Parker Products COMPAX-M /-S (L) manual Sub-program jump with data record selection Gosub EXT

Operating Instructions	COMPAX-M / -S
Sub-program jump with data record selection [GOSUB EXT]

8.4.27 Sub-program jump with data record selection [GOSUB EXT]

POSA

POSR

SPEED

ACCEL

OUTPUT

Password

SPEED SYNC

Mark reference

POSR SPEED

GOSUB EXT

Entry at BDF2: GOSUB Ent

Jump into a sub-program with data record selection via the inputs I9 to I16.

The bit pattern of inputs I9 to I16 is interpreted as a data record number (binary).

I16	I9	=> 27	20
e.g. 00 010 100		= 20	jumps to sub-program at data record 20.

Note!

If inputs have been assigned functions (e.g. fast start I15 or external position adjustment I11), they are not taken into consideration when using GOSUB EXT (read logically as "0"):

The assignments of each of the binary inputs I16...I9 must be taken into consideration for the individual unit variants (COMPAX XX50M,...).

When the PLC data interface is activated, the commands GOTO EXT and GOSUB EXT are blocked!

POSR OUTPUT

8.4.28 Error handling [IF ERROR GOSUB]

Cam controller

WAIT

GOTO

GOSUB

RETURN

END

REPEAT

IF I..

Comparison

WAIT Start

GOTO /

GOSUB EXT

IF Error/

Stop

Arithmetic

Position monitoring

Idle display

Speed monitoring

Engage / disengage brake / final stage

Variable voltage

IF ERROR

GOSUB

Syntax:

Note!

Function:

Priority:

Error program:

To influence the error reactions.

IF ERROR GOSUB xxx

This instruction can only be programmed as normal IF instructions in the program. Use this instruction to define the program procedure when an error status occurs.

The error sub-program is called up with a delay by P17 (brake delay). When performing a WAIT START, COMPAX does not branch into the error sub-program if an error occurs!

Normally, an error in the COMPAX will cause an actively running move to be interrupted. Depending on the type of error, the drive is switched off. The program is however stopped no matter what the error type.

The instruction 'IF ERROR GOSUB xxx' allows you to, e.g. set the outputs to defined statuses when an error occurs.

If such an instruction has been run once in the program and then an error later occurs,

♦the current move is interrupted,

♦if necessary, the axis is (depending on the error) switched off and

♦the 'Error program', which has been programmed from program number xxx, is executed.

The error program has priority over the stop program.

A running stop program is interrupted by the error program and continued after the error program is executed.

The error program must not contain

♦any motion commands (POSA, POSR, POSR ..., WAIT POSA, WAIT POSR, SPEED in the speed control mode, ),

♦any sub-program jumps (GOSUB, IF ... GOSUB, ...),

♦any COMPAX XX70 commands,

♦any approach real zero and find machine zero commands,

♦any speed step commands (POSR ... SPEED ...) or

♦comparator commands (POSR ... OUTPUT ...)

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