Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 635 of 909
PRC
Position, Relative Commanded
APPLICATION: Motion control
DESCRIPTION: Get commanded 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: RPRC
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 PRC(Position Relative Commanded) command is used to get (read) the commanded
position relative to the point where the move started. This mode does not consider position
error; it only reports the change in the trajectory-calculated position from the start of the
move.
NOTE: This is primarily for use in MP mode but will also work in MV mode. Other
motion modes do not support this command.
The value reported from PRC is calculated using the value of PC(1) at the time the move
began. Therefore, for accurate PRCcalculations, 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: PRC

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English