Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 335 of 909
EXAMPLE:
BRKTRJ 'Set brake mode to follow Bt bit
MP 'Set buffered mode
ADT=100 'Set buffered accel/decel
VT=100000 'Set buffered maximum velocity
C1 'Program statement label
PT=1000 'Set buffered target position
G 'Servo on, start trajectory
'The brake will automatically be energized and released
TWAIT 'Wait for trajectory to end,
' now brake will be on and servo off
WAIT=1000 'Brake on for ~one second
PT=0 'Set new buffered target position
G 'Servo on, brake off, trajectory
WAIT=1000
GOTO1 'Effective loop forever
NOTE: A position error will terminate the trajectory-in-progress state. In this case,
the brake would then be asserted.
When in BRKTRJ mode, the brake will click on at the beginning of each move and click off at
the end of each move. The clicking sound is normal and indicates proper operation.
RELATED COMMANDS:
BRKENG Brake Engage (see page 328)
BRKRLS Brake Release (see page 330)
BRKSRV Brake Servo, Engage When Not Servoing (see page 332)
EOBK(IO) Enable Output, Brake Control (see page 437)
Part 2: Commands: BRKTRJ

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English