Waiting for signals

Analogously to sending signals, it is possible to wait for a corresponding SIGNAL with the WAIT command. A broadcast WAIT waits only for a broadcast SIGNAL with the same signal number. A WAIT synchronised at decoder/interpolator level uses up one separate SIGNAL in each case.

#WAIT [<mode>] [ ID<sgn_no> { P[<idx>] = <param> } { CH<chan_no>} } [ AHEAD ] ] (non-modal)

<mode >

Synchronisation mode. Permitted identifiers:



Synchronisation at decoding level (initial state) For example, this synchronisation is required if it is necessary to synchronise to parameters or variables.


This synchronisation is required at interpolator level for real-time requests, e.g. synchronisation of two machining units on a multi-column machine.


Number of the signal for which the system is waiting. Positive integer.

P[<idx>] = <param>

Signal parameter as real number. While waiting for signals, parameters can also be sent by the signal sender. Parameters can also originate from different channels. They are assigned to the specified parameters or variables (<param>).



Range for maximum possible number of parameters: 0...max. Number of signal parameters (1)


After complete acknowledgement of the waiting condition (reception of all required signals), a check is made whether all programmed parameters were written. An error message is generated if id not the case.



Signal parameters can only be evaluated at decoder level. This means, for example, a #WAIT SYN [... P[0] = ... ] is not allowed.


Channel number from which a signal is expected.
1...max. number of channels (2)

If no channel number is specified, the system waits for a signal from any user.


Keyword for execution of a "flying” WAIT. Used to reduce wait time because of the buffer effect of the look-ahead function (up to 70 blocks in advance). If synchronised at interpolator level, WAIT is output at once. As a result, the following acknowledgement check (SIGNAL) is flying, i.e. a change can be made immediately to the motion block without interruption.

(1) see [6]-6.45

(2) see [6]-2.4

Programing Example


Wait for signals

(Wait flag 4711, synchronisation at DEC level, SIGNAL 4711 from
any channel)

N200 #WAIT [ID4711]

(Signal 815, synchronisation at IPO level,
SIGNAL from channels 2 and 3)

N100 #WAIT SYN [ID815 CH2 CH3]

(Wait flag 911, synchronisation at decoder level, from channel 3)

(1st signal parameter V.P.SIGNAL, 2nd signal parameter P200)

N250 P100 = 911

N300 #WAIT [IDP100 P[0]=V.P.SIGNAL P[1]=P200 CH3]

(The calculation below only takes place when)
(the signal is received)

N350 P20 = 10 * P200

Programing Example


Wait for signals with adoption of parameters (in channel 3):


N10 #SIGNAL [ID 110014 P[0] = 1234 CH3]

N20 M30


N10 #SIGNAL [ID 110014 P[1] = 200 CH3]

N20 M30


N10 P1 = 1 (Stores value from channel 1

N20 P2 = 1 (Stores value from channel 2

N30 XP1 YP2

N40 #WAIT [ID 110014 P[0] = P1 P[1] = P2 CH1 CH2]

N50 XP1 YP2

N60 M30