Omron R88A-MCW151-DRT-E - Wait Loaded; Wait until

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Command, function and parameter description Section 6-3
WAIT IDLE works on the default basis axis (set with BASE) unless AXIS is
used to specify a temporary base axis.
Precautions: The execution of WAIT IDLE does not necessarily mean that the axis will be
stationary in a servo motor system.
See also: AXIS, WAIT LOADED
Example: MOVE(100)
WAIT IDLE
PRINT "Move Done"
6-3-202 WAIT LOADED
Type: System Command
Syntax: WAIT LOADED
Description: The WAIT LOADED command suspends program execution until the base
axis has no moves buffered ahead other than the currently executing move.
The command can only be used in a program.
This is useful for activating events at the beginning of a move, or at the end
when multiple moves are buffered together.
WAIT LOADED works on the default basis axis (set with BASE) unless AXIS
is used to specify a temporary base axis.
See also: AXIS, WAIT IDLE
Example: ‘Switch output 8 ON at start of start of MOVE(500)
‘and OFF at end
MOVE(800)
MOVE(500)
WAIT LOADED
OP(8,ON)
MOVE(400)
WAIT LOADED
OP(8,OFF)
6-3-203 WAIT UNTIL
Type: System Command
Syntax: WAIT UNTIL
condition
Description: The WAIT UNTIL command repeatedly evaluates the condition until it is
TRUE. After this program execution will continue. The command can only be
used in a program.
Arguments:
condition
Any valid BASIC logical expression.
Examples: Example 1
In this example, the program waits until the measured position on axis 0
exceeds 150, and then starts a movement on axis 1
WAIT UNTIL MPOS AXIS(0)>150
MOVE(100) AXIS(1)
Example 2
The expressions evaluated can be as complex as you like provided they fol-
low BASIC syntax, for example:
WAIT UNTIL DPOS AXIS(2)< = 0 OR IN(1) = ON
The above line would wait until the demand position of axis 2 is less than or
equal to 0 or input 1 is ON.