SMAC
LAC-26 Technical Reference Manual
4/29/2013 45
This command is used to determine when servo axis 'a' has
achieved
the specified
position
'n'
referenced
by
the
home
position
(or zero).
Until
that
position
has
been
reached,
command
execution
will
be
suspended.
This
command
can
be
issued before
or
after
the
servo
has
been
commanded
to
move;
however,
if
the
servo is
not
moving,
then
command
execution
may
b
e
suspended
indefinitely.
Related Commands: WR
Command:
aWRn
-- Wait for Relative Position 'n' --
Argument:
-2,147,483,647 <= n <= 2,147,483,647
This command is used to determine when servo axis 'a' has
achieved
the specified
position
'n' referenced by the current position when this command is
executed.
Until
that
position
has been
reached, command execution will be suspended. This command can
be
issued
before
or
after
the
servo
has
been
commanded
to
move;
however,
if
the
servo
is
not
moving,
then
command
execution might be suspended indefinitely.
Related Commands: WP
Command:
aWSn
-- Wait for Stop --
Argument:
0 <= n <= 65535
This command
will
wait until
servo axis
'a' has
stopped
moving
for 'n'
milliseconds
before
continuing
to
the next
command.
So
that
there
is
only
one
delay
period,
in
the
case
where
'n'
is
specified
as
"0",
the
command
will
wait
for
all
servo axis'
to
stop
moving
before
the
delay
is
executed.
Related Commands: ST