Developer's Guide For Class 5 Or Later SmartMotor™, Rev. F, PN: SC80100003 002 Smart Motor
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Developer’s
Guide
Class 5 & Later SmartMotor
Technology with
TM
Copyright Notice
©2001–2016, Moog Inc., Animatics.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F, PN: SC80100003-002.
This manual, as well as the software described in it, is furnished under license and may be
used or copied only in accordance with the terms of such license. The content of this manual is
furnished for informational use only, is subject to change without notice and should not be
construed as a commitment by Moog Inc., Animatics. Moog Inc., Animatics assumes no
responsibility or liability for any errors or inaccuracies that may appear herein.
Except as permitted by such license, no part of this publication may be reproduced, stored in a
retrieval system or transmitted, in any form or by any means, electronic, mechanical,
recording, or otherwise, without the prior written permission of Moog Inc., Animatics.
The programs and code samples in this manual are provided for example purposes only. It is
the user's responsibility to decide if a particular code sample or program applies to the
application being developed and to adjust the values to fit that application.
Moog Animatics and the Moog Animatics logo, SmartMotor and the SmartMotor logo,
Combitronic and the Combitronic logo, and SMI are all trademarks of Moog Inc., Animatics.
Other trademarks are the property of their respective owners.
Please let us know if you find any errors or omissions in this manual so that we can improve it
for future readers. Such notifications should contain the words "Developer's Guide" in the
subject line and be sent by e-mail to: techwriter@moog.animatics.com. Thank you in advance
for your contribution.
Contact Us:
Moog Inc., Animatics
1421 McCarthy Boulevard
Milpitas, CA 95035
USA
Tel: 1 (408) 965-3320
Fax: 1 (408) 965-3319
Support: 1 (888) 356-0357
www.animatics.com
Table Of Contents
Introduction
31
Overview
32
Combitronic Support
32
Communication Lockup Wizard
34
Safety Information
34
Safety Symbols
34
Other Safety Considerations
35
Motor Sizing
35
Environmental Considerations
35
Machine Safety
35
Documentation and Training
36
Additional Equipment and Considerations
37
Safety Information Resources
37
Additional Documents
38
Additional Resources
38
Part 1: Programming the SmartMotor
Beginning Programming
39
50
Setting the Motor Firmware Version
51
Setting the Default Firmware Version
51
Checking the Default Firmware Version
52
Opening the SMI Window (Program Editor)
52
Understanding the Program Requirements
53
Creating a "Hello World" Program
54
Entering the Program in the SMI Editor
54
Adding Comments to the Code
55
Checking the Program Syntax
55
Saving the Program
55
Downloading a Program to the SmartMotor
55
Syntax Checking, Compiling and Downloading the Program
56
Additional Notes on Downloaded Programs
56
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 3 of 890
Running a Downloaded Program
57
Using the Program Download Window
58
Using the Terminal Window and Run Program Button
58
Using the RUN Command in the Terminal Window
58
Creating a Simple Motion Program
SMI Software Features
59
60
Introduction
61
Menu Bar
61
Toolbar
62
Configuration Window
64
Terminal Window
66
Initiating Motion from the Terminal Window
68
Information Window
68
Program Editor
69
Motor View
71
SMI Trace Functions
73
Monitor Window
76
Serial Data Analyzer
78
Chart View
79
Chart View Example
80
Macros
83
Tuner
85
SMI Options
89
SMI Help
90
Context-Sensitive Help Using F1
90
Context-Sensitive Help Using the Mouse
90
Help Buttons
90
Hover Help
90
Table of Contents
90
Projects
91
SmartMotor Playground
92
Opening the SmartMotor Playground
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 4 of 890
93
Moving the Motor
94
Communication Details
96
Introduction
98
Connecting to a Host
99
Daisy Chaining Multiple D-Style SmartMotors over RS-232
100
ADDR=formula
101
SLEEP, SLEEP1
102
WAKE, WAKE1
102
ECHO, ECHO1
103
ECHO_OFF, ECHO_OFF1
103
Serial Commands
104
OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout)
104
CCHN(type,channel)
105
BAUD#, BAUD(x)=formula
105
PRINT(), PRINT1()
105
SILENT, SILENT1
106
TALK, TALK1
106
a=CHN(channel)
106
a=ADDR
107
Communicating over RS-485
107
Using Data Mode
107
CAN Communications
110
CADDR=formula
110
CBAUD=formula
110
=CAN, =CAN(arg)
110
CANCTL(function,value)
110
SDORD(...)
111
SDOWR(...)
111
NMT
112
RB(2,4), x=B(2,4)
112
Exceptions to NMT, SDORD and SDOWR Commands
112
I/O Device CAN Bus Master
113
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 5 of 890
Combitronic Communications
114
Combitronic Features
115
Other Combitronic Benefits
115
Program Loops with Combitronic
115
Global Combitronic Transmissions
116
Simplify Machine Support
116
Combitronic with RS-232 Interface
116
Other CAN Protocols
118
CANopen - CAN Bus Protocol
118
DeviceNet - CAN Bus Protocol
118
I²C Communications (D-Style Motors)
118
OCHN(IIC,1,N,baud,1,8,D)
120
CCHN(IIC,1)
120
PRINT1(arg1,arg2, … ,arg_n)
120
RGETCHR1, Var=GETCHR1
120
RLEN1, Var=LEN1
120
Motion Details
121
Introduction
123
Motion Command Quick Reference
124
Basic Motion Commands
125
Target Commands
125
PT=formula
125
PRT=formula
126
ADT=formula
126
AT=formula
126
DT=formula
126
VT=formula
127
Motion Mode Commands
127
MP
127
MV
127
MT
128
Torque Commands
128
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 6 of 890
TS=formula
128
T=formula
128
Brake Commands
128
BRKRLS
129
BRKENG
129
BRKSRV
129
BRKTRJ
129
EOBK(IO)
129
MTB
130
Index Capture Commands
130
Other Motion Commands
131
G
131
S
132
X
132
O=formula
132
OSH=formula
132
OFF
132
Commutation Modes
133
MDT
133
MDE
133
MDS
133
MDC
134
MDB
134
MINV(0), MINV(1)
134
Modes of Operation
135
Torque Mode
135
Torque Mode Example
135
Dynamically Change from Velocity Mode to Torque Mode
135
Velocity Mode
136
Constant Velocity Example
136
Change Commanded Speed and Acceleration
136
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 7 of 890
Absolute (Position) Mode
137
Absolute Move Example
137
Two Moves with Delay Example
137
Change Speed and Acceleration Example
137
Shift Point of Origin Example
138
Relative Position Mode
138
Relative Mode Example
138
Follow Mode with Ratio (Electronic Gearing)
139
Electronic Gearing and Camming over CANopen
139
Electronic Gearing Commands
140
SRC(enc_src)
140
MFR
140
MSR
140
MF0
140
MS0
140
MFMUL=formula, MFDIV=formula
140
MFA(distance[,m/s])
141
MFD(distance[,m/s])
141
MFSLEW(distance[,m/s])
141
Follow Internal Clock Source Example
141
Follow Incoming Encoder Signal With Ramps Example
142
Electronic Line Shaft
144
ENCD(in_out)
144
Spooling and Winding Overview
145
Relative Position, Auto-Traverse Spool Winding
145
MFSDC(distance,mode)
146
Dedicated, Absolute Position, Winding Traverse Commands
148
MFSDC(distance,2)
149
MFLTP=formula
149
MFHTP=formula
149
MFCTP(arg1,arg2)
149
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 8 of 890
MFL(distance[,m/s])
150
MFH(distance[,m/s])
150
ECS(counts)
150
Single Trajectory Example Program
152
Chevron Wrap Example
152
Other Traverse Mode Notes
154
Traverse Mode Status Bits
155
Cam Mode (Electronic Camming)
155
Electronic Gearing and Camming over CANopen
157
Electronic Camming Commands
157
CTE(table)
157
CTA(points,seglen[,location])
157
CTW(pos[,seglen][,user])
158
MCE(arg)
158
MCW(table,point)
159
RCP
159
RCTT
159
MC
159
MCMUL=formula
159
MCDIV=formula
159
O(arg)=formula
159
OSH(arg)=formula
160
Cam Example Program
160
Mode Switch Example
163
Position Counters
165
Modulo Position
166
Modulo Position Commands
166
Dual Trajectories
167
Commands That Read Trajectory Information
169
Dual Trajectory Example Program
170
Synchronized Motion
170
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 9 of 890
Synchronized-Target Commands
170
PTS(), PRTS()
170
VTS=formula
171
ADTS=formula, ATS=formula, DTS=formula
171
PTSS(), PRTSS()
171
A Note About PTS and PTSS
172
Other Synchronized-Motion Commands
173
GS
173
TSWAIT
173
Program Flow Details
175
Introduction
176
Flow Commands
176
RUN
177
RUN?
177
GOTO#, GOTO(label), C#
177
GOSUB#, GOSUB(label), RETURN
178
IF, ENDIF
178
ELSE, ELSEIF
179
WHILE, LOOP
180
SWITCH, CASE, DEFAULT, BREAK, ENDS
180
TWAIT
181
WAIT=formula
181
STACK
181
END
182
Program Flow Examples
183
IF, ELSEIF, ELSE, ENDIF Examples
183
WHILE, LOOP Examples
183
GOTO(), GOSUB() Examples
184
SWITCH, CASE, BREAK, ENDS Examples
185
Interrupt Programming
186
ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI
186
TMR(x,t)
188
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 10 of 890
Variables and Math
189
Introduction
190
Variable Commands
190
EPTR=formula
190
VST(variable,number)
190
VLD(variable,number)
191
Math Expressions
191
Math Operations
191
Logical Operations
191
Integer Operations
191
Floating Point Functions
191
Math Operation Details and Examples
192
Array Variables
192
Array Variable Examples
193
Error and Fault Handling Details
194
Motion and Motor Faults
195
Overview
195
Drive Stage Indications and Faults
195
Fault Bits
195
Error Handling
196
Example Fault-Handler Code
196
PAUSE
197
RESUME
197
Limits and Fault Handling
198
Position Error Limits
198
dE/dt Limits
198
Velocity Limits
198
Hardware Limits
198
Software Limits
199
Fault Handling
199
Monitoring the SmartMotor Status
System Status
200
202
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 11 of 890
Introduction
203
Retrieving and Manipulating Status Words/Bits
203
System and Motor Status Bits
203
Reset Error Flags
205
System Status Examples
205
Timer Status Bits
206
Interrupt Status Bits
206
I/O Status
207
User Status Bits
207
Multiple Trajectory Support Status Bits
208
Cam Status Bits
209
Interpolation Status Bits
210
Motion Mode Status
210
RMODE, RMODE(arg)
210
I/O Control Details
211
I/O Port Hardware
212
I/O Connections Example (D-Style Motors)
213
I/O Voltage Spikes
213
Discrete Input and Output Commands
214
Discrete Input Commands
214
Discrete Output Commands
214
Output Condition and Fault Status Commands
216
Output Condition Commands
216
Output Fault Status Reports
216
General-Use Input Configuration
216
Multiple I/O Functions Example
217
Analog Functions of I/O Ports
218
5 Volt Push-Pull I/O Analog Functions (D-Style Motors)
218
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors)
218
Special Functions of I/O Ports
219
Class 5 D-Style Motors: Special Functions of I/O Ports
I/O Ports 0 and 1 – External Encoder Function Commands
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 12 of 890
220
220
I/O Ports 2 and 3 – Travel Limit Inputs
220
I/O Ports 4 and 5 – Communications
220
I/O Port 6 – Go Command, Encoder Index Capture Input
221
Class 5 M-Style Motors: Special Functions of I/O Ports
222
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
222
I/O Ports 2 and 3 – Travel Limit Inputs
222
I/O Port 5 – Encoder Index Capture Input
222
I/O Port 6 – Go Command
223
Class 6 M-Style Motors: Special Functions of I/O Ports
224
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
224
I/O Ports 2 and 3 – Travel Limit Inputs
224
I/O Port 4 and 5 – Encoder Index Capture Input
224
I/O Port 6 – Go Command
225
I/O Brake Output Commands
225
I²C Expansion (D-Style Motors)
225
Tuning and PID Control
226
Introduction
227
Understanding the PID Control
227
Tuning the PID Control
228
Using F
228
Setting KP
229
Setting KD
229
Setting KI and KL
229
Setting EL=formula
230
Other PID Tuning Parameters
230
KG=formula
230
KV=formula
230
KA=formula
231
Current Limit Control
232
AMPS=formula
232
Part 2: SmartMotor Command Reference
(Single Space Character)
233
235
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 13 of 890
a...z
236
aa...zz
236
aaa...zzz
236
Ra...Rz
236
Raa...Rzz
236
Raaa...Rzzz
236
ab[index]=formula
240
Rab[index]
240
ABS(value)
243
RABS(value)
243
AC
245
RAC
245
ACOS(value)
248
RACOS(value)
248
ADDR=formula
250
RADDR
250
ADT=formula
252
ADTS=formula
254
af[index]=formula
256
Raf[index]
256
Ai(arg)
259
Aij(arg)
261
Aj(arg)
263
Aji(arg)
265
al[index]=formula
267
Ral[index]
267
AMPS=formula
270
RAMPS
270
ASIN(value)
273
RASIN(value)
273
AT=formula
275
RAT
275
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 14 of 890
ATAN(value)
277
RATAN
277
ATOF(index)
279
RATOF(index)
279
ATS=formula
281
aw[index]=formula
283
Raw[index]
283
B(word,bit)
286
RB(sw,b)
286
Ba
288
RBa
288
BAUD(x)=formula
290
RBAUD(channel)
290
Be
292
RBe
292
Bh
294
RBh
294
Bi(enc)
297
RBi(enc)
297
Bj(enc)
300
RBj(enc)
300
Bk
303
RBk
303
Bl
304
RBl
304
Bls
306
RBls
306
Bm
308
RBm
308
Bms
310
RBms
310
Bo
312
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 15 of 890
RBo
312
Bp
313
RBp
313
Bps
315
RBps
315
Br
317
RBr
317
BREAK
319
BRKENG
321
BRKRLS
323
BRKSRV
325
BRKTRJ
327
Brs
329
RBrs
329
Bs
331
RBs
331
Bt
333
RBt
333
Bv
335
RBv
335
Bw
337
RBw
337
Bx(enc)
339
RBx(enc)
339
C{number}
341
CADDR=formula
343
RCADDR
343
CAN, CAN(arg)
345
RCAN, RCAN(arg)
345
CANCTL(function,value)
347
CASE formula
348
CBAUD=formula
351
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 16 of 890
RCBAUD
351
CCHN(type,channel)
353
CHN(channel)
354
RCHN(channel)
354
CLK=formula
356
RCLK
356
COMCTL(function,value)
357
COS(value)
359
RCOS(value)
359
CP
361
RCP
361
CTA(points,seglen[,location])
363
CTE(table)
365
CTR(enc)
367
RCTR(enc)
367
CTT
369
RCTT
369
CTW(pos[,seglen][,user])
370
DEA
373
RDEA
373
DEFAULT
375
DEL=formula
377
RDEL
377
DELM(arg)
379
DFS(value)
380
RDFS
380
DITR(int)
381
DT=formula
383
RDT
383
DTS=formula
385
EA
387
REA
387
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 17 of 890
ECHO
389
ECHO1
391
ECHO_OFF
392
ECHO_OFF1
393
ECS(counts)
394
EIGN(...)
396
EILN
399
EILP
401
EIRE
403
EIRI
404
EISM(6)
405
EITR(int)
406
EL=formula
408
REL
408
ELSE
410
ELSEIF formula
412
ENC0
414
ENC1
415
ENCCTL(function,value)
417
ENCD(in_out)
419
END
420
ENDIF
422
ENDS
424
EOBK(IO)
426
EPTR=formula
428
REPTR
428
ERRC
429
RERRC
429
ERRW
431
RERRW
431
ETH(arg)
432
RETH(arg)
432
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 18 of 890
ETHCTL(function,value)
433
F
434
FABS(value)
436
RFABS(value)
436
FSA(cause,action)
438
FSQRT(value)
440
RFSQRT(value)
440
FW
442
RFW
442
G
444
GETCHR
447
RGETCHR
447
GETCHR1
449
RGETCHR1
449
GOSUB(label)
451
GOTO(label)
453
GS
455
HEX(index)
457
RHEX(index)
457
I(enc)
459
RI(enc)
459
IDENT=formula
461
RIDENT
461
IF formula
463
IN(...)
466
RIN(...)
466
INA(...)
469
RINA(...)
469
IPCTL(function,"string")
472
ITR(Int#,StatusWord,Bit#,BitState,Label#)
474
ITRD
477
ITRE
479
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 19 of 890
J(enc)
481
RJ(enc)
481
KA=formula
483
RKA
483
KD=formula
485
RKD
485
KG=formula
487
RKG
487
KI=formula
489
RKI
489
KII=formula
491
RKII
491
KL=formula
492
RKL
492
KP=formula
494
RKP
494
KPI=formula
496
RKPI
496
KS=formula
497
RKS
497
KV=formula
499
RKV
499
LEN
501
RLEN
501
LEN1
502
RLEN1
502
LFS(value)
504
RLFS(value)
504
LOAD
506
LOCKP
509
LOOP
511
MC
513
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 20 of 890
MCDIV=formula
515
RMCDIV
515
MCE(arg)
516
MCMUL=formula
518
RMCMUL
518
MCW(table,point)
520
MDB
522
MDC
524
MDE
526
MDS
528
MDT
530
MF0
532
MFA(distance[,m/s])
534
MFCTP(arg1,arg2)
537
MFD(distance[,m/s])
539
MFDIV=formula
542
MFH(distance[,m/s])
544
MFHTP=formula
546
MFL(distance[,m/s])
548
MFLTP=formula
550
MFMUL=formula
552
MFR
554
MFSDC(distance,mode)
557
MFSLEW(distance[,m/s])
559
MINV(arg)
561
MODE
563
RMODE
563
MP
566
MS0
569
MSR
571
MT
573
MTB
575
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 21 of 890
MV
577
NMT
579
N/A
579
O=formula, O(trj#)=formula
581
OC(...)
583
ROC(...)
583
OCHN(...)
585
OF(...)
587
ROF(...)
587
OFF
589
OR(value)
591
OS(...)
593
OSH=formula, OSH(trj#)=formula
595
OUT(...)=formula
597
PA
599
RPA
599
PAUSE
601
PC, PC(axis)
603
RPC, RPC(axis)
603
PI
606
RPI
606
PID#
607
PMA
610
RPMA
610
PML=formula
612
RPML
612
PMT=formula
614
RPMT
614
PRA
616
RPRA
616
PRC
619
RPRC
619
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 22 of 890
PRINT(...)
622
PRINT0(...)
626
PRINT1(...)
630
PRINT8(...)
633
PRT=formula
636
RPRT
636
PRTS(...)
638
PRTSS(...)
640
PT=formula
642
RPT
642
PTS(...)
644
PTSD
646
RPTSD
646
PTSS(...)
647
PTST
649
RPTST
649
RANDOM=formula
650
RRANDOM
650
RCKS
652
RES
653
RRES
653
RESUME
655
RETURN
657
RETURNI
659
RSP
661
RSP1
663
RSP5
664
RUN
665
RUN?
667
S (as command)
669
SADDR#
671
SDORD(...)
673
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 23 of 890
RSDORD
673
SDOWR(...)
675
SAMP
677
RSAMP
677
SILENT
679
SILENT1
681
SIN(value)
683
RSIN(value)
683
SLD
685
SLE
687
SLEEP
689
SLEEP1
691
SLM(mode)
693
RSLM
693
SLN=formula
695
RSLN
695
SLP=formula
697
RSLP
697
SNAME("string")
699
SP2
700
RSP2
700
SQRT(value)
701
RSQRT(value)
701
SRC(enc_src)
703
STACK
705
STDOUT=formula
708
SWITCH formula
710
T=formula
713
Read/write
713
TALK
715
TALK1
717
TAN(value)
719
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 24 of 890
RTAN(value)
719
TEMP
721
RTEMP, RTEMP(arg)
721
TH=formula
723
RTH
723
TMR(x,t)
726
RTMR(tmr)
726
TRQ
728
RTRQ
728
TS=formula
730
RTS
730
TSWAIT
732
TWAIT(gen#)
733
UIA
735
RUIA
735
UJA
737
RUJA
737
UO(...)=formula
739
UP
741
UPLOAD
743
UR(...)
745
US(...)
747
USB(arg)
749
RUSB
749
VA
751
RVA
751
VAC(arg)
754
VC
759
RVC
759
VL=formula
761
RVL
761
VLD(variable,number)
763
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 25 of 890
VST(variable,number)
767
VT=formula
771
RVT
771
VTS=formula
774
W(word)
776
RW(value)
776
WAIT=formula
778
WAKE
780
WAKE1
782
WHILE formula
784
X
787
Z
789
Z(word,bit)
791
Za
793
Ze
794
Zh
795
Zl
796
Zls
797
Zr
798
Zrs
799
Zs
800
ZS
801
Zv
803
Zw
804
Part 3: Example SmartMotor Programs
805
Move Back and Forth
806
Move Back and Forth with Watch
806
Home Against a Hard Stop (Basic)
807
Home Against a Hard Stop (Advanced)
807
Home Against a Hard Stop (Two Motors)
808
Home to Index Using Different Modes
810
Maintain Velocity During Analog Drift
811
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 26 of 890
Long-Term Storage of Variables
812
Find Errors and Print Them
812
Change Speed on Digital Input
813
Pulse Output on a Given Position
813
Stop Motion if Voltage Drops
814
Chevron Traverse & Takeup
815
CAN Bus - Timed SDO Poll
817
CAN Bus - I/O Block with PDO Poll
818
CAN Bus - Time Sync Follow Encoder
821
Text Replacement in an SMI Program
829
Appendix
831
Motion Command Quick Reference
834
Array Variable Memory Map
836
ASCII Character Set
838
Binary Data
839
Command Error Codes
842
Decoding the Error
842
Finding the Error Source
843
Glossary
844
Math Operators
851
Moment of Inertia
852
Matching Motor to Load
852
Improving the Moment of Inertia Ratio
852
RCAN, RCHN and RMODE Status
853
RCAN Status Decoder
853
RCHN Status Decoder
853
Clearing Serial Port Errors
854
RMODE Status Decoder
854
Mode Status Example
854
Scale Factor Calculation
855
Sample Rates
855
PID Sample Rate Command
855
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 27 of 890
Encoder Resolution and the RES Parameter
855
Native Velocity and Acceleration Units
856
Velocity Calculations
856
Acceleration Calculations
856
Status Words
857
Status Word: 0 Primary Fault/Status Indicator
858
Status Word: 1 Index Registration and Software Travel Limits
859
Status Word: 2 Communications, Program and Memory
859
Status Word: 3 PID State, Brake, Move Generation Indicators
860
Status Word: 4 Interrupt Timers
860
Status Word: 5 Interrupt Status Indicators
861
Status Word: 6 Drive Modes
861
Status Word 7: Multiple Trajectory Support
862
Status Word 8: Cam Support
863
Status Word 10: RxPDO Arrival Notification
863
Status Word 12: User Bits Word 0
864
Status Word 13: User Bits Word 1
864
Status Word: 16 On Board Local I/O Status: D-Style Motor
865
Status Word: 16 On Board Local I/O Status: M-Style Motor
865
Status Word: 17 Expanded I/O Status: D-Style AD1 Motor
866
Torque Curves
867
Understanding Torque Curves
867
Peak Torque
867
Continuous Torque
867
Ambient Temperature Effects on Torque Curves and Motor Response:
868
Supply Voltage Effects on Torque Curves and Motor Response:
868
Example 1: Rotary Application
869
Example 2: Linear Application
869
Dyno Test Data vs. the Derated Torque Curve
869
Proper Sizing and Loading of the SmartMotor
870
Commands Listed Alphabetically
873
Commands Listed by Function
880
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 28 of 890
Communications Control
881
Data Conversion
881
EEPROM (Nonvolatile Memory)
882
I/O Control
882
Math Function
882
Motion Control
883
Program Access
885
Program Execution and Flow Control
886
Reset Commands
886
System
887
Variables
888
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 29 of 890
Introduction
Introduction
Introduction
This chapter provides introductory reference material.
Overview
32
Combitronic Support
32
Communication Lockup Wizard
34
Safety Information
34
Additional Documents
38
Additional Resources
38
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 31 of 890
Introduction
Introduction: Overview
Overview
The SmartMotor™ Developer's Guide is designed to be used by system developers and
programmers when developing applications for the SmartMotor. Before using the
SmartMotor™ Developer's Guide, it is strongly recommended that you first read the
SmartMotor™ Installation & Startup Guide for your SmartMotor, which describes how to
install and start up the SmartMotor, and test initial communications with the motor. After that,
use this guide to learn about advanced SmartMotor features, how to develop SmartMotor
applications, and the details of each command.
Part One of this guide provides information on basic to advanced programming, along with
related information on key SMI software features, communications, motion control, program
flow control, error and fault handling, and more.
Part Two of this guide lists all the SmartMotor commands in alphabetical order. Each
command is described in detail. Code snippets and examples are provided where applicable.
These are shown in a Courier font. Comments are included and separated with a single
quotation mark as they would be in your own programs.
NOTE: The programs and code samples in this manual are provided for example
purposes only. It is the user's responsibility to decide if a particular code sample or
program applies to the application being developed and to adjust the values to fit
that application.
Also, where appropriate, a Related Commands section is included, which is located at the end
of the command page. It is designed to guide you to other commands that offer similar
functionality, and ensure you are aware of every programming option the SmartMotor
provides to address your specific application requirements.
Part Three of this guide provides a library of useful example SmartMotor programs. These can
be used as "how to" examples for using a particular SmartMotor feature or solving a particular
application problem, or as starting points for your application.
NOTE: The programs and code samples in this manual are provided for example
purposes only. It is the user's responsibility to decide if a particular code sample or
program applies to the application being developed and to adjust the values to fit
that application.
The Appendix of this guide contains additional topics such as an array map, ASCII character
set, command error codes, and other information that is useful to have handy during
application development.
A quick-reference command list is also included at the end of this guide.
Combitronic Support
A large number of the commands provide Combitronic™ support. Combitronic is a protocol
that operates over a standard "CAN" (Controller Area Network) interface. It may coexist with
either CANopen or DeviceNet protocols at the same time. Unlike these common protocols,
however, Combitronic requires no single dedicated master to operate. Each Integrated Servo
connected to the same network communicates on an equal footing, sharing all information,
and therefore, sharing all processing resources. For more details on Combitronic features,
see Combitronic Communications on page 114, and also see the overview on the Moog
Animatics website at:
http://www.animatics.com/supports/knowledge-base/smartmotorkb/130.html.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 32 of 890
For applicable commands, a table row titled "COMBITRONIC:" provides the Combitronic
command syntax for addressing a specific SmartMotor in the network. Those commands also
display the Combitronic logo (
) at the top of their reference pages.
Combitronic Logo Location
COMBITRONIC: Table Row
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 33 of 890
Introduction
Introduction: Combitronic Support
Introduction
Introduction: Communication Lockup Wizard
Communication Lockup Wizard
Improper use of some commands, like Z and OCHN, can lock you out of the motor and
prevent further communication. If you are unable to communicate with the SmartMotor, you
may be able to recover communications using the Communication Lockup Wizard, which is on
the SMI software Communications menu (see the following figure). This tool sends an "E"
character to the motor at startup, which prevents the motor from running its program. For
more details on the Communication Lockup Wizard, see the SMI software online help, which is
accessed by pressing the F1 key or selecting Help from the SMI software main menu.
Communication Menu - Communication Lockup Wizard
Safety Information
This section describes the safety symbols and other safety information.
Safety Symbols
The manual may use one or more of the following safety symbols:
WARNING: This symbol indicates a potentially non-lethal mechanical hazard,
where failure to follow the instructions could result in serious injury to the
operator or major damage to the equipment.
CAUTION: This symbol indicates a potential minor hazard, where failure to
follow the instructions could result in slight injury to the operator or minor
damage to the equipment.
NOTE: Notes are used to emphasize non-safety concepts or related information.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 34 of 890
Other Safety Considerations
The Moog Animatics SmartMotors are supplied as components that are intended for use in an
automated machine or system. As such, it is beyond the scope of this manual to attempt to
cover all the safety standards and considerations that are part of the overall machine/system
design and manufacturing safety. Therefore, the following information is intended to be used
only as a general guideline for the machine/system designer.
It is the responsibility of the machine/system designer to perform a thorough "Risk
Assessment" and to ensure that the machine/system and its safeguards comply with the
safety standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for
the locale where the machine is being installed and operated. For more details, see Machine
Safety on page 35.
Motor Sizing
It is the responsibility of the machine/system designer to select SmartMotors that are
properly sized for the specific application. Undersized motors may: perform poorly, cause
excessive downtime or cause unsafe operating conditions by not being able to handle the
loads placed on them. The (missing or bad snippet), contains information and equations that
can be used for selecting the appropriate motor for the application.
Replacement motors must have the same specifications and firmware version used in the
approved and validated system. Specification changes or firmware upgrades require the
approval of the system designer and may require another Risk Assessment.
Environmental Considerations
It is the responsibility of the machine/system designer to evaluate the intended operating
environment for dust, high-humidity or presence of water (for example, a food-processing
environment that requires water or steam wash down of equipment), corrosives or chemicals
that may come in contact with the machine, etc. Moog Animatics manufactures specialized
IP-rated motors for operating in extreme conditions. For details, see the (missing or bad
snippet).
Machine Safety
In order to protect personnel from any safety hazards in the machine or system, the
machine/system builder must perform a "Risk Assessment", which is often based on the ISO
13849 standard. The design/implementation of barriers, emergency stop (E-stop)
mechanisms and other safeguards will be driven by the Risk Assessment and the safety
standards specified by the governing authority (for example, ISO, OSHA, UL, etc.) for the
locale where the machine is being installed and operated. The methodology and details of
such an assessment are beyond the scope of this manual. However, there are various sources
of Risk Assessment information available in print and on the internet.
NOTE: The following list is an example of items that would be evaluated when
performing the Risk Assessment. Additional items may be required. The safeguards
must ensure the safety of all personnel who may come in contact with or be in the
vicinity of the machine.
In general, the machine/system safeguards must:
l
Provide a barrier to prevent unauthorized entry or access to the machine or system. The
barrier must be designed so that personnel cannot reach into any identified danger
zones.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 35 of 890
Introduction
Introduction: Other Safety Considerations
Introduction: Documentation and Training
Introduction
l
l
l
l
Position the control panel so that it is outside the barrier area but located for an
unrestricted view of the moving mechanism. The control panel must include an E-stop
mechanism. Buttons that start the machine must be protected from accidental
activation.
Provide E-stop mechanisms located at the control panel and at other points around the
perimeter of the barrier that will stop all machine movement when tripped.
Provide appropriate sensors and interlocks on gates or other points of entry into the
protected zone that will stop all machine movement when tripped.
Ensure that if a portable control/programming device is supplied (for example, a handheld operator/programmer pendant), the device is equipped with an E-stop mechanism.
