Ad (after distance), Trippoint, The motion profiling on the axis is complete – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
AD (After Distance)
[Trippoint]
DESCRIPTION:
The After Distance (AD) command is a trippoint used to control the timing of events. This command will
hold up the execution of the following command until one of the following conditions have been met:
1. The commanded motor position crosses the specified relative distance from the start of the
move.
2. The motion profiling on the axis is complete.
3. The commanded motion is in the direction which moves away from the specified position.
The units of the command are quadrature counts. The motion profiler must be on or the trippoint will
automatically be satisfied.
NOTE: AD will be affected when motion smoothing time constant, IT, is not 1. See IT command for more
information.
ARGUMENTS: ADx, y, z, w or ADX=x or AD a,b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are unsigned integers
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: The AD command is accurate to the number of counts that occur in 2 msec. Multiply speed by 2 msec to obtain the
maximum position error in counts. Remember AD measures incremental distance from start of move on one axis.
While Moving
Yes
Minimum Value
0
In a Program
Yes
Maximum Value
2147483647
Command Line
Yes
Default Value
---
Can be Interrogated
No
Default Format
---
Used as an Operand
No
Distributed Control
Specific Axis
"AR"
After Relative distance for sequential
triggering
“AP”
After Absolute Position
#A;DP0
Begin Program
PR 10000
Specify position
BG
Begin motion
AD 5000
Wait until profiler passes 5000 units from start
of move.
MG "Halfway" ;TP
Send message
EN
End Program