Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 632 of 909
PRA
Position, Relative Actual
APPLICATION: Motion control
DESCRIPTION: Get actual position relative to move start
EXECUTION: Next PIDsample
CONDITIONAL TO: MV or MP mode
LIMITATIONS: Origin change affects the value reported from PRA during the
next move
READ/REPORT: RPRA
WRITE: Read only
LANGUAGE ACCESS: 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: N/A
DETAILED DESCRIPTION:
The PRA(Position Relative Actual) command is used to get (read) the actual position relative
to the point where the move started. This includes position error in addition to the
commanded relative move.
NOTE: This command is primarily for use in MP mode but will also work in MV
mode. Other modes of motion do not support this command.
The value reported from PRA is calculated using the value of PC(1) at the time the move
began. Therefore, for accurate PRA calculation, if the origin is changed (i.e., O=0), then also
correct trajectory 1 to the same value at that time: O(1)=0.
Part 2: Commands: PRA

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English