Synchronised wait (#COMMAND WAIT SYN)
Syntax: |
#COMMAND WAIT SYN [AX=<axis_name> | AXNR=.. ID=<Ident_nr> <Drive_type> ] |
AX=<axis_name> | Name of SERCOS axis ALL: Check all SERCOS axes existing in the system |
AXNR=.. | Logical axis number of SERCOS axis, positive integer |
ID=<Ident_nr> | Identification number of the command in SERCOS format, e.g. S-0-0148 (drive-controlled referencing) or S-0-0170 (tracing cycle) If no identification number is specified, the system waits for all open commands. |
<Drive_type> | Drive type SERC: SERCOS drive (currently only one permitted) |
Programing Example
Synchronised wait (COMMAND)
...
#COMMAND WAIT SYN [AX=X, ID=S-0-0148, SERC]
:
#COMMAND WAIT SYN [AX ALL, ID S-0-0148, SERC]
...
Attention
No plausibility check is made for logical axis number or identification number. The operator is solely responsible for making the correct entries.
Notice
The motion is not forcibly stopped to wait for a SERCOS command. But if a SERCOS command is not terminated at the end of the motion block, no further NC block is processed and the motion is therefore stopped.
Programing Example
The system waits until the S‑0‑0148 command terminates at the end of block N120.
..
N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]
N110 G01 X1000 F100
N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]
N130 G01 X2000
...
Attention
A ("WAIT”) command can only check commands which were previously started from the same processing level (decoding context or synchronous to processing at interpolation level). For example, a synchronised command ("SYN”) can only be checked synchronously at interpolator level.
Programing Example
No active command S‑0‑0148 is found in the N100 block, so no wait is initiated although the command could still actually be active. The real state of the command at interpolation level is only detected at block N120.
...
N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]
N110 #COMMAND WAIT [AX Y ID S-0-0148 SERC]
N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]
...