Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 857 of 909
While moving there:
l
RPC would report the commanded position from the processor.
l
RPA would report actual position of the encoder or motor shaft.
l
x=PA-PC would calculate following error at that moment.
l
REA would report actual following error at that moment.
l
RBt would report a 1 (while moving) because the trajectory is active.
After the move has completed, RBt would report a 0 (to indicate the trajectory is no longer
active).
Appendix: Motion Command Quick Reference
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