Specifications

BASIC commands
PROGRAMMING MANUAL 177
Revision 5.0
3.2.285 WDOG
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3.2.286 WHILE..WEND
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3.2.287 XOR
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Type System parameter
Syntax WDOG
Description The WDOG parameter contains the software switch which enables the Servo
Driver using the RUN (Servo on) input signal. The enabled Servo Driver will
control the servo motor depending on the speed and torque reference values.
WDOG can be turned on and off under program control and in the Termianl
Window of Trajexia Studio.
The Servo Driver will automatically be disabled when a MOTION_ERROR
occurs. A motion error occurs when the AXISSTATUS state for one of the
axes matches the ERRORMASK setting. In this case the software switch
(WDOG) will be turned off, the MOTION_ERROR parameter will have value
different than 0 and the ERROR_AXIS parameter will contain the number of
the first axis to have the error.
Arguments N/A
Example No example.
See also AXISSTATUS, ERROR_AXIS, ERRORMASK, MOTION_ERROR, SERVO.
Type Program control command
Syntax WHILE condition
commands
WEND
Description The WHILE ... WEND structure allows the program segment between the
WHILE and the WEND statement to be repeated a number of times until the
condition becomes FALSE. In that case program execution will continue after
WEND.
Note: WHILE ... WEND loops can be nested without limit.
Arguments • condition
Any valid logical BASIC expression.
Example WHILE IN(12) = OFF
MOVE(200)
WAIT IDLE
OP(10,OFF)
MOVE(-200)
WAIT IDLE
OP(10,ON)
WEND
See also FOR..TO..STEP..NEXT, REPEAT..UNTIL
Type Mathematical operation
Syntax expression1 XOR expression2
Description The XOR (eXclusive OR) operator performs the logical XOR function between
corresponding bits of the integer parts of two valid BASIC expressions.
The logical XOR function between two bits is defined as in the table below.
Bit 1 Bit 2 Result
00 0
01 1
10 1
11 0