Developer's Guide For Class 5 Or Later SmartMotor™, Rev. F, PN: SC80100003 002 Smart Motor
User Manual:
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- Introduction
- Part 1: Programming the SmartMotor
- Beginning Programming
- SMI Software Features
- Communication Details
- Motion Details
- Introduction
- Motion Command Quick Reference
- Basic Motion Commands
- Commutation Modes
- Modes of Operation
- Torque Mode
- Velocity Mode
- Absolute (Position) Mode
- Relative Position Mode
- Follow Mode with Ratio (Electronic Gearing)
- Electronic Gearing and Camming over CANopen
- Electronic Gearing Commands
- Follow Internal Clock Source Example
- Follow Incoming Encoder Signal With Ramps Example
- Electronic Line Shaft
- Spooling and Winding Overview
- Relative Position, Auto-Traverse Spool Winding
- Dedicated, Absolute Position, Winding Traverse Commands
- Single Trajectory Example Program
- Chevron Wrap Example
- Other Traverse Mode Notes
- Traverse Mode Status Bits
- Cam Mode (Electronic Camming)
- Mode Switch Example
- Position Counters
- Modulo Position
- Dual Trajectories
- Synchronized Motion
- Program Flow Details
- Variables and Math
- Error and Fault Handling Details
- System Status
- I/O Control Details
- I/O Port Hardware
- I/O Connections Example (D‑Style Motors)
- I/O Voltage Spikes
- Discrete Input and Output Commands
- Output Condition and Fault Status Commands
- General-Use Input Configuration
- Analog Functions of I/O Ports
- Special Functions of I/O Ports
- I/O Brake Output Commands
- I²C Expansion (D‑Style Motors)
- Tuning and PID Control
- Part 2: SmartMotor Command Reference
- (Single Space Character)
- a...z
- aa...zz
- aaa...zzz
- ab[index]=formula
- ABS(value)
- AC
- ACOS(value)
- ADDR=formula
- ADT=formula
- ADTS=formula
- af[index]=formula
- Ai(arg)
- Aij(arg)
- Aj(arg)
- Aji(arg)
- al[index]=formula
- AMPS=formula
- ASIN(value)
- AT=formula
- ATAN(value)
- ATOF(index)
- ATS=formula
- aw[index]=formula
- B(word,bit)
- Ba
- BAUD(x)=formula
- Be
- Bh
- Bi(enc)
- Bj(enc)
- Bk
- Bl
- Bls
- Bm
- Bms
- Bo
- Bp
- Bps
- Br
- BREAK
- BRKENG
- BRKRLS
- BRKSRV
- BRKTRJ
- Brs
- Bs
- Bt
- Bv
- Bw
- Bx(enc)
- C{number}
- CADDR=formula
- CAN, CAN(arg)
- CANCTL(function,value)
- CASE formula
- CBAUD=formula
- CCHN(type,channel)
- CHN(channel)
- CLK=formula
- COMCTL(function,value)
- COS(value)
- CP
- CTA(points,seglen[,location])
- CTE(table)
- CTR(enc)
- CTT
- CTW(pos[,seglen][,user])
- DEA
- DEFAULT
- DEL=formula
- DELM(arg)
- DFS(value)
- DITR(int)
- DT=formula
- DTS=formula
- EA
- ECHO
- ECHO1
- ECHO_OFF
- ECHO_OFF1
- ECS(counts)
- EIGN(...)
- EILN
- EILP
- EIRE
- EIRI
- EISM(6)
- EITR(int)
- EL=formula
- ELSE
- ELSEIF formula
- ENC0
- ENC1
- ENCCTL(function,value)
- ENCD(in_out)
- END
- ENDIF
- ENDS
- EOBK(IO)
- EPTR=formula
- ERRC
- ERRW
- ETH(arg)
- ETHCTL(function,value)
- F
- FABS(value)
- FSA(cause,action)
- FSQRT(value)
- FW
- G
- GETCHR
- GETCHR1
- GOSUB(label)
- GOTO(label)
- GS
- HEX(index)
- I(enc)
- IDENT=formula
- IF formula
- IN(...)
- INA(...)
