ACR9000 产品培训

nullACR9000产品培训ACR9000产品培训北京元茂兴控制设备技术有限责任公司 傅奕劼 编程 指南 验证指南下载验证指南下载验证指南下载星度指南下载审查指南PDF 编程指南·使用MEM指令可以查看当前Program程序及PLC程序所剩余的存储容量 使能控制使能控制提示符的切换提示符的切换每条指令只能在其所规定的提示符后面执行可以查看该能够执行该指令的提示符SYS PROGn PLCn可以切换到 不同的提示符下ACR9000-only Drive CommandsACR9000-only Drive CommandsNew commands added to support drive I/O DRIVE ON X Y(SET8465 : SET8497 ) 执行编码器错误检测(BIT2560，BIT2561，BIT2592,BIT2593) 自动对每个轴执行REN指令 开启使能输出(Enable Output)对驱动器使能 改变轴状态指示灯的颜色 Green = Enabled, Red = Faulted, Off = Disabled with no fault DRIVE OFF X Y(CLR8465 : CLR8497) 关闭控制器对驱动器的使能 DRIVE RES X Y 控制驱动器复位(Aries, Dynaserv G2, Gemini, E-AC) DRIVE X Y 显示当前使能的状态 ACR9000 Drive EnableACR9000 Drive Enable假设X轴和Y轴被分配到Master0中: Or … If drive LED does not change to green (drive enabled) check encoder signal lost or drive fault input bits If encoder fault, correct problem and issue ENC index RES If drive faulted issue DRIVE RES X or AXIS0 DRIVE RES commandPROG0 DRIVE ON X YAXIS0 DRIVE ON AXIS1 DRIVE ON直接访问轴直接访问轴Axis names may only be used within Program attached 轴名字只能出现在与该轴所在坐标系对应的程序中 Example: P00> PPU X4000 P00> PGAIN X0.002 Direct access to Axis parameters may be accomplished using the AXIS command from any other Program 直接访问轴可以在任意的提示符下完成，不受提示符的限制 Example: P03> AXIS0 PPU 4000 P12> AXIS0 PGAIN 0.002 (assuming that X is Axis0) 直接访问坐标系直接访问坐标系Master parameters such as ACC, DEC, VEL, etc may only be referenced from within Program attached 坐标系参数（ACC,DEC,VEL等）在该坐标系对应的提示符下访问 Example: P00> ACC 4000 P00> STP 200 Direct access to Master parameters may be accomplished using the MASTER command from any other Program 通过直接访问坐标系的 方法 快递客服问题件处理详细方法山木方法pdf计算方法pdf华与华方法下载八字理论方法下载 修改坐标系参数 Example: P03> MASTER0 ACC 4000 P12> MASTER0 STP 200运动控制 运动控制 运动控制运动控制ACR9000可同时控制4种类型的运动 多轴联动 增量的或绝对位移 直线插补 - MOV 圆弧插补，正旋插补，正切插补等 - CIRCW, CIRCCW, SINE, TARC 轨迹值即为路径值 单轴运动 Jogging运动 – JOG 增量的，绝对式或连续式运动 每个轴均有自己的轨迹点值 可用于周期性运动 电子齿轮 (GEAR) 电子凸轮 (CAM)运动控制——累加点运动控制——累加点联动，JOG运动，电子齿轮，电子凸轮运动及丝杠补偿功能可以同时完成基础运动基础运动ACC 设置加速度速率VEL 设置一个运动的目标速度DEC 设置加速度速率STP 设置停止速度速率PROG0 ACC 10 DEC 10 STP 10 VEL 1 ‘or on a single line ACC10 DEC10 VEL1 STP10 基础运动-绝对运动及相对运动基础运动-绝对运动及相对运动MOV指令——多轴直线插补运动 绝对运动或相对运动PROG0 REM absolute moves X0 X100 X200 X300 X400 REM relative moves X/-400 X/500 X/200 X/100 REM combo absolute & relative X/-400 X200 X/50 X400Master轨迹Master轨迹 ACC 750 DEC 750 VEL 75 STP 750 ‘absolute move X axis 25mm X25 Move 命令 ACC, DEC, STP, and VEL 设置的为坐标系向量，所有轴默认按直线插补运动 如果只有一个轴运动, 轴的VEL, ACC, STP 与坐标系相同 Master 轨迹Master 轨迹 ACC 750 DEC 750 VEL 75 STP 750 X25 Y15 ‘absolute move X 25mm & Y 15mm Move 命令 所有轴默认为直线插补 如果多个轴联合运动，各轴的速度将按目标点的位置自动由控制器计算分配 各轴的速度为分配后的矢量速度 变量为坐标点变量为坐标点★指令坐标点的值既可以是常量，也可以是变量＊坐标值为常量 X20 Y10＊坐标值全局变量 P0=20 : P1=10 X(P0) Y(P1)＊坐标值为局部变量 DIM SV10 SV0=20.3 : SV1=10.5 X(SV0) Y(SV1)＊坐标值为数组参数 DIM SA(1) DIM SA0(10) SA0(0)=10.5 SA0(1)=22.8 X(SA(0)) Y(SA(1))运动轨迹运动轨迹REM Jerk zero Trap profile ACC 100 DEC 100 VEL 10 STP 100 JRK 0 X4 Move 命令 S曲线 JRK 设置 Jerk参数 ，即加加速度速率 当JRK=0时，电机将按照梯形曲线运动运动轨迹运动轨迹 ACC 100 DEC 100 VEL 10 STP 100 REM Pure S-curve JRK 1000 X4 S曲线 计算公式 六西格玛计算公式下载结构力学静力计算公式下载重复性计算公式下载六西格玛计算公式下载年假计算公式 JRK = (ACC**2)/ VELMove 指令 S曲线 运动过程中调速运动过程中调速基础运动基础运动Jogging——单轴运动 单轴运动轨迹 非插补运动 输入的数值单位为用户设置单位 (mm, inches, rev, etc.) scaled by PPU JOG ACC 设置JOG运动加速度 Units/second2 JOG DEC 设置JOG运动减速度 Units/second2 JOG VEL 设置JOG运动速度 