Omron SYSMAC CJ Series, Operation Manual

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All BASIC commands Section 4-2
262
4-2-257 WAIT LOADED
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4-2-258 WAIT UNTIL
/i
Type System command
Syntax WAIT LOADED
Description The WAIT LOADED command suspends program execution until the
base axis has no moves buffered ahead other than the currently execut-
ing move. The command can only be used in a program.
This is useful for activating events at the beginning of a move, or at the
end when multiple moves are buffered together.
WAIT LOADED works on the default basis axis (set with BASE ) unless
AXIS is used to specify a temporary base axis.
Arguments N/A
Example ' Switch output 8 ON at start of MOVE(500) and OFF at end
MOVE(800)
MOVE(500)
WAIT LOADED
OP(8,ON)
MOVE(400)
WAIT LOADED
OP(8,OFF)
See also AXIS , WAIT IDLE
Type System command
Syntax WAIT UNTIL condition
Description The WAIT UNTIL command repeatedly evaluates the condition until it is
TRUE . After this program execution will continue. The command can
only be used in a program.
Arguments • condition
Any valid BASIC logical expression.
Example In this example, the program waits until the measured position on axis 0
exceeds 150, and then starts a movement on axis 1.
WAIT UNTIL MPOS AXIS(0)>150
MOVE(100) AXIS(1)
Example The expressions evaluated can be as complex as you like provided they
follow BASIC syntax, for example:
WAIT UNTIL DPOS AXIS(2) <= 0 OR IN(1) = ON
The above line would wait until the demand position of axis 2 is less
than or equal to 0 or input 1 is on.
See also N/A