NOTE: A portable operation/programming device requires many additional
system design considerations and safeguards beyond those listed in this
section. For details, see the safety standards specified by the governing
authority (for example, ISO, OSHA, UL, etc.) for the locale where the
machine is being installed and operated.
l
l
l
l
l
l
Prevent contact with moving mechanisms (for example, arms, gears, belts, pulleys,
tooling, etc.).
Prevent contact with a part that is thrown from the machine tooling or other parthandling equipment.
Prevent contact with any electrical, hydraulic, pneumatic, thermal, chemical or other
hazards that may be present at the machine.
Prevent unauthorized access to wiring and power-supply cabinets, electrical boxes, etc.
Provide a proper control system, program logic and error checking to ensure the safety
of all personnel and equipment (for example, to prevent a run-away condition). The
control system must be designed so that it does not automatically restart the
machine/system after a power failure.
Prevent unauthorized access or changes to the control system or software.
Documentation and Training
It is the responsibility of the machine/system designer to provide documentation on safety,
operation, maintenance and programming, along with training for all machine operators,
maintenance technicians, programmers, and other personnel who may have access to the
machine. This documentation must include proper lockout/tagout procedures for maintenance
and programming operations.
It is the responsibility of the operating company to ensure that:
l
l
l
All operators, maintenance technicians, programmers and other personnel are tested
and qualified before acquiring access to the machine or system.
The above personnel perform their assigned functions in a responsible and safe manner
to comply with the procedures in the supplied documentation and the company safety
practices.
The equipment is maintained as described in the documentation and training supplied by
the machine/system designer.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 36 of 890
Additional Equipment and Considerations
The Risk Assessment and the operating company's standard safety policies will dictate the
need for additional equipment. In general, it is the responsibility of the operating company to
ensure that:
l
l
l
l
Unauthorized access to the machine is prevented at all times.
The personnel are supplied with the proper equipment for the environment and their job
functions, which may include: safety glasses, hearing protection, safety footwear,
smocks or aprons, gloves, hard hats and other protective gear.
The work area is equipped with proper safety equipment such as first aid equipment,
fire suppression equipment, emergency eye wash and full-body wash stations, etc.
There are no modifications made to the machine or system without proper engineering
evaluation for design, safety, reliability, etc., and a Risk Assessment.
Safety Information Resources
Additional SmartMotor safety information can be found on the Moog Animatics website; open
the file "109_Controls, Warnings and Cautions.pdf" located at:
http://www.animatics.com/support/moog-animatics-catalog.html
OSHA standards information can be found at:
https://www.osha.gov/law-regs.html
ANSI-RIA robotic safety information can be found at:
http://www.robotics.org/robotic-content.cfm/Robotics/Safety-Compliance/id/23
UL standards information can be found at:
http://ulstandards.ul.com/standards-catalog/
ISO standards information can be found at:
http://www.iso.org/iso/home/standards.htm
EU standards information can be found at:
http://ec.europa.eu/growth/single-market/european-standards/harmonisedstandards/index_en.htm
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 37 of 890
Introduction
Introduction: Additional Equipment and Considerations
Introduction
Introduction: Additional Documents
Additional Documents
The Moog Animatics website contains additional documents that are related to the information
in this manual. Please refer to the following list:
l
SmartMotor™ Installation & Startup Guide (select the guide for your SmartMotor)
http://www.animatics.com/support/download-center.html
l
SmartMotor™ Product Certificate of Conformance
http://www.animatics.com/download/Declaration of Conformity.pdf
l
SmartMotor™ UL Certification
http://www.animatics.com/download/MA_UL_online_listing.pdf
l
SmartMotor Developer's Worksheet
(interactive tools to assist developer: Scale Factor Calculator, Status Words, CAN, CAN
(arg) Port Status, Serial Port Status, RMODE Decoder, and Syntax Error Codes)
http://www.animatics.com/tools
l
Moog Animatics Product Catalog
http://www.animatics.com/support/moog-animatics-catalog.html
Additional Resources
The Moog Animatics website contains additional resources such as product information,
documentation, product support and more. Please refer to the following list:
l
General company information:
http://www.animatics.com
l
Product information:
http://www.animatics.com/products.html
l
Product support (Downloads, How To videos, Forums, Knowledge Base, and FAQs):
http://www.animatics.com/support.html
l
Sales and distributor information:
http://www.animatics.com/sales-offices.html
l
Application ideas (including videos and sample programs):
http://www.animatics.com/applications.html
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 38 of 890
Part 1: Programming the SmartMotor
Part 1: Programming
Part 1: Programming the
SmartMotor
Part 1 of this guide provides information on programming, SMI software features,
communications, variables, error and fault handling, I/O control, and other details required
for system and application development.
Beginning Programming
50
Setting the Motor Firmware Version
51
Setting the Default Firmware Version
51
Checking the Default Firmware Version
52
Opening the SMI Window (Program Editor)
52
Understanding the Program Requirements
53
Creating a "Hello World" Program
54
Entering the Program in the SMI Editor
54
Adding Comments to the Code
55
Checking the Program Syntax
55
Saving the Program
55
Downloading a Program to the SmartMotor
55
Syntax Checking, Compiling and Downloading the Program
56
Additional Notes on Downloaded Programs
56
Running a Downloaded Program
57
Using the Program Download Window
58
Using the Terminal Window and Run Program Button
58
Using the RUN Command in the Terminal Window
58
Creating a Simple Motion Program
59
SMI Software Features
60
Introduction
61
Menu Bar
61
Toolbar
62
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 39 of 890
Part 1: Programming the SmartMotor
Configuration Window
64
Terminal Window
66
Part 1: Programming
Initiating Motion from the Terminal Window
68
Information Window
68
Program Editor
69
Motor View
71
SMI Trace Functions
73
Monitor Window
76
Serial Data Analyzer
78
Chart View
79
Chart View Example
80
Macros
83
Tuner
85
SMI Options
89
SMI Help
90
Context-Sensitive Help Using F1
90
Context-Sensitive Help Using the Mouse
90
Help Buttons
90
Hover Help
90
Table of Contents
90
Projects
91
SmartMotor Playground
92
Opening the SmartMotor Playground
93
Moving the Motor
94
Communication Details
96
Introduction
98
Connecting to a Host
99
Daisy Chaining Multiple D-Style SmartMotors over RS-232
100
ADDR=formula
101
SLEEP, SLEEP1
102
WAKE, WAKE1
102
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Page 40 of 890
Part 1: Programming the SmartMotor
ECHO, ECHO1
103
ECHO_OFF, ECHO_OFF1
103
104
OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout)
104
CCHN(type,channel)
105
BAUD#, BAUD(x)=formula
105
PRINT(), PRINT1()
105
SILENT, SILENT1
106
TALK, TALK1
106
a=CHN(channel)
106
a=ADDR
107
Communicating over RS-485
107
Using Data Mode
107
CAN Communications
110
CADDR=formula
110
CBAUD=formula
110
=CAN, =CAN(arg)
110
CANCTL(function,value)
110
SDORD(...)
111
SDOWR(...)
111
NMT
112
RB(2,4), x=B(2,4)
112
Exceptions to NMT, SDORD and SDOWR Commands
112
I/O Device CAN Bus Master
113
Combitronic Communications
114
Combitronic Features
115
Other Combitronic Benefits
115
Program Loops with Combitronic
115
Global Combitronic Transmissions
116
Simplify Machine Support
116
Combitronic with RS-232 Interface
116
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Page 41 of 890
Part 1: Programming
Serial Commands
Part 1: Programming the SmartMotor
Other CAN Protocols
118
CANopen - CAN Bus Protocol
118
DeviceNet - CAN Bus Protocol
118
Part 1: Programming
I²C Communications (D-Style Motors)
118
OCHN(IIC,1,N,baud,1,8,D)
120
CCHN(IIC,1)
120
PRINT1(arg1,arg2, … ,arg_n)
120
RGETCHR1, Var=GETCHR1
120
RLEN1, Var=LEN1
120
Motion Details
121
Introduction
123
Motion Command Quick Reference
124
Basic Motion Commands
125
Target Commands
125
PT=formula
125
PRT=formula
126
ADT=formula
126
AT=formula
126
DT=formula
126
VT=formula
127
Motion Mode Commands
127
MP
127
MV
127
MT
128
Torque Commands
128
TS=formula
128
T=formula
128
Brake Commands
128
BRKRLS
129
BRKENG
129
BRKSRV
129
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Page 42 of 890
BRKTRJ
129
EOBK(IO)
129
MTB
130
Index Capture Commands
130
Other Motion Commands
131
G
131
S
132
X
132
O=formula
132
OSH=formula
132
OFF
132
Commutation Modes
133
MDT
133
MDE
133
MDS
133
MDC
134
MDB
134
MINV(0), MINV(1)
134
Modes of Operation
135
Torque Mode
135
Torque Mode Example
135
Dynamically Change from Velocity Mode to Torque Mode
135
Velocity Mode
136
Constant Velocity Example
136
Change Commanded Speed and Acceleration
136
Absolute (Position) Mode
137
Absolute Move Example
137
Two Moves with Delay Example
137
Change Speed and Acceleration Example
137
Shift Point of Origin Example
138
Relative Position Mode
138
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Part 1: Programming
Part 1: Programming the SmartMotor
Part 1: Programming the SmartMotor
Relative Mode Example
138
Part 1: Programming
Follow Mode with Ratio (Electronic Gearing)
139
Electronic Gearing and Camming over CANopen
139
Electronic Gearing Commands
140
SRC(enc_src)
140
MFR
140
MSR
140
MF0
140
MS0
140
MFMUL=formula, MFDIV=formula
140
MFA(distance[,m/s])
141
MFD(distance[,m/s])
141
MFSLEW(distance[,m/s])
141
Follow Internal Clock Source Example
141
Follow Incoming Encoder Signal With Ramps Example
142
Electronic Line Shaft
144
ENCD(in_out)
144
Spooling and Winding Overview
145
Relative Position, Auto-Traverse Spool Winding
145
MFSDC(distance,mode)
146
Dedicated, Absolute Position, Winding Traverse Commands
148
MFSDC(distance,2)
149
MFLTP=formula
149
MFHTP=formula
149
MFCTP(arg1,arg2)
149
MFL(distance[,m/s])
150
MFH(distance[,m/s])
150
ECS(counts)
150
Single Trajectory Example Program
152
Chevron Wrap Example
152
Other Traverse Mode Notes
154
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Page 44 of 890
Part 1: Programming the SmartMotor
155
Cam Mode (Electronic Camming)
155
Electronic Gearing and Camming over CANopen
157
Electronic Camming Commands
157
CTE(table)
157
CTA(points,seglen[,location])
157
CTW(pos[,seglen][,user])
158
MCE(arg)
158
MCW(table,point)
159
RCP
159
RCTT
159
MC
159
MCMUL=formula
159
MCDIV=formula
159
O(arg)=formula
159
OSH(arg)=formula
160
Cam Example Program
160
Mode Switch Example
163
Position Counters
165
Modulo Position
166
Modulo Position Commands
166
Dual Trajectories
167
Commands That Read Trajectory Information
169
Dual Trajectory Example Program
170
Synchronized Motion
170
Synchronized-Target Commands
170
PTS(), PRTS()
170
VTS=formula
171
ADTS=formula, ATS=formula, DTS=formula
171
PTSS(), PRTSS()
171
A Note About PTS and PTSS
172
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Part 1: Programming
Traverse Mode Status Bits
Part 1: Programming the SmartMotor
Other Synchronized-Motion Commands
GS
173
TSWAIT
173
Program Flow Details
Part 1: Programming
173
175
Introduction
176
Flow Commands
176
RUN
177
RUN?
177
GOTO#, GOTO(label), C#
177
GOSUB#, GOSUB(label), RETURN
178
IF, ENDIF
178
ELSE, ELSEIF
179
WHILE, LOOP
180
SWITCH, CASE, DEFAULT, BREAK, ENDS
180
TWAIT
181
WAIT=formula
181
STACK
181
END
182
Program Flow Examples
183
IF, ELSEIF, ELSE, ENDIF Examples
183
WHILE, LOOP Examples
183
GOTO(), GOSUB() Examples
184
SWITCH, CASE, BREAK, ENDS Examples
185
Interrupt Programming
186
ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI
186
TMR(x,t)
188
Variables and Math
189
Introduction
190
Variable Commands
190
EPTR=formula
190
VST(variable,number)
190
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Part 1: Programming the SmartMotor
VLD(variable,number)
191
191
Math Operations
191
Logical Operations
191
Integer Operations
191
Floating Point Functions
191
Math Operation Details and Examples
192
Array Variables
192
Array Variable Examples
193
Error and Fault Handling Details
194
Motion and Motor Faults
195
Overview
195
Drive Stage Indications and Faults
195
Fault Bits
195
Error Handling
196
Example Fault-Handler Code
196
PAUSE
197
RESUME
197
Limits and Fault Handling
198
Position Error Limits
198
dE/dt Limits
198
Velocity Limits
198
Hardware Limits
198
Software Limits
199
Fault Handling
199
Monitoring the SmartMotor Status
200
System Status
202
Introduction
203
Retrieving and Manipulating Status Words/Bits
203
System and Motor Status Bits
203
Reset Error Flags
205
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Part 1: Programming
Math Expressions
Part 1: Programming
Part 1: Programming the SmartMotor
System Status Examples
205
Timer Status Bits
206
Interrupt Status Bits
206
I/O Status
207
User Status Bits
207
Multiple Trajectory Support Status Bits
208
Cam Status Bits
209
Interpolation Status Bits
210
Motion Mode Status
210
RMODE, RMODE(arg)
210
I/O Control Details
211
I/O Port Hardware
212
I/O Connections Example (D-Style Motors)
213
I/O Voltage Spikes
213
Discrete Input and Output Commands
214
Discrete Input Commands
214
Discrete Output Commands
214
Output Condition and Fault Status Commands
216
Output Condition Commands
216
Output Fault Status Reports
216
General-Use Input Configuration
216
Multiple I/O Functions Example
217
Analog Functions of I/O Ports
218
5 Volt Push-Pull I/O Analog Functions (D-Style Motors)
218
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors)
218
Special Functions of I/O Ports
219
Class 5 D-Style Motors: Special Functions of I/O Ports
220
I/O Ports 0 and 1 – External Encoder Function Commands
220
I/O Ports 2 and 3 – Travel Limit Inputs
220
I/O Ports 4 and 5 – Communications
220
I/O Port 6 – Go Command, Encoder Index Capture Input
221
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Part 1: Programming the SmartMotor
222
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
222
I/O Ports 2 and 3 – Travel Limit Inputs
222
I/O Port 5 – Encoder Index Capture Input
222
I/O Port 6 – Go Command
223
Class 6 M-Style Motors: Special Functions of I/O Ports
224
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
224
I/O Ports 2 and 3 – Travel Limit Inputs
224
I/O Port 4 and 5 – Encoder Index Capture Input
224
I/O Port 6 – Go Command
225
I/O Brake Output Commands
225
I²C Expansion (D-Style Motors)
225
Tuning and PID Control
226
Introduction
227
Understanding the PID Control
227
Tuning the PID Control
228
Using F
228
Setting KP
229
Setting KD
229
Setting KI and KL
229
Setting EL=formula
230
Other PID Tuning Parameters
230
KG=formula
230
KV=formula
230
KA=formula
231
Current Limit Control
232
AMPS=formula
232
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Part 1: Programming
Class 5 M-Style Motors: Special Functions of I/O Ports
Part 1: Programming: Beginning Programming
Beginning Programming
Part 1: Programming
This chapter provides information on beginning programming with the SmartMotor. It
introduces you to using the SMI™ Program Editor, understanding program requirements,
creating a program, downloading the program and then running it in the SmartMotor. It
concludes with a sample for creating your first motion program.
Setting the Motor Firmware Version
51
Setting the Default Firmware Version
51
Checking the Default Firmware Version
52
Opening the SMI Window (Program Editor)
52
Understanding the Program Requirements
53
Creating a "Hello World" Program
54
Entering the Program in the SMI Editor
54
Adding Comments to the Code
55
Checking the Program Syntax
55
Saving the Program
55
Downloading a Program to the SmartMotor
55
Syntax Checking, Compiling and Downloading the Program
56
Additional Notes on Downloaded Programs
56
Running a Downloaded Program
57
Using the Program Download Window
58
Using the Terminal Window and Run Program Button
58
Using the RUN Command in the Terminal Window
58
Creating a Simple Motion Program
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59
Part 1: Programming: Setting the Motor Firmware Version
Setting the Motor Firmware Version
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
CAUTION: The compiler's firmware version must match the firmware version
of the connected motor. If it does not match, the SMI software may not catch
syntax errors and may download incompatible code to the SmartMotor.
This procedure assumes that:
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The SmartMotor is connected to the computer. For details, see Connecting the System
in the SmartMotor Installation & Startup Guide for your motor.
The SmartMotor is connected to a power source. (Certain models of SmartMotors
require separate control and drive power.) For details, see Understanding the Power
Requirements in the SmartMotor Installation & Startup Guide for your motor.
The SMI software has been installed and is running on the computer. For details, see
Installing the SMI Software in the SmartMotor Installation & Startup Guide for your
motor.
Setting the Default Firmware Version
To set the default firmware version, from the SMI software main menu, select:
Compile > Compiler default firmware version
Setting the Compiler’s Default Firmware Version
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Part 1: Programming
When programming the SmartMotor, it is important that the SMI software compiler's
firmware version setting matches the firmware version of the connected SmartMotor.
Part 1: Programming: Checking the Default Firmware Version
From the list, select the firmware version that most closely matches the firmware version of
the connected SmartMotor, as shown in the previous figure. After the default firmware
version has been selected, the list closes.
Checking the Default Firmware Version
To check the default firmware version, from the SMI software main menu, select:
Part 1: Programming
Compile > Compiler default firmware version
On the list, locate the blue dot to the left of the firmware version number. The dot indicates
the currently-selected default firmware version.
Opening the SMI Window (Program Editor)
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
In addition to taking commands over the serial interface, the SmartMotor can run programs.
The SMI window is used to write and edit user programs for the SmartMotor(s). After the
program has been written, it can be checked and then downloaded to the desired SmartMotor
(s).
The SMI window is typically closed (default setting) when the SMI software is opened. To open
the window, click the New button ( ) on the toolbar, or select:
File > New
SMI Window
After the SMI window opens, you can type your program directly into the editor, or you can
copy and paste existing code from any text-based software such as Windows Notepad.
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Part 1: Programming: Understanding the Program Requirements
NOTE: Some word-processing software, such as Microsoft Word, has an option for
"smart quotes", which use angled single (ˊ) and double (˝) quotation marks . The
angled quotation marks are not recognized by the SMI editor. Therefore, any
"smart quotes" option must be disabled before copying and pasting the program
code.
SmartMotors use a simple form of code called "AniBasic", which is similar to the BASIC
programming language. Various commands include means to create continuous loops, jump
to different locations on given conditions and perform general math functions.
Note the following AniBasic program requirements:
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The code is case sensitive:
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All commands begin with or use all UPPER CASE letters.
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All variables are preassigned and must use lower case.
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Command names are reserved and cannot be used as variables.
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A space is a programming element.
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Comments require an apostrophe or ASCII character 39 (') between the commands and
the comment text.
NOTE: When copying and pasting code from another text editor, make sure
that your text editor is not inserting "smart quotes" (angled single or double
quotation marks). These are not the same as ASCII characters 39 (') and 34
("), and the SMI program editor doesn't recognize them.
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Each program must contain at least one occurrence of the END statement.
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Each subroutine call must have a label with a RETURN statement somewhere below it.
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Each Interrupt subroutine must end with the RETURNI statement.
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The default syntax colors for the SMI editor are: commands (blue), program flow
controls (pink), and comments (green). All other program text is shown in black. You
can change the syntax colors through the Editor tab in the Options window. For details
on the Options window, see SMI Options on page 89.
There is no syntax checking performed until you do one of the following:
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From the main menu, select Compile > Scan file for errors
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Select the Scan File for Errors button on the toolbar
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Press Ctrl+F7
As in BASIC, you can use the PRINT command to print to the screen, as shown in the
"Hello World" example. For details, see Creating a "Hello World" Program on page 54.
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Part 1: Programming
Understanding the Program Requirements
Part 1: Programming: Creating a "Hello World" Program
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When the SmartMotor power is turned on, there is a 500 ms "pause" before any
program or command is processed:
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Part 1: Programming
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For all industrial networks, every node (or motor) must immediately send out a
"Who am I?" info data packet when power is turned on, which tells the network
host who it's talking to. This is a requirement for all industrial communications
protocols (like CANopen, DeviceNet and PROFIBUS).
The stored program does not execute until the 500 ms pause expires. Any serial
commands sent during that time are buffered and then accepted after that pause
expires. Because incoming commands take priority over the internal program,
any buffered commands are executed before the internal program begins.
Commands coming in over the network have priority over the program running within
the SmartMotor. For example, while a program is running, you could issue a GOSUB
command from the terminal and send the program off to run the specified subroutine.
When the subroutine is done, the program would resume at the point where the GOSUB
command was issued.
The RUN? command can be used at the beginning of a program to prevent it from
automatically running when the SmartMotor power is turned on, as shown in the "Hello
World" example. For details, see Creating a "Hello World" Program on page 54.
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The SmartMotor will not execute any code past the RUN? line until it receives a
RUN command through the serial port.
Using the serial port, the motor can be commanded to run subroutines even if the
stored program is not running.
Creating a "Hello World" Program
This procedure describes how to create and save a simple "Hello World" program.
NOTE: When copying and pasting code from another text editor, make sure that
your text editor is not inserting "smart quotes" (angled single or double quotation
marks). These are not the same as ASCII characters 39 (') and 34 ("), and the SMI
program editor doesn't recognize them.
Entering the Program in the SMI Editor
To create the program, type the following code into the SMI software program editor:
RUN?
PRINT("Hello World",#13)
END
NOTE: The program will not run when the SmartMotor power is turned on (because
of the RUN? command on the first line).
When you run this program, it outputs the following text to the Terminal window:
Hello World
To run this program, you must download it to the SmartMotor and then enter the
RUN command in the Terminal window. For more details on downloading the program, see
Downloading a Program to the SmartMotor on page 55. For more details on running the
downloaded program, see Running a Downloaded Program on page 57.
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Part 1: Programming: Adding Comments to the Code
Adding Comments to the Code
You can add comments to the code by inserting a single quotation mark (') between the
commands and your comment text.
NOTE: Comments do not get sent to the SmartMotor.
Part 1: Programming
RUN?
'The program stops here until it receives a RUN command
PRINT("Hello World",#13)
'#13 is a carriage return
END
'The required END command
Checking the Program Syntax
You can syntax check the program by doing one of the following:
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From the main menu, select Compile > Scan file for errors
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Select the Scan File for Errors button on the toolbar
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Press Ctrl+F7
If errors are found, correct them and re-check the syntax.
The program will also be syntax checked as part of the download procedure. For details, see
Downloading a Program to the SmartMotor on page 55.
Saving the Program
After entering the program, you can save it as follows:
1. From the main menu, select: File > Save As, or click the Save button (
toolbar. The Save As window opens.
) on the
2. Select a drive/folder on your PC or use the default location.
3. Assign a name, such as "HelloWorld.sms".
4. Click Save to write the program to the specified location and close the window.
If you attempt to syntax check or compile and download an unsaved program, the SMI
software automatically opens the Save As window, which requires you to save the program
before continuing.
Downloading a Program to the SmartMotor
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
After you've created a program, it must be downloaded to the SmartMotor. This section
explains how to syntax check and download the program.
NOTE: Comments do not get sent to the SmartMotor.
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Part 1: Programming: Syntax Checking, Compiling and Downloading the Program
Syntax Checking, Compiling and Downloading the Program
The program can be syntax checked, compiled and transmitted to the SmartMotor in one
operation.
To compile the program and then transmit it to the SmartMotor:
Part 1: Programming
NOTE: SMI transmits the compiled version of the program to the SmartMotor.
1. Click the Compile and Download Program button ( ) on the toolbar or press the F5 key.
The Select Motor window opens, which is used to specify which motor(s) will receive the
program.
2. Select the desired motor(s) from the list. The SMI software compiles the program
during this step and also checks for errors. If errors are found, make the necessary
corrections and try again.
3. Click OK to close the window and transmit the program. A progress bar shows the status
of the transmission.
Because the SmartMotor's EEPROM (long-term memory) is slow to write, the terminal
software uses two-way communications to regulate the download of a new program.
Additional Notes on Downloaded Programs
Keep the following items in mind regarding programs that have been downloaded to the
SmartMotor:
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After the program has been downloaded into the SmartMotor, it remains there until
replaced.
The downloaded program executes every time power is applied to the motor.
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There is a 500 ms timeout before the motor will accept commands on the serial
port. Any commands sent during that time are buffered and then accepted once
the 500 ms timeout expires. Because incoming commands take priority over the
internal program, buffered commands run before the internal program begins.
If you do not want the program to execute every time power is applied, you must
add a RUN? command as the first line/command of the program. For an example,
see Creating a "Hello World" Program on page 54.
To get a program to operate continuously, write a loop. For details, see Program
Flow Details on page 175.
A program cannot be erased; it can only be replaced. To effectively replace a program
with nothing, download a program with only one command: END.
Remember that all programs, even "empty" ones, must contain at least one
END command. For more details on program requirements, see Understanding the
Program Requirements on page 53.
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Part 1: Programming: Running a Downloaded Program
Running a Downloaded Program
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
After the program has downloaded to the SmartMotor, the Program Download window opens,
which contains options relating to running the program.
Program Download Window
Run will run the program immediately. Reset will clear all user variables and run the program
as if it were power cycled. Close will close the window without running the newly-downloaded
program.
"Check to disable this message" will prevent the window from being shown after a program is
downloaded to the SmartMotor. Select that option if you always want to run the program using
the Terminal window and the Run Program in Selected Motor button ( ), which is on the SMI
software toolbar.
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Part 1: Programming
WARNING: The larger SmartMotors can shake, move quickly and exert great
force. Therefore, proper motor restraints must be used, and safety
precautions must be considered in the workcell design (see Other Safety
Considerations on page 35).
Part 1: Programming: Using the Program Download Window
Using the Program Download Window
(Refer to the previous figure.)
To run the program on all motors:
1. Select the All Motors on this channel option.
2. Click Run.
Part 1: Programming
To run the program on just the selected motor:
1. Deselect the All Motors on this channel option.
2. Click Run.
Using the Terminal Window and Run Program Button
To run the program using the Terminal window and the Run Program button:
1. Use the motor selector in the Terminal window (see the following figure) to select the
motor—it must be the same motor that received the program.
2. Click the Run Program in Selected Motor button ( ) to run the program in the selected
motor.
Selected Motor and Run Program Button
Using the RUN Command in the Terminal Window
To run the program using commands in the Terminal window, do one of the following:
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Type RUN in the text box and click Send or press Enter
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Type RUN directly on the terminal screen (blue) area and click Send or press Enter.
RUN Command in the Terminal Window
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Part 1: Programming: Creating a Simple Motion Program
Creating a Simple Motion Program
Enter the following motion program in the SMI editing window. Pay close attention to spaces
and capitalization.
As described previously, it’s only necessary to enter text on the left side of the single quote,
as the text from the single quotation mark to the right end of the line is a comment and for
information only. That said, it is always good programming practice to create wellcommented code. Nothing is more frustrating than trying to debug or decipher code that is
sparsely commented.
NOTE: Comments do not get sent to the SmartMotor.
EIGN(2)
EIGN(3)
ZS
ADT=100
VT=1000000
PT=100000
G
TWAIT
PT=0
G
END
'Disable left limit
'Disable right limit
'Reset errors
'Set target accel/decel
'Set target velocity
'Set target position
'Go, starts the move
'Wait for move to complete
'Set buffered move back to home
'Start motion
'End program
After entering the program code, you can download it to the motor and then run it. For details
on downloading the program, see Downloading a Program to the SmartMotor on page 55. For
details on running the downloaded program, see Running a Downloaded Program on page 57.
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Part 1: Programming
WARNING: The larger SmartMotors can shake, move quickly and exert great
force. Therefore, proper motor restraints must be used, and safety
precautions must be considered in the workcell design (see Other Safety
Considerations on page 35).
Part 1: Programming: SMI Software Features
SMI Software Features
Part 1: Programming
This chapter provides information on SMI software features.
Introduction
61
Menu Bar
61
Toolbar
62
Configuration Window
64
Terminal Window
66
Initiating Motion from the Terminal Window
68
Information Window
68
Program Editor
69
Motor View
71
SMI Trace Functions
73
Monitor Window
76
Serial Data Analyzer
78
Chart View
79
Chart View Example
80
Macros
83
Tuner
85
SMI Options
89
SMI Help
90
Context-Sensitive Help Using F1
90
Context-Sensitive Help Using the Mouse
90
Help Buttons
90
Hover Help
90
Table of Contents
90
Projects
91
SmartMotor Playground
92
Opening the SmartMotor Playground
93
Moving the Motor
94
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Part 1: Programming: Introduction
Introduction
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The interface can be accessed from the Windows Desktop icon or from the Windows Start
menu. For details, see Accessing the SMI Software Interface in the SmartMotor Installation &
Startup Guide for your motor.
Menu bar
Toolbar
Configuration
window
Terminal
window
Program
editor
Information
window
Main Features of the SMI Software
NOTE: Depending on your version of SMI software, your screens may look slightly
different than those shown.
The primary software features are briefly described in the following sections. In addition to
this information, there are detailed descriptions of all SMI software features in the software's
online help, which can be accessed from the software's Help menu or by pressing the F1 key.
Menu Bar
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
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Part 1: Programming
The SMI software interface provides access to a variety of tools that are used to communicate
with, program and monitor the SmartMotor.
Part 1: Programming: Toolbar
The SMI software menu bar provides access to all SMI software features, which are grouped
by functional area.
Part 1: Programming
The Menu Bar
NOTE: Frequently-used features are also available from the SMI software's
Toolbar. For details, see Toolbar on page 62.
Each functional area is described in the following table.
Menu
Description
File
Access standard file commands (New, Open, Close, etc.).
Edit
Edit an SMI program (Cut, Copy, Paste, etc.). Note that an SMI Program
Editor window must be open to use these features.
View
Show or hide windows or items in the SMI software interface (Toolbar,
Status bar, Terminal window, etc.).
Communication
Control communications with motors (Settings, Detect Motors, Upload
Program, Communication Setup Wizard, etc.).
Compile
Scan a program for errors and compile SMX or project files (Scan for
errors, Compile Downloadable SMX file, Compile and Transmit SMX file,
Compile Project, etc.).
Tools
Access SmartMotor tools, monitoring features and options (Macro,
Tuner, Motor View, Monitor View, Options, etc.)
Window
Control the appearance of the SMI software windows (Cascade, Tile Horizontally/Vertically, Arrange Icons, etc.).
Help
Access online help features of the SMI software (Contents, Index,
SmartMotor Programmer's Guide, etc.).
Each menu item is described in detail in the SMI software's online help file, which can be
accessed from the Help menu or by pressing the F1 key.
Toolbar
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The SMI software toolbar provides quick access to the SMI software's frequently-used
features. Each item is represented by an icon, as shown in the following figure.
The Toolbar
NOTE: The entire set of SMI software features can be accessed from the menu bar.
