Moog SmartMotor

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 341 of 909
EXAMPLE:
WHILEBt'While trajectory in progress
LOOP
WHILE VA 'While still settling or while velocity not zero
LOOP
OFF 'Motor off
BRKENG 'Brake engage
EXAMPLE:
MP 'Buffer a position move request
ADT=10
VT=440000
PT=10000
G 'Start the first buffered move
WHILEBt 'Wait for first trajectory to be done
LOOP 'NOTE: TWAIT could have been used!
ADT=20 'Buffer another move
VT=-222000
PT=20000
G 'Now begin the second move
EXAMPLE: (Routine changes speed on digital input)
EIGN(W,0) 'Disable hardware limit IO
KD=10010 'Changing KD value in tuning
F 'Accept new KD value
O=0 'Reset origin
ADT=100 'Set maximum accel/decel
VT=10000 'Set maximum velocity
PT=40000 'Set final position
MP 'Set Position mode
G 'Start motion
WHILE Bt 'Loop while motion continues
IF IN(0)==0 'If input is low
IF VT==10000 'Check VT so change happens once
VT=12000 'Set new velocity
G 'Initiate new velocity
ENDIF
ENDIF
LOOP 'Loop back to WHILE
END
RELATED COMMANDS:
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 334)
G Start Motion (GO) (see page 456)
OFF Off (Drive Stage Power) (see page 605)
X Decelerate to Stop (see page 804)
Part 2: Commands: Bt