Omron trajexia CJ1W-MCH72 Operation Manual page 275

All BASIC commands
4-2-263 WDOG
4-2-264 WHILE..WEND
264
/i
Type System parameter
Syntax WDOG
Description The WDOG parameter contains the software switch which enables the
Servo Driver using the RUN (Servo on) input signal. The enabled Servo
Driver will control the servo motor depending on the speed and torque
reference values. WDOG can be turned on and off under program con-
trol, on Command Line Terminal.
The WDOG is also controlled by the PLC CPU. The WDOG can only be
switched on when the Enable Watchdog bit (
set.
The Servo
MOTION_ERROR
AXISSTATUS state for one of the axes matches the ERRORMASK set-
ting. In this case the software switch (WDOG) will be turned off, the
MOTION_ERROR parameter will have value different than 0 and the
ERROR_AXIS parameter will contain the number of the first axis to
have the error.
Also when the Enable Watchdog bit (
WDOG will be switched off.
Arguments N/A
Example No example.
See also AXISSTATUS, ERROR_AXIS, ERRORMASK, MOTION_ERROR,
SERVO.
/i
Type Program control command
Syntax WHILE condition
commands
WEND
Description The WHILE ... WEND structure allows the program segment between
the WHILE and the WEND statement to be repeated a number of times
until the condition becomes FALSE. In that case program execution will
continue after WEND.
Note: WHILE ... WEND loops can be nested without limit.
Arguments • condition
Any valid logical BASIC expression.
Example WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
See also FOR..TO..STEP..NEXT, REPEAT..UNTIL
Driver will automatically
occurs. A motion
control word
Section 4-2
control word ,
n bit 1) is
be disabled when
error occurs when the
,
n bit 1) is reset, the
a