For details, see Menu Bar on page 61.
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Part 1: Programming: Toolbar
Icon
Menu
Command
Description
New
Create a new document.
Open
Open an existing document.
Save
Save the active document.
Save All
Save the Project and all open documents.
Cut
Cut the selection and put it on the Clipboard.
Copy
Copy the selection and put it on the Clipboard.
Paste
Insert Clipboard contents.
Configuration
Show or hide the Configuration window.
Terminal
Show or hide the Terminal window.
Information
Show or hide the Information window.
Serial Data
Analyzer
Show or hide the Serial Data Analyzer ("sniffer").
Find Motors
Detect all available motors connected to the defined serial ports
of the computer.
Detect Motors
Detect motors connected to the currently-selected port in the Terminal window.
Compile and
Download Project
Compile and download all user programs defined in the project to
their associated motors.
Compile and
Transmit SMX
File
Compile and download the program in the active view to its associated motor.
Scan for errors
Scan the program in the active view.
Upload Program
Upload the program in a motor to an SMI file.
Run Program
Send a RUN command to the selected motor in the Terminal window.
Stop Running
Program
Send an END command to the selected motor in the Terminal window.
Stop Motors
Send an END and then an S command to all motors.
Decelerate
Motors to Stop
Send an END and then an X command to all motors.
SmartMotor
Playground
Opens the SmartMotor Playground, where you can monitor and
jog a single motor in Position, Velocity and Torque modes.
Context Help
Opens the context help for the selected item.
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Part 1: Programming
Each icon is described in the following table.
Part 1: Programming: Configuration Window
Each item is described in detail in the SMI software's online help file, which can be accessed
from the Help menu or by pressing the F1 key.
Configuration Window
Part 1: Programming
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The Configuration window shows the current configuration and allows access to specific ports
and motors. The Configuration window is essential to keeping multiple SmartMotor systems
organized, especially in the context of developing multiple programs and debugging their
operation.
The Configuration window is typically visible when the SMI software opens. If the window has
been closed, you can open it from the SMI software main menu by selecting:
View > Configuration
NOTE: When the window is visible, the menu item will have a check mark next to
it.
Configuration Window
The Configuration window is essential to keeping multiple SmartMotor systems organized.
To use the Configuration window:
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Click Find Motors to analyze your system, or
Right-click on an available port to display a menu, and select either "detect motors" or
"address motors" to find motors attached to that port.
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Part 1: Programming: Configuration Window
You can double-click on any port to view its properties, as shown in the following figure.
Part 1: Programming
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Port Properties Window
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You can also double-click on any motor to open the Motor View tool for that motor, as
shown in the following figure.
Motor View Window
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Part 1: Programming: Terminal Window
By right-clicking the motor, you can access its properties along with other tools, as
shown in the following figure.
Part 1: Programming
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Motor Tools Menu
Terminal Window
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The Terminal window acts as a real-time portal between you and the SmartMotor. By typing
commands in the Terminal window, you can set up and execute trajectories, execute
subroutines of downloaded programs and report data and status information to the window.
The Terminal window is typically shown (default setting) when the SMI software is opened.
However, if the Terminal window is closed, select:
View > Terminal
NOTE: When the window is visible, the menu item will have a check mark next to
it.
Terminal Window
To use the Terminal window:
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Part 1: Programming: Terminal Window
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Specific communication ports can be selected using the tabs.
Commands can be entered in the white text box or directly on the blue screen. If data is
flooding back from the motor, then the white text box will be more convenient, as the
incoming data may cause the text to scroll out of view.
When motor power is activated, there is a 500 ms timeout before the motor will accept
commands on the serial port. Any commands sent during that time are buffered and
then accepted once the 500 ms timeout expires. Because incoming commands take
priority over the internal program, buffered commands run before the internal program
begins.
Because multiple SmartMotors are on a single communication port are individually
addressed, commands can be routed to any or all of them by making the appropriate
selection from the drop-down list, which is located just below the tabs. The SMI
program automatically sends the appropriate codes to the network to route the data to
the specified motor(s).
You can double-click a previous command to resend the command (see the following
figure). However,
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If that command has a motor address in it (for example, 1RPA, where "1" = serial
bus Motor 1), the command will resend to that motor.
If that command does not have an address, the command will be sent to the lastaddressed motor. For example, if you previously sent the command 2RPA, which
addresses serial bus Motor 2, an un-addressed command that you double-click (or
issue) will go to serial bus Motor 2, even if it's on the list before the point where
you started addressing Motor 2.
An example of commands sent to
the last-addressed motor. Notice
that double-clicking the first RPA
command reports the position of
motor 3 because it was the lastaddressed motor.
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PRINT commands containing data can be sprinkled in programs to send data to the
Terminal window as an aid in debugging.
What is typed on the screen is not what goes to the motor. For example, 1RPA does not
send a "1" to the motor — it is sending an Extended ASCII code for "1"(Hex 0x81). Then
it sends ASCII "R", 'P" and "A", and a SPACE (Hex 20) as the delimiter (not a carriage
return). Note that the terminal window uses a space as the delimiter; the motor uses a
carriage return (Hex 0x0D) as the delimiter.
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Part 1: Programming
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Part 1: Programming: Initiating Motion from the Terminal Window
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Data that has associated report commands, such as Position, which is retrieved using
the RPA command, can be easily reported by simply including the report command
directly in the program code.
NOTE: Be careful when using report commands within tight loops because they can
bombard the Terminal window with too much data.
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Part 1: Programming
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If a program is sending too much data to the Terminal window, try adding a WAIT=50
command to the program, which will slow down the flow.
Use the right-hand scroll bar to review the Terminal window history.
Initiating Motion from the Terminal Window
WARNING: The larger SmartMotors can shake, move quickly and exert great
force. Therefore, proper motor restraints must be used, and safety
precautions must be considered in the workcell design (see Other Safety
Considerations on page 35).
To initiate motion from the terminal window, enter the following commands (do not enter the
comments, which are the right-hand portion of each line).
MP
ADT=100
VT=1000000
PT=300000
G
'Initialize
'Set target
'Set target
'Set target
'Go, starts
Position mode
accel/decel
velocity
position
the move
NOTE: Acceleration, velocity and position fully describe a trapezoidal-motion
profile.
After the final G command has been entered, the SmartMotor accelerates to speed, slows and
then decelerates to a stop at the absolute target position. The progress can be seen in the
Motor View window. For details on the Motor View window, see Monitoring the SmartMotor
Status on page 200.
Information Window
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The Information window shows the program status. When a program is scanned and errors
are found, they are listed in the Information window preceded by a red "E" along with the
program path and line number where the error was found, as shown in the following figure.
Example Error Message
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Part 1: Programming: Program Editor
The Information window is typically visible when the SMI software opens. If the window has
been closed, you can open it from the SMI software main menu by selecting:
View > Information
NOTE: When the window is visible, the menu item will have a check mark next to
it.
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Double-click on the error in the Information window—the specific error will be located in
the Program Editor.
In the following example, the scanner does not recognize the command TWAITS. The
correct command is TWAIT.
TWAITS Error
Correct the error and scan the program again. After all errors are corrected, the
program can be downloaded to the SmartMotor.
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Warnings may appear in the Information window to alert you to potential problems.
However, warnings will not prevent the program from being downloaded to the
SmartMotor. It is the programmer’s responsibility to determine the importance of
addressing the warnings.
Program Editor
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
SmartMotor programs are written in the SMI software Program Editor before being scanned
for errors and downloaded to the motor.
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Part 1: Programming
To use the Information window:
Part 1: Programming: Program Editor
To open the Program Editor, from the SMI software main menu, select:
File > New
Part 1: Programming
Or click the New button ( ) on the toolbar. The Program Editor opens, as shown in the
following figure.
Program Editor
To use the Program Editor:
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Type the program code directly into the Program Editor. As you write the program, the
editor applies syntax highlighting to the code, which makes it easier to read and debug.
Every program requires an END command, even if the program is designed to run
indefinitely and the END is never reached. For more details on program requirements,
see Understanding the Program Requirements on page 53.
The first time you write a program, you must save it before you can download it to the
motor.
Every time a program is downloaded, it is automatically saved to that file name. This
point is important to note, as most Windows applications require a "save" action. If you
want to set aside a certain revision of the program, it should be copied and renamed, or
you should simply save the continued work under a new name.
Once a program is complete, you can scan it for errors by pressing the Scan File button
( ) on the toolbar, or scan and download it in one operation by pressing the Compile
and Download Program button ( ), which is also located on the toolbar.
If errors are found, the download will be aborted and the problems will be identified in
the Information window located at the bottom of the screen.
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Part 1: Programming: Motor View
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Programs are scanned using a language file that is related to different motor firmware
versions. If Compile and Download Program is selected, the language file will be chosen
based on the version read from the motor. If Scan File is selected, the default language
file will be used. To change the default language file, from the SMI software main menu,
select
Compile > Compiler default firmware version > [select the desired version]
Motor View
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The SMI Motor View window allows you to view multiple parameters related to the motor.
To open the Motor View window, from the SMI software main menu, select:
Tools > Motor View
and select the motor you want to view. Or, in the Configuration window, double-click the
motor you want to view.
Motor View Window
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Part 1: Programming
For more details, see Setting the Motor Firmware Version on page 51.
Part 1: Programming: Motor View
NOTE: The Motor View window provides a real-time view into the inner workings of
a SmartMotor.
To use the Motor View window:
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Part 1: Programming
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Click Poll to initiate real-time scanning of motor parameters.
A program can be running in the motor while the Motor View window is polling. The
program must not print text to the serial channel being used for polling.
In addition to the standard items displayed, two fields allow you to select from a list of
additional parameters to display.
For example, in the previous figure, Voltage and Current are being polled. This
information can be useful when setting up a system for the first time, or debugging a
system in the field. Temperature is also useful to monitor in applications with
demanding loads.
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All seven of the user-configurable onboard I/O points are shown. Any onboard I/O that
is configured as an output can be toggled by clicking on the dot below the designating
number.
The SmartMotor has built-in provisions allowing it to be identified by the SMI software.
When a motor is identified, a picture of it appears in the lower left corner of the Motor
View window.
Tabs across the top of the window provide access to additional information.
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Part 1: Programming: SMI Trace Functions
SMI Trace Functions
Part 1: Programming
The Trace tab provides a set of functions that are useful for debugging a SmartMotor program.
To access Trace functions, open the Motor View window and click the Trace tab.
Motor View Trace Functions
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Part 1: Programming: SMI Trace Functions
To use Trace functions:
Part 1: Programming
1. Open the Trace window. When first opened with no program loaded, the following
message appears:
2. Right-click the SmartMotor in the Configuration window and select Upload Program. The
program is uploaded to the SMI Editor.
3. Double-click anywhere in the program to load it into the Trace window.
4. Select the desired Mode.
5. Double-click on desired line in the Editor window, if needed.
6. Press the desired button in the Trace/Step box. The program must run before anything
will happen.
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Part 1: Programming: SMI Trace Functions
The following table describes the items in the Trace window:
Item
Status box
Description
Shows the current state of the Trace program and Motor Program.
This becomes active after a command is executed on the Trace
tab and remains active until the Motor View is closed. Possible
Status messages are:
Program Running or Program Stopped – If at a breakpoint or the
program is stopped.
Trace Active or Trace Inactive – If a trace is currently in progress
or waiting to hit a breakpoint in progress. If a trace is active it
must be canceled before selecting a new Mode.
Motor Program box
Trace Program box
Clear Display button
Program group
At Break Point – Program execution halted because a breakpoint
was reached or a step was completed.
Shows the name of the program contained in the motor.
Shows the name of the program that was doubled-clicked.
Clears the highlighted text in the editor window and removes any
information in the Trace List window.
End Program – Stops program execution by writing the END
command
Run from Beginning – Issues a RUN command.
Run Continue – Release firmware from the current breakpoint.
(Only available when at a breakpoint.)
Mode group: For any trace information to be retrieved from the motor, a mode must be
selected and the program must run.
Current
Captures the first 20 points encountered.
About, Before, After Requires the user to select a line from the program in the Editor
window by double-clicking on it. The program trace responds
based on the option selected in the Trace/Step group (see below).
About – Captures 9 points before and 10 points after desired line.
Before – captures 20 points before the desired line.
Continuous
Step
Break at Command
Trace/Step group
After – Captures 20 points following the desired line.
Polls the motor for commands that are executing. Because of
bandwidth, not all executed lines are shown in the Trace view or
highlighted in the program.
Enables step mode. The program trace responds based on the
option selected in the Trace/Step group (see below).
Requires the user to select a line in the program by doubleclicking on it in the Editor window. The program trace responds
based on the option selected in the Trace/Step group (see
descriptions following this table).
Various options are available based on other selections (see
descriptions following this table).
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Part 1: Programming
Not Connected – Not connected to motor
Part 1: Programming: Monitor Window
Trace/Step group – Options for trace selections (when Step mode is not selected):
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Start Trace and Run from Beginning button – Sets trace information in the motor and
issues a RUN command.
Start Trace button – Sets trace information in the motor.
Start Trace and Run from Current button – Available when at a break point. The trace
information is set in the motor and the program continues from the current break point.
Cancel Trace button – Available when a trace is active to cancel the current trace.
Trace/Step group – Options for Step (when Step mode is selected):
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Step from Beginning button – Sets a breakpoint in the motor and issues a RUN
command. The program executes the first line of code and then stops.
Step from Current button – Sets a breakpoint in the motor. If the program is running,
the motor stops at the next command. If the program is at a breakpoint, the motor
executes the next command and then stops.
Trace/Step group – Options for Break (when Break at command mode is selected):
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Set Breakpoint and Run from Beginning button – Sets the breakpoint and runs the
program from the beginning.
Set Breakpoint button – Sets a breakpoint in the motor.
Set Breakpoint and Run from Current button – If at a breakpoint, this sets the new
breakpoint and runs the program from the current location.
Remove Breakpoint button – Removes a breakpoint that was set and not reached.
Monitor Window
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The Monitor window allows you to create your own fully-customized monitor. Because it is
polling a limited set of items, it provides a more efficient monitoring method. To open the
Monitor window, from the SMI software main menu, select:
Tools > Monitor View
Monitor Window
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Part 1: Programming: Monitor Window
To use the Monitor window:
Polling items can be added or removed by pressing the + and – buttons. When adding a
new item, the Add New Monitor Item window opens and provides tools for setting up the
monitoring function, as shown in the following figure.
Part 1: Programming
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Add New Monitor Item Window
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Custom items, which do not have explicit report commands, can be added by entering
the specific commands appropriate to getting the data reported (for example, make a
variable equal to the desired parameter and then report that variable).
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Part 1: Programming: Serial Data Analyzer
Serial Data Analyzer
Part 1: Programming
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The SMI Terminal window formats text and performs other housekeeping functions that are
invisible to the user. For an exact picture of the data being traded between the PC and the
SmartMotor™, use the Serial Data Analyzer (also known as the "sniffer"). To open the Serial
Data Analyzer, from the SMI software main menu, select:
View > Serial Data Analyzer
Or press the Serial Data Analyzer button (
opens, as shown in the following figure.
) on the toolbar. The Serial Data Analyzer window
Serial Data Analyzer
The Serial Data Analyzer window can display serial data in a variety of formats, and it can be
a useful tool for debugging communications. For example, you can:
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View data transfer between computer and SmartMotor(s).
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View data in hexadecimal, decimal, or ASCII format in up to three columns.
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Send commands and binary data to SmartMotor(s).
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View sent and received data in different definable colors.
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Capture data transfer in different ports at the same time, and view each port using its
dedicated page.
NOTE: SMI can display the precise data being sent between the host and the
SmartMotor in multiple formats.
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Part 1: Programming: Chart View
Chart View
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
To open the Chart View window, from the SMI software main menu, select:
Tools > Chart View
The Chart View window opens, as shown in the following figure.
Chart View Window
To use the Chart View tool:
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Polling items are added or removed by pressing the + and – buttons.
The fields and options are identical to those in the Monitor tool. For details on the
Monitor tool, see Monitor Window on page 76.
Adjustable upper and lower limits for each polled parameter allow them to be scaled to
fit the space.
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Part 1: Programming
In some cases, the best way to understand a data trend is by seeing it graphically. The SMI
Chart View provides graphical access to any readable SmartMotor parameter.
Part 1: Programming: Chart View Example
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The toolbar across the top provides additional functions such as chart editing, start/stop
sampling, manual update and more.
The Start Sampling button ( ) starts the charting action.
While the Chart View does not include a print function, Window’s standard Print Screen
key can capture the chart to the clipboard, and from there, it can be pasted into other
applications (like Microsoft Excel, Microsoft Word, etc.). This graphical data can be a
useful addition to written system reports.
Part 1: Programming
Additionally, a context menu is available by right-clicking on the Chart View window,
which has selections for:
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Copying the chart data as a tab-delimited table in text format, which can then be
imported into a spreadsheet, such as Microsoft® Excel, or any text editor.
Copying the current image of the chart to the clipboard in bitmap format, which
can then be pasted in any graphic application.
Chart View Example
The SMI Chart View provides graphical access to any readable SmartMotor parameter. The
following example shows how to use the Chart View tool to graphically track torque changes
on the SmartMotor.
This procedure assumes that:
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The SmartMotor is connected to the computer. For details, see Connecting the System
in the SmartMotor Installation & Startup Guide for your motor.
The SmartMotor is connected to a power source. (Certain models of SmartMotors
require separate control and drive power.) For details, see Understanding the Power
Requirements in the SmartMotor Installation & Startup Guide for your motor.
The SMI software has been installed and is running on the computer. For details, see
Installing the SMI Software in the SmartMotor Installation & Startup Guide for your
motor.
You've completed the first-time motion example. For details, see Moving the
SmartMotor in the SmartMotor Installation & Startup Guide for your motor.
To open the Chart View window, from the SMI software main menu, select:
Tools > Chart View
The Chart View window opens. For details, see Chart View on page 79.
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Part 1: Programming: Chart View Example
To create the example:
1. Click the Add icon (+). The Add New Chart Item window opens.
2. Click Custom Parameter to enter a nonstandard parameter for charting.
Part 1: Programming
3. Fill in the text boxes as shown in the following figure.
Custom Parameter Button and Related Entries
NOTE: Be sure the Maximum and Minimum values are set to 10000 and -10000,
respectively, as shown in the previous figure. They default to ten times more than
those values.
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Part 1: Programming: Chart View Example
4. After you've completed the entries, click Add and the custom parameter will be added to
the Chart View window.
5. Click the green Play icon ( ); the chart recorder plots the RTRQ value.
6. In the SMI software Terminal window, enter the following commands:
Part 1: Programming
MT
T=0
G
T=8000
G
T=0
G
T=-8000
G
T=0
G
The Chart View tool plots a line similar to the one shown in the following figure.
Plotted RTRQ Values
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Part 1: Programming: Macros
7. In the SMI software Terminal window, enter TS=65536. This causes a one-second ramp
time when T is commanded from or to zero.
Part 1: Programming
8. Repeat the previous command sequence. Note the addition of "ramps" to the plot, which
are caused by the TS command.
Plotted RTRQ Values With Ramps
Macros
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
The SMI software contains a macro tool, which is useful for creating keyboard shortcuts for
one command or a series of commands. The Macros window allows you to associate a
command or series of commands with the Ctrl+[number] keys (e.g., Ctrl+1). With this utility,
you can create multiple macros for a more efficient development process. You can create up
to ten macros to aid in quick code execution.
To open the Macros window, from the SMI software main menu, select:
Tools > Macro
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Part 1: Programming: Macros
Part 1: Programming
The Macros window opens, as shown in the following figure.
Macros Window
To use the Macros window:
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Add or remove macros with the Add and Delete buttons.
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Use the Properties button to view and edit the properties of an existing macro.
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The Run button allows you to test the selected macro.
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When you have finished, use the Close button to close the Macros window.
To create a macro:
In this example, you will create a macro for clearing the status bits. For details on clearing
the status bits, see Checking and Clearing Status Bits in the SmartMotor Installation & Startup
Guide for your motor.
1. Open the Macros window.
2. Click Add to open the Add New Macro window (see the next figure).
3. Fill in the information so it looks like the following figure, and then click OK to save the
new macro.
Add New Macro
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Part 1: Programming: Tuner
The Ctrl+1 shortcut key combination has now been assigned to the macro Disable Limits.
When you press Ctrl+1, the SMI software issues EIGN(W,0) and ZS to the terminal screen.
Tuner
Tuning a SmartMotor is simpler than tuning traditional servos. However, it can be even easier
when using the SMI Tuner tool to see the results of different tuning parameters.
For most applications, the default SmartMotor tuning parameters are sufficient. Viewing the
position error on the Motor View tool and feeling the stiffness of the motor shaft will
determine if the motor requires additional tuning.
Position Error
There is a related section on tuning the PID filter later in this manual. If further tuning is
required, see Tuning the PID Control on page 228.
The Tools menu has a GUI-based Tuner tool that can also be used to adjust the tuning
parameters. To open the Tuner tool, from the SMI software main menu, select:
Tools > Tuner
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Part 1: Programming
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
Part 1: Programming: Tuner
Part 1: Programming
The Tuning window opens, as shown in the following figure.
Tuning Window
The Tuner graphically shows the step response of the SmartMotor. The step response is the
SmartMotor’s actual reaction to a request for a small but instantaneous change in position.
(Rotor inertia prevents the SmartMotor from changing its position in zero time.) The
magnitude of the step response shows how well tuned the motor is.
The Tuner downloads a program that uses variables a, b, p, t, w and z. The program that was
in the motor before tuning and the user variables will be restored after tuning.
Before running the Tuner:
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Be sure the motor and anything it is connected to are free to move about 1000 encoder
counts or more, which is about one-quarter turn of the motor shaft.
Be sure the device is able to safely withstand an abrupt jolt.
Click the Run Tuning button at the bottom of the Tuner window (see the previous figure).
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Part 1: Programming: Tuner
Part 1: Programming
If the SmartMotor is connected, is on and is still, you should see results similar to those in the
following figure.
Sample Step Response
The upper curve with the legend on the left is the SmartMotor’s actual position over time.
Notice that it overshot its target position before settling in. Adjusting the PID Tuning will
stiffen the motor up and create less overshoot. For details, see Tuning and PID Control on
page 226. In a real-world application, there will be an acceleration profile, not a demand for
instantaneous displacement, so significant overshoot will not exist. Nevertheless, it is useful
to look at the worst-case scenario of a step response.
To try a different set of tuning parameters, select the Tuning Values tab to the left of the
graph area. As shown in the following figure, you will see a list of tuning parameters with two
columns: the left column lists what is currently in the SmartMotor; the right column provides
an area to make changes.
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Part 1: Programming
Part 1: Programming: Tuner
Apply New Values Button
To make adjustments to the tuning:
1. Change the values to those shown in the New column of the previous figure.
2. Click the "Apply New Values" button, which stores the new values in the SmartMotor.
3. Click the Run Tuning button at the bottom of the Tuning window.
The motor will jolt again and the results of the step response will overwrite the previous
graph. Normally, this process involves repeated trials, following the procedure outlined in the
section on the PID Filter. For details, see Tuning the PID Control on page 228.
When you are satisfied with the results, the parameters producing the best results can be
added to the top of your program in the SmartMotor, or in applications where there are no
programs in the motors, sent by a host after each power-up. For example, the previous
example's tuning parameters would be set using the following tuning commands:
KP=3000
KI=30
KD=10000
KL=32767
F
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Part 1: Programming: SMI Options
SMI Options
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
To open the Options window, select:
Tools > Options
The Options window opens, as shown in the following figure.
Options Window
To use the Options window:
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Click a tab to select the options you wish to edit.
Consider the default firmware version. Because different SmartMotor firmware versions
have subtle differences, the program scanner needs to know which firmware is being
used to distinguish between supported and unsupported commands.
Other options, such as Editor syntax colors, deal with user preferences.
After you have finished editing options, click OK to close the window and save your
changes.
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Part 1: Programming
The SMI software has a variety of options that can be customized through the Options window.
It contains tabs and selections for customizing the Scanner, Editor, Terminal and more.
Part 1: Programming: SMI Help
SMI Help
The most complete and current information available for the SMI software is available within
the program’s extensive Help tool. For details, see the SMI software help.
Context-Sensitive Help Using F1
Part 1: Programming
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Dialog and Message box: Just press the F1 key while the box is displayed.
Information View: Select the line and press the F1 key. The software shows a
description of the selected error. For more details, see Information View.
Menu command: Select the menu item and press the F1 key.
Keyword Information: In the Program Editor, select the keyword and press F1. The
software shows a full description of the selected keyword.
Context-Sensitive Help Using the Mouse
There is a "context help" button on the tool bar. When you click the button (or press Shift+F1
on keyboard) the program enters the Help Mode and the cursor shape changes to contextsensitive help cursor ( ). In Help Mode you can use the mouse or keyboard to select a menu
command, a toolbar button, an error message in the Information View, or other items within
SMI, and help on the item is displayed.
Help Buttons
You can click the Help button, available on many dialog boxes, to get help about that dialog
box.
Hover Help
You can place (hover) the mouse pointer over an SMI software button or a Program Editor
keyword to see a short description of that button or keyword.
Table of Contents
To see the list of topics within SMI software Help, use the Contents command in the Help
menu.
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Part 1: Programming
Part 1: Programming: Projects
Sample Help Page
Projects
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
In applications with more than one SmartMotor, and possibly more than one program or
communications port, it is helpful to organize all of the elements as a Project rather than deal
with individual files.
NOTE: When working with multiple motors, programs or ports, a Project provides
a convenient way of organizing and using all of the individual elements.
To create a project, from the SMI software main menu, select:
File > New Project
The New Project window opens.
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Part 1: Programming
Part 1: Programming: SmartMotor Playground
New Project Window
To use the New Project window:
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Enter a name and location in the Project Name and Location fields to title the project
and specify the location where it will be saved.
Click OK to save the information. At this point, you have the option of letting the SMI
software explore the network of motors and set up the project automatically, or of
doing it manually by double-clicking on the specific communication ports or motors
listed in the Information window. Unless you are you are a system expert and know
exactly what the port and motor settings are, you should let the software detect the
motors for you.
From here, you can open one or more programs for editing in the SMI Editor.
After the project is set up, select File > Save Project to save it. Projects are saved as
.SPJ files.
To open a project, select File > Open Project, and then select the desired project
(.SPJ) file. When a project file is opened, all motor communication information,
program editor windows and other elements are restored.
Use the File > Recent Projects menu to view and select from the projects you've
most recently edited.
SmartMotor Playground
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
If you are a first-time user, the SmartMotor Playground contains some simple controls to help
you get started with moving the motor. The SmartMotor Playground allows you to
immediately move the motor without any programming.
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Part 1: Programming: Opening the SmartMotor Playground
Opening the SmartMotor Playground
There are two ways to access the SmartMotor Playground:
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From within the SMI software interface
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From the Windows Start menu as a stand-alone application.
Part 1: Programming
To access the SmartMotor Playground from the SMI software, in the Configuration window,
right-click the motor you want to move and select SmartMotor Playground from the menu.
SmartMotor Playground (Not Connected)
Click Connect (upper-left area of the window) to connect to the SmartMotor.
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Part 1: Programming
Part 1: Programming: Moving the Motor
SmartMotor Playground (Connected)
Moving the Motor
This procedure assumes that:
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l
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The SmartMotor is connected to the computer. For details, see Connecting the System
in the SmartMotor Installation & Startup Guide for your motor.
The SmartMotor is connected to a power source. (Certain models of SmartMotors
require separate control and drive power.) For details, see Understanding the Power
Requirements in the SmartMotor Installation & Startup Guide for your motor.
The SMI software has been installed and is running on the computer. For details, see
Installing the SMI Software in the SmartMotor Installation & Startup Guide for your
motor.
The SmartMotor has been detected and addressed. For details, see Detecting and
Addressing the SmartMotors in the SmartMotor Installation & Startup Guide for your
motor.
In addition to the above items:
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Verify that all status bits are off, except for the Drive ready bit, as shown in the
previous figure. If needed, use the Clear Flags button to clear any bits that are on.
The Drive Enable input on the M-series motor must be connected and activated.
Verify that Disable Software Limits and Disable Hardware Limits options are set as
shown in the previous figure.
NOTE: The SmartMotor's hardware limits must be grounded or disabled for motion
to occur. Therefore, if your SmartMotor doesn't move when moving the slider or
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Part 1: Programming: Moving the Motor
issuing a motion command, verify that you've either grounded the limits or
selected both Disable Hardware Limits check boxes (located at the lower-right
corner of the screen), as shown in the previous figure.
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Click the left and right Jog controls and watch the motor follow.
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Move the position bar to the left or right and watch the motor follow.
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Enter a value (negative = counterclockwise; positive = clockwise) in the Destination
box and click Go. Watch the motor shaft move until the position counter (yellow box)
reaches that destination.
While the SmartMotor Playground is useful for moving the motor and learning about its
capabilities, to develop a useful application, you will need to create a program. To learn about
programming the SmartMotor, see Beginning Programming on page 50.
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Part 1: Programming
Within the SmartMotor Playground, you can experiment with the many different modes of
operation. Try the following (see the previous figure for the locations of these items):
Part 1: Programming: Communication Details
Communication Details
Part 1: Programming
This chapter provides information on the communications functionality that has been designed
into the SmartMotor.
Introduction
98
Connecting to a Host
99
Daisy Chaining Multiple D-Style SmartMotors over RS-232
100
ADDR=formula
101
SLEEP, SLEEP1
102
WAKE, WAKE1
102
ECHO, ECHO1
103
ECHO_OFF, ECHO_OFF1
103
Serial Commands
104
OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout)
104
CCHN(type,channel)
105
BAUD#, BAUD(x)=formula
105
PRINT(), PRINT1()
105
SILENT, SILENT1
106
TALK, TALK1
106
a=CHN(channel)
106
a=ADDR
107
Communicating over RS-485
107
Using Data Mode
107
CAN Communications
110
CADDR=formula
110
CBAUD=formula
110
=CAN, =CAN(arg)
110
CANCTL(function,value)
110
SDORD(...)
111
SDOWR(...)
111
NMT
112
RB(2,4), x=B(2,4)
112
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Part 1: Programming: Communication Details
Exceptions to NMT, SDORD and SDOWR Commands
112
I/O Device CAN Bus Master
113
114
Combitronic Features
115
Other Combitronic Benefits
115
Program Loops with Combitronic
115
Global Combitronic Transmissions
116
Simplify Machine Support
116
Combitronic with RS-232 Interface
116
Other CAN Protocols
118
CANopen - CAN Bus Protocol
118
DeviceNet - CAN Bus Protocol
118
I²C Communications (D-Style Motors)
118
OCHN(IIC,1,N,baud,1,8,D)
120
CCHN(IIC,1)
120
PRINT1(arg1,arg2, … ,arg_n)
120
RGETCHR1, Var=GETCHR1
120
RLEN1, Var=LEN1
120
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Part 1: Programming
Combitronic Communications
Part 1: Programming: Introduction
Introduction
Part 1: Programming
There are various ways to communicate with a SmartMotor:
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Direct-command serial over RS-232 or RS-485 (depending on the motor)
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Data mode
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Combitronic, CANopen, DeviceNet, etc.
