Specifications

BASIC commands
PROGRAMMING MANUAL 175
Revision 5.0
3.2.280 VRSTRING
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3.2.281 WA
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3.2.282 WAIT IDLE
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Example A transfer gantry has 10 put down positions in a row. Each position may at
any time be full or empty. VR(101) to VR(110) are used to hold an array of ten
1 ' s and 0 ' s to signal that the positions are full (1) or empty (0). The gantry
puts the load down in the first free position. Part of the program to achieve this
would be as follows:
movep:
MOVEABS(115) ' Move to first put down position
FOR VR(0) = 101 TO 110
IF (VR(VR(0)) = 0) THEN GOSUB load
MOVE(200) ' 200 is spacing between positions
NEXT VR(0)
PRINT "All positions are full"
WAIT UNTIL IN(3) = ON
GOTO movep
load: ' Put load in position and mark array
OP(15,OFF)
VR(VR(0)) = 1
RETURN
The variables are backed up by a battery so the program here could be
designed to store the state of the machine when the power is off. It would of
course be necessary to provide a means of resetting completely following
manual intervention.
Example loop: ' Assign VR(65) to VR(0) multiplied by axis 1 measured position
VR(65) = VR(0)*MPOS AXIS(1)
PRINT VR(65)
GOTO loop
See also CLEAR_BIT, READ_BIT, SET_BIT, TABLE.
Type System command
Syntax VRSTRING(vr_start)
Description Combines the contents of an array of VR() variables so that they can be
printed as a text string. All printable characters will be output and the string
will terminate at the first null character found. (i.e. VR(n) contains 0)
Arguments • vr_start
number of first VR() in the character array.
Example PRINT #5,VRSTRING(100)
See also N/A
Type System command
Syntax WA(time)
Description The WA command pauses program execution for the number of
milliseconds specified for time. The command can only be used in
a program.
Arguments • time
The number of milliseconds to hold program execution.
Example The following lines would turn ON output 7 two seconds after turn-
ing off output 1.
OP(1,OFF)
WA(2000)
OP(7,ON)
See also N/A
Type System command
Syntax WAIT IDLE
Description The WAIT IDLE command suspends program execution until the base axis
has finished executing its current move and any buffered move. The com-
mand can only be used in a program. WAIT IDLE works on the default basis
axis (set with BASE) unless AXIS is used to specify a temporary base axis.
Note: The execution of WAIT IDLE does not necessarily mean that the axis
will be stationary in a servo motor system.
Arguments N/A