Trip Points Flashcards
AD
After Distance
1. Trippoint to block command execution until a given distance is traversed. This is a profiled trippoint which means it depends on the motion profiler and not the actual motor encoder.
2. AD can only be used when there is a commanded motion on the axis
3. AD will hold up the execution of the following command until one of the following conditions have been met.
* The commanded motor position crosses the specified relative distance from the start of the move.
* The motion profiling on the axis is complete
* If in the jog (JG) mode, the commanded motion is in the direction which moves away from the specified position.
4. AD command will be effected when the motion smoothing time constant IT is not 1
5. AD measures incremental distance from the start of move on one axis
AI
After Input
1. The AI command is a trippoint used in motion programs to wait until after a specified input has changed state.
2. This command can be configured such that the controller will wait until the input goes high or the input goes low.
3. The AI command actually halts execution until specified input is at desired logic level.
* Use the conditional Jump (JP) command or Input Interrup (II) if you do not want the program sequence to halt
4. AI functions only on local input points.
AM
After Move Profile Complete
1. The AM command is a trippoint used to control the timing of events.
2. This command will hold up the execution of the following commands until the current move on the specified axis or axes is completed.
3. Any combination of axes or a motion sequence may be specified with the AM command.
4. AM with no parameter specifies that motion on all axes to be complete.
AP
After Relative Position
1. The AP command will hold up the execution on the following command until the actual motor position crosses the specified position.
2. This trippoint does not rely on the profiler, but on the actual encoder position.
3. For the AP command to clear, one of the following condition must be met
* The actual motor position crosses the specified absolute position.
* The motion profiling on the axis is complete.
* The commanded motion is in the direction which moves away from the specified position
4. The units of the command are quadrature counts.
5. The motion profiler must be active before the AP command is used.
6. AP tests for absolute position. Use the AD command to measure incremental distances
AR
After Relative Distance
1.The After Relative (AR) command is a trippoint used to control the timing of events.
2. This command will hold up the execution of the following command until one of the following conditions have been met
* The commanded motor position crosses the specified relative distance from either the start of the move or the last AR or AD command
* The motion profiling on the axis is complete.
* If in Jog (JG) mode, the command motion is in the direction which moves away from the specified position.
3. The units of command are quadrature counts
4. If the direction of the motion is reveresed when in position tracking mode the starting point for the trippoint is reinitialized to the point at which the motion reversed.
5. The motion profiler must be active before the AR command is issued
6. AR will be affected when the motion smoothing time constant, IT, is not 1
7. AR is used to specify incremental distance from last AR or AD command
8. Use AR if multiple position trippoints are needed in a single motion sequence.
AS
At Commanded Speed
1. The AS command is a trippoint that occurs when the generated motion profile has reached the specified speed.
2. This command will hold up execution of the following command until the commanded speed has been reached.
3. The AS command will operate after either accelerating or decelerating.
4. If the speed is not reached, the trippoint will be triggered after the speed begins diverging from the AS value
5. The AS command applies to a trapezoidal velocity profile only with linear acceleration. AS used with smoothing profiling will be innacurate.
AT
At Time
1. The AT command is a trippoint which is used to hold up execution of the next command until after a specified time has elapsed.
2. The time is measured with respect to a defined reference time.
3. AT 0 establishes the initial reference.
4. AT n,1 specifies n samples from the reference. This is useful when TM is lowered and faster application loop times are required.
* n0 = 0 sets the reference time for AT to the current time.
* n0 > 0 specifies the wait time as the absolute value of n0 from the reference time.
* n0 < 0 specifies the wait time as the absolute value of n0 from the reference time, and resets the reference time when the trippoint is complete to the current time.
* AT -n0 is equivalent to AT n0; AT (old reference +n0)
AV
After Vector Distance Profiled
1. The AV command is used to hold up execution of the next command during coordinated moves such as VP, CR, or LI. This trippoint occurs when he path distance of a sequence reaches the specified value.
2. The distance is measured from the start of a coordinated move sequence or from the last AV command.
3. The units of the command are quadrature counts.
4. -AVS contains the vector distance from the start of the serquence in the S coordinate system,
5. -AVT contains the vector distance from the start of the sequence in the T coordinate system.
MC
Motion Complete
1. The MC command is a trippoint that holds up execution until motion is complete on the specified axis.
2. The MC command unlike the After Motion (AM) command requires that both the motion profiler has completed motion AND that the motor encoder has reached the specified position before continuing execution.
3. Motion must be actively profiling on an axis for the MC command to take affect. If the MC command is issued for an axis which is not profiling motion, the trippoint will immediatly clear.
- The Command TW can be used to set an acceptable amount of time between when the motion profiler has completed and the encoder is in position; If this condition is not satisfied, a timeout error occurs.
1. When a timeout occurs, the trippoint will clear and the stop code will be set to 99.
2. Thread 0 of the DMC program will also jump to the special label #MCTIME, if present.
MF
Forward Motion to Position
1. This command will hold up execution of the fgollowing command until the specified motor moves forward and crossed the position specified.
2. Although multiple positions can be specified, only one of the MF conditions must be satisfied for subsequent code execution.
3. MF command references Absolute position.
4. The MF command only requires an encoder and does not require that the axis be under servo control.
MR
Reverse Motion to Position
1. This command will hold up the execution of subsequent DMC code until the specified axis moves backwards and crosses the position specified.
2. MR command reference ABSOLUTE position
3. Although multiple positions can be specified, only one of the MR conditions must be satisfied for subsequent code execution.
4. The MR command only requires an encoder and does not require that the axis be under servo control.
WT
Wait
1. The WT command is a trippoint used to time events. When this command is executed, the controller will wait for the amount of time specified before executing the next command.
2. The amount of time in the WT command is specified to be either samples or milliseconds, depending on the second argument of WT.
3. If n1=1 for WTn0,n1 then the controller will wait for the number for samples specified before executing the next command.
4. By default, WT is specified in milliseconds. If n1 is omitted, then n1 = 0 is used and WT is timed in milliseconds.
