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Error Status — Bit #14: Bit #14 is set if the input state or position relationship specified in the
command is already true when the
GOWHEN
error status is monitored and reported only if you enable error-checking bit #14 with the
command (e.g.,
ERROR.14-1
program (assigned with the
command; or issue a
!K
necessary).
ER.14..... Assignment & comparison operator — use in a conditional expression (see AS).
TERF....... Full text description of each status bit. (see "Gowhen condition true" line item)
TER ......... Binary report of each status bit (bits 1-32 from left to right). See bit #14.
GOWHEN
. . . on a Trigger Input: Use
If you wish motion to be triggered with a trigger input, use the
command executes in the same manner as the
when the specified trigger input (
description.
GOWHEN
WAIT:
vs.
A
will cause program flow to halt (except for execution of immediate commands) until the
WAIT
condition specified is satisfied. Common uses for this function include delaying subsequent I/O
activation until the master has achieved a required position or an object has been sensed.
By contrast, a
GOWHEN
affect program flow. If you wish motion to be triggered with a trigger input, use the
command. The
TRGFNc1
that motion is executed when the specified trigger input (
description for details). In addition,
can use additional operands such as
WAIT
GOWHEN
Factors Affecting
If a second
command is executed before a start-motion command (
GOWHEN
), then the first
FSHFD
GOWHEN
are not nested.) An error is not generated when a
.
GOWHEN
While waiting for a
GOWHEN
second
command is encountered, then the first sequence is disabled and another start-motion
GOWHEN
command is needed to re-arm the second
A new
command must be issued for each start-motion command (
GOWHEN
). That is, once a
FSHFD
motion commands will not be affected by the same
If the
and start-motion commands are issued, the motion profile is delayed until the
GOWHEN
condition is met. If a second start-motion command is encountered, the second start-motion command
will override the
GOWHEN
avoided by using a
WAIT
motion command.
It is probable that the
GOWHEN
may be separated in time, and by other commands. Situations may arise, or commands may be given
which make the
GOWHEN
any motion pending the
execution of the
,
JOG
JOY
hard or soft limits, a drive fault, an immediate stop (
,
GO
FGADV
). NOTE: When the error occurs, the drive will branch to the error
command). To clear this error condition, issue another
ERRORP
command and check the program logic (use the
aTRGFNc1
GOWHEN
) is activated. For more information, refer to the
c
will suspend the motion profile until the specified condition is met. It does not
command executes in the same manner as the
expressions are limited to the operands listed above;
GOWHEN
(Following status) and
FS
Execution:
is over-written by the second
GOWHEN
condition to be met and a start-motion command has been issued, if a
sequence.
GOWHEN
condition is met and the motion command is executed, subsequent
GOWHEN
command and start motion. If this override situation is not desired, it can be
condition between the first start-motion command and the second start-
command, the
command, and the
GO
invalid or inappropriate. In these cases, the
condition becoming true is canceled. These situations include
GOWHEN
,
,
, and
HOM
PRUN
DRIVEØ
www.comoso.com
,
, or
command is issued. The
FSHFC
FSHFD
and
TRACE
command. The
TRGFNc1
command, except that motion is executed
GOWHEN
) is activated (see
c
TRGFN
(velocity of master).
VMAS
,
GO
FGADV
command. (
GOWHEN
command is over-written by another
,
GO
FGADV
command.
GOWHEN
condition becoming true
GOWHEN
condition is cleared, and
GOWHEN
commands, as well motion being stopped due to
), or an immediate kill (
!S
!K
Command Descriptions
ERROR
GOWHEN
features if
STEP
TRGFNc1
command
TRGFN
TRGFNc1
command, except
command
,
, or
FSHFC
commands
GOWHEN
,
, or
FSHFC
GOWHEN
or
).
^K
149
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