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.
When signals are sent, signal parameters are transferred to the receiver waiting with #WAIT. The signals can be read out with a successful #WAIT and the value of the variable (<param>) is assigned.

(Important: In the equation, the left-hand value is assigned to the right-hand value.) When a signal parameter is read, a check is made whether the transferred signal parameter at index <idx> was adopted in the ‘target variable (<param>). If this is not the case, error ID 21549 is output.

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

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.