| AR | Syntax: | Explicit & Implicit & Trippoint | |
| Operands: | none | ||
| Burn: | not burnable | ||
| After Relative Distance | |||
The After Relative (AR) 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 either the start of the move or the last AR or AD command. When using a stepper motor, this condition is satisfied when the stepper position (as determined by the output buffer) has crossed the specified Relative Position. For further information see Chapter 6 of the User Manual "Stepper Motor Operation".
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.
If the direction of the motion is reversed when in position tracking mode (see PT command), the starting point for the trippoint is reinitialized to the point at which the motion reversed.
The units of the command are quadrature counts. Only one axis may be specified at a time. AR can only be used when there's commanded motion on the axis.
Note: AR will be affected when the motion smoothing time constant, IT, is not 1. See IT command for further information.
AR n,n,n,n,n,n,n,n or ARA=n where
n is an unsigned integer in the range 0 to 2147483647 decimal.
N/A
| Usage | Value |
|---|---|
| While Moving | Yes |
| In a Program | Yes |
| Command Line | No |
| Controller Usage | All |
| Default Value | N/A |
| Default Format | N/A |
AV - Trippoint for after vector position for coordinated moves
AP - Trippoint for after absolute position
#A;DP 0,0,0,0 Begin Program JG 50000,,,7000 Specify speeds BG AD Begin motion #B Label AR 25000 After passing 25000 counts of relative distance on A-axis MG "Passed _A";TPA Send message on A-axis JP #B Jump to Label #B EN End Program Hint: AR is used to specify incremental distance from last AR or AD command. Use AR if multiple position trippoints are needed in a single motion sequence.