Manual

3-74 Detailed Descriptions of ACL Commands
WA <wait> Wait
The Automove System waits approximately <wait> seconds before processing the next ACL
command. The range of <wait> is 0 through 65.535; the resolution is 0.001 second (one
millisecond). The delay begins when the previous command has been completely processed,
or when the WA is received, whichever comes later.
The WA command is ignored if the machine is in the Emergency Stopped state. Once a wait
has begun it can be aborted via Emergency Stop or the
ESC.K command.
If the time spacing between two actions is critical in your application, the WA command
may be useful. Because of the Automove System's input buffer, even if the host computer
delays several seconds between sending two commands, the two commands may be
executed back-to-back, one right after the other.
On the other hand, if it is crucial that two commands be executed one right after the other
(perhaps with some WA-induced amount of delay between them) you may wish to lock out
the front panel while the time-critical section is executing, then re-enable it later. See the FP
command, and also Tricks in Appendix E Speed Considerations.
If many CD or TD commands are to be followed by identical delays, the WD command may
be more convenient than following each CD or TD with a WA. Also, the PD command can
insert precise, uninterruptable delays between Digital Outputs changes and subsequent
moves.
WD [<delay>] Wait after Digital Outputs Change
The WD command establishes an implicit delay which is to be executed after each CD or
TD command, before processing the subsequent command. <delay> is in seconds; the
allowable range is 0 through 6.5535. The resolution is 0.0001 second.
The implicit delay defaults to 0 at power up and at IN, or if <delay> is omitted from the WD
command.
If you need a precise delay between a Digital Outputs change and a vector or arc motion, use
the PD ("Pre-move Digital Outputs Changes") command.
For more information about the Digital Outputs, see Chapter 8 Using the Digital Outputs and
Inputs.
WN <value> [, <which> [, <timeout>]] Wait for Digital Inputs
This command causes the Automove System to delay before processing the next ACL
command. The delay is terminated when a certain condition occurs on any or all of the 8
Digital Inputs. If the condition already exists at the time the WN command is executed,
there is no delay.