Optima DMC-1xxx and DMC-18x2 Command Reference
AR
i
23
AR
FUNCTION: After Relative Distance
DESCRIPTION:
The After Relative (AR) 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 either
the start of the move or the last AR or AD command. When using a stepper motor,
this condition is satisfied when the stepper position (as determined by the output
buffer) has crossed the specified Relative Position. For further information see
Chapter 6 of the User Manual "Stepper Motor Operation".
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.
If the direction of the motion is reversed when in position trackig mode (see PT command),
the starting point for the trippoint is reinitialized to the point at which the motion
reversed.
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 AR command is issued.
Note: AR will be affected when the motion smoothing time constant, IT, is not 1. See IT
command for further information.
ARGUMENTS: AR n,n,n,n,n,n,n,n
or
ARA=n
where
n is an unsigned integer in the range 0 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:
"AV"
Trippoint for after vector position for coordinated moves
"
SP
"
Trippoint for after absolute position
EXAMPLES:
#A;DP 0,0,0,0
Begin Program
JG 50000,,,7000
Specify speeds
BG AD
Begin motion
#B Label
AR 25000
After passing 25000 counts of relative distance on A-axis
MG "Passed _A";TPA
Send message on A-axis
JP #B
Jump to Label #B
EN End
Program
Hint: AR is used to specify incremental distance from last AR or AD command. Use AR if multiple
position trippoints are needed in a single motion sequence.
