As (at speed), Trippoint – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
AS (At Speed)
[Trippoint]
DESCRIPTION:
The AS command is a trippoint that occurs when the generated motion profile has reached the specified
speed. This command will hold up execution of the following command until the speed is reached. The AS
command will operate after either accelerating or decelerating. If the commanded speed is not reached, the
trippoint will be triggered after the motion is stopped (after deceleration).
ARGUMENTS: AS 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:
EXAMPLES:
WARNING: The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with S-curve
profiling may be inaccurate.
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
#SPEED
Program A
PR 100000
Specify relative position
SP 10000
Specify speed
BG
Begin motion
AS
Wait until after commanded speed is reached
MG "At Speed"
Print Message
EN
End of Program