Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 670 of 909
RES
Resolution
APPLICATION: System
DESCRIPTION: Gets (reads) the encoder resolution
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RRES
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RRES:3, x=RES:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The REScommand is used to get the resolution of the encoder (for example, a=RES). This
command is the preferred method for obtaining the encoder resolution. It is simple to include
it in user programs, and it takes into account any special scaling or compensation.
NOTE: Any program that requires the encoder resolution should use this command
instead of placing a hard-coded value in the program.
This command can also serve as a check at the beginning of a program to ensure that the
program is running on a motor with the expected encoder type. Refer to the following
example.
EXAMPLE: (Check for proper encoder type)
IF RES!=4000
OFF PRINT("Wrong encoder.",#13) END
ENDIF
Part 2: Commands: RES

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English