Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 99 of 909
number range is from 1 to 120.
When each motor in a chain has a unique address, an individual motor communicates
normally after its address is sent over the chain one time. To send an address, add 128 to its
value and output the binary result over the communication link. This puts the value above the
ASCII character set, which differentiates it from all other commands or data. The address
needs to be sent only once until the host computer, or motor, wants to change it to something
else.
Sending out an address zero (128) causes all motors to listen and is an efficient way to send
global data such as a G for starting simultaneous motion in a chain. Once set, the address
features work the same for RS-232 and RS-485 communications.
RS-232 Daisy-Chained SmartMotors
Unlike the RS-485 star topology, the consecutive nature of the RS-232 daisy chain creates the
opportunity for the chain to be independently addressed entirely from the host, rather than by
having a uniquely-addressed program in each motor. Setting up a system this way adds
simplicity because the program in each motor can be exactly the same. If the RUN? command
is the first in each of the motor’s programs, the programs will not start when the SmartMotor
power is turned on. Addressing can then be worked out by the host before the programs are
later initiated through a global RUN command.
SLEEP, SLEEP1
Assert sleep mode
WAKE, WAKE1
De-assert SLEEP
The SLEEPcommand causes the motor to ignore all commands except the WAKE command.
This feature can often be useful, particularly when establishing unique addresses in a chain of
motors. The 1 at the end of commands specifies the AniLink RS-485 port.
NOTE: The SmartMotor can be made to automatically ECHO received characters to
the next SmartMotor in a daisy chain
Part 1: Programming: SLEEP, SLEEP1
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