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I²C communications
NOTE: When using I²C, the SmartMotor is always the bus master. You cannot
communicate between SmartMotors through I²C.
These communications methods are described in the following sections.
In applications using more than one SmartMotor, the best choice for communications is to link
the SmartMotors together over their optional CAN ports, and then communicate with the
group through any of the RS-232 or RS-485 ports of any of the motors on the chain. The
SmartMotor's CAN-based Combitronic communications unifies all SmartMotor data and
functions in a group, which makes any single motor look like a multi-axis controller from the
perspective of the RS-232 or RS-485 ports. Additionally, this allows all the motors to share
resources as though they were a large multi-axis controller.
Moog Animatics offers adapters for
converting RS-232 to RS-485, and for
converting either to USB.
NOTE: If you are unable to communicate with the SmartMotor, you may be able to
recover communications using the Communication Lockup Wizard, which is on the
SMI software Communications menu. For details, see the SMI software online help,
which is accessed by pressing the F1 key or selecting Help from the SMI software
main menu.
Communication Menu - Communication Lockup Wizard
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Part 1: Programming: Connecting to a Host
Connecting to a Host
The default mode for communicating with a Class 5 D-style SmartMotor is serial RS-232;
Class 5 M-style SmartMotors use serial RS-485.
The most common and cost-effective solution is through RS-232 serial communications.
Under this structure, each motor is placed in an electrical serial connection such that the
transmit line of one motor is connected to the receive line of the next. Each motor is set to
echo incoming data to the next motor down with approximately 1 millisecond propagation
delay. There is no signal integrity loss from one motor to the next, which results in highlyreliable communications.
NOTE: To maximize the flexibility of the SmartMotor, all serial ports are fully
programmable with regard to bit rate and protocol.
There is a 31-byte input buffer for the RS-232 port and another for the RS-485 port. These
buffers ensure that no arriving information is ever lost. However, when either port is in data
mode, it is the responsibility of the user program within the SmartMotor to keep up with the
incoming data.
Connection Between a SmartMotor and Host PC
The CBLSM1-3M cable
makes quick work of connecting to your first
RS-232-based SmartMotor. It combines the connections for
communications and
power into one cable
assembly.
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Part 1: Programming
NOTE: The Class 5 M-style motors have one RS-485 and one CAN port; they do not
have an RS-232 port.
Part 1: Programming: Daisy Chaining Multiple D-Style SmartMotors over RS-232
By default, the primary channel, which shares a connector with the incoming power in some
versions, is set up as a command port with the following characteristics:
Default
Other
Options
RS-232
RS-485
Parity:
None
Odd or Even
Bit Rate:
9600
2400 to 115200
Stop Bits:
1
0 or 2
Data Bits:
8
7
Part 1: Programming
Type:
Mode: Command
Echo:
Off
Data
On
Also, note the following:
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If the cable used is not provided by Moog Animatics, make sure the SmartMotor's power
and RS-232 connections are correct.
CAUTION: Be sure to use shielded cable to connect RS-232 ports, with the
shield ground connected to pin 5 (ground) of the PC end only.
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Buffers on both sides mean there is no need for any handshaking protocol when
commanding the SmartMotor.
Most commands execute in less time than it takes to receive the next one. Therefore, be
careful to allow processes time to complete, particularly for slower processes like
printing to an LCD display or executing a full subroutine.
Daisy Chaining Multiple D-Style SmartMotors over RS-232
This section describes how to daisy chain multiple D-style SmartMotors to a single RS-232
port as shown in the following figure. Other SmartMotors can be connected together in a
daisy-chain or multi-drop fashion. For details, see Connecting the System in the SmartMotor
Installation & Startup Guide for your motor.
For low-power motors (size SM23165D and smaller), as many as 100 motors could be
cascaded using the daisy-chaining technique for RS-232. To operate independently, each
motor must be programmed with a unique address. In a multiple-motor system, the
programmer has the choice of putting a host computer in control or having the first motor in
the chain be in control of the rest.
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Part 1: Programming
Part 1: Programming: ADDR=formula
Daisy-Chain Connection between SmartMotor and Host PC
NOTE: You can build your own RS-232 daisy-chain cable or purchase Add-A-Motor
cables from Moog Animatics.
Fully-molded Add-A-Motor
cables make quick work of
daisy-chaining multiple motors
over an RS-232 network.
CAUTION: Large (size 23 or size 34) SmartMotors draw
so much power that reliable communications often
require isolated communications. For such applications,
consider using the Moog Animatics DIN Rail RS-232
fanout.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
ADDR=formula
Set Motor to New Address
The ADDR= command causes a SmartMotor to respond exclusively to serial commands
addressed to it. It is separate and independent of the motor's CAN address. The address
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Part 1: Programming: SLEEP, SLEEP1
number range is from 1 to 120.
Part 1: Programming
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 SLEEP command 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
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Part 1: Programming: ECHO, ECHO1
ECHO, ECHO1
ECHO input
ECHO_OFF, ECHO_OFF1
The ECHO and ECHO_OFF commands toggle (turn on/off) the echoing of data input. Because
the motors do not echo character input by default, consecutive commands can be presented,
configuring them with unique addresses, one at a time. If the host computer or controller sent
out the following command sequence, each motor would have a unique and consecutive
address.
If a daisy chain of SmartMotors has been powered off and back on, the following commands
can be entered into the SmartMotor Interface to address the motors (0 equals 128, 1 equals
129, etc.). Some delay should be inserted between commands when sending them from a host
computer.
0SADDR1
1ECHO
1SLEEP
0SADDR2
2ECHO
2SLEEP
0SADDR3
3ECHO
0WAKE
Commanded by a user program in the first motor instead of a host, the same daisy chain
could be addressed with the following sequence:
SADDR1 'Address the first motor
ECHO
'Echo for host data
PRINT(#128,"SADDR2",#13) '0SADDR2
WAIT=10
'Allow time
PRINT(#130,"ECHO",#13)
'2ECHO
WAIT=10
PRINT(#130,"SLEEP",#13) '2SLEEP
WAIT=10
PRINT(#128,"SADDR3",#13) '0SADDR3
WAIT=10
PRINT(#131,"ECHO",#13)
'3ECHO
WAIT=10
PRINT(#128,"WAKE",#13)
'0WAKE
WAIT=10
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Part 1: Programming
De-assert ECHO
Part 1: Programming: Serial Commands
Serial Commands
The SmartMotor allows you to communicate over the available RS-232 and/or RS-485 serial
ports (depending on the style of SmartMotor you're using). There are specific serial
commands used for configuring the serial communications, baud rate, printing, etc., as
described below.
Part 1: Programming
NOTE: D-style SmartMotors use primarily RS-232 communications, whereas all
other SmartMotor use primarily RS-485 communications.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout)
Option
type: RS2 (D-style
only), RS4,
MB4, DMX
channel: D-style: 0, 1
M-style: 0
parity N, O, or E
Description
RS2=RS-232, RS4=RS-485, MB4=Modbus
protocol over RS-485*, DMX=DMX protocol*
0=Main, 1=Secondary
None, Odd or Even
bit rate: 2400, 4800, 9600, 19200, 38400, 57600, 115200 baud
stop bits: 1 or 2
data bits: 8
mode: C or D
Command or Data
timeout: (Optional) Timeout in milliseconds between issuing a command and detecting a delimiter, e.g., RPA(space) where space
is the delimiter.
*For more details, see the documentation for the specified protocol.
NOTE: Changing the default value of any parameter other than baud rate will
prevent proper command data from being received by the SmartMotor. If you are
unable to communicate with the SmartMotor, you may be able to recover
communications using the Communication Lockup Wizard, which is on the SMI
software Communication menu. For details, see the SMI software online help,
which is accessed by pressing the F1 key or selecting Help from the SMI software
main menu.
Placing a communications port in Data mode will completely prevent the SmartMotor from
receiving any commands and require the user program code to parse out all incoming data.
Therefore, if the intent is to be able to send standard commands at any time and allow the
SMI software to detect the motors, then the OCHN command could be used to change only the
baud rate or the communications error timeout values — do not use it to change any other
settings. The BAUD command can also be used to change the baud rate. For details, see
BAUD#, BAUD(x)=formula on page 105.
The following is an example of the OCHN command:
OCHN(RS4,0,N,38400,1,8,D)
For a D-style motor, if the primary communication channel (0) is opened as an RS-485 port,
then it assumes the Moog Animatics RS485-ISO adapter is connected to it. If so, then I/O 6 is
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Part 1: Programming: CCHN(type,channel)
used to direct the adapter to be in transmit or receive mode according to the motor’s
communication activity, and I/O 6 will no longer be used as an I/O communications port.
M-style motors are supplied with RS-485 on COM 0; D-style motors require an adapter for
RS-485 on COM 0, but they have built-in RS-485 available on COM 1.
CCHN(type,channel)
Close a communications channel
NOTE: If you are unable to communicate with the SmartMotor, you may be able to
recover communications using the Communication Lockup Wizard, which is on the
SMI software Communication menu. For details, see the SMI software online help,
which is accessed by pressing the F1 key or selecting Help from the SMI software
main menu.
BAUD#, BAUD(x)=formula
Set BAUD rate (RS-232 and RS-485)
The BAUD command sets the speed or baud rate of the specified serial channel. To do this,
use:
l
BAUD#: sets the baud rate of the main channel
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BAUD(x)=formula: sets the baud rate of the specified serial channel
where # is the desired baud rate, and (x) is 0 or 1 for channel 0 or channel 1, respectively.
Valid values for # are: 2400, 4800, 9600, 19200, 38400, 57600, or 115200.
PRINT(), PRINT1()
Print to RS-232 or AniLink channel
A variety of data formats can exist within the parentheses of the PRINT() command.
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l
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A text string is marked as such by enclosing it between double quotation marks.
Variables can be placed between the parentheses as well as two variables separated by
one operator.
To send out a specific byte value, prefix the value with the # sign and represent the
value with as many as three decimal digits ranging from 0 to 255.
Multiple types of data can be sent in a single PRINT() statement by separating the
entries with commas.
NOTE: Do not use spaces outside of text strings because the SmartMotor
uses spaces, carriage returns and line feeds as delimiters.
The following are all valid print statements that transmit data through the main RS-232
channel:
PRINT("Hello World")
PRINT(a*b)
PRINT(#32)
PRINT("A",a,a*b,#13)
'text
'exp.
'data
'all
PRINT1 prints to the AniLink port with RS-485 protocol.
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Part 1: Programming
Use the CCHN command to close a communications port when desired.
Part 1: Programming: SILENT, SILENT1
SILENT, SILENT1
Suppress PRINT() outputs
TALK, TALK1
Part 1: Programming
De-assert Silent Mode
The SILENT mode causes all PRINT() output to be suppressed. This is useful when talking to a
chain of motors from a host, when the chain would otherwise be talking within itself because
of programs executing that contain PRINT() commands. The TALK and TALK1 commands
restore print messaging.
a=CHN(channel)
Communication Error Flags
Where channel can be 0 or 1 for COM Channel 0 or 1. It holds binary coded information about
historical errors on the two communications channels.
The command gives the 5-bit status of either serial port channel 0 or 1. The information is as
follows:
Bit
Value
Meaning
0
1
Buffer overflow
1
2
Framing error
2
4
N/A
3
8
Parity error
4
16
Timeout occurred
The following example subroutine prints errors to an LCD display:
C9
IF CHN(0)
'If CHN0 != 0
IF CHN(0)&1
PRINT("BUFFER OVERFLOW")
ENDIF
IF CHN(0)&2
PRINT("FRAMING ERROR")
ENDIF
IF CHN(0)&8
PRINT("PARITY ERROR")
ENDIF
IF CHN(0)&16
PRINT("TIMEOUT OCCURRED")
ENDIF
Z(2,0)
'Reset CHN0 errors
ENDIF
RETURN
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Part 1: Programming: a=ADDR
a=ADDR
Motor’s Self Address
If the motor’s address (ADDR) is set by an external source, it may still be useful for the
program in the motor to know to what address it is set. When a motor is set to an address, the
ADDR variable reflects that address — the range is from 1 to 120.
Multiple SmartMotors can be connected to a single host port by connecting their RS-485 A
signals together and B signals together, and then connecting them to an RS-485 port or to an
RS-232 or USB adapter.
Adapters provided by Moog Animatics have built-in biasing resistors. However, extensive
networks should add bias at the very last motor in the chain. The RS-485 signals of the
SmartMotor share I/O functions and are not properly biased for more than just a few
SmartMotors. Additionally, proper cabling would include a shielded twisted pair for
transmission.
The main RS-232 ports of the
D-styleSmartMotors can be
converted to RS-485 and isolated
using Moog Animatics adapters.
The RS-232 and RS-485 ports have many configuration possibilities. To set the configuration
options, use the OCHN command, which is described in the following section.
Using Data Mode
Data mode is used to retrieve data from the RS-232/RS-485 port.
If a communications port is in Command mode, then the motor responds to arriving
commands it recognizes. However, if the port is opened in Data mode, then incoming data fills
the 16-byte buffer until it is retrieved with the GETCHR command.
For D-style motors:
a=LEN
Number of characters in RS-232 buffer
a=LEN1
Number of characters in RS-485 buffer
a=GETCHR
Get character from RS-232 buffer
a=GETCHR1
Get character from RS-485 buffer
For M-style motors:
a=LEN
Number of characters in RS-485 buffer
a=GETCHR
Get character from RS-485 buffer
The buffer is a standard FIFO (First In First Out) buffer. This means that if the letter A is the
first character the buffer receives, then it will be the first byte offered to the GETCHR
command. The buffer exists to make sure that no data is lost, even if the program is not
retrieving the data at just the right time.
The GETCHR buffer will stop accepting characters if the buffer overflows, and RLEN will stop
incrementing. Also, the overflow bit will be set for that serial channel. When the buffer is
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Part 1: Programming
Communicating over RS-485
Part 1: Programming: Using Data Mode
empty, GETCHR will return a value of (negative 1.) If GETCHR is assigned to a byte ab[], then
the value gets cast from the range -1 to +255 to the signed range -128 to +127. This causes 1 (empty buffer) to have the same value as char 255, since 255 gets cast to -1. It is
recommended you assign GETCHR to a word or long to perform comparisons.
Part 1: Programming
The LEN variable holds the number of characters in the buffer. A program must see that the
LEN is greater than zero before issuing a command like a=GETCHR. Likewise, it is necessary
to arrange the application so that, overall, data will be pulled out of the buffer as fast as it
comes in.
The ability to configure the communication ports for any protocol as well as to both transmit
and receive data allows the SmartMotor to interface with a vast array of RS-232 and RS-485
devices. Some of the typical devices that would interface with SmartMotors over the
communication interface are:
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Other SmartMotors
l
Bar Code Readers
l
Light Curtains
l
Terminals
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Printers
The following is an example program that repeatedly transmits a message to an external
device (in this case another SmartMotor) and then takes a number back from the device as a
series of ASCII letter digits, each ranging from 0 to 9. A carriage return character marks the
end of the received data. The program uses that data as a move position.
AT=500
'Preset acceleration.
VT=1000000
'Preset velocity
PT=0
'Zero out position.
O=0
'Declare origin
G
'Servo in place
OCHN(RS2,0,N,9600,1,8,D)
PRINT("RPA",#13)
C0
IF LEN
'Check for chars
a=GETCHR
'Get char
IF a==13
'If carriage return
G
'Start motion
PT=0
'Reset buffered P to zero
PRINT("RP",#13) 'Next
ELSE PT=PT*10
'Shift buffered P
a=a-48
'Adjust for ASCII
PT=PT+a
'Build buffered P
ENDIF
ENDIF
GOTO(0)
'Loop forever
The ASCII code for zero is 48. The other nine digits count up from there so the ASCII code can
be converted to a useful number by subtracting the value of 0 (ASCII 48). The example
assumes that the most significant digits will be returned first. Any time it sees a new digit, it
multiplies the previous quantity by 10 to shift it over and then adds the new digit as the
least-significant one. After a carriage return is seen (ASCII 13), motion starts. After motion
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Part 1: Programming: Using Data Mode
starts, P (Position) is reset to zero in preparation for building up again. P is buffered, so it will
not do anything until the G command is issued.
Part 1: Programming
The SmartMotor has a wealth of data that can be retrieved over the Combitronic, RS-232 and
RS-485 ports simply by asking. Data and status reporting commands can be tested by issuing
these report commands from any hosting application. Using SMI Terminal window as the host
(see the following figure), the command is shown on the left and the SmartMotor's response is
shown in the middle.
SmartMotor Command with Response
The SMI host software uses these commands to implement the Motor View window and
Monitor View tools. Data that does not have direct report commands can be retrieved either of
two ways, by embedding the variable in a PRINT command, or by setting a variable equal to
the parameter and then reporting the variable. For more details, see Part 2: SmartMotor
Command Reference on page 233.
It is important to note that Combitronic reports only work if the CAN network is wired to each
motor, and the CAN addresses and baud rate are configured. Keep in mind:
l
l
Unique addresses must be assigned to each motor with the CADDR command.
All motors on the same CAN network must be configured to the same baud rate with the
CBAUD command.
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Part 1: Programming: CAN Communications
CAN Communications
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
Part 1: Programming
The SmartMotor supports different protocols over the CAN port if equipped. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves through either of these standard protocols, the Combitronic
protocol can still function without being seen by the CANopen or DeviceNet master.
NOTE: The CAN network must have all devices set to the same baud rate to
operate.
For more details about the CANopen implementation on the SmartMotor, see the CANopen
fieldbus guide for your SmartMotor.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
CADDR=formula
Set CAN address
Where formula may be from 1 to 127. The setting is stored in the EEPROM. However, for it to
take effect, the user must cycle power to the motor.
CBAUD=formula
Set CAN baud rate
Where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
100000, 50000, 20000. The setting is stored in the EEPROM. However, for it to take effect, the
user must cycle power to the motor.
=CAN, =CAN(arg)
Get CAN error
The CAN command is used to get (read) an error or other status information about the
CAN bus. For example:
RCAN(0), x=CAN(0): Report/get status bits relating to CAN.
RCAN(1), x=CAN(1): Report/get the current NMT state of this motor.
RCAN(4), x=CAN(4): Report/get the result code of the most recent SDO read or write, or
NMT command as a master.
For more details, see CAN, CAN(arg) on page 345.
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
CANCTL(function,value)
Control network features
Commands execute based on the function argument to control CAN functions. For example:
function = 1: Reset the CAN MAC and all errors. Resets the CANopen stack, PROFIBUS stack
or DeviceNet stack depending on firmware type. Value is ignored.
function = 5: Set timeout for Combitronic. Value is in milliseconds; the default is 30.
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Part 1: Programming: SDORD(...)
function = 16: Set the SDO command timeout period. In milliseconds. Range 10 to 1000.
Default is 500 (1/2 second).
function = 17: Enables the master commands: NMT, SDORD and SDOWR. Enable simple
master: x is the value 3; disable master: x is the value -1.
For more details, see CANCTL(function,value) on page 347.
SDORD(...)
Read value from SDO
The SDORD command gets (reads) the value from the specified SDO on a specified device.
EXAMPLE: Read an SDO
x=SDORD(1, 24592,0,2)
e=CAN(4)
y=SDORD(1, 24608,0,2)
ee=CAN(4)
' Read 2 bytes from address 1,
' object 0x6010, sub-index 0.
' Get any error information
' Read 2 bytes from address 1,
' object 0x6020, sub-index 0.
' Get any error information
IF (e|ee)==0
' Confirm the status of both SDO operations.
' Success
b=x
' Set some example variable according
c=y
' to the data received.
GOSUB(3) ' Some routine to take action when this data is valid.
ELSE
GOSUB(8) ' Go do something to deal with error when read fails.
ENDIF
For more details, see SDORD(...) on page 673.
SDOWR(...)
Write value to SDO
The SDOWR command writes a value to the specified SDO on a specified device.
EXAMPLE: Write an SDO
a=1234
SDOWR(1,9029,0,4,a) ' Write 4 bytes to address 1,
IF CAN(4)==0
' Confirm the status of the most recent SDO operation.
' Success
GOSUB(4) ' Some routine to take action when the write succeeds.
ELSE
GOSUB(9) ' Go do something to deal with error when write fails.
ENDIF
For more details, see SDOWR(...) on page 675.
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Part 1: Programming
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
Part 1: Programming: NMT
NMT
Transmit NMT message to network
The NMT command transmits an NMT message to the network; it can command a specific
slave or all slaves to enter the commanded state. The command uses the form:
Part 1: Programming
NMT(target address, desired state)
NMT(0,1)
'Tell everyone to go operational.
NMT(2,128) 'Tell motor 2 to go pre-operational.
x=CAN(4)
IF x!=0
' NMT command failed.
ENDIF
For more details, see NMT on page 579.
RB(2,4), x=B(2,4)
Determine if CAN error has occurred
Report/get if an error state has occurred over CAN, CANopen or Combitronic. Further
investigation through RCAN(0) will give more details. This can be cleared using the Z(2,4) or
ZS command.
For more details, see B(word,bit) on page 286.
Exceptions to NMT, SDORD and SDOWR Commands
Note the following exceptions when using the NMT, SDORD, SDOWR commands:
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No Combitronic version of these commands, i.e., there is no ":" operator form of the
command, for example:
x=SDORD(…):3
is not allowed. Refer to each command's description in Part 2 of this guide.
No monitoring the heartbeat of other network nodes.
No special commands for sending or receiving PDOs. PDOs must be mapped to existing
objects to send or receive data as a slave device. Even the SmartMotor designated as a
master must configure its own PDO mappings.
NOTE: SmartMotors currently have 5 transmit and 5 receive PDOs.
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No capability to read EDS files. The user is responsible for writing a program with the
relevant object index, sub-index and data type.
No LSS host behavior is provided from the SmartMotor. Each slave device is expected to
have the properly configured address and baud rate. Each device must have a unique
address; all devices must use the same baud rate. Any need to set the baud rate or
address is not the responsibility of Moog Animatics.
Only one SmartMotor may fill the master role. No other SmartMotors on the network
may issue these commands, because this implementation does not support a multCANopen-master functionality.
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Part 1: Programming: I/O Device CAN Bus Master
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No support for master read/write of segmented or block SDO protocol. Only Expedited
(32-bit or smaller) data transmission are supported by the master functionality.
For firmware version 5.x.4.30 or later, the SmartMotor can interface with standard CiA 301
CANopen devices, such as CANopen valve blocks, CANopen I/O blocks, CANopen encoders,
and many other devices. This means through CAN and Combitronic communications, you now
have full machine control with just a SmartMotor as the bus master—no other external bus
master is required. This capability is enabled by the CAN communications commands (NMT,
SDORD and SDOWR) described previously in this section, and new/modified objects.
NOTE: This capability is currently available on Class 5 SmartMotors only.
Basic control allows 8, 16, or 32-bit sized data objects with support for both PDO and SDO
protocols. The supported profiles include but are not limited to I/O profile, encoder profile,
and DS4xx profile. This provides the ability to:
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Dynamically map SmartMotor PDOs, map another device’s PDOs, start the NMT state
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A SmartMotor can send/receive up to 5 PDOs each or Rx (receive) and Tx (transmit)
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Read/write SDOs in expedited mode only, which works for up to 32-bit data
Multiple SmartMotors and multiple I/O devices may be on the same CAN bus. This combined
with Combitronic motor-to-motor communications allows for complex, multi-axis, multi-I/Odevice network control. Refer to the following figure.
®
TM
Motor to I/O
Motor to Motor
Without data collision!
CANopen Valve Block
CANopen
REMOTE I/O
CANopen
ABS Encoder
Be sure to follow proper guidelines for CAN bus cabling and termination.
SmartMotor as I/O Device CAN Bus Master
Related CANopen objects are: 2220h, 2221h and 2204h. For more details, refer to the object
descriptions in the Object Reference chapter of the SmartMotor CANopen Guide.
Related commands are: NMT, SDORD, SDOWR, CANCTL, and B/RB. For details, see the brief
descriptions in this section and the detailed descriptions in Part 2 of this guide.
Example user programs are shown in the Part 3 of this guide:
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CAN Bus - Timed SDO Poll on page 817
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CAN Bus - I/O Block with PDO Poll on page 818
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Part 1: Programming
I/O Device CAN Bus Master
Part 1: Programming: Combitronic Communications
Part 1: Programming
Combitronic Communications
The most unique feature of the SmartMotor is its ability to communicate with other
SmartMotors and share resources using Moog Animatics’ Combitronic™ technology.
Combitronic is a protocol that operates over a standard "CAN" (Controller Area Network)
interface. It may coexist with either CANopen or DeviceNet protocols at the same time. It
requires no single dedicated master to operate. Each SmartMotor connected to the same
network communicates on an equal footing, sharing all information, and therefore, sharing all
processing resources.
The optional Combitronic technology allows any motor's program to read from, write to or
control any other motor simply by tagging a local variable or command with the other motor's
CAN address. To do this, take any Combitronic-supported SmartMotor command, add a colon
followed by a number representing the address of another SmartMotor on the same CAN bus,
and that parameter belongs to that SmartMotor.
For example, imagine you have three SmartMotors linked together and set with addresses 1,
2 and 3. These examples show how Combitronic communications works:
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This typical line of code, written in SmartMotor number 2, sets a target position in that
same SmartMotor:
PT=4000
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'Set Target Position in local motor
The following line of code, written in SmartMotor number 2, or any of the three motors,
sets a target position in SmartMotor number 3:
PT:3=4000
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'Set Target Position in motor 3
The Combitronic global address for all SmartMotors is zero, so the following line of
code, written in any SmartMotor, sets the target position in all SmartMotors at the same
time:
PT:0=4000
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'Set Target Position in all motors
The following line of code could be written in motor number 1 and set variable "a" in
motor number 2 equal to an I/O of motor number 3:
a:2=IN(0):3
'Set variable in 2 to I/O of 3
For additional Combitronic addressing examples, see the Knowledge Base article
"Understanding Combitronic Motor Addressing", which is available on the Moog Animatics
website at:
http://www.animatics.com/supports/knowledge-base/smartmotorkb/modes-ofoperations/280.html
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Part 1: Programming: Combitronic Features
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127 addressable nodes
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1 Mbps over the CAN bus
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No master required
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No scan list or node list set up required
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All nodes have full read/write access to all other nodes
Other Combitronic Benefits
Combitronic technology provides a simple way to create a true parallel-processing
environment.
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PLCs (Programmable Logic Controllers) can be eliminated, due to the speed of program
execution within the SmartMotor, combined with the speed of the Combitronic
communications and the power of the SmartMotor's programming language.
Sensors and valves can be connected to the closest SmartMotor in the machine and be
available to the program of any SmartMotor on the network.
An HMI (Human Machine Interface) can connect to any one or more of the SmartMotor's
RS-232 or RS-485 ports and provide visibility into the entire network.
The size and complexity of the machine collapses to the point where, in many cases,
there is no longer even a cabinet.
As a result, the machine builder is spared the traditional bulk, failure modes, wiring time and
complexity, and costs of separate servo controllers, servo amplifiers and PLCs.
Program Loops with Combitronic
Keep in mind that while Combitronic communications are very fast, program execution is also
very fast. Therefore, if a tight loop is written with a Combitronic transaction inside, you will
flood the CAN bus with data, which can slow the operations of all SmartMotors on the chain.
CAUTION: Tight loops with Combitronic commands can flood the CAN bus
with data and impair the function of a SmartMotor network. For the best
performance, structure programs to minimize disturbance of the CAN
infrastructure.
This problem can be avoided. For example, if motor 1 needs to poll the state of an input on
motor 2, then instead of writing a tight loop with a Combitronic command in it:
1. Write a tight loop in motor 2 that executes a Combitronic transmission only when that
input changes state.
2. Issue a Combitronic command in motor 2 that sets a variable in motor 1 in the event of
the input state change.
3. Program motor 1 to poll its own internal variable.
This way, the actual polling activity is not occupying the CAN bus.
NOTE: A key to powerful programing in SmartMotors is to exploit parallel
processing for throughput without unnecessary polling over the Combitronic
interface, which needlessly wastes throughput.
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Part 1: Programming
Combitronic Features
Part 1: Programming: Global Combitronic Transmissions
Global Combitronic Transmissions
Part 1: Programming
Global Combitronic transmissions are especially fast because they do not involve node
responses at the protocol level. This fact can be leveraged to speed applications by having
certain motors globally broadcast infrequent but relevant state changes. For example, if a
machine had a "door" and that door could be opened or closed, the motor performing that
function could set every motor's variable "d" equal to 1 when the door is opened and 0 when
the door is closed, like this:
d:0=1
d:0=0
The program in each motor can simply check its own variable "d" for the status of the door.
Through this technique, the programmer has created a new type of "global" variable.
A clever way to program a network of SmartMotors is to write one program and download that
same program to all motors. Then have the program first look to the motor's CAN address and
execute only the portion of the master program that pertains to that motor address. This
makes supporting a large network much easier because there is only one program. Make sure
"global" variables, as created in the previous example, are all unique.
Simplify Machine Support
Combitronic features can also be used to simplify the support of a SmartMotor-based
machine. To do this:
1. Allocate a small group of I/O, or the analog value of an input, to be unique in each
motor position through the wiring leading to that motor.
2. Have the program set its CAN address in accordance with that unique input status.
With this technique, a spare SmartMotor containing the master program could quickly replace
any failed motor in the system without any special configuration. Even its own address would
be automatically set.
Combitronic with RS-232 Interface
Any SmartMotor may be used as a master access through RS-232 to all SmartMotors on its
network. The following figure demonstrates 12 motors in a network where four SmartMotors
are in a serial daisy chain over RS-232. Each of those four banks may have up to 119 motors
on its Combitronic network.
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Part 1: Programming: Combitronic with RS-232 Interface
Controlling
PC
RS-232
TX
Bank 1
RX
Bank 2
TX
RX
Bank 3
TX
RX
Bank 4
TX
RX
TX
Combitronic
Master
Combitronic
Master
Combitronic
Master
Combitronic
Master
Motor 2
Motor 2
Motor 2
Motor 2
Combitronic
Slave
Combitronic
Slave
Combitronic
Slave
Combitronic
Slave
Motor 3
Motor 3
Motor 3
Motor 3
Combitronic
Slave
Combitronic
Slave
Combitronic
Slave
Combitronic
Slave
RS-232 and Combitronic Networks
Example SMI software commands from the host PC RS-232 port for the system layout in the
previous figure:
2PT:3=1234
Motor 2 sets target position of Motor 3 in its group to 1234
3PT:0=0
Motor 3 sets target position of all motors in its group to zero
4PT=345
Motor 4, only, gets its own target position set to 345
0G
Motor 1, 2, 3 and 4 receive Go command
0G:0
All motors on RS-232 and all network Combitronic motors receive Go
command
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Part 1: Programming
RX
Part 1: Programming: Other CAN Protocols
Other CAN Protocols
This section briefly describes two other supported CAN protocols: CANopen and DeviceNet.
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
Part 1: Programming
CANopen - CAN Bus Protocol
CANopen is an industrial CAN bus protocol supported on SmartMotors ordered with the
CANopen option. The protocol supports the CiA 402 profile for drives and motion devices. The
hosting controller can use an EDS file supplied by Moog Animatics that provides control of the
SmartMotor over the CANopen network.
