Time based commands on Accelera motion controllers

The Accelera series motion controllers have some differences in their time-based commands from previous generations.  Some of these time-based commands have now been scaled to account for the TM sample period setting, while others still reflect the older non-scaled behavior.  Scaled commands are ones that are based on the actual time, while non-scaled commands are associated with the number of servo samples.

An example of a scaled command is the WT command.  With the default TM1000, a WT100 will give a wait time of 100msec.  Changing to a TM500, the WT100 will still give a wait time of 100msec.  The command has been internally scaled to account for TM.

An example of a non-scaled command is the TW command.  With the default TM1000, a TW100 will wait 100 samples (roughly 100msec) after motion before calling #MCTIME.  Changing to a TM500, a TW100 will still wait 100 samples (roughly 50msec) after motion before calling #MCTIME.

Below is a list of the time based commands for the Accelera motion controller, and whether the commands are scaled or not.

Scaled
AC
AS
AT
DC
FA
FV
HV
JG
KD
KI
NB
NF
NZ
PL
SD
SP
VA
VD
VS
WT

NON-scaled
BW
DR
DT
IT
TIME
TK
TV
TW