Am (after motion), Trippoint – Yaskawa SMC–4000 User Manual
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SMC–4000 User 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
to verify position error for servos or use the
to wait until final position is reached by the servo.
ARGUMENTS: AM XYZWS or ABCD
where
X, Y, Z, W or A, B, C, D are axis designators. S indicates an interpolation sequence. No argument specifies
that motion on all axes must be complete.
USAGE:
RELATED COMMANDS:
: _BG returns a 0 if motion complete
EXAMPLES:
HINT:
AM command controls the timing between multiple move sequences. If the motor is in the middle of a position
relative 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
Virtual Axis
No, use _BGN
#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