Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 135 of 909
Absolute (Position) Mode
Absolute (Position) mode is the default power-up mode of operation for the SmartMotor. In
Position mode, the SmartMotor operates on absolute position commands, which use encoder
counts.
The following list details the minimum requirements for a move to occur in Position mode:
• Initiate Position mode MP command if not already in Position mode
• Nonzero value of Velocity VT=### set velocity equal to ###
• Nonzero value of Acceleration ADT=### set accel/decel equal to ###
• Absolute commanded position PT=###
set target position to ###
• Go command to initiate move G start move immediately
NOTE: Commanded position must be different than present position to cause a
move. If acceleration or velocity are at zero, the motor will not move.
Absolute Move Example
In this example, the motor starts moving when the G (Go) command is received and stops at
an absolute position of 20000 encoder counts.
MP ' set to position mode (required if currently in another mode)
VT=100000 ' set velocity to 100000
ADT=1000 ' set accel/decel to 1000
PT=20000 ' set commanded absolute position to 20000
G ' Go (Start moving)
Two Moves with Delay Example
The following example shows two position moves with a delay in between.
O=0 ' set current position to zero
MP ' set to position mode (required if currently in another mode)
VT=100000 ' set velocity to 100000
ADT=1000 ' set accel/decel to 1000
PT=20000 ' set commanded absolute position to 20000
G ' Go (Start moving)
TWAIT ' wait here until the motor has reached 20000
WAIT=1000 ' wait 1 second
PT=-500 ' Set commanded position of –500
G ' start moving to new commanded position.
NOTE: The move is made at the previously-commanded speed and acceleration.
Change Speed and Acceleration Example
In this example, the commanded speed and acceleration are changed while the motor is
executing the absolute position move.
Part 1: Programming: Absolute (Position) Mode
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