Omron trajexia CJ1W-MCH72 Operation Manual page 274

All BASIC commands
4-2-261 WAIT LOADED
4-2-262 WAIT UNTIL
/i
Type System command
Syntax WAIT LOADED
Description The WAIT LOADED command suspends program execution until the
base axis has no moves buffered ahead other than the currently execut-
ing move. The command can only be used in a program.
This is useful for activating events at the beginning of a move, or at the
end when multiple moves are buffered together.
WAIT LOADED works on the default basis axis (set with BASE) unless
AXIS is used to specify a temporary base axis.
Arguments N/A
Example ' Switch output 8 ON at start of MOVE(500) and OFF at end
MOVE(800)
MOVE(500)
WAIT LOADED
OP(8,ON)
MOVE(400)
WAIT LOADED
OP(8,OFF)
See also AXIS, WAIT IDLE
/i
Type System command
Syntax WAIT UNTIL condition
Description The WAIT UNTIL command repeatedly evaluates the condition until it is
TRUE. After this program execution will continue. The command can
only be used in a program.
Arguments • condition
Any valid BASIC logical expression.
Example In this example, the program waits until the measured position on axis 0
exceeds 150, and then starts a movement on axis 1.
WAIT UNTIL MPOS AXIS(0)>150
MOVE(100) AXIS(1)
Example The expressions evaluated can be as complex as you like provided they
follow BASIC syntax, for example:
WAIT UNTIL DPOS AXIS(2) <= 0 OR IN(1) = ON
The above line would wait until the demand position of axis 2 is less
than or equal to 0 or input 1 is on.
See also N/A
Section 4-2
263