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Program Flow: Trippoints
Motion control programs often include several functions. These functions are scheduled by
delaying the execution of each function until a certain condition occurs. These conditions are
called trippoints.
For example, the "after distance" (AD) trippoint delays the execution of a function until after the
motor moves a certain distance. Similarly, the execution of a function may be delayed until a
move has been completed (AM), an input signal changes states (AI), or by a pure time delay
(WT).
• Special commands that halt program execution until a specified event occurs.
AD
AR
AP
AI
AM
WT
AT
AS
AV
WC
After distance
After relative distance
After absolute position
After input
After motion complete
After time elapsed (wait)
After time relative to previous AT
After speed
After vector distances
Wait for contour data
• Example:
Instruction
Interpretation
#A
PR 1000
BGX
AM X
PR -1000
BGX
EN
Label
Position 1000
Begin
Wait for motion done
Position -1000
Begin
End Program
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