Reference Manual
PMAC 2 Software Reference
356 PMAC Program Command Specification
V{data}
Function
V-Axis Move
Type
Motion program (PROG and ROT)
Syntax
V{data
where:
• {data} is a floating point constant or expression representing the position or
distance in user units for the V-axis.
Remarks
This command causes a move of the V-axis. (See {axis}{data} description, above.)
Example
V20
U56.5 V(P320)
Y10 V10
V(SQRT(Q20*Q20+Q21*Q21))
See Also
Program commands {axis}{data}, A, B, C, U, W, X, Y, Z, CALL, READ
W{data}
Function
W-Axis Move
Type
Motion program
Syntax
W{data}
where:
• {data} is a floating point constant or expression representing the position or
distance in user units for the W-axis.
Remarks
This command causes a move of the W-axis. (See {axis}{data} description, above.)
Example
W5
W(P10+33.5)
Z10 W10
W(ABS(Q22*Q22))
See Also
Program commands {axis}{data}, A, B, C, U, V, X, Y, Z, CALL, READ
WAIT
Function
Suspend program execution
Type
Motion program (PROG and ROT)
Syntax
WAIT
Remarks
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. 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 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 PMACs that
simultaneously run several motion programs that use WAIT statements and or large PLC0
programs.