BASIC commands
PROGRAMMING MANUAL 202
Revision 1.0
3.2.312 WDOG
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3.2.313 WHILE..WEND
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3.2.314 XOR
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Example 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.
See also N/A
Type System parameter
Syntax WDOG
Description The WDOG parameter contains the software switch which enables the Servo
Drive using the RUN (Servo on) input signal. The enabled Servo Drive will
control the servo motor depending on the speed and torque reference values.
WDOG can be turned on and off under program control, on Command Line
Terminal and the Trajexia Studio control button.
The Servo Drive will automatically be disabled when a MOTION_ERROR
occurs. A motion error occurs when the AXISSTATUS state for one of the
axes matches the ERRORMASK setting. In this case the software switch
(WDOG) will be turned off, the MOTION_ERROR parameter will have value
different than 0 and the ERROR_AXIS parameter will contain the number of
the first axis to have the error.
Note: The WDOG parameter can be executed automatically by Trajexia Stu-
dio when the Drives Enabled check box is clicked on the control panel.
Arguments N/A
Example No example.
See also AXISSTATUS, ERROR_AXIS, ERRORMASK, MOTION_ERROR, SERVO.
Type Program control command
Syntax WHILE condition
commands
WEND
Description The WHILE ... WEND structure allows the program segment between the
WHILE and the WEND statement to be repeated a number of times until the
condition becomes FALSE. In that case program execution will continue after
WEND.
Note: WHILE ... WEND loops can be nested without limit.
Arguments • condition
Any valid logical BASIC expression.
Example WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
See also FOR..TO..STEP..NEXT, REPEAT..UNTIL
Type Mathematical operation
Syntax expression1 XOR expression2
Description The XOR (eXclusive OR) operator performs the logical XOR function between
corresponding bits of the integer parts of two valid BASIC expressions.
The logical XOR function between two bits is defined as in the table below.
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