Yaskawa LEGEND-MC - Manual (Page 78)

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LEGEND-MC User’s Manual
AT (After Time)
[Trippoint]
DESCRIPTION:
The AT command is a trippoint which is used to hold up execution of the next command until after the
specified time has elapsed. The time is measured with respect to a defined reference time. AT 0 establishes
the initial reference. AT n specifies n msec from the reference. AT -n specifies n msec from the reference
and establishes a new reference after the elapsed time period. This command is useful for waiting an
accurate amount of time duration while still being able to perform some other operations as long as they
require less time than the AT time.
ARGUMENTS: AT n where
n is a signed integer
n = 0 defines a reference time at current time
positive n waits n msec from reference
negative n waits n msec from reference and sets new reference after elapsed time period
(AT -n is equivalent to AT n; AT 0)
USAGE:
EXAMPLES:
The following commands are sent sequentially:
While Moving Yes Minimum Value -2147483647
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 No, Local
AT 0 Establishes reference time 0 as current time
AT 50 Waits 50 msec from reference 0
AT 100 Waits 100 msec from reference 0
AT -150 Waits 150 msec from reference 0 and sets new
reference at 150
AT 80 Waits 80 msec from new reference (total
elapsed time is 230 msec)