DefaultTaskWaitMode Parameter

Default Value: 3

Minimum Value: 1

Maximum Value: 3

Units: None

Type: int

Parameter Settings and Values

This table shows the value of the configuration for the parameter setting.

Table: Parameter Settings, Configurations, and Values

Setting	Configurations	Description	Value
Wait Mode	Wait for Motion Done	Controller waits for all axes to have a velocity command of zero before continuing to the next program line. Ignores the in-position parameters. You can see if an axis has a commanded velocity of zero with the MotionDone bit in the AxisStatus axis item.	1
Wait for Motion Done and In Position	Controller waits for all axes to have a velocity command of zero and to be in position before continuing to next program line. The InPositionDistance parameter specifies the position error threshold below which an axis is in position. The InPositionTime parameter specifies the quantity of time in which the axis must be within the threshold before the in position condition is true. The InPositionTimeoutThreshold parameter specifies how long the controller waits until a fault is generated. You can see if an axis is “in position” with the InPosition bit in the DriveStatus axis status item.	2
Automatic Wait (default)	The controller waits the minimum quantity of time between moves. This decreases the cycle time of a program. You can see if waiting on an axis is done with the WaitDone bit in the AxisStatus axis status item.	3

Setting

Configurations

Description

Value

Wait Mode

Wait for Motion Done

Controller waits for all axes to have a velocity command of zero before continuing to the next program line.
Ignores the in-position parameters.

You can see if an axis has a commanded velocity of zero with the MotionDone bit in the AxisStatus axis item.

Wait for Motion Done and In Position

Controller waits for all axes to have a velocity command of zero and to be in position before continuing to next program line.
The InPositionDistance parameter specifies the position error threshold below which an axis is in position.
The InPositionTime parameter specifies the quantity of time in which the axis must be within the threshold before the in position condition is true.
- The InPositionTimeoutThreshold parameter specifies how long the controller waits until a fault is generated.

You can see if an axis is “in position” with the InPosition bit in the DriveStatus axis status item.

Automatic Wait (default)

The controller waits the minimum quantity of time between moves. This decreases the cycle time of a program.

You can see if waiting on an axis is done with the WaitDone bit in the AxisStatus axis status item.

IMPORTANT: This parameter does not apply to asynchronous motion, which includes the MoveAbsolute() and MoveIncremental() functions. To wait for an asynchronous motion function, use the WaitForMotionDone() and WaitForInPosition() functions. Refer to Wait for Motion.

This parameter specifies the wait mode that the controller changes back to after you reset it. Each time you reset the controller, the controller uses the wait mode that you specified for this parameter.

To temporarily set the wait mode of as task until the next controller reset, use the SetupTaskWaitMode() function. For more information, refer to Task Waiting Modes in Motion Setup Functions.

IMPORTANT: You must reset the controller for these changes to have an effect.