
"continuous positioning control" or "continuous path control".
JUMP instruction includes the following two types of JUMP.
JUMP instruction
Unconditional JUMP
Conditional JUMP
Using the JUMP instruction enables repeating of the same positioning control, or selection of positioning data by the
execution conditions during "continuous positioning control" or "continuous path control".
Operation
■Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the positioning data No. set in "[Da.9] Dwell time/
JUMP destination positioning data No.".
■Conditional JUMP
The block start condition data is used as the JUMP instruction execution conditions.
• When block positioning data No.7000 to 7004 is started: Each block condition data is used.
• When positioning data No.1 to 600 is started: Start block 0 condition data is used.
• When the execution conditions set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of
pitches" of the JUMP instruction have been established: the JUMP instruction is executed to jump the operation to the
positioning data No. set in "[Da.9] Dwell time/JUMP destination positioning data No.".
• When the execution conditions set in "[Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of
pitches" of the JUMP instruction have not been established: the JUMP instruction is ignored, and the next positioning data
No. is executed.
Restrictions
• When using a conditional JUMP instruction, establish the JUMP instruction execution conditions by the 4th positioning data
No. before the JUMP instruction positioning data No. If the JUMP instruction execution conditions are not established by
the time of 4th positioning control before the JUMP instruction, the operation will be processed as an operation regarding
that the JUMP instruction execution conditions are not established. (During the execution of continuous path control/
continuous positioning control, the Motion module calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)
• Set JUMP instruction to positioning data No. that "continuous positioning control" or "continuous path control" is set in
operation pattern. It cannot set to positioning data No. that "positioning complete" is set in operation pattern.
• Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been
established. When loop control is executed using JUMP instruction, an axis operation status is "analyzing" during loop
control, and the positioning data analysis (start) for other axes are not executed. As the target of the JUMP instruction,
specify a positioning data that is controlled by other than JUMP and NOP instructions.
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Description
When execution conditions are not set for the JUMP instruction (When "0" is set to the condition data No.)
When execution conditions are set for the JUMP instruction (The conditions are set to the "condition data" used with
"high-level positioning control".)
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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
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