Description
The When statement is used for very fast response to certain input conditions. Upon encountering and executing the When statement, program execution waits until the specified condition is satisfied. When the condition is satisfied, the when-action is executed immediately and the program continues at the next line after the When statement. The syntax is as follows:
When when-condition, when-action
The following tables lists the possible when-conditions and when actions
| When-conditions |
|---|
| DIN1.STATE = 0 or 1 |
| DIN2.STATE = 0 or 1 |
| DIN3.STATE = 0 or 1 |
| DIN4.STATE = 0 or 1 |
| DIN5.STATE = 0 or 1 |
| DIN6.STATE = 0 or 1 |
| DIN7.STATE = 0 or 1 |
| DIN21.STATE = 0 or 1 |
| DIN22.STATE = 0 or 1 |
| DIN23.STATE = 0 or 1 |
| DIN24.STATE = 0 or 1 |
| DIN25.STATE = 0 or 1 |
| DIN26.STATE = 0 or 1 |
| DIN27.STATE = 0 or 1 |
| DIN28.STATE = 0 or 1 |
| DIN29.STATE = 0 or 1 |
| DIN30.STATE = 0 or 1 |
| DIN31.STATE = 0 or 1 |
| DIN32.STATE = 0 or 1 |
| DRV.HANDWHEEL < value |
| DRV.HANDWHEEL > value |
| DRV.TIME > value |
| EXTENCODER.POSITION < value |
| EXTENCODER.POSITION > value |
| FB3.P > value |
| FB3.P < value |
| MOVE.MOVING = 0 or 1 |
|
MOVE.INPOSITION = 0 or 1 |
|
PL.CMD < value |
| PL.CMD > value |
| PL.FB < value |
| PL.FB > value |
| When-actions |
|---|
| CAM.ACTIVATE = 0 to 8 |
| CAMVM.GOREL |
| CAMVM.GOUPDATE |
| CAMVM.GOVEL |
| CAMVM.STOP |
| Continue |
| DOUT1.STATEU = 0 or 1 |
| DOUT2.STATEU = 0 or 1 |
| EGEAR.RATIO = value |
| EGEAR.ON = 0 or 1 |
| MOVE.ABORT |
| MOVE.GOABS |
| MOVE.GOREL |
| MOVE.GOVEL |
| MOVE.GOABSREG |
| MOVE.GORELREG |
| MOVE.GOUPDATE |
| MOVE.GOHOME |
Interrupts are active and will be serviced during the execution of a When statement. The execution of an interrupt service routine will not affect how quickly the when-action is executed after the when-condition is satisfied.
The When condition is checked every 250 microseconds. At the instant (within 250 microseconds) that the when-condition is satisfied, the values of the following variables are strobed into special When variables:
| Variable | When variable |
|---|---|
| DRV.HANDWHEEL | WHEN.DRVHANDWHEEL |
| DRV.TIME | WHEN.DRVTIME |
| FB1.MECHPOS | WHEN.FB1MECHPOS |
| PL.CMD | WHEN.PLCMD |
| PL.FB | WHEN.PLFB |
| EXTENCODER.POSITION | WHEN.EXTENCODERPOSITION |
Example
MOVE.GOVEL
When DIN3.STATE = 1, MOVE.ABORT
Print "Motor position when Input 3 went hi, WHEN.PLFB=", WHEN.PLFB
Print "Current Position, PLFB =", PLFB
General Information
|
Type |
Statement |
|
Units |
N/A |
|
Range |
N/A |
|
Default Value |
N/A |
|
Data Type |
N/A |
Variants Supported
This statement is only supported on AKD BASIC drives.
Related Topics
