Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 655 of 909
Some gantry-type, multiple-axis machines have two motors operating the same axis of
motion (see the next figure). The following is the full syntax for the PTS command, which
shows additional/optional parameters (enclosed in braces "{}") for support of two motors
operating the same axis. The optional parameter contains the motor address for the second
motor of the axis. (For the PRTScommand, replace PTS with PRTS.)
PTS(pos1;addr1{;addr1'},pos2;addr2{;addr2'}[,pos3;addr3{;axis3'}])
This is illustrated in the following examples. (If you are using the PRTS command, substitute
PRTS in place of PTS below.)
Position target X = 2000
Position target Y = 1000
Position target Z = 500
Motor address X = 5
Motor address X' = 6
Motor address Y = 7
Motor address Z = 8
PTS(2000;5;6,1000;7) 'Two-motor X axis (X, X'), plus Y axis
PTS(2000;5;6,1000;7,500;8) 'Two-motor X axis (X, X'), plus Y & Z axes
In these cases, the same position, velocity and acceleration data sent to motor address 5 is
also sent to motor address 6, with both motors driving the gantry's X axis.
EXAMPLE: (Synchronized relative and supplemental synchronized move)
ADTS=100 'Set target synchronized accel/decel
VTS=10000 'Set target synchronized velocity
PRTS(3000;1,4000;2,1000;3) 'Set synchronized relative
'target positions
PRTSS(2000;4) 'Set supplemental synchronized relative target
GS 'Start synchronized motion
TSWAIT 'Wait for synchronized motions to complete
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 259)
GS Start Synchronized Motion (GO Synchronized) (see page 467)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 656)
PTS(...) Position Target, Synchronized (see page 660)
PTSS(...) Position Target, Synchronized Supplemental (see page 664)
TSWAIT Trajectory Synchronized Wait (see page 749)
VTS=formula Velocity Target, Synchronized Move (see page 791)
Part 2: Commands: PRTS(...)
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