One of the more powerful features of the CIA 402 profile is Interpolation mode, which is
supported by both the CANopen-enabled SmartMotor and Moog Animatics’ own coordinatedmotion software, SMNC and Integrated Motion DLL. By itself, the Integrated Motion DLL offers
the host-application developer the means to control SmartMotors using CANopen.
DeviceNet - CAN Bus Protocol
NOTE: DeviceNet is currently not available on the Class 6 SmartMotor.
DeviceNet is an industrial CAN bus protocol supported in the SmartMotor with optional
firmware. The protocol supports the Common Industrial Protocol (CIP) profile for a position
controller. The hosting controller can use an Electronic Data Sheet (EDS) file supplied by Moog
Animatics that allows the SmartMotor to be controlled through DeviceNet.
I²C Communications (D-Style Motors)
The D-style SmartMotors provide open I²C communications capabilities, which expand the
capabilities of the D-style SmartMotor.
The I²C port is comprised of two signals, referred to as ports 4 and 5. These pins are most
often shared with the SmartMotor's RS-485 port. Therefore, to set up I²C communications, a
choice must be made between I²C and RS-485 communications.
There are I²C devices that perform dozens of functions, such as nonvolatile memory, high
resolution A-to-D and D-to-A conversion, analog and digital I/O expansion and more.
The following program example shows how to use I²C communications with a small EEPROM
memory device known as the 24FC512. Only the initialization part runs at power-up.
Thereafter, subroutines 100 and 200 can be called to write or read data into the EEPROM.
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'''''''''''''''''''''''''''''''''''''''''''''''''
' Class 5 I2C EEPROM Test 00
' Sept 10, 2009
' I2C test for 24FC512 EEPROM on Personality Module
' Address 1010 001 x
'''''''''''''''''''''''''''''''''''''''''''''''''
SADDR1
ECHO
C0
OFF
'Turn off drive stage power
OCHN(IIC,1,N,200000,1,8,D) 'Init I/Os 4 and 5 as IIC port
PRINT(#13,"IIC Port Initialized",#13)
PRINT(#13)
END
C100
'Write variable a at pointer p
al[0]=a
al[1]=p
PRINT(#13)
PRINT("Load ",al[0]," at pos ",p,#13)
PRINT1(IIS,#160,#ab[5],#ab[4],#ab[3],#ab[2],#ab[1],#ab[0],IIP)
PRINT("Load bytes: ",ab[3],", ",ab[2],", ",ab[1],", ",ab[0],#13)
PRINT(#13)
RETURN
C200
'Read into variable a at pointer p
al[1]=p
PRINT1(IIS,#160,#ab[5],#ab[4],IIP)
'Write memory pointer
WAIT=1
'Must have small wait to give the write time it needs
PRINT1(IIS,#161,IIG4,IIP)
'Setup to read four bytes
WAIT=1
'Must have small wait to give the write time it needs
ab[3]=GETCHR1
ab[2]=GETCHR1
ab[1]=GETCHR1
ab[0]=GETCHR1
a=al[0]
PRINT(#13)
PRINT("Read bytes: ",ab[3],", ",ab[2],", ",ab[1],", ",ab[0],#13)
PRINT("Read ",a," at pos ",p,#13)
PRINT(#13)
RETURN
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
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Part 1: Programming
Part 1: Programming: I²C Communications (D-Style Motors)
Part 1: Programming: OCHN(IIC,1,N,baud,1,8,D)
OCHN(IIC,1,N,baud,1,8,D)
Part 1: Programming
The OCHN command is used to set the I²C communication parameters, as follows:
IIC
Literal syntax IIC to tell what kind of communication this is
1
Literal value 1, since this is the location of that port
N
Literal, not relevant to IIC
baud
Bit rate for communication with the IIC device
1
Literal, not relevant to IIC
8
Literal, not relevant to IIC
D
Literal, always in data mode for IIC communication
CCHN(IIC,1)
The CCHN(IIC,1) command is simply used to close the I²C communications channel.
PRINT1(arg1,arg2, … ,arg_n)
Where arg is:
IIS
Start or restart an IIC command. For IIC devices that require a restart,
simply call the IIS command a second time within a print.
IIP
Stop an IIC command.
IIGn
Get n bytes from the IIC channel (requires the previous commands to
have provided whatever addressing or command is required for the
device to start sending). The G argument provides the right number of
clock intervals to acquire the data from the IIC device.
RGETCHR1, Var=GETCHR1
Returns data from the IIC device (if available). The data is always in unsigned byte values, so
assign the data to a 16 or 32-bit register first in order to test for special cases.
For example, the value is 0-255 for normal data, which represents all possible values for the
byte. If the value from the GETCHR1 command is -1, it means the buffer is empty.
RLEN1, Var=LEN1
Gets the number of bytes in the receive buffer.
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Part 1: Programming: Motion Details
Motion Details
Introduction
123
Motion Command Quick Reference
124
Basic Motion Commands
125
Target Commands
125
Motion Mode Commands
127
Torque Commands
128
Brake Commands
128
Index Capture Commands
130
Other Motion Commands
131
Commutation Modes
133
MDT
133
MDE
133
MDS
133
MDC
134
MDB
134
MINV(0), MINV(1)
134
Modes of Operation
135
Torque Mode
135
Velocity Mode
136
Absolute (Position) Mode
137
Relative Position Mode
138
Follow Mode with Ratio (Electronic Gearing)
139
Cam Mode (Electronic Camming)
155
Mode Switch Example
163
Position Counters
165
Modulo Position
166
Modulo Position Commands
166
Dual Trajectories
167
Commands That Read Trajectory Information
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169
Part 1: Programming
This chapter provides details on making motion with the SmartMotor.
Part 1: Programming: Motion Details
Dual Trajectory Example Program
170
Synchronized Motion
170
170
Other Synchronized-Motion Commands
173
Part 1: Programming
Synchronized-Target Commands
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Part 1: Programming: Introduction
Introduction
#
Numerical integer value, constrained by command. For
example, 0, 1,..22.
formula (or frm)
Formula or number. For example, 123 or a=1 or a=(2*3)-1.
expression (or exp)
Simple expression or number. For example, a+3 or al[1] or 5.
W
(Capital W letter by itself.) Refers to "Word", or 16 bits of
information. Option for addressing I/O 16-bit status words.
mask (or msk)
The mask value of the bits that will be affected when working
with integers can typically be passed into a command as an
expression. Mainly used for I/O and status word bit manipulations. For details on binary data, see Binary Data on page
839.
NOTE: In the command syntax, when optional bracketed arguments are shown, the
comma within the brackets is only used with the optional argument. For example,
the comma is used with the optional "m/s" argument in the command MFSLEW
(distance[,m/s]).
Enter the following commands in the Terminal window to move the SmartMotor:
EIGN(2)
EIGN(3)
ZS
ADT=100
VT=100000
PT=300000
G
'Disable left limit
'Disable right limit
'Reset errors
'Set target accel/decel
'Set target velocity
'Set target position
'Go, starts the move
NOTE: A complete move requires: a position, a velocity and an acceleration,
followed by a G (Go) command.
On power-up the motor defaults to position mode. Once Acceleration-Deceleration Target
(ADT) and Velocity Target (VT) are set, simply issue new Position Target (PT) commands,
followed by a Go (G) command to execute moves to new absolute locations. The motor does
not instantly go to the programmed position, but follows a trajectory to get there. The
trajectory is bound by the maximum target velocity and target acceleration parameters. The
result is a trapezoidal velocity profile, or a triangular profile if the maximum velocity is never
met.
NOTE: Position, velocity and acceleration can be changed at any time during or
between moves. However, the new parameters only apply when a new G command
is sent.
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Part 1: Programming
All SmartMotor™ commands are grouped by function with the following notations:
Part 1: Programming: Motion Command Quick Reference
Motion Command Quick Reference
The following table provides a quick reference for the primary Class 5 motion commands. For
the complete list of motion control commands and links to their descriptions, see Motion
Control on page 883.
Part 1: Programming
Absolute
Position
Relative
Velocity
Position
Accel
DE/Dt
Over
and
Following Derivitive
Accel Decel
Speed
Decel
Error
Error
Limit
Together
Limit
Report
Actual
RPA
RPRA
RVA
N/A
N/A
Report
End Target
RPT
RPRT
RVT
RAT
Report Commanded
RPC
RPRC
RVC
RAC
Assign
End Target
PT=
PRT=
VT=
ADT=
AT=
DT=
Assign
Command
N/A
N/A
N/A
N/A
N/A
N/A
RAT
RDT
REA
RDEA
REL
RDEL
RVL
EL=
DEL=
VL=
RAC
In the chart above, you will notice Actual, End Target, and Commanded:
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Actual: The value of the parameter as the processor sees it in real time at the shaft,
regardless of anything commanded by the trajectory generator
Target: The requested trajectory target to reach and/or maintain at any given time
Commanded: The compensated value of the trajectory generator at any time in its
attempt to reach the target
For example, in terms of the position commands:
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Position Target (PT): The desired target position you are shooting for; what you have
specified as a target position value
Position Actual (PA): The current position in real time (right now), regardless of target
or where it is being told to go
Position Commanded (PC): The position the controller processor is actually commanding
it to go to at the time
NOTE: Any difference between Position Commanded (PC) and Position Actual (PA)
is due to following error.
There are two position types:
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Absolute: The finite position value in reference to position zero
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Relative: A relative distance from the present position at the time
All commands shown above are associated with both Mode Position (MP) and Mode Velocity
(MV). They may also be used in dual trajectory mode when running either of those modes on
top of gearing or camming.
All distance parameters are in encoder counts. Encoder resolution may be obtained and used
in a program through the RES command. The RRES command will report encoder resolution.
You can also use the RES command directly in math formulas.
EXAMPLE:
If you want it the axis to move to location 1234, then you would issue:
PT=1234
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Part 1: Programming: Basic Motion Commands
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RPC would report the commanded position from the processor.
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RPA would report actual position of the encoder or motor shaft.
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x=PA-PC would calculate following error at that moment.
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REA would report actual following error at that moment.
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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).
Basic Motion Commands
The basic motion commands described in this section are used to set the operating mode,
control acceleration/deceleration, velocity, torque, origin and position, and to start and stop
the motion. Use the Motion Command Quick Reference on page 834 to understand the
relationship between basic motion commands and the terms Actual, Commanded and Target.
Target Commands
The following are target-related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
PT=formula
Set Target Position (Absolute)
The PT command sets an absolute end position to move to when the motor is in Position mode.
The units are encoder counts and can be positive or negative in the range -2147483648 to
+2147483647. It is not advisable to attempt to use absolute moves that would cross the
rollover point of the most positive and most negative values. Also, absolute moves should not
attempt to specify a move with a relative distance of more than 2147483647. The end position
can be set or changed at any time during or at the end of previous moves. SmartMotor™ sizes
17 and 23 resolve 4000 increments per revolution, while SmartMotor size 34 resolves 8000
increments per revolution.
The following program illustrates how variables can be used to set motion values to realworld units and have the working values scaled in motor units for a size 17 or 23 SmartMotor.
a=100
v=1
p=100
GOSUB(10)
END
C10
ADT=a*4.096
VT=v*32768
PT=p*4000
G
RETURN
'Acceleration in rev/sec*sec
'Velocity in rev/sec
'Position in revs
'Initiate motion
'End program
'Motion routine
'Set target accel/decel
'Set target velocity
'Set target position
'Start move
'Return to call
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Part 1: Programming
While moving there:
Part 1: Programming: PRT=formula
NOTE: If any errors exist, they must be cleared before the G command will work.
All errors can be cleared with the ZS command.
PRT=formula
Part 1: Programming
Set Relative Target Position
The PRT command allows a relative-distance move to be specified when the motor is in
position mode. The value indicates the encoder counts to travel; it must be within the range of
-2147483648 to +2147483647. This relative distance is added to the current trajectory
position and not the actual position either during or after a move. If a previous move is still in
progress, then the current trajectory position is added to when G is commanded. If the total
distance traveled needs to directly correspond to the number of moves made, make sure a
move has finished before issuing another G command.
ADT=formula
Set Target Acceleration/Deceleration
Target Acceleration/Deceleration must be a positive integer within the range of 0 to
2147483647. The default is zero, so a nonzero number must be entered to initiate motion. A
typical value is 100. This command sets acceleration and deceleration of the motion profile to
the value specified. This value can be changed at any time. The value set does not take effect
until the next G command is executed. Native acceleration units are
(counts/sample/sample)*65536. The default sample rate for Class 5 is 8.0 kHz; the default
sample rate for Class 6 is 16.0 kHz.
AT=formula
Set Target Acceleration Only
DT=formula
Set Target Deceleration Only
The AT and DT commands allow setting different values for the acceleration and deceleration
of the motion profile, respectively. Standard practice should be to use the ADT command
instead unless separate values are needed. There is an override that automatically sets DT
equal to AT if the motor power is turned on and only AT is set. However, this should be
avoided by using the ADT command when DT is not used.
To convert acceleration in revolutions per second2 to units of ADT, AT or DT, follow this
formula:
ADT = Acceleration * ((enc. counts per rev.)/(sample rate2)) * 65536
If the motor has a 4000 count encoder (sizes 17 and 23), multiply the desired acceleration, in
rev/sec2, by 4.096 to arrive at the appropriate setting for ADT. With an 8000 count encoder
(size 34), the multiplier is 8.192. These factors assume a PID rate of 8.0 kHz, which is the
default.
Note that ADT, AT and DT allow only even numbers. When odd numbers are used, they are
rounded up. The default values are zero.
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Part 1: Programming: VT=formula
VT=formula
The VT command specifies a target velocity (speed and direction) for velocity moves, or a
slew speed for position moves. The value must be in the range -2147483647 to 2147483647.
Note that in position moves, this value is the unsigned speed of the move and does not imply
direction. The value set by the VT command only governs the calculated trajectory of MP and
MV modes (position and velocity). In either of these modes, the PID compensator may need
to "catch up" if the actual position falls behind the trajectory position. In this case, the actual
speed exceeds the target speed. The value defaults to zero, so it must be set before any
motion can take place. The new value does not take effect until the next G command is issued.
To convert velocity in revolutions per second to units of VT, follow this formula:
VT = Velocity * ((enc. counts per rev.)/(sample rate)) * 65536
If the motor has a 4000 count encoder (sizes 17 and 23), multiply the desired velocity in
rev/sec by 32768 to arrive at the setting for VT. With an 8000 count encoder (size 34), the
multiplier is 65536. These factors assume a PID rate of 8.0 kHz, which is the default.
Motion Mode Commands
The following are motion-mode commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
MP
Position Mode
Issuing the Mode Position (MP) command puts the SmartMotor in Position mode. Position
mode is the default mode of operation for the SmartMotor on power-up. In Position mode, the
PT, PRT, VT, ADT, AT and DT commands can be used to govern motion. At a minimum, ADT,
VT and (PT or PRT) must be issued.
MV
Velocity Mode
The Mode Velocity (MV) command allows continuous rotation of the motor shaft. In Velocity
mode, the programmed position using the PT or the PRT commands is ignored. Acceleration
and velocity need to be specified using the ADT and the VT commands. After a G command is
issued, the motor accelerates up to the programmed velocity and continues at that velocity
indefinitely. Similar to Position mode, in Velocity mode, velocity and acceleration are
changeable on the fly, at any time — simply specify new values and enter another G command
to trigger the change. In Velocity mode, the velocity can be entered as a negative number,
unlike in Position mode where the location of the target position determines velocity direction
or sign. If the 32-bit register that holds position rolls over in Velocity mode, it will have no
effect on the motion.
Velocity mode calculates its trajectory as an ideal position over time and corrects the
resulting measured position error instead of measuring velocity error. This is significant in
that this mode will "catch up" lost position, just as Position mode will if a disturbance causes a
lagging position error.
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Part 1: Programming
Set Target Velocity
Part 1: Programming: MT
MT
Part 1: Programming
Torque Mode
The Mode Torque (MT) command puts the SmartMotor in Torque mode. In Torque mode, the
motor applies a PWM commutation effort to the motor proportional to the T command and
independent of position. If the motor model has a current-control commutation mode, then
torque is controlled in proportion to the T command. Otherwise, torque depends on the actual
motor speed and bus voltage, eventually reaching an equilibrium speed. Nevertheless, for a
locked rotor, the torque will be largely proportional to the T value and bus voltage.
To run the motor in Torque mode, use the T command and issue a G command for the new
torque value to take effect.
NOTE: You must issue a G command for a new torque value to take effect in
Torque mode.
Internal encoder tracking still takes place and can be read by a host or program. However,
the value will be ignored for motion because the PID loop is inactive.
Torque Commands
The following commands set the torque slope and value. For more details on these
commands, see Part 2: SmartMotor Command Reference on page 233.
TS=formula
Set Torque Slope
The TS= command causes new torque settings to be reached gradually, rather than instantly.
Values may be from -1 to +2147483647. -1 disables the slope feature and causes new torque
values to be reached immediately. A TS setting of 65536 increases the output torque by one
unit per PID sample period.
T=formula
Set Torque Value, -32767 to 32767
In Torque mode, activated by the MT command, the drive duty cycle can be set with the T=
command. The following number or variable must fall in the range from-32767 to 32767. The
full-scale value relates to full-scale or maximum-duty cycle. At a given speed, there will be
reasonable correlation between drive duty cycle and torque. With nothing loading the shaft,
the T= command will dictate open-loop speed. A G command must be entered after the T=
command for the new value to take effect.
The following example increases torque, one unit every PID sample period, up to 8000 units.
MT
T=8000
TS=65536
G
'Select torque mode.
'Final torque after the TS ramp that we want.
'Increase the torque by 1 unit of T per PID sample.
'Begin move
Brake Commands
The following commands control the brake functions for the motion. For more details on these
commands, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: BRKRLS
BRKRLS
Brake Release
BRKENG
Brake Engage
Automatically Release Brake Only When Servo Active
BRKTRJ
Automatically Release Brake Only When in Trajectory
The SmartMotor is available with power-loss brakes. These brakes apply a force to keep the
shaft from rotating should the SmartMotor lose power. Issuing the BRKRLS command releases
the brake and BRKENG engages it. There are two other commands that initiate automated
operating modes for the brake. The command BRKSRV engages the brake automatically,
should the motor stop servoing and no longer hold position for any reason. This event might
be due to loss of power or just a position error, limit fault or overtemperature fault.
Finally, the BRKTRJ command engages the brake in response to all of the previouslymentioned events, including any time the motor is not performing a trajectory. In this mode
the motor is off and the brake holds it in position rather than the motor servoing when it is at
rest. As soon as another trajectory is started, the brake releases. The time it takes for the
brake to engage and release is only a few milliseconds.
The brakes used in the SmartMotor are zero-backlash devices with extremely long life spans.
It is well within their capabilities to operate interactively within an application. However, take
care to avoid a situation where the brake sets repeatedly during motion, which will reduce the
brake life.
Where a SmartMotor is not equipped with a physical brake, it simulates braking with its Mode
Torque Brake (MTB) feature, which causes a faulted motor to still experience strong
resistance to shaft motion. Note that MTB only works when power is applied to the
SmartMotor. Therefore, it is not a substitute for an actual brake when safety is an issue.
WARNING: The MTB feature only works when power is applied to the
SmartMotor. Therefore, DO NOT use it as a substitute for a physical brake
when operator or equipment safety is an issue.
EOBK(IO)
Reroute Brake Signal to I/O
When the automated brake functions are desired for an external brake, this command can be
used to choose a specified I/O port. This corresponds to the same I/O pin numbering used by
other I/O commands. These commands re-route the internal brake signal to the respective
I/O pins. The brake signal is active high to engage the brake to the shaft on the pulled-up 5
Volt I/O. On the 24 Volt I/O, the default state is off (0 Volts), so the brake engages the shaft
when the 24 Volt signal is low. The EOBK(-1) command removes the brake function from any
external I/O. Only one pin can be used as the brake pin at any one time. Therefore, each
command supersedes the other.
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Part 1: Programming
BRKSRV
Part 1: Programming: MTB
For the M-style SmartMotor, only output 8 works for that motor. Therefore, the values are:
l
EOBK(8) to enable
l
EOBK(-1) to disable
MTB
Part 1: Programming
Mode Torque Brake
Mode Torque Brake is the default state on power-up. It causes the motor control circuits to tie
the three phases of the motor together as a form of dynamic braking. For a fault or the OFF
command, instead of the motor coasting to a stop, it abruptly stops. This is not done by
servoing the motor to a stop, but by simply shorting all of the coils to ground. If there is a
constant torque on the motor, it allows only very slow movement of the shaft.
WARNING: The MTB feature only works when power is applied to the
SmartMotor. Therefore, DO NOT use it as a substitute for a physical brake
when operator or equipment safety is an issue.
The MTB command immediately activates dynamic braking independently of the Brake mode.
Issuing MTB while the motor is running turns off the motor drive and enables dynamic
braking, even if BRKRLS has been issued. To remove the effect of the MTB command, either
issue a BRKRLS OFF command sequence or issue a motion command.
BRKENG can engage dynamic braking unconditionally as well. The opposite of this command is
BRKRLS; OFF will not remove the effect of BRKENG.
To allow a motor to freewheel, issue OFF. To ensure that the MTB command is not active,
command BRKRLS and the dynamic braking will release. Finally, because faults can also
activate dynamic braking, clear the faults or choose a fault action of freewheel.
Status Word 6, Bit 11 reports if dynamic braking is active or not, including as a result of the
MTB command, the BRKENG command or a fault action.
Index Capture Commands
The SmartMotor's encoder capture mechanism has many capabilities. Both the internal and
external encoders can be triggered by certain events to capture their positions.
For a capture to occur, one of the arming commands must be issued (see the following list).
These commands allow you to select a rising or falling edge of the source event and specify
the encoder to be armed.
Ai(arg)
Arm the rising edge only; encoder selected by arg
Aj(arg)
Arm the falling edge only; encoder selected by arg
Aij(arg)
Arm the rising edge, wait for that event, then arm the falling edge;
encoder selected by arg
Aji(arg)
Arm the falling edge, wait for that event, then arm the rising edge;
encoder selected by arg
Arg is 0 to arm the event currently assigned to the internal encoder; arg is 1 to arm the event
currently assigned to the external encoder.
Status Word 1 contains bits (Bi, Bj, etc.) that indicate when a particular arming sequence is
active and when the capture has taken place. For details, see Motor Index/Capture Directly-
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Part 1: Programming: Other Motion Commands
Addressed Status Bits on page 204. Also, see Status Word: 1 Index Registration and
Software Travel Limits on page 859.
After the capture has occurred, the corresponding rising or falling edge can be read using the
commands I(arg) and J(arg), respectively. That allows the rising and falling edges to be
recorded separately. Again, arg is 0 for the internal encoder’s position at the time of the
event; arg is 1 for the external encoder’s position at the time of the event.
Arm with Aj*
Bi flag set
Arm with Ai*
*Or, use Aij to
arm both
Bj flag set
J reads encoder position
Rising and Falling Edge Index Capture
By default, the internal encoder will be triggered by the internal encoder’s index mark.
However, it can be reconfigured to use an external signal to trigger the internal encoder
capture. Refer to the following commands.
EIRE
(Default) Use the internal encoder’s index to capture that encoder's
position. The I/O signal is used to capture the external encoder.
EIRI
Use a predefined I/O signal to capture the internal encoder. This
displaces that I/O from being used to capture the external encoder.
Class 5 D-style motors use I/O logical input 6 (pin 7 on the DA-15
connector); Class 5 M-style motors use I/O logical input 5 (pin 4 of the
12-pin I/O connector).
Other Motion Commands
The following commands are used to start, stop or decelerate motion, reset or shift the origin,
and turn the motor servo off. For more details on these commands, see Part 2: SmartMotor
Command Reference on page 233.
G
Go, Start Motion
The G command does more than just start motion. It can be used dynamically during motion
to create elaborate profiles. Because the SmartMotor allows position, velocity and
acceleration to change during motion, the G command can be used to replace the current
move with a new one. All faults must be cleared before the G command will work, as indicated
by the "drive ready" status bit. Faults can be cleared by correcting the fault situation and then
issuing the ZS command.
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Part 1: Programming
I reads encoder position
Part 1: Programming: S
S
Abruptly Stop Motion in Progress
If the S command is issued while a move is in progress, it causes an immediate and abrupt
stop with all the force the motor has to offer. After the stop, assuming there is no position
error, the motor will still be servoing. The S command works in all modes.
Part 1: Programming
X
Decelerate to Stop
If the X command is issued while a move is in progress, it causes the motor to decelerate to a
stop at the last entered deceleration value according to the ADT, DT and AT commands. When
the motor comes to rest, it will servo in place until commanded to move again. The X
command works in Position, Velocity and Torque modes. It also applies to Follow and Cam
modes.
O=formula
Set/Reset Origin to Any Position
The O= command (using the letter O, not the number zero) allows the host or program to
declare the current position to a specific value, positive or negative, or 0 in the range
-2147483648 to +2147483647. This command sets the commanded trajectory position to the
value specified at that point in time and the actual position is adjusted similarly. The O=
command directly changes the motor’s position register and can be used as a tool to avoid
±31-bit rollover Position mode problems. If the SmartMotor runs in one direction for a very
long time, it will reach position -2147483648 or +2147483647, which causes the position
counter to change sign. While that is not an issue with Velocity mode, it can create problems
in absolute position moves or create confusing results when reading position.
OSH=formula
Shift the Origin by Any Distance
The OSH= command shifts the origin by the amount described, which may be from
-2147483648 to +2147483647. This command is similar to O=, except that it specifies a
relative shift. This can be useful in applications where the origin needs to be shifted during
motion without losing any position counts.
OFF
Turn Motor Servo Off
The OFF command turns off the motor’s drive. When the drive is turned off, the PWR/SERVO
status LEDs revert to flashing green. The motor will not freewheel by default in the OFF state
because each SmartMotor has a safety feature that engages dynamic braking equivalent to
the MTB command. This has the effect of causing a resistance to motion. To make a
SmartMotor truly freewheel when off, issue BRKRLS and be sure any faults are cleared.
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Part 1: Programming: Commutation Modes
Commutation Modes
The most typical way to determine the orientation of the rotor is with small magnetic-sensing
devices called Hall sensors. The process of shifting the current to the proper coils based on
shaft rotation is called commutation. There are many methods for commutating a motor; the
best commutation method depends on the application. As a general rule, sine mode
commutation provides very smooth low torque ripple performance, and trapezoidal
commutation provides the highest torque and fastest speeds.
The following commands allow selection of different commutation modes. For more details,
see Part 2: SmartMotor Command Reference on page 233.
NOTE: MDE, MDS and MDC require angle match (the first sighting of the encoder
index) before they will take effect. This means the SmartMotor's factory calibration
is valid and the index mark of the internal encoder has been seen since startup.
Until then, the SmartMotor will operate in default MDT.
MDT
Mode Drive Trapezoidal
Trapezoidal commutation uses only the Hall sensors (default). It is the most simple
commutation method, and it is always ready on boot up. MDT is effective despite the minor
inaccuracies typically found in the mechanical placement of the sensors.
NOTE: M-style motors boot up in MDC mode (see MDC on page 134).
MDE
Mode Drive Enhanced
This driving method is exactly the same as basic trapezoidal commutation using Hall sensors,
except that it also uses the internal encoder to add accuracy to the commutation trigger
points. This idealized trapezoidal commutation mode offers the greatest motor torque and
speed, but it can exhibit minor ticking sounds at low rates because the current shifts abruptly
from one coil to the next. Because MDE uses the encoder, it requires angle match (the first
sighting of the encoder index) before it will engage.
MDS
Mode Drive Sine
This is sinusoidal (sine) commutation, voltage mode. It provides smoother commutation
compared to trapezoidal modes by shifting current gradually from one coil to the next.
Because MDS uses the encoder, for motors with incremental encoders, it requires angle
match (the first sighting of the encoder index) before it will engage. MDS is not as efficient as
a trap commutation mode and has less torque available, especially at higher speeds (for more
details, see MDS on page 528). However, for applications that require extremely smooth and
quiet low-speed operation, MDS is the best choice.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 1: Programming
Because the SmartMotor uses a brushless motor, it does not have the mechanical commutator
that a brushed motor has to switch the current to the next optimal coil as the rotor swings
around. To cause shaft rotation in a brushless motor, the control electronics have to see
where the shaft is, and then decide which coils to deliver the current to next.
Part 1: Programming: MDC
MDC
Mode Drive Current
Part 1: Programming
Available only for M-style Class 5 SmartMotors, this sinusoidal (sine) commutation method,
augmented with digital current control, offers the best possible performance without
sacrificing quiet operation.
Status Word 6 contains bits that indicate what commutation mode is currently active. Note
that a command for a mode may not take effect until the angle match is indicated by bit 8 in
status word 6. The angle match may not take effect until the motor rotates past the index
mark of the internal encoder. The following status bits can be used to test for this.
Status Word 6:
l
Bit 0 Trap-Hall mode
l
Bit 1 Trap-Encoder (enhanced) mode
l
Bit 2 Sine Voltage mode
l
Bit 3 Sine Current (vector) mode
MDB
Trajectory Overshoot Braking (TOB) Option
This command should be used after entering MDT or MDE to enable TOB action. This option
reverts to off when one of the previous commutation choices is made. This option is off by
default. Status Word 6, Bit 9 indicates if this mode is active.
MINV(0), MINV(1)
Invert Motion Direction
The MINV(1) command inverts the direction convention of the SmartMotor.
The MINV(0) command restores the default.
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Part 1: Programming: Modes of Operation
Modes of Operation
SmartMotors can be operated in several different modes. You can switch to and from almost
any mode freely at any time.The following sections provide details on each operation mode.
NOTE: For details on any command, see Part 2: SmartMotor Command Reference
on page 233.
NOTE: Torque mode is an immediate response mode.
In Torque mode, also referred to as Mode Torque (MT), the SmartMotor shaft applies a torque
independent of position. The internal encoder tracking still takes place, and can be read by a
host or in a program. However, the value is ignored for motion because the PID loop is
inactive. A torque-mode move does not mean the motor applies a constant torque regardless
of speed; rather, the motor is powered at a fixed duty cycle of PWM to the motor windings in a
manner similar to increasing and decreasing voltage to a traditional DC motor. To specify the
value of the torque move, use the T= command, followed by a number between -32767 and
32767. Keep in mind:
l
Positive numbers apply a clockwise torque
l
Negative numbers apply a counter-clockwise torque
l
The default value for T is zero
l
Speed is proportional to counter-torque or load on the shaft when in torque mode
l
The larger the load, the slower the motor turns for a given torque value
The following list details the minimum requirements for a move to occur in Torque mode:
l
Initiate the mode with the MT command
l
Issue G
Torque Mode Example
The following example shows a basic torque move. Note that T is set before MT and G, which
provides a known commanded torque before issuing an MT or G command.
T=2000
MT
G
' set torque to 2000
' set motor to Torque mode
' start moving, open loop
Dynamically Change from Velocity Mode to Torque Mode
The following example dynamically changes from Velocity mode to Torque mode through
torque transfer (TRQ command). In the example, about two seconds after going into Velocity
mode, the motor is switched to Torque mode. Then, two seconds later, the motor is turned
off.
