Waiting for signals (#WAIT)

Syntax:

#WAIT [<mode>] [ ID=.. { P[<idx>] = <param> } { CH=.. } [ AHEAD ] ]

<mode>

Synchronisation mode. Permitted identifiers:

---: Synchronisation at decoding level (initial state) For example, this synchronisation is required if it is necessary to synchronise to parameters or variables.

SYN: Synchronisation at interpolator level. This synchronisation is required in the case of real-time requests, e.g. synchronisation of two machining units on a multi-column machine

ID=..

Number of the signal for which the system is waiting. Positive integer.

P[<idx>] = <param>

Signal parameter as real number. While waiting for signals, parameters can also be sent by the signal sender. Parameters can also originate from different channels. They are assigned to the specified parameters or variables (<param>).

<idx>: Range for maximum possible number of parameters: 0 .. 11 (Max. number of coupling pairs⁽¹⁾)

After complete acknowledgement of the waiting condition (reception of all required signals), a check is made whether all programmed parameters were written. An error message is generated if id not the case.

CH=..

Channel number from which a signal is expected.
1...max. number of channels ⁽²⁾

If no channel number is specified, the program waits for a broadcast signal from any user.

AHEAD

Keyword for execution of a "flying” WAIT. Used to reduce waiting times because of the buffer effect of the look-ahead function (up to 70 blocks in advance). If synchronised at interpolator level, WAIT is output at once. As a result, the following acknowledgement check (SIGNAL) is flying, i.e. a change can be made immediately to the next motion block without interruption.