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The Jump on Condition statement is useful for branching on a given error within a program. The
position error of A,B,C and D can be monitored during execution using the TE command.
Programmable Position Limits
The CDS-3310 provides programmable forward and reverse position limits. These are set by the BL
and FL software commands. Once a position limit is specified, the CDS-3310 will not accept position
commands beyond the limit. Motion beyond the limit is also prevented.
Example
Off-On-Error
The CDS-3310 controller has a built in function which can turn off the motors under certain error
conditions. This function is know as 'Off-On-Error". To activate the OE function for each axis,
specify 1 for A,B,C and D axis. To disable this function, specify 0 for the axes. When this function is
enabled, the specified motor will be disabled under the following 3 conditions:
NOTE: If the motors are disabled while they are moving, they may 'coast' to a stop because they are
no longer under servo control.
To re-enable the system, use the Reset (RS) or Servo Here (SH) command.
Example
Automatic Error Routine
The #POSERR label causes the statements following to be automatically executed if error on any axis
exceeds the error limit specified by ER. The error routine must be closed with the RE command. The
RE command returns from the error subroutine to the main program.
NOTE: The Error Subroutine will be entered again unless the error condition is gone.
60 • Chapter 8 Hardware & Software Protection
SIGNAL OR FUNCTION
# POSERR
Error Light
OE Function
AEN Output Line
DP0,0,0
BL -2000,-4000,-8000
FL 2000,4000,8000
JG 2000,2000,2000
BG ABC
1. The position error for the specified axis exceeds the limit set with the command, ER
2. The abort command is given
3. The abort input is activated with a low signal.
OE 1,1,1,1
Enable off on error for A,B,C and D
OE 0,1,0,1
Enable off on error for B and D axes, Disable off on error for A and C
STATE IF ERROR OCCURS
Jumps to automatic excess position error subroutine
Turns on
Shuts motor off if OE1
Goes low
Define Position
Set Reverse position limit
Set Forward position limit
Jog
Begin (motion stops at forward limits)
CDS-3310
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