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Part 1: Programming
Torque Mode
Part 1: Programming
Part 1: Programming: Velocity Mode
MV
VT=100000
ADT=1000
G
WAIT=2000
T=TRQ
MT G
WAIT=2000
OFF
'
'
'
'
'
'
'
'
'
set motor to Velocity mode
set velocity to 100000
set accel/decel to 1000
Go (Start moving)
wait about 2 seconds
set torque to the value the PID filter was commanding in MV
set motor to Torque mode
wait about 2 seconds
turn the motor off
Velocity Mode
Velocity mode allows the SmartMotor to run at a constant commanded speed. SmartMotors
close the speed loop on position, not encoder counts per unit time. As a result, moving to and
from Position mode to Velocity mode is simple.
The following list details the minimum requirements for a move to occur in Velocity mode:
•
Initiate Velocity mode
MV command
if not already in Velocity mode
•
Nonzero value of Velocity
VT=###
set velocity equal to ###
•
Nonzero value of Acceleration
ADT=###
set accel/decel equal to ###
•
Go command to initiate move
G
start move immediately
Constant Velocity Example
The following example shows a basic constant-velocity move. In the example, the motor
starts moving when the G command is issued. It accelerates up to a velocity of 100000 at a
rate or 1000 samples/sec/sec. It then remains at that speed until told to do otherwise.
MV
VT=100000
ADT=1000
G
'
'
'
'
set motor to Velocity mode
set velocity to 100000
set accel/decel to 1000
Go (Start moving)
Change Commanded Speed and Acceleration
In this example, the command speed and acceleration are changed while the program is in
progress. The motor‘s move parameters are changed about two seconds after the initial
commanded move begins.
O=0
MV
VT=100000
ADT=1000
G
WAIT=2000
VT=800000
ADT=500
G
'
'
'
'
'
'
'
'
'
set current position to zero
set motor to Velocity mode
set velocity to 100000
set accel/decel to 1000
Go (Start moving)
wait 2 seconds
set new velocity of 800000
set new accel/decel of 500
initiate change in speed and acceleration
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Part 1: Programming: Absolute (Position) Mode
Absolute (Position) Mode
Absolute (Position) mode is the default power-up mode of operation for the SmartMotor. In
Position mode, the SmartMotor operates on absolute position commands, which use encoder
counts.
•
Initiate Position mode
MP command
if not already in Position mode
•
Nonzero value of Velocity
VT=###
set velocity equal to ###
•
Nonzero value of Acceleration
ADT=###
set accel/decel equal to ###
•
Absolute commanded position
PT=###
set target position to ###
•
Go command to initiate move
G
start move immediately
NOTE: Commanded position must be different than present position to cause a
move. If acceleration or velocity are at zero, the motor will not move.
Absolute Move Example
In this example, the motor starts moving when the G (Go) command is received and stops at
an absolute position of 20000 encoder counts.
MP
VT=100000
ADT=1000
PT=20000
G
'
'
'
'
'
set to position mode (required if currently in another mode)
set velocity to 100000
set accel/decel to 1000
set commanded absolute position to 20000
Go (Start moving)
Two Moves with Delay Example
The following example shows two position moves with a delay in between.
O=0
MP
VT=100000
ADT=1000
PT=20000
G
TWAIT
WAIT=1000
PT=-500
G
'
'
'
'
'
'
'
'
'
'
set current position to zero
set to position mode (required if currently in another mode)
set velocity to 100000
set accel/decel to 1000
set commanded absolute position to 20000
Go (Start moving)
wait here until the motor has reached 20000
wait 1 second
Set commanded position of –500
start moving to new commanded position.
NOTE: The move is made at the previously-commanded speed and acceleration.
Change Speed and Acceleration Example
In this example, the commanded speed and acceleration are changed while the motor is
executing the absolute position move.
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Part 1: Programming
The following list details the minimum requirements for a move to occur in Position mode:
Part 1: Programming
Part 1: Programming: Shift Point of Origin Example
O=0
MP
VT=100000
ADT=1000
PT=1000000
G
WAIT=8000
VT=800000
ADT=500
G
'
'
'
'
'
'
'
'
'
'
set current position to zero
set to position mode (required if currently in another mode)
set velocity to 100000
set accel/decel to 1000
set commanded absolute position to 1000000
Go (Start moving)
wait about 8 seconds
set new velocity of 800000
set new accel/decel of 500
initiate change in speed and acceleration
Shift Point of Origin Example
The following example demonstrates how to change (shift) the point of origin between moves.
This is accomplished through the OSH command. The Origin command O={value} may also
be used and can be set to any absolute number.
O=0
MP
VT=100000
ADT=1000
PT=2000
G
TWAIT
OSH=-2000
WAIT=8000
PT=2000
G
TWAIT
'
'
'
'
'
'
'
'
'
'
'
'
set current position to zero
set to position mode (required if currently in another mode)
set velocity to 100000
set accel/decel to 1000
set commanded absolute position to 2000
Go (Start moving)
wait until move is complete
shift current position back 2000 counts
wait 8 seconds
set commanded absolute position to 2000
Go (Start moving)
wait until move is complete
NOTE: The motor moved a total of 4000 counts, but its current position is only 2000
because it was reset to zero between moves.
Relative Position Mode
In Relative Position mode the SmartMotor moves relative to its current position by the use of
the PRT (Position Relative Target) command.
The following list details the minimum requirements for a move to occur in Relative mode:
•
Initiate Position mode
MP command
if not already in Position mode
•
Nonzero value of Velocity
VT=###
set velocity equal to ###
•
Nonzero value of Acceleration
ADT=###
set accel/decel equal to ###
•
Relative commanded position
PRT=###
set relative position to ###
•
Go command to initiate move
G
start move immediately
Relative Mode Example
The following example illustrates the use of Relative mode. The example moves the motor
through three 2000-count moves or a total of 6000 counts.
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MP
VT=100000
ADT=1000
PRT=2000
G
TWAIT
G
TWAIT
G
'
'
'
'
'
'
'
'
'
set to position mode (required if currently in another mode)
set velocity to 100000
set accel/decel to 1000
set commanded relative position move to 2000
Go (Start moving 2000 counts)
wait until move is complete
Go (move 2000 counts again)
wait until move is complete
Go (One more time)
Follow Mode with Ratio (Electronic Gearing)
Follow Mode with Ratio (MFR) allows a motor to follow a standard TTL quadrature external
encoder input signal, or internal clock, at a user-defined ratio.
By default, Follow mode runs continuously at a ratio of 1:1 in terms of input counts to distance
moved.
The user can freely select either the external encoder or fixed rate internal clock as the input
source. The fixed rate internal clock runs at 8000 counts per second by default, but can be
influenced by the PID commands. The SRC command defines whether to follow the internal
counter or external encoder.
NOTE: Changed MFR values do not take effect until after the next G command.
The following list details the minimum requirements for a move to occur in Follow mode:
•
Set Incoming counts multiplier
MFMUL=###
may be negative or positive
•
Set Incoming counts divisor
MFDIV=###
may be negative or positive
•
Calculate above ratio and mode
MFR
•
Go command to initiate the move
G
start following the encoder
NOTE: If the external encoder is not moving, no motion will occur. Commanded
position must be different than present position to cause a move.
CAUTION: Do not switch between gear modes while in operation. When a
transition is made, the profile must be stopped or the motor must be turned
off.
Electronic Gearing and Camming over CANopen
Beginning with firmware 5.x.4.30 or later, the SmartMotor provides precise time
synchronization over CANopen between motors for electronic gearing and camming
applications (for example, traverse and take-up spooling). The CANopen objects related to
this are: 1005h, 1006h, 2207h, 2208h, 2209h, 220Ah-220Dh. For details on these objects refer
to the SmartMotor CANopen Guide. For a sample user program, see CAN Bus - Time Sync
Follow Encoder on page 821.
NOTE: This capability is currently available on Class 5 SmartMotors only.
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Part 1: Programming
Part 1: Programming: Follow Mode with Ratio (Electronic Gearing)
Part 1: Programming: Electronic Gearing Commands
Electronic Gearing Commands
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
SRC(enc_src)
Part 1: Programming
Select the input source used in Follow and Cam modes
The SRC() command can allow the SmartMotor to use the many advanced following and
camming functions even without an external encoder input. Values for enc_src:
0
Null (pauses master)
1
External encoder (-1 inverts direction)
2
Time-base at PID rate (-2 inverts direction)
NOTE: SRC() can be updated while the motor is running. However, sudden speed
changes may occur.
MFR
Configure A & B inputs to Quadrature mode and select Follow mode
The Mode Follow Ratio (MFR) command configures the A and B inputs of the motor to be read
as standard quadrature inputs and puts the SmartMotor in Follow mode.
MSR
Configure A & B inputs to Step/Direction mode and select Follow mode
The Mode Step Ratio (MSR) command configures the A and B inputs of the motor to be read as
standard Step and Direction inputs and puts the SmartMotor in Follow mode.
MF0
Reset external quadrature encoder
MS0
Exit Step/Direction Follow mode
When using the ENC1 command, be careful that you do not inadvertently change the operation
of the encoder with the MF0 or MS0 command. If you must use an alternate encoder source
for Follow mode and at the same time use ENC1, then choose the version of the above
commands to match your encoder type for the ENC1 command.
MFMUL=formula, MFDIV=formula
Set Follow mode ratio
The internal mathematics work best by describing the follow ratio in terms of a fraction of two
integers. Choose MFMUL and MFDIV to create the following ratio if it is not 1:1. Note that MFR
or MSR must be issued after any changes to MFMUL or MFDIV.
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Part 1: Programming: MFA(distance[,m/s])
MFMUL=formula
MFDIV=formula
'Multiplier applied to follow ratio
'Divisor applied to follow ratio
MFA(distance[,m/s])
distance
Setting from 0 to 2147483647. Set to 0 to disable. By default, it is disabled.
[,m/s]
Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
MFD(distance[,m/s])
Descend ramp from ratio to ratio of 0
distance Setting from 0 to 2147483647. Set to 0 (default) to disable.
[,m/s]
Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
MFSLEW(distance[,m/s])
Slew at ratio for a fixed distance
distance Setting from -1 to 2147483647. Set to -1 (default) to disable. When disabled, Follow mode runs at ratio continuously.
[,m/s]
Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
CAUTION: The following gearing examples are relative to the motor shaft
position at the time the G command is issued.
All distances are relative.
Follow Internal Clock Source Example
In this example, the motor follows the internal source at a 1:1 ratio and moves at a rate of
8000 counts per second. For a NEMA 23 frame motor, that results in 2 RPS or 120 RPM motion.
NOTE: The trajectory and drive status LEDs will be continuously green. This is
because the motor is constantly calculating a trajectory from the gearing source
signal.
SRC(-2) Results in inverting master signal direction and changing motor direction.
Changing the sign of either MFMUL or MFDIV also inverts direction.
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Part 1: Programming
Ascend ramp to sync. ratio from ratio of 0
Part 1: Programming: Follow Incoming Encoder Signal With Ramps Example
Part 1: Programming
SRC(-1) Inverts the external encoder signal; provides the easiest way to correct
for inverted encoder signal direction.
SRC(0)
Null (pauses master counts).
SRC(1)
(Default) Sets motor to follow the external encoder.
SRC(2)
Use one count per PID cycle (default is 8.0 kHz).
CAUTION: MFMUL must not be set excessively higher than MFDIV. Doing so
will result in small changes in master counts and large changes in
slave-gearing counts. This may cause motor harmonic distortion or following
errors.
SRC(2)
MFMUL=100
MFDIV=100
MFR
'Set signal source to internal 8K counts/sec
'Default is 1
'Default is 1
'Calculate ratio, set mode
G
Follow Incoming Encoder Signal With Ramps Example
This example shows a profile driven by an incoming encoder signal. In addition to following
the incoming encoder, the SmartMotor performs an acceleration (ramp up) into the following
relationship, and after a prescribed distance, performs a deceleration (ramp down) back to
rest. See the following two figures.
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Part 1: Programming
Part 1: Programming: Follow Incoming Encoder Signal With Ramps Example
In the first graph, the master encoder signal is along the horizontal axis of the graph, and the
gear ratio is along the vertical axis of the graph. This demonstrates that "area under the
curve" is the slave position.
The second graphs shows the slave position as a function of master position. In this example,
MFA, MFD and MFSLEW are commanded in master units. These three commands can accept
either master or slave units according to the second argument as a 0 or 1, respectively. The
firmware automatically calculates the move accordingly.
MFMUL=300
MFDIV=100
MFA(200,0)
MFD(400,0)
MFSLEW(200,0)
MFR
G
'Move 200 master counts over ascend (area "A")
'Move 400 master counts over descend (area "D")
'Maintain sync ratio for 200 master counts (area "S")
'Calculate ratio, set mode
Each time a G (Go) is received, the motor ramps through the predefined profile.
For labeling applications, it may be beneficial to feed out over a preset distance profile, also
known as a "one-shot" gearing trapezoidal profile. This is where the MFSLEW() command
comes in, as shown in the code and figures.
Each parameter distance is subject to slave counts, not master counts.
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Part 1: Programming: Electronic Line Shaft
The total distance traveled by the slave will be MFA distance + MFD distance + MFSLEW
distance. In this case, 300+600+600 or 1500 total slave counts moved.
Electronic Line Shaft
NOTE: This section only applies to M-style motors.
Part 1: Programming
For some applications, it is useful to create a master/slave motor relationship known as an
"electronic line shaft" (see the following figure). This setup is used for machines such as
printing presses, where everything must run at proportional speeds to the main (master) axis.
Electronic Line Shaft Diagram
On the M-style SmartMotors, there is a bidirectional Encoder Bus port. Using this port, along
with Moog Animatics encoder bus cables, you can daisy chain a series of M-style motors:
l
One motor will have ENCD(1) issued; this will be the master.
l
All other motors will have ENCD(0) (default) issued; these will be the slaves.
ENCD(in_out)
Sets the Encoder Bus port as an input or an output — only applies to motors with
Encoder Bus connecters, such as M-style SmartMotors.
The ENCD() command allows the M-style SmartMotor to use the Encoder Bus port as either an
input or an output. This allows the motor to operate as a master (output) or slave (input)
when daisy chained to other M-series motors through the Encoder Bus ports. The value for
in_out can be hard-coded or a variable:
0
(Default) Encoder Bus port is an input.
1
Encoder Bus port is an output.
The ENCD() command can be used over the Combitronic network.
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Part 1: Programming: Spooling and Winding Overview
Spooling and Winding Overview
Part 1: Programming
Spooling or winding provides a cost-effective way to package materials of very long length,
such as thread, film, labels, cable and thermoplastics. The material is fed from a large spool
at a certain rate onto another spool, with a traversing mechanism between the two spools to
create the desired pattern or evenly wind onto an flanged spool or cylindrical core despite the
core shape. The integrity of the spool is often based on precise patterns and proper tension
control throughout the winding process. The following figure provides examples of common
spool-winding patterns:
There are various problems associated with winding and spooling applications, such as:
material tension control, setting proper dwell points, over/under-travel (which results in a
"dog bone" shape) and tapered patterns with low-friction materials or wound onto cylindrical
cores.
The following sections provide commands and example programs designed to help you handle
the challenges of spooling/winding applications.
Relative Position, Auto-Traverse Spool Winding
The following figure provides a simple representation of an auto-traversing spool winding
application.
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Part 1: Programming
Part 1: Programming: MFSDC(distance,mode)
Auto-Traversing Spool Winding Mechanism
The MFSDC command is used to initiate the dwell and reverse direction (traverse) needed to
perform spooling/winding operations.
MFSDC(distance,mode)
Dwell at 0 ratio for input distance
distance Set from 0 to 2147483647 through a variable or hard-coded value to
specify the number of master counts the slave dwells at zero ratio. Set
to -1 (default) to disable (see the first row of the following table). When
disabled, Follow mode runs at ratio continuously.
mode
Specifies the gearing profile application in firmware, as shown in the
following table. These follow a predefined trapezoidal profile (see the
following figure).
For example, a setting of 0 for mode is typical for feeding labels in label
applications; a setting of 1 is typical for traverse-and-takeup spool
winding applications.
dist
mode
Motion
Repeat
Run state; Initiated by
-1
0 relative
one cycle, no repeat
once; a G or G(2) command
x
0 relative
repeat, one direction
continuous; after initial G or G(2)
x
1 relative
traverse back/forth
continuous; after initial G or G(2)
x
2 absolute
traverse back/forth
continuous; after initial G or G(2)
CAUTION: Any value other than -1 for the MFSDC distance command causes
the motion profile to continuously dwell and repeat. Reissue the command with
distance equal to -1 to stop the repetitive motion.
NOTE: The MFMUL and MFDIV commands do not have an effect on dwell time or
distance. Dwell is strictly based on raw master encoder counts selected by the SRC
() command specifying internal virtual or external master count source.
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Part 1: Programming: MFSDC(distance,mode)
MFSDC(-1,0) one cycle (no repeat)
MFSLEW
slew
MFA
MFD
descend
ascend
G issued
MFSDC(x,0) x=dwell distance; motor repeats in one direction
slew
MFA
ascend
descend
G issued (just once)
MFD
MFSDC
dwell
Part 1: Programming
MFSLEW
No G required
MFSDC(x,1) x=dwell distance; motor traverses
MFSLEW
slew
MFA
ascend
descend
G issued (just once)
MFD
MFSDC
dwell
No G required
MFSDC(x,2) x=dwell distance; motor traverses between abs. values of MFHTP & MFLTP
MFLTP
MFL
MFH
MFHTP
G issued (just once)
MFSDC
dwell
No G required
MFHTP
MFLTP
MFLTP
MFSDC Modes
The following example demonstrates the use of the MFSDC command. It is a spool-winding
program that performs a following profile across the spool, a dwell at the end for a specific
span of input distance and then reverses the profile back to the original end of the spool for
another dwell. The motion repeats until another MFSDC command is issued with Exp1 equal to
-1 and is followed by a G command, or an X or S command is issued.
a=1000
b=200000
c=4000
s=b-(a*2)
m=1000
d=1000
MFMUL=m
MFDIV=d
MFA(a,1)
MFD(a,1)
MFSLEW(s,1)
MFSDC(c,1)
MFR
G
'Ascend and descend distance in slave counts
'Spool width in slave counts
'One rev of spool in master counts
'Calculate MFSLEW distance
'Gear ratio multiplier
'Gear ratio divisor
'Set ratios for gearing
'Set ascend into ratio distance
'Set descend out of ratio distance
'Set slew dis. between the accel and decel points
'Set dwell for "c" counts, auto rev. after dwell
'Set mode to electronic gear ratio
'Start following the external master encoder
NOTE: The G command assumes the cycle starts at the same end of the spool each
time.
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Part 1: Programming: Dedicated, Absolute Position, Winding Traverse Commands
Part 1: Programming
A shift back and forth to the oscillation can be achieved by running in dual-trajectory mode.
For more information on dual-trajectory mode, see Dual Trajectories on page 167.
SRC(2)
MFMUL=100
MFDIV=100
MFA(500,1)
MFD(500,1)
MFR(2)
MFSLEW(8000,1)
MFSDC(100,1)
G(2)
MP(1)
VT=100000
ADT=100
PRT=1000
G(1)
'Set signal source to internal 8K counts/sec
'Default is 1
'Default is 1
'Set ascend ratio distance of 500 slave counts
'set descend ratio distance of 500 slave counts
'calculate ratio, set mode for SECOND TRAJECTORY
'stay at slew ratio for 8000 counts of the slave
'Dwell for 100 counts, auto repeat in reverse direction
'Begin to follow master signal in SECOND trajectory
'Set FIRST TRAJECTORY mode to Position mode
'Set velocity to run over top of gearing
'Set accel/decel to run over gearing
'Set relative move
'Shift all motion 1000 counts in positive direction
CAUTION: In the above example, repeating G(1) continuously shifts
oscillation in the positive direction by 1000 counts or the value in PRT.
NOTE: A velocity MV(1) or position MP(1) mode may be used over gearing. All
distances are relative to gearing. The command X(2) stops gearing; the command
X(1) stops position or velocity moves.
Dedicated, Absolute Position, Winding Traverse Commands
This section applies to absolute positioning in electronic gearing. It is specifically tailored to
traverse and take-up winders.
Refer to the following figure. The MFMUL and MFDIV commands, which were previously
described in this chapter, are used to set the ratio of master to slave motion as a maximum
when slew is reached. The sign of MFMUL/MFDIV is ignored in this mode of operation — only
the absolute value is used. The initial direction of motion is not affected by the sign of
MFMUL/MFDIV.
NOTE: If MFMUL=0, then the traverse process will end when the next endpoint is
reached.
Refer to the following figure. The MFSDC command enables the absolute traverse mode of
operation. The MFLTP and MFHTP commands are then used to set the low and high traverse
points, respectively, which control the spool width and position.
NOTE: The value of MFHTP must be greater than or equal to the value of MFLTP.
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Part 1: Programming: MFSDC(distance,2)
MFSDC(distance,2)
Absolute traverse mode for input distance
distance
2
Length of the dwell at both ends of the move in master units. Use -1 to
disable; range of distance is 0 to 2147483647.
Activates the absolute traverse mode of operation.
MFLTP=formula
Mode follow lower traverse point
formula
Specifies the lower traverse point. Range is any 32-bit signed value. It
must be less than or equal to MFHTP; MFHTP-MFLTP must be less than
231.
MFHTP=formula
Mode follow higher traverse point
formula
Specifies the higher traverse point. Range is any 32-bit signed value. It
must be greater than or equal to MFHTP; MFHTP-MFLTP must be less
than 231.
MFCTP(arg1,arg2)
Sets control information for traverse mode
arg1
Sets initial direction motor will move upon receiving G.
arg1=-1: (When G is issued) Traverse toward most recent direction
when previous traverse move ended. This is most likely required in all
winders.
l
l
This direction is indicated by Status Word 7, Bit 13.
This state is not reset by an X or an OFF.
arg1=0: (Power-up default value) Initially traverse toward higher bound
when G is issued.
arg1=1: Initially traverse toward lower bound when G is issued.
arg2
Special bits:
arg2=1: The RPC(2) frame of reference is updated with shaft motion
when the servo is off (OFF, MTB, MT). This is a special setting to ensure
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Part 1: Programming
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233. They are not intended to be combined with
Cam mode.
Part 1: Programming: MFL(distance[,m/s])
backward compatibility with existing applications that may use the RPC
(2) frame of reference.
arg2=0: (Power-up default value) The RPC(2) frame of reference is
frozen when the servo is off (through OFF, MTB, MT).
MFL(distance[,m/s])
Part 1: Programming
Ramp at the lower end of traverse; designate master or slave
distance
[,m/s]
Specifies the ramp distance at the lower end of the traverse. Distance
range: 0 to 2147483647
0=master, 1=slave; distance range: 0 to 2147483647
MFH(distance[,m/s])
Ramp at the higher end of traverse; designate master or slave
distance
[,m/s]
Specifies the ramp distance at the higher end of the traverse. Distance
range: 0 to 2147483647
0=master, 1=slave; distance range: 0 to 2147483647
ECS(counts)
Encoder count shift — immediately compensates for variation in material width
counts
Specifies the counts to be added to (or subtracted from) incoming
master counts as if they had an immediate change in value. For
example, if the external encoder count is 4000, and ECS(1234) is
issued, the count would immediately shift to 5234. Note that when the
MFMUL:MFDIV ratio is other than 1:1, the ratio is multiplied by the ECS
value.
CAUTION: Large values may cause jerks in motion or following errors.
The ECS command is dynamic and immediate (not buffered), and it does not require a G
command. Further, it works on top of any gearing or camming mode.
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Part 1: Programming: ECS(counts)
Proper use of the ECS command will allow
full packing of material onto a spool
regardless of variance in material width.
1. A sensor reads the material width.
3. Based on encoder counts, the
traversing SmartMotor will have ECS
(encoder counts) issued, which results
in a change to incoming master counts
by that value.
4. The SmartMotor adjusts its gearing.
The ECS command is for tiny continuous corrections, where changing MFMUL or MFDIV is not
desired because the basic ratio needs to remain fixed, but changes in demand for correction
may need to be adjusted over time. For example, assuming you have a program with normal
gearing:
MFMUL=1
MFDIV=1
MFR
G
'Ratio (default is 1)
'Ratio (default is 1)
'Enable follow mode
'Begin move.
In this case, the motor begins spinning at a 1:1 ratio of external encoder input. Then you
issue:
ECS(10)
'Encoder count shift of 10 counts
The motor will lunge forward by 10 encoder counts, as shown in the following figure.
Change Caused by ECS Command
However, if MFMUL=100 and MFDIV=1 (100:1 ratio), the motor would lunge forward by 1000
counts because the ratio is multiplied by the ECS value. In this case, if EL (Error Limit) was set
to 1000 or less, the change from ECS would cause an instantaneous following error. It could
also cause peak overcurrent errors.
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Part 1: Programming
2. Through programming, the user will
scale value to encoder counts.
Part 1: Programming: Single Trajectory Example Program
Single Trajectory Example Program
Part 1: Programming
The following code provides an example of a single-trajectory traverse winding application. It
uses the commands for high/low ramps and traverse points, which were discussed previously.
For details, see Dedicated, Absolute Position, Winding Traverse Commands on page 148.
' *** User does some type of homing before this. ***
SRC(2)
'*** For Demo master signal ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1)
'Start traverse state in "normal" direction
'Activate update of RCP(2) when servo is off
MFL(1000,1)
'Lower-end ramp
MFH(1000,1)
'Higher-end ramp
MFLTP=-1000
'Lower traverse point
MFHTP=1000
'Higher traverse point
MFMUL=1
'Ratio (default is 1)
MFDIV=1
'Ratio (default is 1)
MFSDC(4000,2)
'Dwell for 4000 counts, 2 is active traverse mode
MFR
'Enable follow mode
G
'Begin move
Chevron Wrap Example
This example uses a more complex winding method, where camming (high-frequency
oscillation) occurs on top of gearing (low-frequency traverse), to create a custom "chevron"
wrap. For electronic camming details, see Cam Mode (Electronic Camming) on page 155.
The frequency plot for this winding method is shown in the following figure.
"Chevron" Winding Frequency Plot
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Part 1: Programming: Chevron Wrap Example
Smooth High-Frequency Oscillation
The overlapping "chevron" wraps are advantageous because they prevent the material from
becoming trapped in the windings of the underlying layer, which can cause it to be
pinched/kinked or break during removal. Either of those conditions would cause the spool to
be defective. Refer to the following figures.
To create this solution, the SmartMotor requires only four parameters:
'System parameters:
c=8000
'Master (External) Encoder resolution
'(counts per 360 deg turn of spool)
w=10000
'Spool width distance in encoder counts of traversing slave motor
'Chevron shape parameters:
n=1000
'Slave counts per full (360 deg) turn of master spool (pitch)
nn=1000
'Slave counts per half (180 deg) turn of master spool
'(amplitude of chevron)
The complete code example is available in Chevron Traverse & Takeup on page 815. For more
information on electronic camming, see Cam Mode (Electronic Camming) on page 155.
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Part 1: Programming
Note that camming can be linear, or cubic spline, which permits a smooth, high-frequency
oscillation on top of the low-frequency traverse. Refer to the following figure.
Part 1: Programming: Other Traverse Mode Notes
Other Traverse Mode Notes
The following are other notes related to operation in Traverse mode.
l
MFA() is not used at this time in Traverse mode.
l
MFD() should only be used for a stop from the X command while in Traverse mode.
Part 1: Programming
l
l
l
The traverse points are in the context of move generator 2: RPC(2). If multiple
trajectories are commanded after the start of the move, then they are not specifically in
the context of the motor shaft's actual position (RPA).
RPC is automatically copied to RPC(2) at the start of the Traverse move only during
single-trajectory moves. This is done to accommodate the typical use of a single
trajectory where the user is homing the machine based on shaft position.
If multiple trajectories are active, then the user is responsible for setting RPC(2) with
the O(2)= command or shifting with the OSH(2)= command to establish the desired
frame of reference.
CAUTION: Do not issue a change to RPC(2) during a traverse move using
either the O(2)= or OSH(2)= command. This will produce unpredictable
behavior that is undefined at this time. Those commands should be issued
before issuing a G or G(2) when in dual-trajectory mode.
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MFMUL and MFDIV determine the ratio of master to slave motion as a maximum when a
slew is reached.
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The sign of MFMUL/MFDIV is irrelevant in this mode of operation. Only the
absolute value is used.
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The initial direction of motion is not affected by the sign of MFMUL/MFDIV.
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If MFMUL=0, then the traverse process ends when the next endpoint is reached.
Traverse mode of operation is initiated using the G command. G may be issued from
drive off or other modes of operation.
CAUTION: Do not repeat the G command while in traverse mode. Doing so
will produce unpredictable behavior that is undefined at this time.
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Part 1: Programming: Traverse Mode Status Bits
Traverse Mode Status Bits
Status
Word
Bit
7
8
Description
Trajectory is in progress. Indicates that trajectory is being generated and
continuous motion is in progress, even if in a dwell state.
7
9
Ascend: In Traverse mode, this indicates the lower traverse point ramp is
in progress.
7
10
Slew: in Traverse mode, this indicates the slew segment is in progress.
7
11
Descend: In Traverse mode, this indicates the higher traverse point ramp
is in progress.
7
12
Dwell: In Traverse mode, this indicates the higher dwell state in
progress.
7
13
State: The most recent Traverse mode state.
=0 Motion profile is set to/moving in the forward direction. This is the
power-up default state.
=1 Motion profile is set to/moving in the reverse direction.
The use of status word 7, bit 13 is undefined in other modes of operation
with trajectory 2.
7
14
Dwell: In Traverse mode, this indicates the lower dwell state in progress.
Cam Mode (Electronic Camming)
Electronic camming is similar to mechanical cams — for a given master rotating device, a
slave device tracks the speed and moves through a fixed profile of positions. In electronic
camming, the profile is a look-up table of data stored in the slave motor.
Example Cam Profile
The Class 5 SmartMotor supports motion profiles based on data stored in a Cam table. The
Cam table can reside in EEPROM memory or in the user array.
NOTE: Cam tables can be written to EEPROM memory, which retains its contents
when power is removed; or to the variable data space, which provides more
flexibility but is cleared when power is removed.
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Part 1: Programming
Bit is cleared when X, S, fault, OFF or MFMUL=0 ends the trajectory.
Part 1: Programming: Cam Mode (Electronic Camming)
The following describes the available storage locations:
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RAM storage: 1 Cam table
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Flash storage: 9 Cam tables
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Part 1: Programming
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52 fixed length data points, 35 variable length data points
750 fixed length data points, 500 variable length data points
EEPROM: Up to 8000 points total may be stored and moved to flash or RAM
Cam table data may be directly imported from a tab delimited text file or spreadsheet.
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Data imported to the SMI software can be written into a program, copied to the
clipboard or written directly (live) into a motor
Import function allows for optimizing data points for cubic spline interpolation
The motor position is interpolated between each data point. This interpolation can be specified
as linear, spline that is not periodic and spline that is periodic. Spline mode allows motion
paths to be created from a reduced number of points. For example, the following figure shows
an X-Y plot of Cam tables running on two motors. While the original data contained over 700
data points, Spline mode reduced the data set to approximately 30 points in each motor.
