Syntax
WAIT! |
WAIT motion event ! |
WAIT! value32 |
WAIT motion event ! but exit if time > value32 |
| Operands | value32: 32-bit long immediate value – wait loop timeout limit |
Binary code
| Description | Stops the TML program execution, until the programmed event occurs. During this period, only the TML commands received via a communication channel are processed. You may also specify the timeout limit for the wait, by adding a time value after the WAIT! command: value32. If the monitored event doesn’t occur in the time limit set, the wait loop is interrupted; the event checking is reset and the TML program passes to the next TML instruction. The timeout is measured in internal time units i.e. slow loop sampling periods. |
Example1
// Unconditional wait for a motion complete event
// Position profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CSPD = 10;//slew speed = 300[rpm]
CPOS = 4000;//position command = 2[rot]
CPR;//position command is relative
MODE PP;
UPD;//execute immediate
!MC; // set motion complete event
WAIT!; //wait for the programmed event to occur
// if the final position is not reached or the motion complete is
// not set because the settle band and time conditions are not met
// the TML program will remain at this point
Example2
//Conditional wait for a limit switch event
// Speed profile. Position feedback: 500 lines incremental
// encoder (2000 counts/rev)
CACC = 0.1591;//acceleration rate = 500[rad/s^2]
CSPD = 40; //jog speed = 1200[rpm]
MODE SP;
TUM1; //set Target Update Mode 1
UPD;//execute immediate
ENLSP1; // activate LSP input to detect low->high transitions
!LSP; // set event of LSP transition
WAIT! 5000; //Wait until the event occurs but no more than 5[s]
STOP; // stop motion