Optima DMC-1xxx and DMC-18x2 Command Reference
AP
i
22
AP
FUNCTION: After Absolute Position
DESCRIPTION:
The After Position (AP) 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 actual motor position crosses the specified absolute position. When using a
stepper motor, this condition is satisfied when the stepper position (as determined by
the output buffer) has crossed the specified position. For further information see
Chapter 6 of the User Manual "Stepper Motor Operation".
2.
The motion profiling on the axis is complete.
3.
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 AP command is ussued.
ARGUMENTS: AP n,n,n,n,n,n,n,n or APA=n where
n is a signed integer in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving
Yes
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
"
AD
"
Trippoint for relative distances
"
MF
"
Trippoint for forward motion
EXAMPLES:
#TEST Program
B
DP0 Define
zero
JG 1000
Jog mode (speed of 1000 counts/sec)
BG A
Begin move
AP 2000
After passing the position 2000
V1=_TPA
Assign V1 A position
MG "Position is", V1= Print Message
ST Stop
EN
End of Program
Hint: The accuracy of the AP command is the number of counts that occur in 2 msec. Multiply the
speed by 2 msec to obtain the maximum error. AP tests for absolute position. Use the AD command to
measure incremental distances.
