20 ● AD DMC-40x0 Command Reference
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. AD
can only be used when there’s command motion on the axis.
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 No
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
AV After distance for vector moves
AP After position trip point
AR After relative distance trip point
MF Motion Forward 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*TM
μ
sec. Multiply your speed
by 2*TM
μ
sec to obtain the maximum position error in counts. Remember AD measures incremental
distance from start of move on one axis.
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