Applied Motion RS-232 - Manual (Page 211)

211 920-0002 Rev. I
2/2013
Host Command Reference
TS - Time Stamp
Compatibility: Q drives only
Affects:
Data Register “W”
See also: RC, WD, All register commands
Transfers the oldest Time Stamp value from the time stamp buffer into the “W” data register. The time stamp value
is a time value in milliseconds, recorded between two input triggers when using the RC command. Each time a
defined input condition is “True” (triggered), the elapsed time from the previous input is stored in the time stamp
buffer. The time stamp buffer is 8 words deep and acts as a FIFO buffer. The “I” data register, used by the RC
command, records when an input trigger has occurred. Sending the RC command clears the time stamp buffer.
Executing the TS command removes the oldest time value from the time stamp buffer and places it in the “W”
Data Register where it can be used. With each execution of the TS command a time value is transferred, until the
end of the time stamp buffer is reached. If a TS is sent with no time values in the time stamp buffer a “0” is placed
in the “W” data register.
Command Details:
Structure TS
Type BUFFERED
Usage WRITE ONLY
Non-Volatile NO
Register Access “W” (039)
Units milliseconds
Example:
This sample Q program illustrates the interaction of the RC and TS commands. After initialization, the program
waits for a falling edge event on input X3, at which point a 5 second timer begins counting down. During this
delay, the user may trigger X3 an arbitrary number of times. After 5 seconds, the motor will execute a series
of 5000-step moves, with the delay between each corresponding to the delay between switch closures on X3.
That is, if the user trips X3 four times waiting 1 second between each event, the motor will execute four 5000-
step moves with a 1 second dwell between each.
MT 1 Multi-tasking ON
EG 20000 20,000 steps/rev
AC 250
DE 250
VE 5
FI 3 200 Filter input 3 for 200 processor ticks
RX I 0 Zero the “I” register
RC X3F Setup the “I” register for input X3
WI X3F Wait for input X3
WT 5.00 Wait 5 seconds >>> trigger inpuxt X3 a few times
TS Throw away first time stamp
LABEL2 RD I Decrement “I” register
FL 5000 Feed 5000 steps
TR I 1 Test “I” against 1
QJ L #LABEL1 Jump to end if “I” less than 1
TS Time stamp
RM W 1 Move “W” into “1”
WD 1 Delay for “1” milliseconds
QG #LABEL2 Go to Label 2
LABEL1 NO Stop program