Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 678 of 909
RSP
Report Sampling Rate and Firmware Revision
APPLICATION: System
DESCRIPTION: Report PID sample period and firmware revision
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: No SP or x=SP form of this command
READ/REPORT: RSP
WRITE: Read only
LANGUAGE ACCESS: N/A
UNITS: See details
RANGE OF VALUES: ASCIIalphanumeric string, see description
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The RSP report command returns a five-digit value of the PID sample period followed by an
ASCII string code representing the firmware version.
NOTE: There is no SP or x=SP form of the command, as this command is not
meant for use in a user program.
The following table shows PID rates and RSP responses.
Command
PID / Trajectory
Update Rate
Period
(µsec)
SAMP
Report
RSP
Report
PID1 16 kHz 62.5 16000 06250/5...
PID2 8 kHz (default) 125 8000 12500/5...
PID4 4 kHz 250 4000 25000/5...
PID8 2 kHz 500 2000 50000/5...
The PID sample period, in microseconds, is the five-digit number reported/100.
The sample period is followed by a "/" character and the firmware version string.
EXAMPLE: (Terminal command sent to an SM23165D SmartMotor with 5.0.3.44 firmware)
RSP
The command reports:
12500/5.0.3.44
Part 2: Commands: RSP