Units/second Defaults are ZERO. Values used in Wizard will be ESAVEd on project download Code Samples JOG ACC X750 JOG DEC X750 JOG VEL X50 JOG VEL X50 Y100 -or- AXIS0 JOG VEL50 AXIS1 JOG VEL100注：MOV指令设置的是整个坐标系加速度，速度等，VEL 10，不要写成VEL X10 JOG运动是设置单轴的运动轨迹，指令中不要忘记加上轴名称，如JOG VEL X10基础运动 基础运动 JOG运动指令——连续运动 JOG FWD Jog Axis Forward 按照设置的JOG速度向正向连续运动 可以通过对Jog Forward位置位 JOG FWD X Y SET 796 : SET 828 JOG REV Jog Axis Reverse 按照设置的JOG速度向正向连续运动 可以通过对Jog Reverse位置位 JOG REV X Y SET 797 : SET 829 JOG OFF 停止JOG连续运动 JOG OFF X Y CLR 796 : CLR 828 Code Samples JOG ACC X750 Y100 JOG DEC X750 Y100 JOG VEL X50 Y10 JOG FWD X Y JOG OFF Y AXIS0 JOG OFF 基础运动 基础运动 JOG运动指令——增量运动及绝对运动 JOG ABS Jog To Absolute Position JOG运动到某一绝对坐标位置 不依赖于某个坐标系 JOG INC Jog Axis Incremental JOG增量运动一段距离 不依赖于某个坐标系 JOG JRK Set Jog Jerk (S-curve) controls the slope of the acceleration versus time profile If jerk is zero, the acceleration profile is rectangular (linear acceleration). Jog moves are independent of Interpolated moves and use their own zero point and moves are considered OFFSETSCode Samples JOG VEL X50 Y10 JOG ABS X10 Y5 INH -792 INH -824 JOG INC X5 Y5 -or- AXIS0 JOG VEL 50 AXIS1 JOG VEL 10 AXIS0 JOG INC 5 AXIS1 JOG INC 5基础运动 基础运动 体会联动及JOG运动的区别 比较这两端运动之间的区别 ACC 50 DEC 50 STP 50 VEL 10 X20 Y10 JOG ACC X50 Y50 JOG DEC X50 Y50 JOG VEL X10 Y10 JOG ABS X20 Y10 JOG ABS X0 Y0 体会叠加运动VEL 15 JOG VEL X10 JOG ABS X100 X-150轴回原点 轴回原点 ★原点开关回原点＊设置回原点速度 JOG VEL＊设置反向找原点最终速度 JOG HOMVF＊设置回原点方向 JOG HOME X1 Y-1 +1表示X轴正向回原点，-1表示Y轴负向回原点 ＊选择回原点方式轴回原点 轴回原点 ★Z信号找原点MSEEK指令 MSEEK X(1.5,0) MSEEK X(1.5,9) CAP2ACR9000 Homing ExampleACR9000 Homing ExamplePROGRAM CLR 128 CLR 129 JOG VEL X10 Y10 : REM Set axes jog parameters used during homing JOG ACC X100 Y100 JOG DEC X100 Y100 HLBIT X0 Y3 : REM X uses 1Home (input2), Y uses 2Home (input5) HLIM X3 Y3 : REM enable EOT limit checking for box axes JOG HOMVF X0.1 Y0.1 : REM Set backup to home velocity SET 16144 SET 16145 : REM Invert axis0 level of limit inputs SET 16176 SET 16177 : REM Invert axis1 level of limit inputs CLR 16152 CLR 16184 : REM Disable backup to home CLR 16153 CLR 16185 : REM Look for positive edge of sensor CLR 16154 CLR 16186 : REM Final homing direction will be positive JOG HOME X-1 Y1 : REM start homing x negative, y positive WHILE (((NOT BIT 16134) AND (NOT BIT 16135)) OR ((NOT BIT 16166) AND (NOT BIT 16167))) WEND IF (BIT 16166) THEN PRINT “Y HOMING SUCCESSFUL” : SET 128 IF (BIT 16134) MSEEK X(1,0) INH –516 IF (BIT 777) PRINT “X HOMING SUCCESSFUL” SET 129 ENDIF ENDIF ENDPHoming Example with Boolean operationHoming Example with Boolean operationPROGRAM JOG VEL X10 Y10 : REM Set axes jog parameters used during homing JOG ACC X100 Y100 JOG DEC X100 Y100 HLBIT X0 Y3 : REM X uses 1Home (input2), Y uses 2Home (input5) JOG HOMVF X0.1 Y0.1 : REM Set backup to home velocity P4600 = P4600 AND –133640433 OR 3342336 : REM Configure Axis0 homing and limits P4601 = P4601 AND –133640433 OR 3342336 : REM Configure Axis1 homing and limits JOG HOME X-1 Y1 : REM start homing x negative, y positive WHILE (((NOT BIT 16134) AND (NOT BIT 16135)) OR ((NOT BIT 16166) AND (NOT BIT 16167))) WEND IF (BIT 16166) THEN PRINT "Y HOMING SUCCESSFUL“ : SET 128 IF (BIT 16134) MSEEK X(1,0) INH –516 IF (BIT 777) PRINT "X HOMING SUCCESSFUL“ SET 129 ENDIF ENDIF ENDP杀死所有运动杀死所有运动★键盘在Terminal界面中杀死所有运动 CTRL-X 杀死所有坐标系的运动 KAMR 及Kill All Moves Request flags 位置位 暂停所有程序的执行 CTRL-Y 对所有的KAMR位复位 下载的程序需要重新运行 CTRL-Z 与 CTRL-X功能相同 对驱动器禁能* * If Enable Drive I/O bits are set杀死所有运动杀死所有运动 ★通过BIT位杀死运动 ＊对KAMR位置位 例如杀死X轴的运动 SET8467，同时X轴所在坐标系 下所有轴的运动急停，X轴所在的Program程序停止。