Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 758 of 909
UP
Upload Compiled Program and Header
APPLICATION: Program access
DESCRIPTION: Upload user EEPROM program with header and raw address
information through serial communications.
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS:
N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The UP command causes a compiled program (runtime code) to be sent out through the serial
port where it was requested. The output from the UP command includes a header containing
binary information. It also contains special codes created by the compiler to handle program
flow statements like GOTO or WHILE LOOP, which are interspersed with the program text. In
contrast, the UPLOAD command returns the user program in readable text. For details, see
UPLOAD on page 760.
CAUTION: The UPcommand is not permitted within a user program.
Unexpected behavior may result.
Procedure for using this command:
1. Issue the UP command.
2. IF ECHO is enabled, UP and a hex 20 will be returned.
3. 8 bytes of program data will be returned.
4. issue the hex 06 character to request more data.
5. The hex 06 character will be ECHOed if ECHO is enabled.
6. 8 bytes of program data will be returned.
7. Repeat step 5. If less than 8 bytes (including 0 bytes) of program data is remaining,
then the end of program was found. The program is ended with a hex character FF. If
this character is seen, no further program data will follow.
Part 2: Commands: UP

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English