Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 611 of 909
OSH=formula, OSH
(trj#)=formula
Origin Shift
APPLICATION: Motion control
DESCRIPTION: Shifts the origin of the position counter during motion
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: OSH:3=1234 or OSH(0):3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The OSH (origin shift) command allows the current commanded (trajectory) position to be
shifted. The shift is relative, which can be useful in applications where the origin needs to be
shifted during motion without losing any position counts. Additionally, the actual position is
updated by the same difference. However, the position error remains the same before and
after executing this command.
Instead, the OSH(trj#)= form of the command changes the virtual position of trajectory 1 and
2. There are no actual positions to change in those cases. Positions PA and PC are not affected
by OSH(1)=, or OSH(2)=.
The OSHcommand shifts the position counters as follows:
Command Trajectory Position Actual Position
OSH=formula PC=PC+'formula value' PA=PA+'formula value'
OSH(0)=formula PC=PC+'formula value' PA=PA+'formula value'
OSH(1)=formula PC(1)=PC(1)+'formula value' N/A
OSH(2)=formula PC(2)=PC(2)+'formula value' N/A
Part 2: Commands: OSH=formula, OSH(trj#)=formula
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