Synchronous waiting for acknowledgement

With the following command it is checked, if all previous #DRIVE WR SYN for an axis have been finished. The interpolator is stopped as long as all #DRIVE WR SYN have been executed in the drive. This is both valid for path axes and spindle axes.

#DRIVE WAIT SYN [ AX <axis_ name> | AXNR <expr> [ SWITCH_OK ] ]

AX<axis_name> Name of the (drive) axis

AXNR<expr> Logical axis number of the (drive) axis,positive integer

SWITCH_OK Check, if all previous #DRIVE WR SYN have been finished.

Programming examples

%TOOL_AXLINK1 
N05 X0 Y0 Z0 
N10 #DRIVE WR SYN [AX=X MOTOR=2 PARAM_SET=4 KEY= Torque_limit VAL=400 WAIT] 
N20 X100 Y50 Z30 G01 F3000 
N30 X200 Y75 Z40 
N65 X300 Y100 
N70 X25 Y25 Z25 C25 
Nxx 
N80 M30 

Synchronous writing with subsequent waiting on acknowledgement:

%TOOL_AXLINK2 
N05 X0 Y0 Z0 
N10 #DRIVE WR SYN [AX=X MOTOR=2 PARAM_SET=4 KEY=Torque_limit VAL=400] 
N20 X100 Y50 Z30 G01 F3000 
N30 X200 Y75 Z40 
N60 #DRIVE WAIT SYN [AX=X SWITCH_OK] 
N65 X300 Y100 
N70 X25 Y25 Z25 C25 
Nxx 
N80 M30