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195
Command, function and parameter description
Section 6-3
6-3-204 WDOG
Type:
System Parameter
Description:
The WDOG parameter contains the software switch which enables the Servo
Driver using the RUN (Servo ON) input signal. The enabled Servo Driver will
control the Servomotor depending on the speed and torque reference values.
WDOG can be turned ON and OFF under program control, on command line
and the Motion Perfect control button.
The Servo Driver will automatically be disabled when a MOTION_ERROR
occurs. A motion error occurs when the AXISSTATUS state for one of the
axes matches the ERRORMASK setting. In this case the software switch
(WDOG) will be turned OFF, the MOTION_ERROR parameter will have
value 1 and the ERROR_AXIS parameter will contain the number of the first
axis to have the error.
Precautions:
The WDOG parameter can be executed automatically by Motion Perfect
when the Drives Enable Button is clicked on the control panel.
See also:
AXISSTATUS, ERROR_AXIS, ERRORMASK, MOTION_ERROR, SERVO
6-3-205 WHILE WEND
Type:
Structural Command
Syntax:
WHILE
condition
<commands>
WEND
Description:
The WHILE ... WEND structure allows the program segment between the
WHILE and the WEND statement to be repeated a number of times until the
condition becomes FALSE. In that case program execution will continue after
WEND.
Precautions:
WHILE ... WEND loops can be nested without limit.
Arguments:
condition
Any valid logical BASIC expression.
See also:
FOR, REPEAT
Example:
WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
6-3-206 XOR
Type:
Logical Operator
Syntax:
expression_1
XOR
expression_2
Description:
The XOR operator performs the logical XOR function between corresponding
bits of the integer parts of two valid BASIC expressions.
The logical XOR function between two bits is defined as follows:
Bit 1
Bit 2
Result
0
0
0
0
1
1