Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 28 of 909
Overview
The SmartMotor™ Developer's Guide is designed to be used by system developers and
programmers when developing applications for the SmartMotor. Before using the
SmartMotor™ Developer's Guide, it is strongly recommended that you first read the
SmartMotor™ Installation & Startup Guide for your SmartMotor, which describes how to
install and start up the SmartMotor, and test initial communications with the motor. After that,
use this guide to learn about advanced SmartMotor features, how to develop SmartMotor
applications, and the details of each command.
Part One of this guide provides information on basic to advanced programming, along with
related information on key SMIsoftware features, communications, motion control, program
flow control, error and fault handling, and more.
Part Two of this guide lists all the SmartMotor commands in alphabetical order. Each
command is described in detail. Code snippets and examples are provided where applicable.
These are shown in a Courier font. Comments are included and separated with a single
quotation mark as they would be in your own programs.
NOTE: The programs and code samples in this manual are provided for example
purposes only. It is the user's responsibility to decide if a particular code sample or
program applies to the application being developed and to adjust the values to fit
that application.
Also, where appropriate, a Related Commands section is included, which is located at the end
of the command page. It is designed to guide you to other commands that offer similar
functionality, and ensure you are aware of every programming option the SmartMotor
provides to address your specific application requirements.
Part Three of this guide provides a library of useful example SmartMotor programs. These can
be used as "how to" examples for using a particular SmartMotor feature or solving a particular
application problem, or as starting points for your application.
NOTE: The programs and code samples in this manual are provided for example
purposes only. It is the user's responsibility to decide if a particular code sample or
program applies to the application being developed and to adjust the values to fit
that application.
The Appendix of this guide contains additional topics such as an array map, ASCII character
set, command error codes, and other information that is useful to have handy during
application development.
A quick-reference command list is also included at the end of this guide.
Combitronic Support
A large number of the commands provide Combitronic™ support. Combitronic is a protocol
that operates over a standard "CAN" (Controller Area Network) interface. It may coexist with
either CANopen or DeviceNet protocols at the same time. Unlike these common protocols,
however, Combitronic requires no single dedicated master to operate. Each Integrated Servo
connected to the same network communicates on an equal footing, sharing all information,
and therefore, sharing all processing resources. For more details on Combitronic features,
see Combitronic Communications on page 111, and also see the overview on the Moog
Animatics website at:
http://www.animatics.com/supports/knowledge-base/smartmotorkb/130.html.
Introduction: Overview
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