Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 174 of 909
Commands That Read Trajectory Information
The following list shows the commands that can be used to read trajectory information. For
more details, see Part 2: SmartMotor Command Reference on page 238.
=VT Read back what has been set as the velocity target.
=PT Read back what has been set as the position target.
=PRT Read back what has been set as the position relative target.
=AT Read back what has been set as the acceleration target.
=DT Read back what has been set as the deceleration target.
=PC Commanded position of the motor shaft as a result of motion tra-
jectory generation. This may include a sum of concurrent moves
such as a Follow mode move combined with a position move.
=PC(0) Equivalent to a=PC.
=PC(1) Reports the commanded position in trajectory generator 1’s frame of
reference.
=PC(2) Reports the commanded position in trajectory generator 2’s frame of
reference.
=VC Real-time commanded velocity from all trajectory generators.
=AC Real-time commanded acceleration from all trajectory generators
(negative indicates deceleration.)
=VA Report the velocity of the motor shaft. The units are encoder counts
per PID sample times 65536. The factor of 65536 allows for finer res-
olution of slower speeds. This finer-resolution information below
65536 is calculated through a filter because the only direct meas-
urement is whole units of encoder counts per sample.
VAC(arg) Controls the filter used to measure speed. Default value is 65000.
Higher values provide a smoother filter, at the cost of a longer set-
tling time. The maximum value is 65535. A value of 0 turns off this
filtering.
=PA Reads position of the motor shaft based on the encoder chosen by
ENC1, ENC0 commands.
=CTR(0) Position of the internal encoder. Unaffected by ENC1, ENC0 com-
mands.
=CTR(1) Accumulated counts from the external encoder. Unaffected by ENC1,
ENC0 commands.
Part 1: Programming: Commands That Read Trajectory Information
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