Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 122 of 909
While moving there:
l
RPC would report the commanded position from the processor.
l
RPA would report actual position of the encoder or motor shaft.
l
x=PA-PC would calculate following error at that moment.
l
REA would report actual following error at that moment.
l
RBt would report a 1 (while moving) because the trajectory is active.
After the move has completed, RBt would report a 0 (to indicate the trajectory is no longer
active).
Basic Motion Commands
The basic motion commands described in this section are used to set the operating mode,
control acceleration/deceleration, velocity, torque, origin and position, and to start and stop
the motion. Use the Motion Command Quick Reference on page 856 to understand the
relationship between basic motion commands and the terms Actual, Commanded and Target.
Target Commands
The following are target-related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 238.
PT=formula
Set Target Position (Absolute)
The PT command sets an absolute end position to move to when the motor is in Position mode.
The units are encoder counts and can be positive or negative in the range -2147483648 to
+2147483647. It is not advisable to attempt to use absolute moves that would cross the
rollover point of the most positive and most negative values. Also, absolute moves should not
attempt to specify a move with a relative distance of more than 2147483647. The end position
can be set or changed at any time during or at the end of previous moves. SmartMotor™ sizes
17 and 23 resolve 4000 increments per revolution, while SmartMotor size 34 resolves 8000
increments per revolution.
The following program illustrates how variables can be used to set motion values to real-
world units and have the working values scaled in motor units for a size 17 or 23 SmartMotor.
a=100 'Acceleration in rev/sec*sec
v=1 'Velocity in rev/sec
p=100 'Position in revs
GOSUB(10) 'Initiate motion
END 'End program
C10 'Motion routine
ADT=a*4.096 'Set target accel/decel
VT=v*32768 'Set target velocity
PT=p*4000 'Set target position
G 'Start move
RETURN 'Return to call
NOTE: If any errors exist, they must be cleared before the G command will work.
All errors can be cleared with the ZS command.
Part 1: Programming: Basic Motion Commands

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English