Moog SmartMotor User Manual

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 854 of 909
Appendix
This appendix provides related information for use with the SmartMotor. With the exception of
the Motion Command Quick Reference on page 856, all other topics are listed in alphabetical
order.
Motion Command Quick Reference 856
Array Variable Memory Map 858
ASCIICharacter Set 860
Binary Data 861
Command Error Codes 864
Decoding the Error 864
Finding the Error Source 865
Glossary 866
Math Operators 873
Moment of Inertia 874
Matching Motor to Load 874
Improving the Moment of Inertia Ratio 874
RCAN, RCHN and RMODEStatus 875
RCAN Status Decoder 875
RCHN Status Decoder 875
Clearing Serial Port Errors 876
RMODE Status Decoder 876
Mode Status Example 876
Scale Factor Calculation 877
Sample Rates 877
PID Sample Rate Command 877
Encoder Resolution and the RES Parameter 877
Native Velocity and Acceleration Units 878
Velocity Calculations 878
Acceleration Calculations 878
Appendix

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English