Galil Motion Control optcom Page 37
Optima DMC-1xxx and DMC-18x2 Command Reference
AT
i
26
AT
FUNCTION: At Time
DESCRIPTION:
The AT command is a trippoint which is used to hold up execution of the next command
until after the specified time has elapsed. The time is measured with respect to a defined
reference time. AT 0 establishes the initial reference. AT n specifies n msec from the
reference. AT -n specifies n msec from the reference and establishes a new reference
after the elapsed time period.
ARGUMENTS: AT n
where
n is a signed, even integer in the range 0 to 2 Billion
n = 0 defines a reference time at current time
n > 0 specifies a wait time of n msec from the reference time
n < 0 specifies a wait time of n msec from the reference time and re-sets the reference
time when the trippoint is satisfied.
(AT -n is equivalent to AT n; AT <old reference +n>
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
EXAMPLES:
The following commands are sent sequentially
AT 0
Establishes reference time 0 as current time
AT 50
Waits 50 msec from reference 0
AT 100
Waits 100 msec from reference 0
AT -150
Waits 150 msec from reference 0 and sets new reference at 150
AT 80
Waits 80 msec from new reference (total elapsed time is 230 msec)
