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

Syntax

WALPU (Slave) value32

Wait for slave’s Absolute Load Position Under value32

WALPU (Slave) VAR32

Wait for slave’s Absolute Load Position Under VAR32

 

OperandsSlave: slave axis monitored for event occurrence

VAR32: long variable

value32: 32-bit long immediate value

PlaceTMLOnline

Binary code

WALPU

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 under 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        

//Set the speed command when load absolute position is <= 10 rev

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

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

// or under value 10 rot

CSPD = 13.3333;//new slew speed command = 500[rpm]

WALPU (B), 20000L;

(C)CSPD = CSPD; //Send the local variable CSPD to variable CSPD

// of slaves (C)