Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 665 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: (Configures and starts a synchronized move)
ADTS=100 'Set target synchronized accel/decel
VTS=100000 'Set target synchronized velocity
x=1000 y=2000 z=500 a=100 b=200
PTS(x;1,y;2,z;3) 'Set next positions, axes 1, 2 & 3
PTSS(a;4) 'Set supplemental position, axes 4
PTSS(b;5) 'Set supplemental position, axes 5
GS 'Go, starts the synchronized move
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)
TSWAIT Trajectory Synchronized Wait (see page 749)
VTS=formula Velocity Target, Synchronized Move (see page 791)
Part 2: Commands: PTSS(...)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English