Overview

Wait functions in the CoreMotion module will stop the execution of the calling thread until the wait condition is satisfied.

The following are the available overloaded Wait functions.

• Wait(int axis)

• Wait(AxisSelection *pAxisSelection)

• Wait(WaitCondition *pWaitCondition)

• Wait(int axis, unsigned int waitTimeMilliseconds)

• Wait(AxisSelection *pAxisSelection, unsigned int waitTimeMilliseconds)

• Wait(WaitCondition *pWaitCondition, unsigned int waitTimeMilliseconds)

Wait functions can be used to sequentially execute a series of motion command API functions. A Wait function is called between motion commands to delay execution of the next motion command until the axis completes the previous motion command.

Wait Example

The following code executes a simple sequence of motion commands with Wait functions in between them.

Motion::PosCommand pos;

//Set position command parameters
pos.axis = 0;
pos.profile.type = ProfileType::Trapezoidal;
pos.profile.velocity = 10000;
pos.profile.acc = 10000;
pos.profile.dec = 10000;

//Execute motion to move axis forward 10000
pos.target = 10000;
wmxlib_CoreMotion->motion->StartMov(&pos);

//Wait until motion is finished
wmxlib_CoreMotion->motion->Wait(0);

//Execute motion to move axis backward 10000
pos.target = -10000;
wmxlib_CoreMotion->motion->StartMov(&pos);

//Wait until motion is finished
wmxlib_CoreMotion->motion->Wait(0);

//Execute motion to move axis forward 10000
pos.target = 10000;
wmxlib_CoreMotion->motion->StartMov(&pos);

The following plots show the position, velocity, and acceleration when the above code is executed.

Interpolation Sequence Example

Wait functions can also be used to sequentially execute a series of interpolation command API functions. The axis parameter of the Wait function can be set to either interpolating axis.

The following code executes a simple sequence of interpolation commands with Wait functions in between them.

Motion::LinearIntplCommand lin;

//Set interpolation command parameters
lin.axisCount = 2;
lin.axis[0] = 0;
lin.axis[1] = 1;

lin.profile.type = ProfileType::Trapezoidal;
lin.profile.velocity = 10000;
lin.profile.acc = 10000;
lin.profile.dec = 10000;

//Execute interpolation to position (10000, -10000)
lin.target[0] = 10000;
lin.target[1] = -10000;
wmxlib_CoreMotion->motion->StartLinearIntplPos(&lin);

//Wait until motion is finished
wmxlib_CoreMotion->motion->Wait(0);

//Execute interpolation to position (0, 0)
lin.target[0] = 0;
lin.target[1] = 0;
wmxlib_CoreMotion->motion->StartLinearIntplPos(&lin);

//Wait until motion is finished
wmxlib_CoreMotion->motion->Wait(0);

//Execute interpolation to position (10000, -10000)
lin.target[0] = 10000;
lin.target[1] = -10000;
wmxlib_CoreMotion->motion->StartLinearIntplPos(&lin);

The following plots show the position, velocity, and acceleration when the above code is executed.