Moog SmartMotor - Page 775

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 775 of 909
EXAMPLE:
For this example, try changing the VAC()value while polling VA.
EIGN(W,0) 'Make all onboard I/O inputs
ZS 'Clear errors.
MV 'Set the SmartMotor to Velocity Mode
VAC(65400) 'Set time constant to 60 milliseconds
ADT=10 'Set a value for accel/decel
VT=200000 'Set a value for velocity target
G 'Start motion.
WHILE B(3,15)==0 LOOP 'Wait for velocity target reached bit to be 1
WAIT=300 'Wait 300 milliseconds
PRINT("Velocity=",VA,#13) 'Print the actual velocity
END
RELATED COMMANDS:
VA Velocity Actual (see page 768)
R
VC Velocity Commanded (see page 776)
R
VL=formula Velocity Limit (see page 778)
R
VT=formula Velocity Target (see page 788)
Part 2: Commands: VAC(arg)