恢复运动需要 对该位复位。＊对Kill All Moves Request位置位，杀死当前坐标系下所有轴的 联动 如SET 522，杀死坐标系0的联动。注： Kill All Moves Request与KAMR的区别 1. Kill All Moves Request只杀死联动运动，不杀死非联动（JOG 齿轮，凸轮）运动。 2. 不停止任何程序的运行。Resetting Position Counters Resetting Position Counters Command Position ControlCommand Position ControlREN Match Position With Encoder Loads the command position register with the actual encoder position. Basically, sets the current position to the commanded position NOTE: automatically performed with DRIVE ON command RES Reset Or Preload Encoders Zeros out the command position register and the encoder position of the specified axis. Can be used to preload axis to user defined position if applicable. NOTE: automatically performed with JOG HOME command REN X Y RES X Y250 'X Axis current position set to zero 'Y Axis current position set to 250mmImportant Feedback Position Control commands Jog Offset ControlJog Offset ControlImportant Feedback Position Control commands JOG RES Clear or preload the jog offset register of the axis and adds the difference to the current position register of that axis. JOG RES {axis{offset}} {axis{offset}}… Example: JOG RES X Y JOG REN Clear or preload the current position register of the axis and adds the difference to the jog offset register of that axis JOG REN {axis{offset}} {axis{offset}}… Example: JOG REN X YWhat are we actually doing?What are we actually doing?We are modifying the setpoint registers of the servo loopWhat are we actually doing?What are we actually doing?Servo loop utility actively displays these parameters Try some assorted combinations of standard and jog moves and view effect on command registers. Try the RES, REN, JOG RES, JOG REN and view effect on registers Try a standard move while jogging (super-imposition)Hardware End-Of-Travel CheckingHardware End-Of-Travel CheckingCommands HLIM Enable limit checking (0 – 3) HLBIT Assign limit (and home) inputs for axis Onboard or Expansion I/O HLBIT X5 Sets bits 5= +EOT, 6= -EOT, 7= home inputs HLDEC Assign axis deceleration upon limit Default is zero (infinite deceleration rate) Axis Status/Control Flags (P4600-4615) Pos/Neg EOT Limit Current State Pos/Neg EOT Limit Encountered Pos/Neg EOT Limit Level Invert CLR bits to resume motion Excessive Position Error Checking Excessive Position Error Checking EXC {axis{value}} or {axis{(value1, value2)}}… Command sets the following error limits monitored by the “not excess error” flags Disables drive on affected axis* Stops all motion on assigned Coordinate System (Master) axes* interpolated motion Camming Gearing Jogging Be sure to set EXC to a non-zero value, a value of zero will cause axis to fault on 1 count of position error *If Enable Drive I/O bits are set Firmware Architecture Firmware Architecture CommunicatingCommunicatingCommunication Prompts SYS> System configuration Program memory dimension Pnn> nn = 00-15 Program interface Execution of motion Generation of motion code PLCn> n = 0-7 PLC program interface