Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 101 of 909
Serial Commands
The SmartMotor allows you to communicate over the available RS-232 and/or RS-485 serial
ports (depending on the style of SmartMotor you're using). There are specific serial
commands used for configuring the serial communications, baud rate, printing, etc., as
described below.
NOTE: D-style SmartMotors use primarily RS-232 communications, whereas all
other SmartMotor use primarily RS-485 communications.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 238.
OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout)
Option Description
type: RS2 (D-style
only), RS4,
MB4, DMX
RS2=RS-232, RS4=RS-485, MB4=Modbus
protocol over RS-485*, DMX=DMX pro-
tocol*
channel: D-style: 0, 1
M-style: 0
0=Main, 1=Secondary
parity N, O, or E None, Odd or Even
bit rate: 2400, 4800, 9600, 19200, 38400, 57600, 115200 baud
stop bits: 1 or 2
data bits: 8
mode: C or D Command or Data
timeout: (Optional) Timeout in milliseconds between issuing a com-
mand and detecting a delimiter, e.g., RPA(space) where space
is the delimiter.
*For more details, see the documentation for the specified protocol.
NOTE: Changing the default value of any parameter other than baud rate will
prevent proper command data from being received by the SmartMotor. If you are
unable to communicate with the SmartMotor, you may be able to recover
communications using the Communication Lockup Wizard, which is on the SMI
software Communication menu. For details, see the SMI software online help,
which is accessed by pressing the F1 key or selecting Help from the SMI software
main menu.
Placing a communications port in Data mode will completely prevent the SmartMotor from
receiving any commands and require the user program code to parse out all incoming data.
Therefore, if the intent is to be able to send standard commands at any time and allow the
SMI software to detect the motors, then the OCHN command could be used to change only the
baud rate or the communications error timeout values — do not use it to change any other
settings. The BAUDcommand can also be used to change the baud rate. For details, see
BAUDrate, BAUD(channel)=formula on page 102.
The following is an example of the OCHN command:
OCHN(RS4,0,N,38400,1,8,D)
For a D-style motor, if the primary communication channel (0) is opened as an RS-485 port,
then it assumes the Moog Animatics RS485-ISO adapter is connected to it. If so, then I/O 6 is
Part 1: Programming: Serial Commands

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English