Synchronised wait (COMMAND)

#COMMAND WAIT SYN [AX<axis_name> | AXNR<expr> ID<Ident_nr> <Drive_type> ]

<axis_name>

Name of SERCOS axis

Additional ID

Meaning

ALL

Check all SERCOS axes existing in the system

AXNR<expr>

Logical axis number of SERCOS axis, positive integer

ID<Ident_nr>

Identification number of the command in SERCOS format,

e.g. S-0-0148 (drive-controlled referencing)

or S-0-0170 (tracing cycle)

If no identification number is programmed, the system waits for all open commands.

<Drive_type>

Drive type

Valid IDs

Meaning

SERC

SERCOS drive
(currently only one permitted)

Programing Example

prg_example

Synchronised wait (COMMAND)

...

#COMMAND WAIT SYN [AX=X, ID=S-0-0148, SERC]

:

#COMMAND WAIT SYN [AX ALL, ID S-0-0148, SERC]

...

Attention

attention

No plausibility check is made for logical axis number or identification number. The operator is solely responsible for making the correct entries.

Notice

notice

The motion is not forcibly stopped to wait for a SERCOS command. But if a SERCOS command is not terminated at the end of the motion block, no further NC block is processed and the motion is therefore stopped.

Programing Example

prg_example

The system waits until the S‑0‑0148 command terminates at the end of block N120.

..

N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]

N110 G01 X1000 F100

N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]

N130 G01 X2000

...

Attention

attention

A ("WAIT”) command can only check commands which were previously started from the same processing level (decoding context or synchronous to processing at interpolation level). For example, a synchronised command ("SYN”) can only be checked synchronously at interpolator level.

Programing Example

prg_example

Although the command S‑0‑0148 may still be active, no wait is initiated at block N110 because no active command S-0-0148 is detected at decoding level. The real state of the command at interpolation level is only detected at block N120.

...

N100 #COMMAND WR SYN [AX Y ID S-0-0148 SERC]

N110 #COMMAND WAIT [AX Y ID S-0-0148 SERC]

N120 #COMMAND WAIT SYN [AX Y ID S-0-0148 SERC]

...