- IPCTL(function,string)
- ITR(Int#,StatusWord,Bit#,BitState,Label#)
- ITRD
- ITRE
- J(enc)
- KA=formula
- KD=formula
- KG=formula
- KI=formula
- KII=formula
- KL=formula
- KP=formula
- KPI=formula
- KS=formula
- KV=formula
- LEN
- LEN1
- LFS(value)
- LOAD
- LOCKP
- LOOP
- MC
- MCDIV=formula
- MCE(arg)
- MCMUL=formula
- MCW(table,point)
- MDB
- MDC
- MDE
- MDS
- MDT
- MF0
- MFA(distance[,m/s])
- MFCTP(arg1,arg2)
- MFD(distance[,m/s])
- MFDIV=formula
- MFH(distance[,m/s])
- MFHTP=formula
- MFL(distance[,m/s])
- MFLTP=formula
- MFMUL=formula
- MFR
- MFSDC(distance,mode)
- MFSLEW(distance[,m/s])
- MINV(arg)
- MODE
- MP
- MS0
- MSR
- MT
- MTB
- MV
- NMT
- O=formula, O(trj#)=formula
- OC(...)
- OCHN(...)
- OF(...)
- OFF
- OR(value)
- OS(...)
- OSH=formula, OSH(trj#)=formula
- OUT(...)=formula
- PA
- PAUSE
- PC, PC(axis)
- PI
- PID#
- PMA
- PML=formula
- PMT=formula
- PRA
- PRC
- PRINT(...)
- PRINT0(...)
- PRINT1(...)
- PRINT8(...)
- PRT=formula
- PRTS(...)
- PRTSS(...)
- PT=formula
- PTS(...)
- PTSD
- PTSS(...)
- PTST
- RANDOM=formula
- RCKS
- RES
- RESUME
- RETURN
- RETURNI
- RSP
- RSP1
- RSP5
- RUN
- RUN?
- S (as command)
- SADDR#
- SDORD(...)
- SDOWR(...)
- SAMP
- SILENT
- SILENT1
- SIN(value)
- SLD
- SLE
- SLEEP
- SLEEP1
- SLM(mode)
- SLN=formula
- SLP=formula
- SNAME(string)
- SP2
- SQRT(value)
- SRC(enc_src)
- STACK
- STDOUT=formula
- SWITCH formula
- T=formula
- TALK
- TALK1
- TAN(value)
- TEMP
- TH=formula
- TMR(x,t)
- TRQ
- TS=formula
- TSWAIT
- TWAIT(gen#)
- UIA
- UJA
- UO(...)=formula
- UP
- UPLOAD
- UR(...)
- US(...)
- USB(arg)
- VA
- VAC(arg)
- VC
- VL=formula
- VLD(variable,number)
- VST(variable,number)
- VT=formula
- VTS=formula
- W(word)
- WAIT=formula
- WAKE
- WAKE1
- WHILE formula
- X
- Z
- Z(word,bit)
- Za
- Ze
- Zh
- Zl
- Zls
- Zr
- Zrs
- Zs
- ZS
- Zv
- Zw
- Part 3: Example SmartMotor Programs
- Move Back and Forth
- Move Back and Forth with Watch
- Home Against a Hard Stop (Basic)
- Home Against a Hard Stop (Advanced)
- Home Against a Hard Stop (Two Motors)
- Home to Index Using Different Modes
- Maintain Velocity During Analog Drift
- Long-Term Storage of Variables
- Find Errors and Print Them
- Change Speed on Digital Input
- Pulse Output on a Given Position
- Stop Motion if Voltage Drops
- Chevron Traverse & Takeup
- CAN Bus - Timed SDO Poll
- CAN Bus - I/O Block with PDO Poll
- CAN Bus - Time Sync Follow Encoder
- Text Replacement in an SMI Program
- Appendix
- Motion Command Quick Reference
- Array Variable Memory Map
- ASCII Character Set
- Binary Data
- Command Error Codes
- Glossary
- Math Operators
- Moment of Inertia
- RCAN, RCHN and RMODE Status
- Scale Factor Calculation
- Status Words
- Status Word: 0 Primary Fault/Status Indicator
- Status Word: 1 Index Registration and Software Travel Limits
- Status Word: 2 Communications, Program and Memory
- Status Word: 3 PID State, Brake, Move Generation Indicators
- Status Word: 4 Interrupt Timers
- Status Word: 5 Interrupt Status Indicators
- Status Word: 6 Drive Modes
- Status Word 7: Multiple Trajectory Support
- Status Word 8: Cam Support
- Status Word 10: RxPDO Arrival Notification
- Status Word 12: User Bits Word 0
- Status Word 13: User Bits Word 1
- Status Word: 16 On Board Local I/O Status: D‑Style Motor
- Status Word: 16 On Board Local I/O Status: M‑Style Motor
- Status Word: 17 Expanded I/O Status: D‑Style AD1 Motor
- Torque Curves
- Commands Listed Alphabetically
- Commands Listed by Function