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MCO 305 Design Guide
__ Software Reference __
128
MG.33.L4.02 – VLT
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NOWAIT
Summary Wait / Do not wait after a POSA/POSR command
Syntax NOWAIT s
Parameter s = condition:
ON = continue program execution while going to target position
OFF = hold program execution until target position is reached
Description The NOWAIT command defines the program flow for positioning commands.
There are two conditions NOWAIT ON and NOWAIT OFF:
NOWAIT ON This will allow the system to simultaneously position and to process the following
instructions as well.
When starting a positioning command with NOWAIT ON, further command procedu-
res are continued and the positioning work takes place in the background (so to
say). In the NOWAIT ON condition it is thus possible to query the momentary posi-
tion, or to alter the velocity or the target position during the positioning procedure.
NOWAIT OFF Allows the execution of the program line by line, i.e., the positioning takes place
and the processor waits till it is over and then does the following instructions.
Note: The dotted arrows mean the movement positions.
NB!:
The default condition is NOWAIT OFF, i.e. if no NOWAIT instruction is contained
within a program, then the positioning procedure is carried out in its entirety
before the processing of the next command is begun.
If, when in NOWAIT condition during an active positioning procedure, a further
positioning command follows, then the new target position will be tracked without
interruption.
The HOME as well as the INDEX commands will be processed to the end in the
NOWAIT ON condition, before the next command can be begun.
Command Group CON
Cross Index WAITAX, AXEND, POSA, POSR, HOME, INDEX, NOWAIT
Syntax Example NOWAIT ON /* no waiting after POS-commands */
NOWAIT OFF /* wait after POS-commands till target reached */
Program Samples NOWAI_01.M,MSTOP_01.M, OUT_01.M, VEL_01.M