Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 657 of 909
slew velocities at exactly the same time, and they will decelerate and stop at exactly the
same time.
It is important to ensure that the target position in each motor is equal to the motor's current
position. The best way to ensure this is to use an absolute position move (using PT=) in all
participating motors before issuing the PTS command.
For more details, see Synchronized Motion on page 175.
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)
R
PRT=formula Position, Relative Target (see page 652)
PRTS(...) Position, Relative Target, Synchronized (see page 654)
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: PRTSS(...)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English