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BASIC commands
PROGRAMMING MANUAL
151
Revi
si
on 3.0
3.2.283 WDOG
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3.2.284 WHILE..WEND
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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 fol-
low 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
Type
System parameter
Syntax
WDOG
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 servo motor depending on the speed and torque reference values.
WDOG
can be turned on and off under program control, on command line
and the Trajexia Tools 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.
Note: The
WDOG
parameter can be executed automatically by Trajexia Tools
when the
Drives Enable
button is clicked on the control panel.
Arguments
N/A
Example
No example.
See also
AXISSTATUS
,
ERROR_AXIS
,
ERRORMASK
,
MOTION_ERROR
,
SERVO
.
Type
Program control 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
.
Note:
WHILE ... WEND
loops can be nested without limit.
Arguments
•
condition
Any valid logical BASIC expression.
Example
WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
See also
FOR..TO..STEP..NEXT
,
REPEAT..UNTIL
I52E-EN-03.book Seite 151 Freitag, 29. Juni 2007 11:55 11