DMC-40x0 Command Reference AP • 29
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. AP
can only be used when there’s commanded motion on the axis.
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 No
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
AR 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*TM
μ
sec. Multiply the
speed by 2*TM
μ
sec to obtain the maximum error. AP tests for absolute position. Use the AD command to
measure incremental distances.
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