EDH0162En1040 – 06/99
3.162
MM4005
WN — Wait for a element of trajectory
Usage
IMM
PGM
MIP
Syntax
WNnn
Parameters
Description
nn
[int]
— Number of trajectory element to wait for.
Range
nn
—
0
to
Element total number of the trajectory
.
Units
nn
— None.
Defaults
nn
Missing: Error C.
Out of range: Error C.
Description
This command stops the execution of the program up to the beginning of
the execution of the defined by WN numberred element of the trajectory.
NOTE
This is a command used in phase of execution and its place is always
after ET command. If the value defined by WN is superior than the total
number of element of the trajectory or by error after trajectory stop the
trajectory execution do not reach the desired element, the command exe-
cution breaks and returns an error.
NOTE
This command must be used in a program.
Returns
None.
Errors
C
—
Parameter out of limits.
D
—
Unauthorized execution.
Rel. Commands
None.
Example
NT, FA90
|
Initialisation.
CR10, CA5
|
Element 1.
CA350
|
Element 2.
CA5
|
Element 3.
VV5
|
Set trajectory velocity to 5 units/sec.
ET
|
Trajectory execution with generation of pulses.
WN2
, 5SB
|
At the beginning of element 2, set I/O ouput bit #5.
WN3
, 5CB
|
At the beginning of element 3, reset I/O ouput bit.
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