Moog SmartMotor User Manual

Part 3: Examples
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 842 of 909
a=572588304
SDOWR(1,5633,1,4,a) ' 0x1601 rx
' aw[33] 0x2221 02 10 ' aw[33] is 1st 4-20mA analog output
a=572588560
SDOWR(1,6657,1,4,a) ' 0x1a01 tx
' Set mapping number of entries to 1
ab[0]=1
SDOWR(1,5632,0,1,ab[0]) ' 0x1600 rx
SDOWR(1,6656,0,1,ab[0]) ' 0x1a00 tx
SDOWR(1,5633,0,1,ab[0]) ' 0x1601 rx
SDOWR(1,6657,0,1,ab[0]) ' 0x1a01 tx
' Enable transmit and receive PDO for master to allow changing
' Clear bit 31
a=399 ' 0x0000018f (f = address 15)
SDOWR(1,5120,1,4,a) ' 0x1400 rx mapped to slave tx
a=527 ' 0x0000020f (f = address 15)
SDOWR(1,6144,1,4,a) ' 0x1800 tx mapped to slave rx
a=655 ' 0x0000028f (f = address 15)
SDOWR(1,5121,1,4,a) ' 0x1401 rx mapped to slave tx
a=783 ' 0x0000030f (f = address 15)
SDOWR(1,6145,1,4,a) ' 0x1801 tx mapped to slave rx
' Tell everyone to go operational
NMT(0,1)
b=1
WHILE 1
IF B(10,1)==1
Z(10,1) ' Clear event flag
PRINT("Rx PDO 1",#13)
ENDIF
IF B(10,2)==1
Z(10,2) ' Clear event flag
PRINT("Rx PDO 2",#13)
ENDIF
IF B(10,3)==1
Z(10,3) ' Clear event flag
PRINT("Rx PDO 3",#13)
ENDIF
IF B(10,4)==1
Z(10,4) ' Clear event flag
PRINT("Rx PDO 4",#13)
ENDIF
IF B(10,5)==1
Part 3: Examples: CAN Bus - I/OBlock with PDOPoll

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English