Synchronous waiting for acknowledgement (#DRIVE WAIT SYN)
The following command checks whether all previous #DRIVE WR SYN were completed for an axis. The interpolator is stopped until all #DRIVE WR SYN are executed in the drive. This applies to both path axes and spindle axes.
Syntax: |
#DRIVE WAIT SYN [ AX=<axis_name> | AXNR=.. SWITCH_OK ] |
AX=<axis_name> | Name of the (drive) axis |
AXNR=.. | Logical axis number of the (drive) axis, positive integer |
SWITCH_OK | Check whether all previous #DRIVE WR SYN are completed. |
Programming Example
Synchronous waiting for acknowledgement
Synchronous writing with immediate waiting for acknowledgement:
%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 for 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