Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 130 of 909
X
Decelerate to Stop
If the X command is issued while a move is in progress, it causes the motor to decelerate to a
stop at the last entered deceleration value according to the ADT, DT and AT commands. When
the motor comes to rest, it will servo in place until commanded to move again. The X
command works in Position, Velocity and Torque modes. It also applies to Follow and Cam
modes.
O=formula
Set/Reset Origin to Any Position
The O= command (using the letter O, not the number zero) allows the host or program to
declare the current position to a specific value, positive or negative, or 0 in the range
-2147483648 to +2147483647. This command sets the commanded trajectory position to the
value specified at that point in time and the actual position is adjusted similarly. The O=
command directly changes the motor’s position register and can be used as a tool to avoid
±31-bit rollover Position mode problems. If the SmartMotor runs in one direction for a very
long time, it will reach position -2147483648 or +2147483647, which causes the position
counter to change sign. While that is not an issue with Velocity mode, it can create problems
in absolute position moves or create confusing results when reading position.
OSH=formula
Shift the Origin by Any Distance
The OSH= command shifts the origin by the amount described, which may be from
-2147483648 to +2147483647. This command is similar to O=, except that it specifies a
relative shift. This can be useful in applications where the origin needs to be shifted during
motion without losing any position counts.
OFF
Turn Motor Servo Off
The OFF command turns off the motor’s drive. When the drive is turned off, the PWR/SERVO
status LEDs revert to flashing green. The motor will not freewheel by default in the OFF state
because each SmartMotor has a safety feature that engages dynamic braking equivalent to
the MTB command. This has the effect of causing a resistance to motion. To make a
SmartMotor truly freewheel when off, issue BRKRLS and be sure any faults are cleared.
Part 1: Programming: X
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