Yaskawa LEGEND-MC - Manual (Page 71)

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LEGEND-MC User’s Manual
AM (After Motion)
[Trippoint]
DESCRIPTION:
The AM command is a trippoint used to control timing of events. This command holds up execution of the
following commands until the current move on the specified axis or axes is completed. AM occurs when
the profiler is finished generating the last position command. However, the servo motor may not be in final
position. Use TE to verify position error for servos or use the MC trippoint to wait until final position is
reached by the servo.
ARGUMENTS: AM XYZWS or ABCDEFGH where
X, Y, Z, W or A, B, C, D, E, F, G, H are axis designators. S indicates an interpolation sequence. No argu-
ment specifies that motion on all axes is complete.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: AM command controls the timing between multiple move sequences. If the motor is in the middle of a position rela-
tive move (PR), a position absolute move (PA, BG) cannot be made until the first move is complete. Use AM to pause the
program sequences until the first motion is complete. AM tests for profile completion. Another testing method is to query the
operand, _BG. This is equal to 1 during motion, and 0 when motion profiling is complete.
While Moving Yes Minimum Value n/a
In a Program Yes Maximum Value n/a
Command Line Yes Default Value ---
Can be Interrogated No Default Format ---
Used as an Operand No Distributed Control Specific Axis
"BG" _BG returns a 0 if motion complete
“MC” Actual Motion Complete
#MOVE Start of program
PR 5000 Position relative move
BG Begin motion
AM Wait until motion is complete
EN End of Program
#F;DP 0 Program F
PR 5000 Position relative move
BG Begin motion
AM Wait until motion is complete
MG "DONE";TP Print message
EN End of Program