Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 214)

192 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
DELAY Time Delay Motion
Purpose Delay for the specified time. Time is entered in seconds.
Syntax DELAY = time
time The time is specified in seconds and has a maximum value of
65,535 seconds. The time can be a constant, a nonvolatile vari-
able Gn, a volatile variable Vn, or a system variable. The reso-
lution of time is equal to the position loop update time (2mS).
Remarks The compiler does not perform range checking for the maximum time for a DELAY
statement because the value may not be known until run time (value may be a vari-
able). However, if a program is run with a DELAY greater than 65, 535 seconds, the
ULTRA Plus or IQ will be disabled and flag the error as “Delay out of Range”.
Delay times are NOT affected by the feedrate. To define a delay that IS affected by the
feedrate, use the DWELL statement.
The DELAY statement can only be used in a subroutine or the main body of the pro-
gram. It may not be used in Fkey, Xkey, or Scanned Event routines.
See Also DWELL, WAIT
Example DELAY = 1.5
DELAY = G1
DH Define Home Home
Purpose Define the present commanded position as the zero position. The current commanded
position will become 0, the encoder that is not the feedback encoder is set to a position
of zero, the Home Sequence Complete output (if assigned) and the HSEQCPL system
flag will be turned ON.
Syntax DH
Remarks Use caution if you use this command while there is motion. The time delay caused by
execution speed will result in the zero position being defined at a position that is dif-
ferent than when the command was issued. The difference in position will be propor-
tional to the velocity of the motor when the command was issued
This instruction is not permitted in a function key program (see DHCMD).
Any following error that is present when this instruction is executed will be main-
tained (the feedback position will not be set equal to the commanded position).
The Home Sequence Complete output is assigned in the Parameter menu, Outputs dia-
log box.
MOVP instructions are not permitted until the HSEQCPL system flag has been turned
ON.
See Also DHCMD, DP (Define Position), DPn.
Example DH ;Define the present position as the 0, home position