WPRO                Set and wait event when the slave’s position reference is equal or over a 32 bit value or the value of a long variable

Syntax                        

WPRO (Slave), value32

Wait for slave’s Position Reference Over value32

WPRO (Slave), VAR32

Wait for slave’s Position Reference Over VAR32

 

OperandsSlave: slave axis monitored for event occurrence

VAR32: long variable

value32: 32-bit long immediate value

PlaceTMLOnline

Binary code

WPRO

DescriptionSets the event condition and halts the execution of the TML program from motion controller until the slave’s position reference is 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 when the event occurs, with command STOP.

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

 

ExecutionActivates the monitoring of the event, when position reference >= 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 motion on all slaves when position reference on slave C >=

// 3 rev. Position feedback: 500 lines encoder (2000 counts/rev)

// Wait for event : When position reference on axis C is equal or

// over value 3rot

WPRO (C), 6000L;

STOP; //Stop the motion