Yaskawa FSP Amplifier FlexWorks - Manual (Page 186)

Command Reference
186
WAIT_EXACT
G ROUP Wait
S YNTAX WAIT_EXACT
O P . C ODE 145
M ODES Program, Sequential
D ESCRIPTION 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.
S
YNTAX
A RGUMENTS
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
E XAMPLE LABEL 1
MOVE 10800 3000
SET_OUTPUT 2 ON
WAIT_EXACT –1
SET_OUTPUT 1 ON
END
E
XAMPLE
E XPLANATION
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.)
S
EE
A
LSO
Variables: Exact_mode, Motion_end_window,
Position_error
Parameter: Pn2C0