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Events – After a wait time. Related TML Instructions and Data |
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Setting this event allows you to introduce a delay in the execution of the TML program. The monitored event is: when relative time (TML variable RTIME) is equal or over a value or the value of a variable. The relative time RTIME is computed with formula: RTIME = ATIME – TIME0, where ATIME is a 32-bit absolute time counter, incremented by 1 at each slow loop sampling period and TIME0 is the ATIME value when the wait event was set. After power on, TIME0 is set to 0. RTIME is updated together with ATIME, at each slow loop sampling period. Remark:
Variables
RTIME Relative time. RTIME = ATIME – TIME0. Measured in time units TIME0 Absolute time when last wait event was set. Measured in time units Instructions
!RT var32 Introduce a time delay equal with value of var32. Var32 is a 32-bit long integer TML variable or parameter. Measured in time units UPD! Update the motion mode and/or the motion parameters when the programmed event occurs STOP! Stop motion with the acceleration/deceleration set in CACC, when the programmed event occurs
Programming Example //Introduce a 100 ms delay !RT 100; // set event: After a wait of 100 slow-loop periods // 1 slow-loop period = 1ms WAIT!; // wait the event to occur See also: Events – When the actual motion is completed. Related TML Instructions and Data Events – Function of motor or load position Related TML Instructions and Data Events – Function of motor or load speed Related TML Instructions and Data Events – Function of reference Related TML Instructions and Data Events – Function of inputs status Related TML Instructions and Data Events – Function of 32-bit variable value Related TML Instructions and Data |