Lenze PM94P01C - Manual (Page 103)

PM94P01C 101
Reference
Table 59: VELOCITY ON/OFF
VELOCITY
ON/OFF Velocity Mode Statement
Purpose The VELOCITY ON statement enables velocity mode in the drive. The VELOCITY OFF statement
disables velocity mode and returns drive to its default mode. (Default mode is Positioning). The
velocity value for this mode is set by writing to the System Variable “VEL”. All position related
variables are valid in this mode.
Syntax VELOCITY ON
VELOCITY OFF
Remarks The “VELOCITY ON” statement is considered one of the motion related commands. It has to be
implemented when the drive is enabled. If the “VELOCITY ON” statement is executed while the drive
is disabled, fault # 27-”Drive disabled” will occur.
Execution of any motion related profiles while the drive is in Velocity mode will be loaded into the
Motion Queue. When the “VELOCITY OFF” statement is executed the drive defaults back to Position
mode and immediately begins to execute the motion profiles stored in the Motion Queue. Please note
that the “VEL” variable can be set on the fly, allowing dynamic control of the velocity.
See Also
Example:
VEL=0 ;Set velocity to 0
VELOCITY ON ;Turn on Velocity Mode
VEL = 10 ;Set velocity to 10
…{statements}
VELOCITY OFF
;Turn off Velocity Mode
Table 60: WAIT
WAIT Wait Statement
Purpose This statement suspend the execution of the program until some condition(s) is(are) met. Conditions
include Expressions TRUE or FALSE, Preset TIME expiration, MOTION COMPLETE.
Syntax WAIT UNTIL
WAIT WHILE
WAIT TIME
WAIT MOTION COMPLETE wait until expression becomes TRUE
wait while expression is TRUE
wait until in mS is expired
wait until last motion in Motion Queue completes
Remarks
See Also
Example:
WAIT UNTIL (APOS>2 && APOS<3) ;Wait until Apos is > 2 and APOS < 3
WAIT WHILE (APOS <2 && APOS>1) ;Wait while Apos is <2 and >1
WAIT TIME 1000 ;Wait 1 Sec (1 Sec=1000mS)
WAIT MOTION COMPLETE ;Wait until motion is done