Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 56 of 909
Creating a Simple Motion Program
WARNING: The larger SmartMotors can shake, move quickly and exert great
force. Therefore, proper motor restraints must be used, and safety
precautions must be considered in the workcell design (see Other Safety
Considerations on page 31).
Enter the following motion program in the SMIediting window. Pay close attention to spaces
and capitalization.
As described previously, it’s only necessary to enter text on the left side of the single quote,
as the text from the single quotation mark to the right end of the line is a comment and for
information only. That said, it is always good programming practice to create well-
commented code. Nothing is more frustrating than trying to debug or decipher code that is
sparsely commented.
NOTE: Comments do not get sent to the SmartMotor.
EIGN(2) 'Disable left limit
EIGN(3) 'Disable right limit
ZS 'Reset errors
ADT=100 'Set target accel/decel
VT=1000000 'Set target velocity
PT=100000 'Set target position
G 'Go, starts the move
TWAIT 'Wait for move to complete
PT=0 'Set buffered move back to home
G 'Start motion
END 'End program
After entering the program code, you can download it to the motor and then run it. For details
on downloading the program, see Downloading a Program to the SmartMotor on page 52. For
details on running the downloaded program, see Running a Downloaded Program on page 54.
Part 1: Programming: Creating a Simple Motion Program
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