WPRU                Set and wait event when the position reference is equal or under than a 32-bit value or the value of a long variable

Syntax        

WPRU (Slave), value32

Wait for slave’s Position Reference Under value32

WPRU (Slave), VAR32

Wait for slave’s Position Reference Under VAR32

 

OperandsSlave: slave axis monitored for event occurrence

       VAR32: long variable

value32: 32-bit long immediate value

PlaceTMLOnline

Binary code

WPRU

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

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.

 

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 when position reference >= 3 rev

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

WPRU 6000; //Set event: when position reference is >= 3 rev

STOP;//Stop the motion when the event occurs