Danfoss VLT5000 SyncPos Operating Instructions Manual page 128

■ ■ ■ ■ ■ 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 momentary 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 samples
NOWAI_01.M, MSTOP_01.M, OUT_01.M, VEL_01.M
MG.10.J8.02 – VLT is a registered Danfoss trade mark
Programmable SyncPos motion controller
■ ■ ■ ■ ■ ON APOS .. GOSUB
It is possible to call up a subprogram with the
instruction ON APOS, if a specific slave position (UU)
has been passed in positive or negative direction.
The instruction can be useful for positioning and
synchronization controls, as well as for cam controls
and cam boxes. For example, in order to replace the
increasing slave position in the case of open curves
after each cycle by a recurring reference point.
NB!
An ON APOS interrupt can be deleted with the
command ON DELETE .. GOSUB ...
Summary
Call up a subprogram when the slave position xxx is
passed.
Syntax
ON sign APOS xxx GOSUB name
Parameter
sign + when the slave position xxx is
passed in positive direction
– when the slave position xxx is
passed in negative direction
xxx = slave position in UU
name = name of the subprogram
100 xxx 0
- - - - - - - - - - - -
<- - - - - - - - - - - - - - - - - - positive direction
- - - - - - > negative direction - - - - - - > - - - - - - > - - - - - - > - - - - - - >
Note
The subroutine to be called up must be defined
within the SUBMAINPROG and ENDPROG identified
program.
NB!
During the execution of subprograms
triggered by an interrupt, NOWAIT ON is set
automatically.
Command group
I NT
Cross Index
SUBPROG...RETURN, DISABLE.. , ENABLE, Priorities
of interrupts, ON DELETE . GOSUB
Syntax Example
ON -APOS 800 GOSUB name
// Call up the subroutine name when slave
// position 800 is passed in negative direction
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