Wait Idle - Omron R88A-MCW151-DRT-E Operation Manual

Command, function and parameter description
6-3-200 WA
Type:
Syntax:
Description:
Arguments:
Example:

6-3-201 WAIT IDLE

Type:
Syntax:
Description:
In the following example, the value 1.2555 is placed into VR variable 15. The
local variable val is used to name the global variable locally:
val = 15
VR(val) = 1.2555
Example 2
A transfer gantry has 10 put down positions in a row. Each position may at
any time be full or empty. VR(101) to VR(110) are used to hold an array of ten
1's and 0's to signal that the positions are full (1) or empty (0). The gantry puts
the load down in the first free position. Part of the program to achieve this
would be as follows:
movep:
MOVEABS(115)
FOR VR(0) = 101 TO 110
IF (VR(VR(0)) = 0) THEN GOSUB load
MOVE(200)
NEXT VR(0)
PRINT "All positions are full"
WAIT UNTIL IN(3) = ON
GOTO movep
load:
OP(15,OFF)
VR(VR(0)) = 1
RETURN
The variables are backed up by a battery so the program here could be
designed to store the state of the machine when the power is OFF. It would of
course be necessary to provide a means of resetting completely following
manual intervention.
Example 3
loop:
VR(65) = VR(0)*MPOS AXIS(1)
PRINT VR(65)
GOTO loop
System Command
WA( time )
The WA command pauses program execution for the number of milliseconds
specified for time. The command can only be used in a program.
time
The number of milliseconds to hold program execution.
The following lines would turn ON output 7 two seconds after turning OFF out-
put 1.
OP(1,OFF)
WA(2000)
OP(7,ON)
System Command
WAIT IDLE
The WAIT IDLE command suspends program execution until the base axis
has finished executing its current move and any buffered move. The com-
mand can only be used in a program.
'Move to first put down position
'200 is spacing between positions
'Put load in position and mark array
'Assign VR(65) to VR(0) multiplied by
'axis 1 measured position
Section 6-3
193