Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 752 of 909
UIA
Motor Current
APPLICATION: System
DESCRIPTION: Gets (reads) the motor current applied to the windings
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: RUIA
WRITE: Read only
LANGUAGE ACCESS: N/A
UNITS: milliamperes (mA)
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 0 to 20000
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: RUIA:3; x=UIA:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The UIA command gets (reads) the motor current applied to the windings. The value is
returned in milliamperes. Therefore, divide by 1000 to convert it to amperes.
The value returned is a measure of current in the motor for thermal limiting. It should not be
assumed it is directly related to torque. This current is not a measurement of current from the
supply lines; it is measured in the drive bridge. Because the drive is a power-conversion
device, the current from the supply is not the same amount of current supplied to the motor
windings.
Part 2: Commands: UIA

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English