Yaskawa SMC–4000 - Manual (Page 72)

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SMC–4000 User 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 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 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
Virtual Axis No
#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