Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 619 of 909
PC, PC(axis)
Position, Commanded
APPLICATION: Motion control
DESCRIPTION: Commanded absolute position
EXECUTION: Next PIDsample
CONDITIONAL TO: Mode of motion control, or drive OFF status
LIMITATIONS: N/A
READ/REPORT: RPC, RPC(axis)
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: RPC(0):3, x=PC(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PC(Position, Commanded) command gets (reads) the commanded absolute position as
follows:
l
=PC
Commanded position of the motor shaft as a result of motion trajectory generation. This
may include a sum of concurrent moves such as a follow mode move combined with a
position move.
l
=PC(0)
Equivalent to: a=PC
l
=PC(1)
Reports the commanded position in the frame of reference for trajectory generator one.
l
=PC(2)
Reports the commanded position in the frame of reference for trajectory generator two.
The commanded position is the calculated trajectory position. It is the reference position
where the motor would ideally be positioned. However, the motor's actual position (PA) may
vary — it depends on how closely the PID tuning brings the position error (EA) to 0.
NOTE: If the drive is off, then PC and PC(0) simply follow the actual position PA.
Part 2: Commands: PC, PC(axis)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English