Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 636 of 909
EXAMPLE: (Shows the use of PC, PRA and PRC)
'NOTE:This example requires an external encoder.
EIGN(W,0,12) ZS 'Disable overtravel limits and clear errors
O(0)=0 O(1)=0 O(2)=0 'Zero PC(0),PC(1) and PC(2)
MF0 MFDIV=1 MFMUL=1 'Reset CTR(1) Divisor=1 Multiplier=1
MFR 'Calculate Ratio... 1 count in equals 1 count out
MP(1) 'Mode Position in trajectory 1 while keeping Mode Follow active
PRT=0 G(2) 'Set PRT=0 and start following with phase adjust active
PRINT("Adjust external encoder to ~1000 counts.",#13)
PRINT("Then type GOSUB10",#13)
END
C10
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA will be zero because PRT=0
PRINT("PRC=",PRC,#13) 'PRC will be zero because PRT=0
'Set relative distance, velocity target, and Accel/Decel values
PRT=2000 VT=5000 ADT=100 G(1) TWAIT(1) 'Start Position Relative phase adjust
PRINT("After relative move, the values are...",#13)
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA=PRC-PositionError; note default PID tuning values
PRINT("PRC=",PRC,#13) 'PRC=2000 because PRT=2000
PRINT("Position Error=",EA,#13)
RETURN
Program output is:
RUN
Adjust external encoder to ~1000 counts.
Then type GOSUB10
GOSUB10
The external encoder CTR(1)=1000
PC(0)=1000
PC(1)=0
PC(2)=1000
PRA=0
PRC=0
After relative move, the values are...
The external encoder CTR(1)=1000
PC(0)=3000
PC(1)=2000
PC(2)=1000
PRA=1991
PRC=2000
Position Error=9
Part 2: Commands: PRC

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English