Move Block Wait Functions (Waiton, Waitoff) - Mitsubishi Electric Q172CPU Programming Manual

7 MOTION PROGRAMS FOR POSITIONING CONTROL

7.16.11 Move block wait functions (WAITON, WAITOFF)

Code
Function Move block wait functions
W
Format
W
[Explanation]
WAITON, WAITOFF
A I T O N # Xx ;
A I T O F F # Xx ;
(1) Execution of the next travel block is waited until the completion of ON/OFF
condition for the specified device. However, the operation block is executed.
(2) The response time of WAITON/WAITOFF is the operation cycle time (approx. 0.88
[ms] for 4 or less axes).
(3) The grammar is indicated below.
<WAITON statement> : WAITON #<device>
[Example] WAITON #X10 ;
<WAITOFF statement> : WAITOFF #<device>
[Example] WAITOFF #X11 ;
(4) It takes about 7 to 64[ms] from when a program is started until the program is
actually run. Therefore, If WAITON/WAITOFF is used, the Motion program can be
started at high speed. By setting a wait for a shift to the next block with WAITON
or WAITOFF after a program start has been made by the start instruction of the
Motion program, prereading of the next block has been completed, and therefore,
the next block can be executed at high speed (approx. 3.5[ms] for 4 or less axes)
after the device condition has held, improving the variation or delay in a program
start.
[Example]
WAITON #X10 ;
N1 G01 X100. Y200. F1000. ;
WAITOFF #X11 ;
N2 G01 X200. Y300. F500. ;
:
:
M02 ;
%
(5) WAITON/WAITOFF cannot be used with the home position return instruction.
The next travel block is executed at the completion of ON/OFF
condition for the specified device.
When X10 turns ON, N1 block is executed.
When X11 turns OFF, N2 block is executed.
7 - 145
Device (X, Y, M, B, F)
Device (X, Y, M, B, F)