WALPO        Set and wait event when the slave’s load absolute position is equal or over a 32-bit long value or the value of a long variable

Syntax                        

WALPO (Slave), value32

Wait slave’s Absolute Load Position Over value32

WALPO (Slave), VAR32

Wait slave’s Absolute Load Position Over VAR32

 

OperandsSlave: slave axis monitored for event occurrence

VAR32: long variable

value32: 32-bit long immediate value

PlaceTMLOnline

Binary code

WALPO

DescriptionSets the event condition and halts the execution of the TML program from motion controller until the slave’s load absolute position becomes equal or over the specified value or the value of the specified variable. After you have programmed an event, you can do the following actions:
•Change the motion mode and/or the parameters when the event occurs, with command UPD!
•Stop the motion of slave axes when the event occurs, with command STOP.

The programmed event is automatically erased when the event occurs or if the timeout for the wait expires.

 

ExecutionActivates the monitoring of the event on the slave axis, when load absolute position >= value32, respectively VAR32. The motion controller application remains in a loop until the event on the slave axis occurs or it timeouts. This operation erases a previous programmed event that has occurred.

 

Example        

//Stop all slaves when load position on slave B >= 3 rev

//Position feedback: 500 lines encoder (2000 counts/rev)

 TIMEOUT 1000L; // Set wait timeout to 1[s]

// Wait for event : When axis B motor absolute position is equal

// or over value 1 rot

 WAMPO (B), 6000L;

 STOP; // Stop the motion