Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 626 of 909
PMA
Position, Modulo Actual
APPLICATION: Motion control
DESCRIPTION: Gets (reads) the actual position in modulo counts
EXECUTION: Next PIDsample
CONDITIONAL TO: PML limit
LIMITATIONS: N/A
READ/REPORT: RPMA
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: 0 to 2147483646
TYPICAL VALUES: 0 to 1000000
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RPMA:3, x=PMA:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PMA(Position Modulo Actual) command reads the actual motor position in modulo counts.
This counter is affected by the O= and OSH= commands.
NOTE: The value of PMA is always positive.
The PML command is used to configure the modulo-rollover point. When the encoder travels in
a positive direction, the modulo count will increase. When the count equals or exceeds the
value set by PML, then the counter rolls over to 0. If the encoder travels in the negative
direction, the count decreases until it is less than 0. At that point, it will be automatically
rolled to PML-1.
The PML command will reset the PMA counter to 0.
The RPMA (report PMA) command updates according to the active encoder selected by ENC0
or ENC1.
Part 2: Commands: PMA

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English