!IN#n Set event when digital input #n goes low or high |
Syntax
Binary code
The programmed event is automatically erased when the event occurs or if the timeout for the WAIT! command expires. Remark: After setting UPD! or STOP! you need to wait until the programmed event occurs using WAIT!, otherwise, the program will continue with the next instructions that may override the event monitoring.
Example // Start motion when digital input #36 is high !IN#36 1; // set event when input #36 is high //Position profile. Position feedback: 500-lines encoder CACC = 0.3183;//acceleration rate = 1000[rad/s^2] CSPD = 100;//slew speed = 3000[rpm] CPOS = 20000;//position command = 10[rot] CPA; //position command is absolute MODE PP; TUM1; //set Target Update Mode 1 UPD!; //execute on event WAIT!;//Wait until the event occurs |