Yaskawa LEGEND-MC - Manual (Page 67)

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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