Danfoss VLT 5000 Series Manual page 94

I I I I I NOWAIT
The NOWAIT command defines the program flow
for positioning commands.
When NOWAIT OFF is set, the positioning com-
mands are carried out in their entirety, i.e. until the
target position is reached, before any following
commands will be executed.
When starting a positioning command with
NOWAIT ON, further command procedures are
continued and the positioning work takes place in
the background (so to say). In the NOWAIT ON
condition it is thus possible to query the momen-
tary position, or to alter the velocity or the target
position during the positioning procedure.
Summary
Wait / Do not wait after a POSA/POSR command
Syntax
NOWAIT s
Parameter
s = condition:
ON = no wait for positioning till target position
is reached
OFF = wait till positioning achieved
NB!
The default condition is NOWAIT OFF, i.e. if
no NOWAIT instruction is contained within a
program, then the positioning procedure is carried
out in its entirety before the processing of the next
command is begun.
If, when in NOWAIT condition during an active
positioning procedure, a further positioning com-
mand follows, then the new target position will be
tracked without interruption. The HOME as well as
the INDEX commands will be processed to the
end in the NOWAIT ON condition, before the next
command can be begun.
Command group
CON
Cross Index
WAITAX, AXEND, POSA, POSR, HOME, INDEX
Syntax-Example
NOWAIT ON
/* no waiting after POS-commands */
NOWAIT OFF
/* wait after POS-commands till target reached */
Program sample
NOWAI_01.M, MSTOP_01.M, OUT_01.M, VEL_01.M
94
VLT ® 5000 SyncPos option
I I I I I ON COMBIT .. GOSUB
The instruction ON COMBIT is used to call up a
subprogram when Bit n of the communication
buffer is set.
Summary
Call up a subprogram when Bit n of the
communication buffer is set.
Syntax
ON COMBIT n GOSUB name
Parameter
n = Bit n of communication buffer
–32 <= n<=32, n!= 0
name = name of subprogram
NB!
ON COMBIT refers to the first 32 Bits of the
process data memory.
Priority
If a number of interrupts occur simultaneously, the
subprogram assigned to the lowest bit is worked
through first. The other interrupts will be processed
afterwards. If, during an interrupt subroutine, the
same interrupt occurs (exception: error interrupt),
then it will be ignored and thus lost.
Peculiarities
The subroutine to be called up must be defined
within the SUBMAINPROG and ENDPROG
identified program.
NB!
During the execution of an ON COMBIT
subroutine NOWAIT is set to ON.
Portability
In the case of COMOPTGET and COMOPTSEND,
the offset of 2 Word is retained for compatibility
reasons.
Command group
INT
Cross Index
SUBPROG...RETURN, COMOPTGET,
COMOPTSEND
Syntax-Example
ON COMBIT 5 GOSUB test
// set interrupt on fieldbus bit 5
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