Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 630 of 909
PMT=formula
Position, Modulo Target
APPLICATION: Motion control
DESCRIPTION: Gets/sets the modulo target
EXECUTION: Buffered until a G command is issued
CONDITIONAL TO: PML for allowed range
LIMITATIONS: N/A
READ/REPORT: RPMT
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: 0 to 2147483646
TYPICAL VALUES: 0 to 1000000
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: PMT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PMTcommand is used to get (read) or set the modulo target. When in position mode
(MP), the trajectory will compute the shortest distance to get from the current position to the
requested position with respect to the PML limit. Therefore, the motor may move in either a
clockwise or counterclockwise direction based on the one that produces the shortest motion in
modulo terms.
For example, assume PML=4000 and the current commanded position (PC) is 0. If PMT=3000,
then the motor will actually move counterclockwise by 1000 counts. At the end of this move,
PC will be -1000 and PMA will be 3000.
Because PMA is an actual encoder position and not given in terms of commanded trajectory,
the PMT target will take into account the current position error. This helps to prevent
accumulated error in the target position based on the position error at the time the move is
started. Note that the PT, PRT and PMT targets all act on the ideal currently commanded
position instead of the actual position, which may be subject to position error (EA).
Part 2: Commands: PMT=formula
To Next Page
Loading...
Need help?
General
