Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 482

Z10 W10

W(ABS(Q22*Q22))

M50 W1

See Also:

Program commands {axis}{data}, A, B, C, U, V, X, Y, Z, CALL, PRELUDE, READ

WAIT

Function: Suspend program execution

Type: Motion program (PROG and ROT)

Syntax: WAIT

This command may be used on the same line as a WHILE condition to hold up execution of the program

until the condition goes false. When the condition goes false, program execution resumes on the next

line. Turbo PMAC will not blend moves through a true WHILE…WAIT loop.

Use of the WAIT statement allows indefinite pauses without the need for repeated use of a servo

command (e.g. DWELL or DELAY) to eat up the time. However, it is impossible to predict how long the

pause will be.

WAIT permits a faster resumption of the program upon the WHILE condition going false. Also, the

program timer is halted when WAITing, which allows the “in-position” bit to go true (which can be used

to trigger an action, or the next move).

Since Turbo PMAC executes a WHILE ({condition}) WAIT statement every Real Time Interrupt

until the condition goes false, it is essentially the same as a PLC0. This could use excessive processor

time and in severe cases trip the watchdog timer on Turbo PMAC’s that simultaneously run several

motion programs that use WAIT statements and or large PLC0 programs. For example, if the condition

needs to be checked only every 20 msec and not every Real Time Interrupt, consider using a DWELL

command to regulate the execution time of the WHILE loop.

Examples:

WHILE ({condition})

DWELL20

ENDW

WHILE (M11=0) WAIT ; Pause here until Machine Input 1 set

WHILE (M187=0) WAIT ; Pause here until all axes in-position

M1=1 ; Turn on Output 1 to activate punch