Optima DMC-1xxx and DMC-18x2 Command Reference
AD
i
15
AD
FUNCTION: After Distance
DESCRIPTION:
The After Distance (AD) command is a trippoint used to control the timing of events. This
command will hold up the execution of the following command until one of the
following conditions have been met:
1. The commanded motor position crosses the specified relative distance from the start of the
move.
2. The motion profiling on the axis is complete.
3. If in jog (JG) mode, the commanded motion is in the direction which moves away from the
specified position.
The units of the command are quadrature counts. Only one axis may be specified at a time.
The motion profiler must be active before the AD command is issued.
If the direction of motion is reversed when in PT mode, the starting position for AD is
reinitialized to the position at which the motor is reversed.
Note: AD command will be affected when the motion smoothing time constant, IT, is not 1.
See IT command for further information.
ARGUMENTS: AD n,n,n,n,n,n,n,n or
ADA=n
where
n is an unsigned integers in the range 0 to 2147483647 decimal.
Note: The AD command cannot have more than 1argument.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
"AV"
After distance for vector moves
"AR "
After relative distance trip point
"MR "
Motion Reverse trip point
EXAMPLES:
#A;DP0,0 Begin
Program
PR 10000,20000
Specify positions
BG Begin
motion
AD 5000
After A reaches 5000
MG "Halfway to A";TPA
Send message
AD ,10000
After B reaches 10000
MG "Halfway to B";TPB
Send message
EN End
Program
Hint: The AD command is accurate to the number of counts that occur in 2 msec. Multiply your
speed by 2 msec to obtain the maximum position error in counts. Remember AD measures incremental
distance from start of move on one axis.
