Synchronized waiting
#COMMAND WAIT SYN [AX <axis_ name> | AXNR <expr> ID<ident_nr> <drive_type> ]AX<axis_name> Name of the SERCOS axis
Additional ID | Significance |
|---|---|
ALL | Check all SERCOS axes of the system |
AXNR<expr> Logical axis number of the SERCOS axis, positive integer
ID<ident_nr> Identification number of the command in SERCOS format,
e.g. S-0-0148 (drive-controlled referencing)
or S-0-0170 (tracing cycle)
If no identification number is programmed, the waiting is valid for all
open commands.
<drive_type> Drive type
Valid IDs | Significance |
|---|---|
SERC | Sercos drive (currently only drive permitted) |
Programming example
..
N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]
N110 G01 X1000 F100
N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]
N130 G01 X2000
... Notice | |
No plausibility check as regards the logical axis number and identification number is conducted. The operator is solely responsible for making the correct entries. |
 | To wait for SERCOS commands the movement is not stopped absolutely. But if a SERCOS command is not finished at the end of the movement block, no new NC-block is processed and the movement is therefore stopped. |
Programming example
Wait at the end of block N120 until command S-0-0148 is finished.
..
N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]
N110 G01 X1000 F100
N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]
N130 G01 X2000
...
| |
A (WAIT)-command can only check commands, which are instructed from the same level of processing (Decoding context or synchronous to the processing on interpolation level). For example a synchronized command (SYN) can only be checked on interpolation level. |
Programming example
Although the command S-0-0148 still could be active, no wait at block N110 is initiated, because on decoding level no active command S-0-0148 is detected. The real state of the command on interpolation level just can be detected at block N120.
...
N100 #COMMANDWR SYN [AX Y ID S-0-0148 SERC]
N110 #COMMAND WAIT [AX Y ID S-0-0148 SERC]
N120 #COMMANDWAIT SYN [AX Y ID S-0-0148 SERC]
...