Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 456 of 909
G
Start Motion (GO)
APPLICATION: Motion control
DESCRIPTION: Initiate motion, or change trajectory parameters of existing
motion.
EXECUTION: Immediate
CONDITIONAL TO: Drive is ready (status word 0, bit 0)
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: G:3 or G(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The G (Go) command is used to start motion or update buffered values such as speed or
acceleration.
The G command is required in each of the following cases:
l
Initiate an Absolute Move in Mode Position (MP):
VT=10000 ADT=100 PT=1234 MP G
l
Initiate a Relative Move in Mode Position (MP):
VT=10000 ADT=100 PRT=4000 MP G
l
Initiate a Velocity in Mode Velocity (MV):
VT=10000 ADT=100 MV G
l
Change to a new Velocity in Mode Position (MP) or Mode Velocity (MV):
VT=10000 ADT=100 MV GWAIT=1000 VT=VT*2 G
l
Change to a new Acceleration in Mode Position (MP) or Mode Velocity (MV):
VT=10000 ADT=100 MV GWAIT=1000 ADT=200 G
Part 2: Commands: G

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English