Moog SmartMotor - Page 631

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 631 of 909
EXAMPLE: (Shows the use of the PMA, PML and PMT commands)
EIGN(W,0) 'Make all onboard I/O inputs
ZS 'Clear errors
MP VT=20000 ADT=100 O=0 'Mode Position, velocity, accel/decel, zero enc.
PML=RES 'RES on NEMA 23 is 4000, NEMA 34 is 8000
GOSUB(10) 'Print positions
PT=6000 G TWAIT 'Absolute move
WAIT=1000 'Wait 1 second
GOSUB(10) 'Print positions
PMT=3000 G TWAIT 'Modulo move
WAIT=1000 'Wait 1 second
GOSUB(10) 'Print positions
PMT=1000 G TWAIT 'Modulo move
WAIT=1000 'Wait 1 second
GOSUB(10) 'Print positions
END
C10 'Subroutine 10
PRINT("Actual absolute position: ",PA,#13)
PRINT("Actual modulo position: ",PMA,#13)
RETURN 'Return to command after GOSUB
RELATED COMMANDS:
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 425)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 426)
R
PMA Position, Modulo Actual (see page 626)
R
PML=formula Modulo Position Limit (see page 628)
Part 2: Commands: PMT=formula