YASKAWA XTRAWARE - V3.0 - Wait_Exact

Command Reference
WAIT_EXACT
Table explanation
Group Wait
Syntax WAIT_EXACT <n>
Op. Code 145
Modes Program, Sequential
Description Waits until the position error is smaller than the
motion_end_window and theoretical motion is over
(velocity_demand_value is equal to zero) or the time limit is
exceeded before proceeding to the next command.
Motion_end_window is set by the Pn2C0 parameter in user
position units.
Unlike the Exact_mode flag, the WAIT_EXACT command causes a
one-time delay only.
Syntax
Arguments
n The time period to wait. Setting this value to
–1 specifies that the program must wait for an
infinite period of time, i.e., until the motion ends.
[ms]
Serial
4 V
Example LABEL 1
MOVE 10800 3000
SET_OUTPUT 2 ON
WAIT_EXACT –1
SET_OUTPUT 1 ON
END
Example
Explanation
Motor starts to move; output 2 is set ON; motion continues; when
motion ends output 1 is set ON. (The WAIT command pauses
execution of the following lines of the program until the motion is
complete.)
See Also Variables: Exact_mode, Motion_end_window, Position_error
Parameter: Pn2C0
XtraWare User Manual 165