Generation of PLC codenullPre-Emptive Multi-TaskerMulti-Tasking Kernel capabilities: 16 PROG programs 8 Motion programs 8 Non-motion programs 8 PLC programs Up to 4 communication ports USB Serial Ethernet (4) CANopen (I/O only)Program TimingProgram TimingUp to 16 PROG’s and 8 PLC’s running simultaneously PROG0 – PROG7 “Motion Programs” Each has its own 1 ms time slice Each has its own set of local variables (Longs, Floats, Strings, Arrays) Equivalent to a “Task” on a 6K controller Each can have its own coordinate group of axes for motion PROG8 – PROG15 “Non-motion Programs” (NMP) All Share 1 ms time slice Inhibit one NMP, and all NMP’s are inhibited PLC0 – PLC7, 1 program executed every servo period One period reserved for I/O update One period reserved for Timer/Counter update (if used) Programming – AcroBASIC PROG Programs Programming – AcroBASIC PROG Programs AcroBASIC is the programming language used by the controller Similar to QBASIC IF/ELSE/ENDIF (IF/THEN) WHILE/WEND FOR/NEXT GOTO/GOSUB PRINT/INKEY$ Similar to 6K programming Arcs Interpolated motion High level math functions ACOSH, MOD, CEIL, FLOOR, SQRT, and more… Programming - AcroBASIC PLC ProgramsProgramming - AcroBASIC PLC ProgramsThe ACR’s PLCs are programmed using standard logic commands compiled to Machine code on-the-fly. Up to eight PLC programs can run at one time The programs can be developed in either text or ladder format. 10 LD 0 20 OR 1 30 OR 32 40 AND NOT 33 50 OUT 32 60 LD 5 70 AND NOT 519 80 OUT 520 90 ENDProgram Execution TimingProgram Execution TimingWriting Programs Writing Programs Programming Basic CommandsProgramming Basic CommandsPROGRAM Start program definition for auto-numbered program ENDP End program definition for auto-numbered program END End program execution Program can have multiple END’s LIST Used to list a program in the terminal. LIST – list entire program LIST 100 – list line 100 LIST 10,100 – list line 10 through 100 LIST ,100 – list up to line 100 NEW Erases current program Done automatically by ACR-View on download Running a Program Running a Program Terminal Commands for troubleshooting PROG’s LRUN = LISTEN + RUN “LISTEN” to program errors, needed to see PRINT statements gets out of LISTEN mode TRON/TROFF (Trace mode) Used with LRUN to display line numbers as the program executes Useful for tracing program flow/decisions made <10><20><30><40><50><90><100><110>… BLK/STEP/AUT (Block, Step, Auto mode) BLK puts the program into Block Step mode, then use STEP to execute to the next command line AUT followed by STEP puts the program into Auto Step mode BLK/AUT can be used before or during program RUN User-assigned NamesUser-assigned NamesAliases (#DEFINE) Used for global user variables, system parameters, system flags, program local variables and array elements. Configuration Wizard is used to allocate memory for the storage of these variables. (DIM DEF command at SYS> prompt) Aliases are global in nature and can be used in all programs Aliases are not used in PLC programs Do not confuse with Axis Names (incorrectly referred to as Aliases in ACR-View) Type “HELP” at Terminal Emulator to see list of reserved keywords User-assigned NamesUser-assigned NamesAliases ARE case sensitive Numbers, spaces and special characters (such as _ and @) are NOT allowed Maximum of 24 letters Alias Examples #DEFINE LED BIT96 #DEFINE myflag BIT32 #DEFINE VELfactor P10 #DEFINE EncOne P6144 Once aliases have been defined, the alias or the original firmware reference can refer to the parameter or flag. “SET myflag” or “SET 32” “VELfactor = 12.625” or” P10 = 12.625” “PRINT EncOne” or “Print P6144” Program LabelsProgram LabelsLabels are program pointers commonly used to denote subroutines Labels are assigned by preceding the label with an underscore (“_”) Labels can have both letters and numbers unlike Aliases. Labels are case sensitive. Example: GOSUB Label1 _Label1 PRINT “Inside Label1 subroutine” RETURN Program Line NumbersProgram Line NumbersProgram uses line numbers Can be assigned automatically or manually PROGRAM MULT X4 PPU X4000 Y25000 RES X Y ACC50 DEC50 STP50 VEL5 _LOOP X5 Y5 X0 Y0 GOTO LOOP ENDPREM Old line numbered style 1 MULT X4 2 PPU X4000 Y25000 3 RES X Y 10 ACC50 DEC50 STP50 VEL5 20 X5 30 Y5 40 X0 50 Y0 60 GOTO 20 70 END Let’s Start ProgrammingLet’s Start ProgrammingSquare Program (Program0 Editor) Download PROGRAM 0 Type “LRUN” at P00> prompt in terminal to run and display errors Try this program using Incremental moves How could we graph the motion? TRY IT USING THE XY PLOT! PROGRAM RES X Y _LOOP ACC 50 DEC 50 STP 50 VEL 5 X5 Y5 X0 Y0 GOTO LOOP ENDPLet’s Start ProgrammingLet’s Start ProgrammingSquare Program (Program0 Editor) PROGRAM _LOOP ACC 50 DEC 50 STP 50 VEL 5 X5 Y5 X0 Y0 GOTO LOOP ENDPTo Make the graph “pretty” I set the PPU on both axes the sameUse PC Sampling for XY Plot or use 20ms for Onboard sampling rate Commenting CodeCommenting CodeTwo methods of commenting code Stored Comments “REM” means remark Stored as a line in the program DSP “wastes” time processing the REM’s Needs more memory to store code Can be on same line as ACR command lines Can be uploaded later from the controller DO NOT PUT COMMENTS ON SAME LINE AS LABELS!!! Stripped Comments Apostrophe character ( ‘ ) Stripped on download by the ACR controller MUST be on its own separate line in programs The comments are missing from the code when uploadedStartup Programs Startup Programs Use PBOOT to automatically run a PROG or PLC on powerup of the controller Every PROG and PLC can be a PBOOT Issue PBOOT at terminal to start all PBOOT programs PBOOT must be the first line in program Auto-Numbered Manually Numbered PROGRAM 10 PBOOT PBOOT 20 LEG 10 . . . . . . ENDP 100 ENDGlobal Variables and User FlagsGlobal Variables and User Flags64-bit Global User Variables Global user variables are referenced as P0..P4095 The actual number of global user variables is determined by the user entered values in Configuration Wizard via “DIM P” command. Use DIM at SYS prompt to check how many are currently dimensioned. Use them to pass Local variables between programs or CTC panels or other Ethernet IP devices User Flags 8 Groups of 32 Bits BIT128-BIT255 (user group 0-3) BIT1920-BIT2047 (user group 4-7) Local VariablesLocal VariablesDimensioning Local Variables DIM {Variable Type (count)} LV – Long (32 bit integer) – DIM LV(count) SV – Single (32 bit floating point) – DIM SV(count) DV – Double (64 bit floating point) – DIM DV(count) $V – String (8 bit character) – DIM $V(count, length) LA – Long Arrays – DIM LA(count) – DIM LAn(count) SA – Single Arrays – DIM SA(count) – DIM SAn(count) DA – Double Arrays – DIM DA(count) – DIM DAn(count) $A – String Arrays – DIM $A(count) – DIM $An(count,length) DIM statements can be in the program or AFTER program Use CLEAR to erase local variable dimensioningLocal Variable DimensioningLocal Variable DimensioningPROGRAM CLEAR DIM LV(5) DIM DV(10) LV0 = 0 DV1 = 0 ACC100 DEC100 STP100 VEL10 X5 Y2 LV0 = LV0 + 1 . . ENDPCLEAR PROGRAM LV0 = 0 DV1 = 0 ACC100 DEC100 STP100 VEL10 X5 Y2 LV0 = LV0 + 1 . . ENDP DIM LV(5) DIM DV(10)Flash memoryBattery-backed RAMController retains variable values when powered offController forgets variable values when powered offLocal Variable ExampleLocal Variable ExampleSquare Program with PRINT (Program0 Editor) Try LRUN to execute programPROGRAM CLEAR DIM LV(1) LV0 = 0 ACC 50 DEC 50 STP 50 VEL 5 _LOOP X5 Y5 X0 Y0 LV0 = LV0 + 1 PRINT “Counter = “ ; LV0 GOTO LOOP ENDPParameter Based SystemParameter Based SystemACR is Parameter-based Very Powerful Unlimited access Some commands are mapped to parameters Examples: PGAIN X0.02 P12304 = 0.02 FOV 100 P8201 = 100 Useful when using CTC panel or DLLParameter Based SystemParameter Based SystemI/O and System Flags are mapped in these parameters Entire Parameter can be used or just the appropriate bit/flagControlling Numeric ParametersControlling Numeric ParametersControlling I/O as well as internal Numeric Parameters P{parameter} = {value} Sets value of parameter Example: P6144 = 15 à Set Axis0 Encoder Position to 15 counts Note: Should not issue this command when Axis0 is enable. PRINT {parameter} : Queries the parameter value Shortcut in Terminal is “?” Example: PRINT P6144 Example: ?P6144 Example: ?BIT 24Controlling Binary ParametersControlling Binary ParametersControlling I/O as well as internal Binary Parameters SET This command changes the intended bit state to 1 SET {parameter} Example: SET 32 à Set (Turn On) Output #1 Could also use “BIT32 = 1” to set the bit CLR This command changes the intended bit state to 0 CLR {parameter} Example: CLR 32 à Clear (Turn Off) Output #1 Could also use “BIT32 = 0” to clear the bit PRINT BIT Used to show the current status of the bit Returns a “-1” if the bit is set Returns a “0” if the bit is clearModify Motion ExecutionModify Motion ExecutionFOV – FEEDRATE OVERIDE - Command affects the velocity for the specific MASTER Profile (Done on the fly) FOV {value} Example: FOV 2.5 Feedhold/Cycle Start – This functionality will pause motion that is in progress and then continue the trajectory SET 520 => Feedhold Request, Master0 SET 521 => Cycle Start Request, Master0 Pause/Continue – Pause program and motion SET 1048 => Pause Program0 execution (PAUSE in terminal) CLR 1048 => Resume Program0 execution (RESUME in terminal) DWL - DWELL - Program Time Delay DWL 1.5 => Delay program execution for 1.5 secondsConditional StatementsConditional StatementsINH Inhibit on bit state (Wait Statement) Causes the program to prevent further execution until the specified bit is in the selected state. Watch use in Non-motion programs Example: INH 2 (Wait until bit 2 = 1) Example: INH –516 (Wait until bit 516 = 0) IHPOS Inhibit on position Causes the program to prevent further execution until