Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 518 of 909
LOAD
Download Compiled User Program to Motor
APPLICATION: Program access
DESCRIPTION: Download and store executable SmartMotor™ program to
motor
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: EEPROM is read/write unless "locked"
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: N/A
DETAILED DESCRIPTION:
NOTE: This command is intended to be used in custom terminal software for PLCs,
HMIs or similar devices.
The LOAD command is used by a terminal to download a compiled program file and store it
within the user-program EEPROM in the SmartMotor. The LOAD command causes a
SmartMotor to load all incoming host communications into program memory up to the first
occurrence of ASCII character 255. Program sizes can be as great as 32KB. This command is
mainly used by host utilities, which also compile the program before download.
LOAD terminates the current motion mode or trajectory. However, it does not change motion
parameters such as EL, ADT, VT, KP, etc., or alter the current value of the user variables.
If the motor does not receive the ASCII 255 byte after the LOAD command is issued, it will
continue to store incoming serial bytes directly to the user-program EEPROM. During this
time, the motor will not respond to your commands. The only way to terminate this condition
is to transmit ASCII 255 bytes or to reset the power.
NOTE: The SMI (SmartMotor Interface) software package is adjusted to take care
of this automatically.
By using the LOAD command, you can download the file from any controller, HMI, PLC or PC-
based program capable of storing an ASCII text file. For any given motor that is actively
addressed (i.e., you are talking to it and it responds), if you issue the LOAD command to the
motor, it immediately goes into a memory-write mode while checking all incoming data. After
issuing the LOAD command, every ASCII character that is received goes directly into the
user-program EEPROM. To terminate the LOAD command, the last characters sent must be
Part 2: Commands: LOAD

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English