Wait_Exact - YASKAWA XTRAWARE - V3.0 Manual

WAIT_EXACT

Table explanation
Group Wait
Syntax WAIT_EXACT <n>
Op. Code 145
Modes Program, Sequential
Description Waits until the position error is smaller than the
motion_end_window and theoretical motion is over
(velocity_demand_value is equal to zero) or the time limit is
exceeded before proceeding to the next command.
Motion_end_window is set by the Pn2C0 parameter in user
position units.
Unlike the Exact_mode flag, the WAIT_EXACT command causes a
one-time delay only.
Syntax n
Arguments
Example LABEL 1
MOVE 10800 3000
SET_OUTPUT 2 ON
WAIT_EXACT –1
SET_OUTPUT 1 ON
END
Example Motor starts to move; output 2 is set ON; motion continues; when
Explanation motion ends output 1 is set ON. (The WAIT command pauses
execution of the following lines of the program until the motion is
complete.)
See Also Variables: Exact_mode, Motion_end_window, Position_error
Parameter: Pn2C0
XtraWare User Manual
The time period to wait. Setting this value to
–1 specifies that the program must wait for an
infinite period of time, i.e., until the motion ends.
[ms]
Serial 4 V
Command Reference
165