# Synchronous waiting for acknowledgement (#DRIVE WAIT SYN)

The following command checks whether all previous #DRIVE WR SYN were completed for an axis. The interpolator is stopped until all #DRIVE WR SYN are executed in the drive. This applies to both path axes and spindle axes.

Syntax:
#DRIVE WAIT SYN [ AX=<axis_name> | AXNR=.. SWITCH_OK ]

AX=<axis_name> | Name of the (drive) axis
AXNR=.. | Logical axis number of the (drive) axis, positive integer
SWITCH_OK | Check whether all previous #DRIVE WR SYN are completed.

## Programing Example

Synchronous waiting for acknowledgement

Synchronous writing with immediate waiting for acknowledgement:

%TOOL_AXLINK1

N05 X0 Y0 Z0

N10 #DRIVE WR SYN [AX=X MOTOR=2 PARAM_SET=4 KEY=torque_limit VAL=400 WAIT]

N20 X100 Y50 Z30 G01 F3000

N30 X200 Y75 Z40

N65 X300 Y100

N70 X25 Y25 Z25 C25

Nxx

N80 M30

Synchronous writing with subsequent waiting for acknowledgement:

%TOOL_AXLINK2

N05 X0 Y0 Z0

N10 #DRIVE WR SYN [AX=X MOTOR=2 PARAM_SET=4 KEY=torque_limit VAL=400]

N20 X100 Y50 Z30 G01 F3000

N30 X200 Y75 Z40

N60 #DRIVE WAIT SYN [AX=X SWITCH_OK]

N65 X300 Y100

N70 X25 Y25 Z25 C25

Nxx

N80 M30