Galil Motion Control DMC-18 2 Series User Manual page 128

DMC-18x2 Event Triggers
Command
M X Y Z W S or T
AD X or Y or Z or W
AR X or Y or Z or W
AP X or Y or Z or W
MF X or Y or Z or W
MR X or Y or Z or W
MC X or Y or Z or W
AI +/- n
AS X Y Z W S T
AT +/-n
AV n
WT n
BKn
SL
DMC-18x2
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Function
Halts program execution until motion is complete on
the specified axes or motion sequence(s). AM with no
parameter tests for motion complete on all axes. This
command is useful for separating motion sequences in
a program.
Halts program execution until position command has
reached the specified relative distance from the start of
the move. Only one axis may be specified at a time.
Halts program execution until after specified distance
from the last AR or AD command has elapsed. Only
one axis may be specified at a time.
Halts program execution until after absolute position
occurs. Only one axis may be specified at a time.
Halt program execution until after forward motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then
MF will trip immediately. Will function on geared
axis or aux. inputs.
Halt program execution until after reverse motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then
MR will trip immediately. Will function on geared
axis or aux. inputs.
Halt program execution until after the motion profile
has been completed and the encoder has entered or
passed the specified position. TW x,y,z,w sets
timeout to declare an error if not in position. If
timeout occurs, then the trippoint will clear and the
stopcode will be set to 99. An application program
will jump to label #MCTIME.
Halts program execution until after specified input is
at specified logic level. n specifies input line.
Positive is high logic level, negative is low level. n=1
through 8 for DMC-1812, 1822, 1832, 1842.
Halts program execution until specified axis has
reached its slew speed.
Halts program execution until n msec from reference
time. AT 0 sets reference. AT n waits n msec from
reference. AT -n waits n msec from reference and sets
new reference after elapsed time.
Halts program execution until specified distance along
a coordinated path has occurred.
Halts program execution until specified time in msec
has elapsed.
Halts the program at a specific line and allows single
line step through afterward.
Execute the next line of the program.
Chapter 7 Application Programming • 117