Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 216 of 909
Interpolation Status Bits
The Class 5 SmartMotor supports Interpolated Position modes (IP modes) from data sent over
a CANopen network. The same bits supported for cams also exist as a separate set of status
bits when operating in IP mode. In a standard Class 5 SmartMotor, these bits reside in Status
Word 8. When Moog Animatics SMNC multi-axis contouring software is used, there is built-in
support for these status bits.
For details on the Moog Animatics SMNC software, see this address:
http://www.animatics.com/products/smartmotor/animatics/cnc-software/smnc.html
Motion Mode Status
The Class 5 SmartMotor supports many different motion modes. Keeping them straight can
present a challenge. The RMODEcommand provides a tool for reporting the motion mode.
RMODE, RMODE(arg)
Report Motion Mode
The RMODE command will report the current active motion mode. Insert an argument to
specify move generator 1 or 2. The value returned has the following meanings:
7 CANopen Interpolation
6 CANopen Homing
4 Torque
3 Velocity
1 Position
0 Null (move generator inactive)
-2 Quadrature Follow
-3 Step/Direction Follow
-4 Cam
-5 Mixed
For more details, see Part 2: SmartMotor Command Reference on page 238.
Part 1: Programming: Interpolation Status Bits
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