YASKAWA FS100 - Cwait

2 INFORM Explanation
FS100 2.2 Control Instruction : CWAIT
2-53
CWAIT
Releases the NWAIT execution (which simultaneously executes the
manipulator operation and instructions excluding the move instruction)
and waits for the next instruction line to be carried out.
CWAIT is used with the NWAIT tag, an additional item of a move
instruction.
(1) <Step> <Instructions>
n-1 MOVL V=100
n MOVL V=100 NWAIT
DOUT OT#(1) ON
CWAIT
DOUT OT#(1) OFF
n+1 MOVL V=100
Turns ON the general-purpose output signal number 1 when the
manipulator starts moving from the step n-1 to the step n, and
turns it OFF when the manipulator reaches the step n.
SUBSET STANDARD EXPANDED
Not available Available Available
Function
Construction
CWAIT
END
Example