Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 615 of 909
PA
Position, Actual
APPLICATION: Motion control
DESCRIPTION: Actual absolute position
EXECUTION: Next PIDsample
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RPA
WRITE: Read only
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -2147483648 to 2147483647
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RPA:3, x=PA:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PA (Position Actual) command is used to access the value of the main axis encoder. This
number may be called the current position or actual position.
The main axis is assigned with the ENC0 or ENC1 command. If the motor shaft moves, the
value of PA will be changed by the net number of encoder counts occurring during the shaft
motion. The primary encoder is tracked at all times — it is independent of the operation mode
of the SmartMotor™ or any error condition.
For details on adjusting the value of PA, see the commands O=formula, O(trj#)=formula on
page 597 and OSH=formula, OSH(trj#)=formula on page 611.
EXAMPLE:
ADT=100 'Set buffered accel/decel
VT=40000 'Set buffered velocity
MV 'Set to Mode Velocity
G 'GO, start motion trajectory
WHILE PA<=5000 'Wait until real-time position
LOOP 'Exceeds 5000 counts
PRINT("Position is above 5000",#13)
NOTE: PA follows the primary encoder that is used to close the loop. For example,
if you issue ENC1, then it will follow an external encoder. For more details, see
ENC0 on page 425and ENC1 on page 426.
Part 2: Commands: PA

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English