Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 654 of 909
PRTS(...)
Position, Relative Target, Synchronized
APPLICATION: Motion control
DESCRIPTION: Sets the synchronized relative target position
EXECUTION: Buffered until a GS is issued
CONDITIONAL TO:
Motors in the sync group are positioned at the their target
position: PT=PC
ADTS and VTS commands must be set before issuing this
command
LIMITATIONS: Up to three axes of motion; must be orthogonal (Cartesian)
coordinates, not radial or polar
READ/REPORT: None
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
TYPICAL VALUES: Input:
Position: -2147483648 to 2147483647
Axis: 1-127
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x series only; not available in version 5.32.x.x
COMBITRONIC: N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The PRTScommand is used to set the synchronized relative target position. It allows you to
identify two or three axis positions (posn) and their associated CAN addresses (axisn) to
cause a synchronized, relative, multi-axis move where the combined path velocity is
controlled as follows:
PRTS(pos1;axis1,pos2;axis2[,pos3;axis3])
NOTE: There is a three-axis limitation for this command.
Additional axes can be synchronized using the PTSSand PRTSS commands.
The synchronized motion is initiated with a GS command. For more details, see Synchronized
Motion on page 175.
Part 2: Commands: PRTS(...)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English