Example of Spline Mode Points and Motion Path
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Part 1: Programming: Electronic Gearing and Camming over CANopen
One example of this is a complex "chevron" pattern winding application where camming
(high-frequency oscillation) occurs on top of gearing (low-frequency traverse). This is used to
spool material in a way that prevents it from getting pinched or trapped in the underlying
layers. For more details, see Chevron Wrap Example .
Electronic Gearing and Camming over CANopen
Beginning with firmware 5.x.4.30 or later, the SmartMotor provides precise time
synchronization over CANopen between motors for electronic gearing and camming
applications (for example, traverse and take-up spooling). The CANopen objects related to
this are: 1005h, 1006h, 2207h, 2208h, 2209h, 220Ah-220Dh. For details on these objects refer
to the SmartMotor CANopen Guide. For a sample user program, see CAN Bus - Time Sync
Follow Encoder on page 821.
NOTE: This capability is currently available on Class 5 SmartMotors only.
Electronic Camming Commands
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
CTE(table)
Erase tables in EEPROM memory starting at the value specified
To erase all EEPROM tables, choose CTE(1). By choosing a number higher than 1, lower table
numbers can be preserved. If, for example, there were three tables stored, CTE(2) would
erase table 2 and 3, but not table 1. CTE(0) is not defined.
CTA(points,seglen[,location])
Add a Cam table
The CTA command configures a table to use either EEPROM memory (default) or the data
variable space (optional) in preparation for writing the table with the CTW command.
points
Specifies the number of points in the table.
seglen
Specifies the master encoder distance between each point. If seglen is
set to 0, then the distance is specified per data record through the CTW
command.
[,location] Is optional and specifies if this is a table in user variables or EEPROM.
By default, if [,location] is omitted, then EEPROM is chosen. If
[,location] is 0, then the user array location is chosen (al[0] through al
[50].) Only one table can exist in the user variables. Up to 10 tables
(numbered 1 through 10) can exist in EEPROM location.
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Part 1: Programming
Cam mode has the ability to apply sophisticated shaping and selection of the encoder input
source using Follow mode. Cam mode uses MFMUL and MFDIV to set the follow ratio for
incoming master counts. Through the use of the SRC command, either the external encoder or
a fixed-rate "virtual encoder" can be used as the input source to the cam. This fixed-rate
encoder also works through Follow mode, so the actual rate into the cam can be set. The
speed of the virtual encoder is equivalent to the PID rate. In other words, for a Class 5 motor
at its default PID rate of 8000 Hz, the virtual encoder sees 8000 encoder counts per second.
Part 1: Programming: CTW(pos[,seglen][,user])
CTW(pos[,seglen][,user])
Write a Cam table
The CTW command writes to the table addressed by the most recent CTA command. CTW
writes to either the EEPROM-stored tables or the user-array-stored tables.
Part 1: Programming
NOTE: Typically, the actual Cam table would not be part of the program that
executes the mode. SMI tools are available to facilitate Cam table generation.
pos
The position coordinate of the motor for that data point. The first point
in the table should be set to 0 to avoid confusion. When the table is run,
the currently commanded motor position seamlessly becomes the
starting point of the table. By keeping the first point of the table at 0, it
is easier to realize that all of the data points are relative to that starting
point.
[,seglen]
If this Cam table was specified as variable length in the CTA command,
then [,seglen] is required for each data point. It is optional when using a
fixed-length Cam table (specified in the CTA command). [,seglen]
represents the absolute distance of the encoder source beginning from
the start of the table. For reasons similar to pos, [,seglen] should also
be 0 for the first data point specified.
If you wish to use the optional [,user] parameter, then the [,seglen]
parameter must be used (set to the default: 0).
[,user]
Optional. Defines Cam user bits and Spline mode override. It is an 8-bit
binary weighted value where:
Bit 0-5: User may apply as desired to Cam status bits 0-5 of Status word
8.
Bit 6: Factory Reserved — leave as 0.
Bit 7: When set to 0, no special override of Spline mode. When set to 1,
the segment between the previous point and this point are forced into
linear interpolation. Bit 7 has no effect when MCE has chosen linear
mode.
When loading Cam tables, it is important to be aware of the table capacity. As mentioned
previously:
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When a Cam table is stored in user array memory (al[0]-al[50]), 52 points can be
stored as fixed-length segments; 35 points are possible when variable-length segments
are used.
When Cam tables are written to EEPROM memory, significantly more data can be
written. For fixed-length segments, there is space for at least 750 points. For variablelength segments, at least 500 points can be written.
MCE(arg)
Cam table interpolation mode
The MCE(arg) command sets up the Cam function and defines the behavior based on the
following arguments:
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Part 1: Programming: MCW(table,point)
0
Force linear motion for all sections
1
Spline mode with non-periodic data at ends of table
2
Spline mode with periodic data wrapped at ends of table
MCW(table,point)
The MCW() command determines where to start the Cam function.
table
Defines the Cam table number
point
Defines the starting point in the table
RCP
Read Cam pointer
The RCP command reports the Cam pointer, and the CP variable can be used by the user
program.
RCTT
Read number of Cam tables
The RCTT command reports the number of Cam tables, and the CTT variable can be used by
the user program.
MC
Enter Cam mode
The MC command enters Cam mode and must be issued before the G command.
MCMUL=formula
Cam table value multiplier
This value is multiplied by the Cam table value and fed as a commanded value to the
trajectory of the camming motor.
MCDIV=formula
Cam table value divisor
This value is divided into the Cam table value and fed as a commanded value to the trajectory
of the camming motor
O(arg)=formula
Set move generator origin to value
The O()= command sets the move generator origin based on the following arguments:
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Part 1: Programming
Cam table starting point
Part 1: Programming: OSH(arg)=formula
0
Set the origin of the global move generator (sets value of PA)
1
Set the origin of move generator 1 (sets value of PC(1))
2
Set the origin of move generator 2 (sets value of PC(2))
OSH(arg)=formula
Part 1: Programming
Shift move generator origin to value
The OSH()= command shifts the move generator origin based on the following arguments:
0
Shift the origin of the global move generator (sets value of PA)
1
Shift the origin of move generator 1 (sets value of PC(1))
2
Shift the origin of move generator 2 (sets value of PC(2))
Cam Example Program
The following chart shows a plot of from the example code that follows. It shows the effects of
certain status bits, I/O points and the resulting motion profile.
Sample Plot from Example Program
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Part 1: Programming: Cam Example Program
Note the following:
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Changes to the SRC sign results in moving the opposite direction through the Cam table.
Changes to MFMUL and/or MFDIV result in changes to the frequency or speed at which
the Cam table is processed. The MFMUL and MFDIV commands do not have an effect on
dwell time or distance. Dwell is strictly based on raw master encoder counts selected by
the SRC() command specifying internal virtual or external master count source.
Changes to MCMUL and MCDIV affect the amplitude of the wave form.
In all cases, updates automatically take effect when passing from the last point of the
Cam table into the first point (or from the first point into the last point, if traveling in the
opposite direction).
ECHO
'ECHO on to allow auto addressing downstream
a=1
'Set default variable for address 1
WAIT=2000
'Wait for boot up time differences
PRINT(#128,"a=a+1",#13)
'each motor prints downstream a=a+1
WAIT=2000
'Wait for response time variations
ADDR=a
'Set motor address
WAIT=2000
EIGN(W,0) ZS
'=========================================================
'Set up parameters
rr=-1
'Home direction
vv=100000
'Home speed
aa=1000
'Home accel
ee=100
'Home error limit
tt=1500
'Home torque limit
hh=4000
'Home offset
mm=90000
'Max stroke with room
'=========================================================
END
C40
CTE(1)
CTA(15,8000)
CTW(0)
'CP=0 {cam pointer or cam index pointer}
CTW(500)
'CP=1
CTW(4000)
'CP=2
CTW(20000)
CTW(45000)
CTW(50000)
CTW(60000)
CTW(65000)
CTW(55000,0,1) 'Turn on Bit 0 Status Word 8
CTW(46000)
'Will turn off at this point
CTW(45000,0,2) 'Turn on Bit 1 Status Word 8
CTW(8000)
'Will turn off at this point
CTW(4000)
CTW(500)
CTW(0)
'CP=14
RETURN
'=========================================================
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Part 1: Programming
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Part 1: Programming
Part 1: Programming: Cam Example Program
C41
MP PT=0 G TWAIT
SRC(2)
MCE(1)
'Spline
MCW(1,0)
MFA(0)
MFD(0)
MFMUL=1
MFDIV=1
MCMUL=1
MCDIV=1
MFSLEW(112000,1)
MFSDC(100,0)
'Set dwell for "c" counts, auto rev. after dwell
MC
G
RETURN
'========================================================
C5 'Home routine (Home to hard stop)
PRINT("HOME MOTOR",#13)
VT=vv*rr
'Set home velocity
ADT=aa
'Set home accel/decel
MV
'Set to Velocity mode
ZS
'Clear any prior errors
T=tt*rr
'Preset torque values
G
'Begin move toward hard stop
MT
WHILE ABS(EA) New from the SMI software toolbar. For details, see Opening the SMI Window
(Program Editor) on page 52.
The following program example shows an infinite loop. It causes the motor to move back and
forth forever.
Simple Move Program Example
NOTE: Programs execute at rates of thousands of lines per second.
Flow Commands
After a program starts, there are a variety of commands that can redirect program flow, and
most of those can do so based on certain conditions. How these conditional decisions are set
up determines what the programmed SmartMotor will do and how "smart" it will actually be.
Flow commands are described in the following sections. A later section describes Interrupt
commands, which are used to execute subroutines based on the change in a status bit. For
more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: RUN
RUN
Execute Stored User Program
If the SmartMotor is reset with a Z command or at power-up, all previous variables and mode
changes are erased for a fresh start, and the program begins execution from the top.
Alternatively, the RUN command can be used to start the program, in which case the state of
the motor is unchanged and its program will be invoked.
Halt Program If No RUN Issued
The RUN? command prevents further execution of code until the RUN command is received
over the serial channel. On power up, program code executes to the point of reaching the
RUN? command. When RUN is issued through the serial port, the CPU executes all code— it
starts at the top and moves down through the program, jumps over the RUN? command to the
next line of code and then continues execution to the end of the program.
PRINT("Boot-Up",#13)
RUN?
PRINT("Run Issued",#13)
END
'Message always prints
'Pgm. stops here on reset or power up
'This runs if RUN received
The above code prints the first message only after a Z command or on power-up, but it prints
both messages when a RUN command is received over the serial line.
During development, the RUN? command placed at the top of your program can protect you
from accidentally locking up your SmartMotor with a bad program.
GOTO#, GOTO(label), C#
Redirect Program Flow, Place a Label
The most basic command for redirecting program flow, without inherent conditions, is GOTO#
or GOTO(label), used in conjunction with the label C#. A label consists of the letter C followed
by a number (#) from 0 to 999, and it is inserted in the program as a placeholder. If a label
like C1 is placed in a program and that same number is placed at the end of a GOTO command
like GOTO1, the program flow will be redirected to label C1, and the program will proceed
from there.
C10
IF IN(0)==0
GOSUB20
ENDIF
IF IN(1)==0
a=30
GOSUB(a)
ENDIF
GOTO(10)
'Place label
'Check Input 0
'If Input 0 low, call Subroutine 20
'End check Input 0
'Check Input 1
'as example for below
'If Input 1 low, call Subroutine 30
'End check Input 1
'Will loop back to C10
As many as a thousand labels (0 - 999) can be used in a program. However, the program will
become increasingly difficult to read or debug as more GOTO commands are used.
Therefore, try using only one GOTO command, and use it to create the infinite loop necessary
to keep the program running indefinitely as some embedded programs do. For example, put a
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Part 1: Programming
RUN?
Part 1: Programming: GOSUB#, GOSUB(label), RETURN
C10 label near the beginning of the program but after the initialization code, and then place a
GOTO10 at the end. Then, every time the GOTO10 is reached, the program will loop back to
label C10 and start over from that point until the GOTO10 is reached again, which will start the
process at C10 again, and so on. This will make the program run continuously.
Any program can be written with only one GOTO. It might be a little harder, but it will force
better program organization. If you organize your program using the GOSUB command
instead of multiple GOTO commands, it will be much easier to read and support.
Part 1: Programming
GOSUB#, GOSUB(label), RETURN
Execute a Subroutine and Return
Just like the GOTO# command, the GOSUB# command, used in conjunction with a C# label,
redirects program execution to the location of the label. However, unlike the GOTO#
command, the C# label needs to eventually be followed by a RETURN command. This returns
the program execution to the location of the original GOSUB# command that initiated the
redirection.
There may be many sections of a program that need to perform the same basic group of
commands. By encapsulating these commands between a C# label and a RETURN, they
become a subroutine that can be called any time from anywhere with a GOSUB# or GOSUB
(label), rather than being repeated. There can be as many as one thousand (0 - 999) different
subroutines, and they can be accessed as many times as the application requires.
CAUTION: Calling subroutines from the host can crash the stack if not done
carefully.
By pulling sections of code out of a main loop and encapsulating them into subroutines, the
main code can also be easier to read. Therefore, organizing code into multiple subroutines is a
good practice.
C10
IF IN(0)==0
GOSUB20
ENDIF
IF IN(1)==0
a=30
GOSUB(a)
ENDIF
GOTO(10)
'Place label
'Check Input 0
'If Input 0 low, call Subroutine 20
'End check Input 0
'Check Input 1
'as example for below
'If Input 1 low, call Subroutine 30
'End check Input 1
'Will loop back to C10
IF, ENDIF
Conditional Test
When the execution of the code reaches the IF command, the code between that IF and the
following ENDIF executes only when the condition directly following the IF command is true.
For example:
a=IN(0)
a=a+IN(1)
IF a==1
b=1
ENDIF
'Variable "a" set 0,1
'Variable "a" 0,1,2
'Use double "=" to test
'Set "b" to one
'End IF
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Part 1: Programming: ELSE, ELSEIF
Variable "b" gets set to one only when variable "a" is equal to one. If a is not equal to one,
then the program continues to execute using the command following the ENDIF command.
Also, notice that the SmartMotor language uses a single equal sign (=) to make an
assignment, such as where variable a is set to equal the logical state of input 0. Alternatively,
a double equal sign (==) is used as a test, to query whether variable a is equal to 1 without
making any change to it. These are two different functions. Having two different syntaxes has
other benefits.
The ELSE and ELSEIF commands can be used to add flexibility to the IF statement. If it were
necessary to execute different code for each possible state of variable "a", the program could
be written as follows:
a=IN(0)
a=a+IN(1)
IF a==0
b=1
ELSEIF a==1
c=1
ELSEIF a==2
c=2
ELSE
d=1
ENDIF
'Variable "a" set 0,1
'Variable "a" 0,1,2
'Use double "=" test
'Set "b" to one
'Set "c" to one
'Set "c" to two
'If not 0 or 1
'Set "d" to one
'End IF
There can be many ELSEIF statements but only one ELSE. If ELSE is used, it needs to be the
last statement in the structure before the ENDIF. There can also be IF structures inside IF
structures — that’s called "nesting" and there is no practical limit to the number of IF
structures that can nest within one another.
The commands that can conditionally direct program flow based on a test, such as the IF,
where the test may be a==1, can have far more elaborate tests inclusive of virtually any
number of operators and operands. The result of a comparison test is zero if "false", and one
if "true". For example:
IF ABS(EA-5)>x 'A numeric
'placing further commands
ENDIF
IF (a(RES/2)
'Check shortest distance using Modulo Math function
PRT=RES-(PA%RES) 'Set Relative Position to Modulo Remainder
ELSE
PRT=-(PA%RES)
'Otherwise Set to RES - Modulo remainder
ENDIF
The following example uses #define to associate values and I/O points for use in code.
#define UpperLimit
3000
'Set high voltage threshold
#define LowerLimit
1500
'Set low Voltage threshold
#define MyVoltage
INA(V1,3)
'Set input Port to read
C124
IF (UpperLimit>MyVoltage) & MyVoltage>LowerLimit
PRINT("Voltage is in range",#13)
ELSEIF MyVoltage>=UpperLimit
PRINT("Voltage is too high",#13)
ELSE
PRINT("Voltage is too low",#13)
ENDIF
RETURN
WHILE, LOOP Examples
The following example shows the proper use of the WHILE and LOOP commands. For more
details on these commands, see WHILE, LOOP on page 180.
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Part 1: Programming
The following are techniques that can be used for flow control in your SmartMotor program.
All sample code shows advanced use of program flow syntax. Additionally, there are
references to lesser-used math functions and system parameters to enforce learning of new
programming techniques.
Part 1: Programming
Part 1: Programming: GOTO(), GOSUB() Examples
#define GoSelSwitch
INA(V1,6)
#define Go
200
#define Sel
4000
C345 'Detecting switch on SmartBox
IF (GoSelSwitchGo)
PRINT("Switch Released",#13)
ENDIF
WHILE 1
IF GoSelSwitch>=Sel
PRINT("Sel",#13)
WHILE GoSelSwitch>=Sel LOOP
PRINT("Switch Released",#13)
ENDIF
IF GoSelSwitch<=Go
PRINT("Go",#13)
WHILE GoSelSwitch<=Go LOOP
PRINT("Switch Released",#13)
ENDIF
LOOP
RETURN
GOTO(), GOSUB() Examples
The Class 5 software allows passing of values into GOTO and GOSUB commands. For details,
see GOTO#, GOTO(label), C# on page 177 and GOSUB#, GOSUB(label), RETURN on page 178.
There are two theories on writing code: One says uses all GOTO commands; the other says
use all GOSUB commands. There are pros and cons to both methods.
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GOTO is good for conditional code bypassing
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GOSUB ensures a return to where you came from
Pay attention to either command when you run into a RETURN that gets ignored by a GOTO or
when you never reach a RETURN for a previous GOSUB due to a GOTO.
i=400
'Motor Current to check for
WHILE 1 'While forever
IF UIA>i
'If motor current in mAmps is > "i"
GOSUB(100)
WHILE UIA>i LOOP 'prevent double trigger
ENDIF
LOOP
C100
IF UIA>(i*2)
'If current is twice as much
GOTO200
'bypass PRINT line below
ENDIF
PRINT("Current is above ",i,"mAmps",#13)
C200
PRINT("Current twice as high as it should be!",#13)
RETURN
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Part 1: Programming: SWITCH, CASE, BREAK, ENDS Examples
GOTO(label) and GOSUB(label) may be used where label can be a variable, a specific number
or a single operand such as a+b, x-5, etc.
WHILE 1
x=IN(W,0,15)
'precalculate to prevent parenthesis in GOSUB()
IF y!=x
y=x
GOSUB(15-x) 'simple single operand math only
ENDIF
LOOP
SWITCH, CASE, BREAK, ENDS Examples
The following code shows the proper use of the SWITCH, CASE, BREAK and ENDS commands.
For more details on these commands, see SWITCH, CASE, DEFAULT, BREAK, ENDS on page
180.
C500
#define
#define
WHILE 1
FiveValues
CheckPot
INA(V1,3)/1000
501
IF x!=FiveValues
GOSUB(CheckPot)
ENDIF
LOOP
RETURN
C501
'CheckPot (Check Potentiometer)
y=FiveValues
SWITCH FiveValues
CASE 0 PRINT("Value ",y,#13) BREAK
'Note: Defines not allowed in PRINTs
CASE 1 PRINT("Value ",y,#13) BREAK
CASE 2 PRINT("Value ",y,#13) BREAK
CASE 3 PRINT("Value ",y,#13) BREAK
CASE 4 PRINT("Value ",y,#13) BREAK
ENDS
x=FiveValues
RETURN
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Part 1: Programming
NOTE: Nested parenthesis are not permitted—for example, GOTO(IN(3)).
Part 1: Programming: Interrupt Programming
The following is an example of printing menu selections for a terminal screen using SWITCH.
This example comes from the SmartBox demo program. For SmartBox details, see this
address:
Part 1: Programming
http://www.animatics.com/products/smartmotor/testing-and-development.html
IF INA(V1,6)>3800
'If SEL pressed
m=m+1
'increment menu item
IF m>9 m=1 ENDIF
'Limit menu items between 0 and 9
GOSUB102
'PRINT MENU OPTION
WHILE INA(V1,6)>3500 LOOP
'don't double trigger
ENDIF
'===========================================================================
C102
SWITCH m
CASE 1
PRINT("Electronic Gearing 1:1
",#13) BREAK
CASE 2
PRINT("Absolute Position Mode
",#13) BREAK
CASE 3
PRINT("Velocity Mode
",#13) BREAK
CASE 4
PRINT("Torque Mode
",#13) BREAK
CASE 5
PRINT("Relative Position Mode
",#13) BREAK
CASE 6
PRINT("High Speed Indexing
",#13) BREAK
CASE 7
PRINT("CAM Mode
",#13) BREAK
CASE 8
PRINT("Variable Gearing
",#13) BREAK
CASE 9
PRINT("Preset Moves
",#13) BREAK
ENDS
RETURN
Interrupt Programming
The following are interrupt commands that can be used in your SmartMotor programs.
For more details, see Part 2: SmartMotor Command Reference on page 233.
ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI
Interrupt Commands
The interrupt ITR() function can be used to configure a SmartMotor to execute a routine based
on the change of a status bit. There are dozens of different bits of information available in the
SmartMotor, which are held in groups of 16 status bits called Status Words. ITR() can tell the
SmartMotor to execute a subroutine after the change of any one of these status bits in any
Status Word. When the status bit changes, that subroutine executes at that instant from
wherever the normal program happens to be. A program of some sort must be running for the
interrupt routine to execute.
Interrupt subroutines end with the RETURNI command to distinguish them from ordinary
subroutines. After the interrupt code execution reaches the RETURNI command, it goes back
to the program exactly where it was interrupted. An interrupt subroutine must not be called
directly with a GOSUB command.
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Part 1: Programming: ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI
The ITR() function has five parameters:
ITR(Int #, Status Word, Bit #, Bit State, Label #)
Int #:
Can be eight, numbered 0 to 7
Bit #:
0 to 15
Bit State:
State that causes the interrupt, 0 or 1
Label #:
Subroutine label number to be executed, 0 to 999
For an interrupt to work it must be enabled at two levels:
l
l
Individually enable an interrupt with the EITR() command with the interrupt number, 0
to 7, in the parentheses.
Enable all interrupts with the ITRE command.
Similarly, individual interrupts can be disabled with the DITR() command, and all interrupts
can be disabled with the ITRD command.
The STACK and END commands clear the tracking of subroutine nesting, and disable all
interrupts. For details on these commands, see Flow Commands on page 176.
In the following program example, interrupt number zero is set to look at Status Word 3, Bit
15, which is Velocity Target Reached. When this status bit switches to 1, subroutine 20
executes, which issues an X command and stops the motor. Every time the motor reaches its
target velocity, it immediately decelerates to a stop, causing it to forever accelerate and
decelerate without ever spending any time at rest or at the target velocity.
NOTE: The STACK and END commands disable all interrupts.
EIGN(2)
'Disable left limit
EIGN(3)
'Disable right limit
ZS
'Clear faults
VT=700000
'Set target velocity
ADT=100
'Set target accel/decel
MV
'Set Velocity mode
ITR(0,3,15,1,20)'Set interrupt
EITR(0)
'Enable interrupt zero
ITRE
'Enable all interrupts
G
'Start motion
C10
'Place a label
GOTO10
'Loop, req. for int. operation
END
'End (never reached)
C20
'Interrupt subroutine
X
'Decelerate to stop
TWAIT
'Hold program until motor reaches stop
G
'Restart velocity motion
RETURNI
'Return to infinite loop
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Part 1: Programming
Status Word: 0-8,12,13,16 and 17
Part 1: Programming: TMR(x,t)
TMR(x,t)
Timers
The TMR() function controls four timers. Their states are found in the first four bits of Status
Word 4. The TMR() function can be used to execute an interrupt routine after a certain period
of time.
Part 1: Programming
The TMR() function has two parameters where:
x
t
Specifies the timer #. There are four timers: 0 to 3.
Specifies the time (in milliseconds) to count down to zero.
While the timer is counting down, the corresponding status bit in Status Word 4 will be one.
When it reaches zero, the status bit reverts to zero. This bit change can be made to trigger a
subroutine using the ITR() function.
EIGN(2)
EIGN(3)
ZS
MP
VT=500000
AT=300
DT=100
TMR(0,1000)
ITR(0,4,0,0,20)
EITR(0)
ITRE
p=0
O=0
C10
IF PA>47000
DITR(0)
TWAIT
p=0
PT=p
G
TWAIT
EITR(0)
TMR(0,1000)
ENDIF
GOTO10
END
'Disable left limit
'Disable right limit
'Clear faults
'Set Position mode
'Set target velocity.
'Set target acceleration.
'Set target deceleration.
'Set Timer 0 to 1s
'Set interrupt
'Enable interrupt
'Enable all interrupts
'Initialize variable p
'Set commanded and actual pos. to zero
'Place a label
'Just before 12 moves
'Disable interrupt
'Wait till reaches 48000
'Reset variable p
'Set target position
'Start motion
'Wait for move to complete
'Re-enable interrupt
'Re-start timer
C20
TMR(0,1000)
p=p+4000
PT=p
G
RETURNI
'Interrupt subroutine label
'Re-start timer
'Increment variable p
'Set target position
'Start motion
'Return to main loop
'Go back to label
'End (never reached)
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Part 1: Programming: Variables and Math
Variables and Math
Introduction
190
Variable Commands
190
EPTR=formula
190
VST(variable,number)
190
VLD(variable,number)
191
Math Expressions
191
Math Operations
191
Logical Operations
191
Integer Operations
191
Floating Point Functions
191
Math Operation Details and Examples
192
Array Variables
192
Array Variable Examples
193
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Part 1: Programming
This chapter provides information on using variables and math functions with the SmartMotor.
Part 1: Programming: Introduction
Introduction
Part 1: Programming
Variables are data holders that can be set and changed within the program or over one of the
communication channels. Although most of the variables are 32-bit signed integers, there are
also eight floating-point variables. All variables are represented by lower-case text.
Variables are stored in volatile memory, meaning that they are lost when power is removed,
and they default to zero on power-up. If they need to be saved, you must store them in the
EEPROM (nonvolatile memory) using the VST (Variable Store) command. For more details,
see Variable Commands on page 190.
There are three sets of integer variables, each containing twenty-six, 32-bit signed integers
and referenced by:
l
a,b,c,…,x,y,z
l
aa,bb,cc,…,xx,yy,zz
l
aaa,bbb,ccc,…,xxx,yyy,zzz
There is an additional set of fifty-one, 32-bit signed integers in array form, al[i],i=0…50.
The eight floating-point variables are also in array form and referenced by af[i],i=0…7.
a=#
Set variable a to a numerical value
a = formula
Set variable a to value of a variable or formula
For more details on array variables, see Array Variables on page 192.
Variable Commands
The following commands are used to load and store variables. For more details, see Part 2:
SmartMotor Command Reference on page 233.
EPTR=formula
Set EEPROM Pointer in Bytes, 0-32767
To read or write into this memory space, it is necessary to properly locate the pointer. This is
accomplished by setting EPTR equal to the offset in bytes. EEPROM locations above EPTR equal
to 32767 contain important motor information and are read-only.
VST(variable,number)
Store Variables
Use the VST command to store a series of variables starting at the pointer. In the "variable"
space of the command, put the name of the variable; in the "number" space, put the total
number of sequential variables that need to be stored. Enter a one if just the variable
specified needs to be stored. The actual sizes of the variables are recognized automatically.
Do not put the VST command in a tight program loop or you will likely exceed the 1M writecycle limit, which will damage the EEPROM.
NOTE: Keep the VST command out of tight loops to avoid exceeding the 1M writecycle limit of the EEPROM.
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Part 1: Programming: VLD(variable,number)
VLD(variable,number)
Load Variables
Math Expressions
Variables can be used in mathematical expressions with: math operations, logical operations
and integer operations, as described in the following sections.
Math Operations
All variables can be used in mathematical expressions assuming standard hierarchical rules
and using any of the mathematical operations:
+
Addition
-
Subtraction
*
Multiplication
/
Division
Logical Operations
The previous mathematical operations can be combined with the following logical operations:
>
Less than
<
Greater than
==
Equal to
!=
Not equal to
<=
Less than or equal to
>=
Greater than or equal to
Integer Operations
The following integer operations are also supported:
^
Raise to an integer power <=4
&
Bit wise AND (see ASCII Character Set on page 838)
|
Bit wise OR (see ASCII Character Set on page 838)
!|
Bit wise exclusive OR (see ASCII Character Set on
page 838)
%
Modulo
SQRT (x)
Integer Square Root (x = integer, where x>=0)
ABS (x)
Integer Absolute Value (x = integer)
Floating Point Functions
The following floating point functions are also supported:
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Part 1: Programming
Use the VLD command to load a series of variables starting at the pointer. In the "variable"
space of the command, put the name of the variable; in the "number" space, put the number
of sequential variables to be loaded. Enter a one if just the variable specified needs to be
loaded. Again, the actual sizes of the variables are recognized automatically.
Part 1: Programming: Math Operation Details and Examples
FSQRT(x)
Floating Point Square Root (x = float, where x>= 0)
FABS(x)
Floating Point Absolute Value (x = float)
SIN(x)
Floating Point Sine (x = float in degrees)
COS(x)
Floating Point Cosine (x = float in degrees)
TAN(x)
Floating Point Tangent (x = float in degrees)
ASIN(x)
Floating Point Arc Sine in degrees on [-90,90],
(x = float on the interval [-1,1])
Floating Point Arc Cosine in degrees on [0,180],
(x = float on the interval [-1,1])
Floating Point Arc Tangent in degrees on [-90,90] ,
(x = float)
Floating Point representation of PI =
3.14159265359…
Part 1: Programming
ACOS(x)
ATAN(x)
PI
Math Operation Details and Examples
In any operation, if the input is an integer then the result remains an integer. A result is
promoted to a float once the operation includes a float. Functions that require a floating-point
argument implicitly promote integer arguments to float. In converting a floating-point number
to an integer result, the floating-point number is truncated toward zero. Although the floating
point variables and their standard binary operations conform to IEEE-754 double-precision
results, the floating-point square root and trigonometric functions only produce IEEE-754
single-precision results. The following are some examples:
a=(b+c/d)*e
a=2^3
c=123%12
b=(-10=85° C
NOTE: The only fault bit with hysteresis, 80° C prior to clearing
3.
4.
B(0,6) Excessive Following Error
Historical indication
a.
EA (Actual Following Error) exceeded EL (Error Limit)
b.
EL=1000 encoder counts by default
B(0,7) Velocity Limit
Historical indication
VL sets Velocity Limit and defaults to 10400 RPM for most motors
5.
dE/dt Error Limit Rate of Change for Following Error
Defaults to +231 and is in same scaled units as velocity
6.
Travel Limits, both hardware and programmable software limits
NOTE: Peak Over Current limit is NOT a fault-causing limit! It is an indication that
the drive stage is working as hard as it can to keep up with demand.
