Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 481 of 909
INA(...)
Specified Input, Analog
APPLICATION: I/O control
DESCRIPTION: Read the desired analog input
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RINA(...)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: Depends on motor series and command options (see details)
TYPICAL VALUES: Depends on motor series and command options (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RINA(V1,3):3, x=INA(V1,3):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The INA command reads the specified analog input. It can be used in the following ways:
l
x=INA(A,IO)
where IN(A,IO) specifies a raw analog reading with 10-bit resolution and spanned over
a signed 16-bit range, which is assigned to variable x.
l
x=INA(V,IO)
where IN(V,IO) specifies a reading of the input voltage (V) in millivolts of analog input
value and for a given I/O (defined by IO), which is assigned to the variable x. Only
applies to inputs 16-25 on the D-style motor with AD1 option, or inputs 0-10 on an
M-style motor.
l
x=INA(V1,IO)
where INA(V1,IO) specifies a scaled 0–5 VDC reading in millivolts (3456 would be 3.456
VDC) for a given I/O (defined by IO) that is assigned to the variable x.
l x=INA(V2,IO)
where INA(V2,IO) specifies a scaled 0–.6 VDC reading in millivolts (60 would be 0.06
VDC) for a given I/O (defined by IO) that is assigned to the variable x. Only applies to
inputs 16-25 on the D-style motor with AD1 option, or inputs 0-10 on an M-style motor.
Part 2: Commands: INA(...)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English