Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 795 of 909
WAIT=formula
Wait for Specified Time
APPLICATION: Program execution and flow control
DESCRIPTION: Suspends user program execution for specified amount of time
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: milliseconds
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 0 to 4000
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
WAIT=formula pauses program execution for a specified amount of time. Time is measured in
milliseconds (e.g., WAIT=1000 is one second).
EXAMPLE: (Dynamically change from Velocity mode to Torque mode)
MV 'Set motor to Velocity mode
VT=100000 'Set velocity to 100000
ADT=1000 'Set accel/decel to 1000
G 'Go (Start moving)
WAIT=2000 'Wait about 2 seconds
T=TRQ 'Set torque to the value the PID filter
'was commanding in MV
MT G 'Set motor to Torque mode
WAIT=2000 'Wait about 2 seconds
OFF 'Turn the motor off
Part 2: Commands: WAIT=formula
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