Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 656 of 909
PRTSS(...)
Position, Relative Target, Synchronized, Supplemental
APPLICATION: Motion control
DESCRIPTION: Sets the supplemental 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
Must be issued after PRTS and before GS
LIMITATIONS:
N/A
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 PRTSScommand allows supplemental axis moves to be added and synchronized with the
previous motion commanded by PTS() or PRTS(). Issue the additional axis commands after a
PTS() or PRTS() command but before the next GS command.
The PRTSS command allows you to specify an axis position (posn) and its associated CAN
address (axisn):
PRTSS(posn;axisn)
By the time the PRTSS or PTSS command is issued, the move time has already been
determined by the PTS or PRTS command. The command may be issued as many times as
desired. There are no additional resources consumed by adding more axes.
The supplemental axis motions will start with the next GS at exactly the same time as the
main PTS() or PRTS() motion. Further, they will transition from their accelerations to their
Part 2: Commands: PRTSS(...)
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