Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 749 of 909
TSWAIT
Trajectory Synchronized Wait
APPLICATION: Program execution and flow control
DESCRIPTION: Suspends program execution during a synchronized move
EXECUTION: Immediate
CONDITIONAL TO: PTS or PRTS commands
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x series only; not available in version 5.32.x.x
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The TSWAIT command pauses synchronized program execution. After a GS command has
been issued to start a synchronized move, the TSWAIT command can be used to pause
program execution until the move has been completed.
Note that a standard TWAIT command would not work in cases where the motor issuing the
PTS() and GS commands had a zero-length contribution to the total move. The TSWAIT
command was designed to handle this situation. For more details, see Synchronized Motion on
page 175.
EXAMPLE:
The following example is a synchronized move in its simplest form. The code could be
downloaded to either motor 1 or 2, and it would work the same.
ADTS=100 'Set target synchronized accel/decel
VTS=10000 'Set target synchronized velocity
PTS(3000;1,4000;2) 'Set synchronized target positions
GS 'Start synchronized motion
TSWAIT 'Wait for synchronized motion to complete
RELATED COMMANDS:
PRTS(...) Position, Relative Target, Synchronized (see page 654)
PTS(...) Position Target, Synchronized (see page 660)
TWAIT(gen#) Trajectory Wait (see page 750)
WAIT=formula Wait for Specified Time (see page 795)
Part 2: Commands: TSWAIT
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