Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 664 of 909
PTSS(...)
Position Target, Synchronized Supplemental
APPLICATION: Motion control
DESCRIPTION: Sets the supplemental synchronized 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 PTS 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 PTSScommand allows supplemental axis moves to be added and synchronized with the
previous PTS() or PRTS() commanded motion.
Issue the additional axis commands after a PTS() or PRTS() command but before the next GS
command.
The PTSS command allows you to identify one axis position (posn) and its associated axis CAN
address (axisn):
PTSS(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: PTSS(...)
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