For additional details, see Status Word: 0 Primary Fault/Status Indicator on page 858, and
Status Word: 1 Index Registration and Software Travel Limits on page 859.
Fault Bits
The ZS command typically clears all fault bits. However, issuing the ZS command when you
get a fault on the peak overcurrent bit means you will potentially mask other fault conditions
and, therefore, not know why there is a fault on the peak overcurrent bit.
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Part 1: Programming
Status bits and LED indicators are used to keep the programmer or operator aware of present
or past fault conditions of the SmartMotor. Keep the following points in mind when viewing the
status bits or LEDs.
Part 1: Programming: Error Handling
Mass Moment of Inertia mismatches and high acceleration/deceleration are the primary
reasons for getting faults on the peak overcurrent limit. However, this does not mean you will
get a continuous condition for: over current, following error or over temperature. Those are
typically in the RMS range of load and are caused by general overload conditions, excessive
friction or ambient temperature rise. For more details, see Moment of Inertia on page 852.
Part 1: Programming
Proper load to motor sizing is crucial in preventing most of these fault conditions from
occurring. Please consult the Moog Animatics Product Catalog for more information. Also, see
Torque Curves on page 867.
Error Handling
The following are techniques and commands that can be used for error handling in your
SmartMotor program.
Example Fault-Handler Code
In many multiple-axis applications, if there is a fault in one axis, it is desirable to stop all
motion in the machine. An effective way to accomplish this is to place the following example
code into every motor.
When any axis experiences a drive-disable condition, interrupt routine C0 executes. The C0
routine immediately broadcasts a global Mode Torque Brake (MTB) to stop all axes. After that,
the motor calling for the shutdown places its address in the user-accessible mode bits of
Status Word 0. For additional details, see Status Word: 0 Primary Fault/Status Indicator on
page 858.
EIGN(W,0,12)
ZS
ITR(0,0,0,0,0)
EITR(0)
ITRE
PAUSE
'Another way to disable Travel Limits
'Clear faults
'Set Int 0 for: stat word 0, bit 0,
'shift to 0, to call C0
'Enable Interrupt 0
'Global Interrupt Enable
'Pause to prevent "END" from disabling
'Interrupt, no change to stack
END
C0
MTB:0
US(0):0
US(ADDR):0
'Fault handler
'Motor will turn off with Dynamic
'breaking, tell other motors to stop.
'Set User Status Bit 0 to 1 (Status
'Word 12 bit zero)
'Set User Status Bit "address" to 1
'(Status Word 12 Bit "address")
RETURNI
After all motors are stopped, appropriate recovery actions can be taken.
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Monitor Status Word 12 in
SMI Motor View
to see the results of an
axis fault. For more details
on Motor View, see
Monitoring the SmartMotor
Status on page 200.
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 233.
PAUSE
Suspend Program Execution
The PAUSE command suspends program execution until the RESUME command is received. It
will not affect the present state of the Interrupt Handler. If the Interrupt Handler is enabled, it
will still be enabled after a PAUSE, and its execution has no affect on the interrupt/subroutine
stack.
NOTE: There is a separate stack for PAUSE that can go up to ten "resumes" deep.
It allows for PAUSES over communications and within user program interrupt
routines.
RESUME
Resume from a PAUSE
The RESUME command restarts program execution from the location following the PAUSE
command. It is intended to be issued externally over communications and cannot be compiled
within a program.
The RESUME command does not differentiate where the PAUSE came from. If you have a
PAUSE in the main program and a PAUSE in an interrupt, the PAUSE that is currently active
will be the one that is resumed.
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Part 1: Programming
Part 1: Programming: PAUSE
Part 1: Programming: Limits and Fault Handling
Limits and Fault Handling
Part 1: Programming
There are commands available for interacting with the following types of limits:
l
Position error limits
l
Velocity limits
l
Hardware limits
l
Software limits
These are described in the following sections. Additionally, this section describes the FSA
(fault stop action) command.
For more details, see Part 2: SmartMotor Command Reference on page 233.
Position Error Limits
The following commands are used to set and read position error limits:
EL=formula
Set position error limit.
=EL
Read back position error limit.
=EA
Read position error (Commanded Actual Positions).
dE/dt Limits
The following commands are used to set and read dE/dt limits:
=DEA
Read back the actual rate of change of the PID position error. This
value is averaged over four consecutive PID cycles. It is in units of
position error per PID cycle *65,536.
DEL=formula Set position error rate limit. This is useful for detecting obstructions
to the motor’s path and faulting the motor sooner than the position
error limit alone would. This is in the same units as the =DEA
command.
=DEL
Read back the error rate limit.
Velocity Limits
The following commands are used to set and read velocity limits:
VL=formula
Set the velocity fault limit in revolutions per minute. When the motor
exceeds this speed (traveling clockwise or counter clockwise), then
the motor will fault.
=VL
Read back the current setting of the limit in revolutions per minute.
Hardware Limits
The following commands are used to enable the positive and negative hardware limits
(external stimulus to limit motion; causes a motion fault if exceeded):
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Part 1: Programming: Software Limits
EILP
Enable positive limit switch on I/O port.
EILN
Enable negative limit switch on I/O port.
Software limits offer distinct advantages over hardware limits connected to the limit inputs of
the SmartMotor. Software limits are "virtual" (non-hardware) limit switches that can interrupt
motion with a limit fault in the event the actual position of the motor strays beyond the
desired region of operation. The limit fault is directionally sensitive, so it will cause a fault if
motion is commanded further in the direction of a limit once that limit has been exceeded.
SLE
Software limits enable.
SLD
Software limits disable.
SLN=formula
Sets left/negative limit.
SLP=formula
Sets right/positive limit.
SLM(mode)
Software limit mode. Determines if software limits result in a fault
or not. 0 no fault, 1 causes fault when soft limit history asserted.
Fault Handling
When a limit is exceeded, motion is interrupted with a fault. The FSA (fault stop action)
command is used in fault handling, as follows:
FSA(cause,action)
Fault stop action.
where:
cause:
the type of fault to set a mode on:
0 – All types of fault.
1 – Hardware travel limits.
2 – Reserved.
action:
action to take:
0 – Default action (MTB).
1 – Servo off.
2 – X command.
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Part 1: Programming
Software Limits
Part 1: Programming: Monitoring the SmartMotor Status
Monitoring the SmartMotor Status
NOTE: In addition to the software information in this section, there is contextsensitive help available within the SMI software interface, which is accessed by
pressing the F1 key or selecting Help from the SMI software main menu.
Part 1: Programming
The Motor View tool is used to monitor the status of the SmartMotor. To see the status of the
connected motor, select:
Tools > Motor View > double-click the desired motor
Selecting a Motor
After the Motor View window appears, click Poll. The status of the selected motor is updated in
the window, as shown in the following figure.
NOTE: The Motor View window provides a view into the status of a SmartMotor.
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Part 1: Programming
Part 1: Programming: Monitoring the SmartMotor Status
Motor View (with Polling Enabled)
NOTE: The SmartMotor's hardware limits must be connected (tied low) or disabled
for motion to occur. Therefore, if your SmartMotor doesn't move when moving the
slider or issuing a motion command, verify that you've either connected the limits
or selected both Disable Hardware Limits check boxes (located at the lower-right
corner of the SmartMotor Playground screen).
WARNING: DO NOT disable the hardware limits if this action creates a safety
hazard for personnel or equipment.
Optionally, if you see limit errors and want to move the motor without wiring the limits or
disabling them in the SmartMotor Playground, you can issue terminal commands to disable
the limits and reset the errors. To do this, issue the following commands in the Terminal
window (be sure to use all caps and don’t enter the comments to the right). For more details
on using the Terminal window, see Terminal Window on page 66.
EIGN(2) 'Disable Left Limit
EIGN(3) 'Disable Right Limit
ZS 'Reset errors
Normally, when the motor is attached to an application that relies on proper limit operation,
you would not disable them. If your motors are connected to an application that is capable of
causing damage or injury, it would be essential to properly install the limits before
experimenting.
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Part 1: Programming: System Status
System Status
Part 1: Programming
This chapter provides information on using system status words and bits with the SmartMotor.
Introduction
203
Retrieving and Manipulating Status Words/Bits
203
System and Motor Status Bits
203
Reset Error Flags
205
System Status Examples
205
Timer Status Bits
206
Interrupt Status Bits
206
I/O Status
207
User Status Bits
207
Multiple Trajectory Support Status Bits
208
Cam Status Bits
209
Interpolation Status Bits
210
Motion Mode Status
210
RMODE, RMODE(arg)
210
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Part 1: Programming: Introduction
Introduction
The SmartMotor System Status is divided among 16-bit status words. Many status bits are
predefined and offer information about the state of the SmartMotor operating system or the
motor itself. However, there are status words that contain user bits and have been set aside
for use by the programmers and their specific applications.
Status bits can be used to cause interrupts within an application program. The state of a status
bit can also be tested by IF and WHILE instructions. Therefore status bits can determine the
flow or path of execution of an application program.
In addition to the information in this chapter, see Status Words on page 857. Also, the Moog
Animatics website contains a useful tool for working with status bits, the SmartMotor
Developer's Worksheet, which is available at:
http://www.animatics.com/support/download-center.html
Retrieving and Manipulating Status Words/Bits
The following commands are used in retrieving and manipulating status words and bits.
=W(word)
Gets the 16-bit status word.
=B(word,bit)
Gets status bit, word=Word#, bit=Bit#.
Z(word,bit)
Clears status bit, word=Word#, bit=Bit#.
=B@
Gets a status bit through direct addressing, where @ is replaced
with a lower case alpha character.
Z@
Clears a status bit through direct addressing, where @ is
replaced with a lower case alpha character.
ZS
Clears a defined set of status bits; its intent is to clear the faults
of a motor allowing motion to continue from a G command.
For more details, see Part 2: SmartMotor Command Reference on page 233.
System and Motor Status Bits
There are many system and motor status bits available to govern the application program and
motor behavior. The following list shows many of the useful, directly-addressed status bits.
Note that the following is not the complete list of status bits. You should also refer to Status
Words on page 857.
General System Directly-Addressed Status Bits
Bk
Program check sum/EEPROM failure
Bs
Syntax error occurred
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Part 1: Programming
NOTE: Status bits may not be cleared or reset if the condition that set it still exists
(for example, the Bh bit).
Part 1: Programming: System and Motor Status Bits
Part 1: Programming
General Motor Directly-Addressed Status Bits
Bo
Motor off
Bt
Trajectory in progress
Bw
Position wraparound occurred
Bv
Velocity limit reached
Ba
Over current state occurred
Bh
Excessive temperature
Be
Excessive position error
Motor Hardware Limits Directly-Addressed Status Bits
Bm
Real time negative hardware limit, left limit
Bp
Real time positive hardware limit, right limit
Bl
Historical negative hardware limit, left limit
Br
Historical positive hardware limit, right limit
Motor Software Limits Directly-Addressed Status Bits
Bms
Real time negative hardware limit, left limit
Bps
Real time positive hardware limit, right limit
Bls
Historical negative software limit, CCW limit
Brs
Historical positive software limit, CW limit
Motor Index/Capture Directly-Addressed Status Bits
Bi(0)
Rising index/capture available on the internal motor encoder
Bi(1)
Rising index/capture report available on the external encoder
Bj(0)
Falling index/capture value available on the internal motor encoder
Bj(1)
Falling index/capture value available on the external encoder
Bx(0)
Hardware index/capture input level on the internal motor encoder
Bx(1)
Hardware index/capture input level on the external encoder
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: Reset Error Flags
Reset Error Flags
Za
Reset over current state occurred
Zh
Reset excessive temperature
Ze
Reset excessive position error
Zl
Reset historical left limit occurred
Zr
Reset historical right limit occurred
Zls
Reset historical left limit occurred
Zrs
Reset historical right limit occurred
Zs
Reset syntax error occurred
ZS
Resets all above Z status flags, includes Bi(#) and Bj(#) statuses
For more details, see Part 2: SmartMotor Command Reference on page 233.
System Status Examples
An example of where you could use a System status bit would be to replace the TWAIT
command. The TWAIT command pauses program execution until motion is complete, but
interrupt subroutines will still take place. To avoid a routine simply resting on the TWAIT
command, a routine can be written that does much more.
The following code example performs the same function as the TWAIT command:
WHILE Bt
LOOP
'While trajectory
'Loop back
As shown in the following example, the previous routine can be augmented with code that
takes specific action in the event of an index signal:
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Part 1: Programming
If action is taken based on some of the error flags, the flag will need to be reset in order to
look out for the next occurrence, or in some cases, depending on how the code is written,
prevent repeated action on the same occurrence.
Part 1: Programming
Part 1: Programming: Timer Status Bits
EIGN(W,0)
ZS
Ai(0)
MV VT=1000 ADT=10
G
WHILE Bt
IF Bi(0)==0
GOSUB(1)
ELSE
X
ENDIF
LOOP
OFF
END
C1
IF B(4,0)==0
a=a+1
TMR(0,1000)
ENDIF
RETURN
END
'Set all I/O to be general inputs a=0
'Clear all faults
'Arm motor’s capture register
'Set up slow velocity mode, slow accel/decel
'Start motion
'While trajectory
'Check index captured of encoder
'Call subroutine
'End checking
'Loop back
'SUB 1: Increment a every 1 second
'Check Timer 0 status
'Updating a every second
'Set Timer 0 counting
Timer Status Bits
Timer Status Bits are true while a timer is actively counting. Timers have resolution of 1
millisecond.
TMR(0,1000)
Sets Timer Status bit 0 true for 1 second.
=TMR(3)
Gets the value of Timer 3.
For more details, see Part 2: SmartMotor Command Reference on page 233.
Interrupt Status Bits
Interrupt Status Bits are true if an interrupt is enabled. It is important to note the interrupts
need to be configured before being enabled for proper operation. For details on configuring
interrupts, refer to Interrupt Programming on page 186.
The following commands would directly affect the state of the interrupt status bits:
ITRE
Enables the interrupt handler, sets Interrupt Status Bit 15
ITRD
Disables the interrupt handler, clears Interrupt Status Bit 15
EITR(0)
Enables the highest priority interrupt, sets Interrupt Status Bit 0
DITR(0)
Disables the highest priority interrupt, clears Interrupt Status Bit 0
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: I/O Status
I/O Status
IN()
Get I/O input
W()
Get a specific status word
B()
Get status bit
RIN(IO)
Report the state of an I/O
RW(value)
Report status word
RB(sw,b)
Report status bit, b, from status word, sw
For more details, see Part 2: SmartMotor Command Reference on page 233.
User Status Bits
Status words 12 and 13 contain user status bits (status bits that can be set by the user). User
bits allow you to keep track of events or status within an application program. Their functions
are defined by the application program of the SmartMotor. User bits are addressed
individually starting at 0 (zero-based). Likewise, the user bits words are addressed starting at
0 (zero-based).
A powerful feature of user bits is their ability to be addressed over networks such as
Combitronic or CANopen. This feature allows a hosting application to cause a SmartMotor to
run an interrupt routine. For details, see Interrupt Programming on page 186.
The user bits can also be addressed as words, with or without a mask, to define which bits are
affected. The following are examples of commands that directly effect the user bits.
US(0)
Set user bit 0
US(W,0,a)
Set first three user bits when a=7
UO(0)=a&b
Set user bit to 1 if the bit-wise operation result is odd, else set it to 0
UO(W,0)=x
Set status word 12 to the value of x
UO(W,1)=123
Set status word 13 to the value 123
UO(W,1,7)=a
Set user bits 16, 17 and 18 to the value of the lower three bits in a
UR(19)
Reset user bit 3 in second user bit status word
UR(W,0)
Reset all user bits in first user bit status word
UR(W,1,7)
Reset user bits 16, 17 and 18
NOTE: The G command also resets several system state flags.
For more details, see Part 2: SmartMotor Command Reference on page 233.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 1: Programming
Typically, to get an I/O port logical status, you would use the IN() instructions for zero-based
addressing of the I/O Ports. As with any status of the SmartMotor, you can also retrieve the
I/O port status, but not change its state, using the W() and B() status word/bit commands.
Part 1: Programming: Multiple Trajectory Support Status Bits
Multiple Trajectory Support Status Bits
Part 1: Programming
The SmartMotor system provides the ability to have multiple trajectory generators operating
at the same time. The outputs of the trajectory generators can be manipulated to affect the
SmartMotor in a combination of ways, which are discussed in other section of this manual.
The trajectory generator status bits help you properly control the use of the trajectory
generators from an application program or over a network.
The following example exercises the trajectory status bits of Status Word 7 in a standard
Class 5 SmartMotor:
EIGN(W,0)
ZS
MFA(1000)
MFR(2)
O=0
PT=0
VT=1000
ADT=100
MP(1)
G(2)
G(1)
PT=10000
G(1)
TWAIT(1)
OFF
END
'Set up Gearing Profile
'Gearing profile for Trajectory Generator (TG)2
'Establish actual position to zero
'Set target position to zero
'Set target velocity
'Set accel/decel
'Position mode for Trajectory Generator (TG)1
'Start TG 2, TG2 in Progress is ON
'Start TG 1, PC=PT so TG 1 in progress is OFF
'Until PC=PT TG1 in progress is ON
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Part 1: Programming: Cam Status Bits
Cam Status Bits
The Class 5 SmartMotor supports cams running in Spline and/or Linear Interpolated Position
modes.
Cam User Bits offer a periodic signal based on the phase of a cam, and they can be
programmed to come on and off within any given section of the cam. They function much like
a standard Programmable Limit Switch (PLS). In a standard Class 5 SmartMotor, these bits
reside in Status Word 8.
The following example exercises each Cam User Bit during the programmed cam profile.
EIGN(W,0)
ZS
CTA(7,0,0)
CTW(0,0,1)
CTW(1000,4000,1)
CTW(3000,8000,2)
CTW(4000,12000,132)
CTW(1000,16000,136)
CTW(-2000,20000,16)
CTW(0,24000,32)
MC
SRC(2)
MCE(0)
MCW(0,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
G
END
'Add table into RAM al[0]-al[8]
'Add 1st point, Cam User Bit 0 ON
'Add 2nd point, Cam User Bit 0 ON
'Add 3rd point, Cam User Bit 1 ON
'Add 4th, Spline Mode, Cam Bit 2 ON
'Add 5th, Spline Mode, Cam Bit 3 ON
'Add 6th point. Cam Bit 4 ON
'Add 7th point. Cam Bit 5 ON
'Select Cam Mode
'Use the virtual master encoder.
'Force Linear interpolation.
'Use table 0 in RAM from point 0.
'Simple 1:1 ratio from virtual enc.
'Simple 1:1 ratio from virtual enc.
'Disable virtual enc. ramp-up/ramp'down sections.
'Table is 6 segments *4000 encoder
'counts each. Specify the second
'argument as a 1 to force this
'number as the output total of the
'virtual master encoder into the cam.
'Disable virtual master (Gearing)
'repeat.
'Begin move.
'Obligatory END
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Part 1: Programming
Each individual cam segment can be interpolated in one of these two modes. While the cam is
being executed, the Cam Segment Mode bits can be interrogated to determine which mode is
presently being used for that segment. The Cam User Bits can also be turned on and off, which
is defined when each segment is written into cam memory through the CTW() command.
Part 1: Programming: Interpolation Status Bits
Interpolation Status Bits
The Class 5 SmartMotor supports Interpolated Position modes (IP modes) from data sent over
a CANopen network. The same bits supported for cams also exist as a separate set of status
bits when operating in IP mode. In a standard Class 5 SmartMotor, these bits reside in Status
Word 8. When Moog Animatics SMNC multi-axis contouring software is used, there is built-in
support for these status bits.
Part 1: Programming
For details on the Moog Animatics SMNC software, see this address:
http://www.animatics.com/products/smartmotor/animatics/cnc-software/smnc.html
Motion Mode Status
The Class 5 SmartMotor supports many different motion modes. Keeping them straight can
present a challenge. The RMODE command provides a tool for reporting the motion mode.
RMODE, RMODE(arg)
Report Motion Mode
The RMODE command will report the current active motion mode. Insert an argument to
specify move generator 1 or 2. The value returned has the following meanings:
7
CANopen Interpolation
6
CANopen Homing
4
Torque
3
Velocity
1
Position
0
Null (move generator inactive)
-2
Quadrature Follow
-3
Step/Direction Follow
-4
Cam
-5
Mixed
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: I/O Control Details
I/O Control Details
I/O Port Hardware
212
I/O Connections Example (D-Style Motors)
213
I/O Voltage Spikes
213
Discrete Input and Output Commands
214
Discrete Input Commands
214
Discrete Output Commands
214
Output Condition and Fault Status Commands
216
Output Condition Commands
216
Output Fault Status Reports
216
General-Use Input Configuration
216
Multiple I/O Functions Example
217
Analog Functions of I/O Ports
218
5 Volt Push-Pull I/O Analog Functions (D-Style Motors)
218
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors)
218
Special Functions of I/O Ports
219
Class 5 D-Style Motors: Special Functions of I/O Ports
220
Class 5 M-Style Motors: Special Functions of I/O Ports
222
Class 6 M-Style Motors: Special Functions of I/O Ports
224
I/O Brake Output Commands
225
I²C Expansion (D-Style Motors)
225
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Part 1: Programming
This chapter provides information on the extensive I/O control functionality that has been
designed into the SmartMotor.
Part 1: Programming: I/O Port Hardware
I/O Port Hardware
Part 1: Programming
The extensive and flexible I/O gives the SmartMotor the capability to control an entire
machine.
Each point of SmartMotor I/O can be used or configured as a digital input or digital output. For
example, on the D-style SmartMotor, there are seven points of 5V I/O located in the 15-pin Dsub connector, and an optional ten points of isolated 24V I/O located in a circular, M-12
connector. The 5V I/O is push-pull; the 24V I/O is sourcing, for machine safety reasons.
Regardless of the I/O setting, the analog value can also be read. On the M-style SmartMotors,
there are eleven I/O points over two connectors, as well as a drive-enable input and a not
faulted signal output.
All I/O are organized into 16-bit status words starting at Status Word 16 of the controller, but
within I/O commands it is word 0 (zero). The I/O ports are initially inputs at power-up; once
the state is set using a discrete output command, it then controls the state of the I/O pin.
On-board I/O in any standard Class 5 motor is in the first I/O Status Word 0. The I/O can be
addressed through commands, and it is zero based — the first I/O number is 0 (zero). There
can be as many as 17 on-board I/O ports.
NOTE: Individual motor specifications must be reviewed to determine the number
and physical nature of the I/O. The physical nature of the I/O will address the
voltage levels and isolation characteristics of each I/O point.
Expanded I/O in a Class 5 motor starts at I/O Status Word 1, and the first expanded I/O
number is then 16. Again, individual motor specifications determine the number and physical
nature of the expanded I/O.
For all commands listed in the following sections:
IO
is the I/O bit number. This can be passed in from a variable.
word
is the status word number. This can be passed in from a variable.
mask is a bit-wise mask used to screen out certain bits. This can be passed in from
a variable.
W
(capital W letter by itself) refers to "Word", or 16 bits of information. Selects
the word format of the command.
For your SmartMotor's connector specifications, refer to Connector Pinouts in the SmartMotor
Installation & Startup Guide for your motor.
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Part 1: Programming: I/O Connections Example (D-Style Motors)
I/O Connections Example (D-Style Motors)
Encoders, ports, switches and buttons can be connected directly to the SmartMotor's I/O pins.
Optical
Encoder
Quadrature Signals
Pos / Right Limit (Dry Switch)
Gnd
Neg / Left Limit (Dry Switch)
5V
B
A
NPN Switch
Momentary Switch
1
Port 0 (Enc A or Step Input)
2
Port 1 (Enc B or Dir Input)
3
Port 2 (Pos or Right Limit)
4
Port 3 (Neg or Left Limit)
5
Port 4 (AniLink D/RS-485 A)
6
Port 5 (AniLink C/RS-485 B)
7
Port 6 (G, Index Capture, RS-485 COM 0)
8
Enc A Out
9
Enc B Out
10 RS-232 Tx
NPN
Sense
11 RS-232 Rx
12 +5 VDC Out
13 Signal GND
14 Power GND
15 Servo Power (+)
Common I/O Signals and Connections
NOTE: Class 5 D-style SmartMotor I/O is Sinking type (NPN); Class 5 D-style AD1,
Class 5 M-style and Class 6 SmartMotor I/O are Sourcing type (PNP).
For additional connector, pinout and cabling information, refer to the SmartMotor Installation
& Startup Guide for your motor.
I/O Voltage Spikes
This section provides information on how the SmartMotor handles voltage spikes on the I/O
lines.
While all SmartMotor I/O is confined to operate between 0 and 5 VDC, some circuitry exists to
accommodate spikes above and below the operational range. This is permitted as long as
those spikes are moderate and have a short duration.
Refer to the following figure. Notice from the schematic that an I/O point can be configured as
an output. However, it can still be readable as an analog input because the connections to the
CPU are separate.
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Part 1: Programming
The following figure provides an example of some common I/O connections to the D-style
SmartMotor's 15-pin D-sub connector.
Part 1: Programming: Discrete Input and Output Commands
I/O Pin
Digital I/O
100
5.6V
5k
Analog Input
Part 1: Programming
Counter or Comm
+5V
Knowing the SmartMotor's
internal schematic can be useful
when designing external interfaces. SmartMotor I/O is logic 0
for voltages below 1.2V and logic
1 for voltages above 3.0V. Note
that logic states for voltages
between these are unpredictable.
NOTE: For the D-style SmartMotor, this schematic diagram applies to ports 0–3
and 6; ports 4 and 5 do not use the 100 ohm resistor.
Input impedance for these Class 5 D-style ports is 5 kohms. Input impedance for
Class 5 M-style and Class 6 M-style is 10 kohms. Refer to the corresponding
Connector Pinout table in the SmartMotor Installation & Startup Guide for your
motor.
All SmartMotor I/O points default to inputs when power is applied to the SmartMotor, until the
user program makes a change. Because of the pull-up resistor, the voltage read at each port
will be about 5 VDC. When used as outputs to turn on external devices, it is highly
recommended to design the system so that +5V is OFF and 0V is ON. This will prevent
external equipment from being turned on immediately after power-up, and before the user
program has a chance to take control.
Discrete Input and Output Commands
This section describes the discrete input and output commands available for the SmartMotor.
NOTE: For the 5V I/O in the Class 5 motor's D-Sub connector, the value can be 0 6 for I/Os 0 - 6. For the 24V I/O, the value can be 16 - 25 for the ten I/Os 16 - 25.
Discrete Input Commands
x=IN(IO)
Gets the state of an I/O bit & puts it in a variable.
x=IN(W,word)
Gets the state of an I/O word & puts it in a variable.
x=IN(W,word[,mask])
Gets the state of an I/O word after applying a mask.
Discrete Output Commands
OS(IO)
Set a single output to logic 1 or ON.
OS(W,word[,mask])
Set multiple outputs at once, applying a bit mask first.
OR(IO)
Reset a single output to logic 0 or OFF.
OR(W,word[,mask])
Reset multiple outputs at once, applying a bit mask first.
OUT(IO)=formula
If the bit in formula to the right of the "=" is odd, then set
I/O ON; when even or zero, turn it OFF.
OUT(W,word)=formula
Set the I/O group to a value to the right of the "=".
OUT(W,word[,mask])
=formula
Set the I/O group with mask.
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Part 1: Programming: Discrete Output Commands
Part 1: Programming
For more details, see Part 2: SmartMotor Command Reference on page 233.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 215 of 890
Part 1: Programming: Output Condition and Fault Status Commands
Output Condition and Fault Status Commands
This section describes the output condition and fault status report commands available for the
SmartMotor.
Part 1: Programming
Output Condition Commands
=OC(IO)
Individual output status — bit is 1 if output is on and 0 if it
is off.
=OC(W,word)
Get output status within a word.
=OC(W,word, [mask])
Get output status within a word after applying mask.
NOTE: Inputs return OFF even if external condition is logic 1 in the OC()
commands.
Output Fault Status Reports
NOTE: The output fault status reports are only available for 24V I/O.
=OF(IO)
Returns the present fault state for that I/O, where:
0 = no Fault , 1 = over current, 2 = possible shorted.
=OF(S,word)
Returns the bit mask of present faulted I/O points. Where word is
the 16-bit word number, 0 is the controller I/O Status Word 16. If
the value is ever greater than zero, then the I/O fault status flag
(Controller Status Word 3) is set.
=OF(L,word)
Returns the bit mask of latched faulted I/O points. Where word is
the 16-bit word number, a read of a 16-bit word will attempt to
clear the I/O words latch.
=OF(D,word)
Returns an error code from the controller associated with this I/O
word.
For more details, see Part 2: SmartMotor Command Reference on page 233.
General-Use Input Configuration
This section describes the general-use input configuration commands available for the
SmartMotor.
The following general-use input configuration commands are available:
EIGN(IO)
Sets a given I/O port to or back to an input with no function
attached. In other words, to remove the function of travel
limit from I/O port 2, execute the instruction EIGN(2).
EIGN(W,word)
Sets all I/O in a given I/O word back to input.
EIGN(W,word[,mask])
Sets all I/O in a given I/O word back to input if mask bit is set.
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: Multiple I/O Functions Example
Multiple I/O Functions Example
The following example shows multiple I/O functions:
'deactivate default on-board I/O functions
'read the status of on-board I/O.
'Same as above, so ab[10]=ab[11] assuming
'I/O states didn’t change.
a=0
WHILE a<4
ab[a]=IN(a)
a=a+1
LOOP
a=0
WHILE a<4
OS(a+4)
a=a+1
LOOP
a=1
OUT(W,1)=aw[0]
OR(W,1,a)
END
EIGN(W,0)
ab[10]=W(16)
ab[11]=IN(W,0)
a=0
WHILE a<4
ab[a]=IN(a)
a=a+1
LOOP
a=0
WHILE a<4
OS(a+4)
a=a+1
LOOP
a=1
OUT(W,1)=aw[0]
OR(W,1,a)
END
'get first 4 I/O states into ab[0]-ab[3]
'turn ON I/O Ports 4 through 7.
'set expansion I/0 to value in aw[0]
'reset only I/O 16
'remove default on-board I/O functions
'read the status of on-board I/O via
'controllers status word.
'same as above, so ab[10]=ab[11] assuming
'I/O states didn’t change.
'get first 4 I/O states into ab[0] through ab[3]
'turn ON I/O ports 4 through 7.
'set expansion I/0 to value in aw[0]
'reset only I/O 16
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Part 1: Programming
EIGN(W,0)
ab[10]=W(16)
ab[11]=IN(W,0)
Part 1: Programming: Analog Functions of I/O Ports
Analog Functions of I/O Ports
An I/O port’s analog value can be monitored with the following commands. The 24V I/O of a
SmartMotor offers more flexibility than the 5V I/O, as shown below. All scaled readings are in
millivolts.
Part 1: Programming
The analog reads can help diagnose wiring issues external to the SmartMotor. For example,
while Ports 4 and 5 are being used as RS-485, the signal bias could be monitored; if a 5V I/O
pin is being driven as an output, the analog reading can help find a short.
The following commands are used to access the analog functions of the 5V and 24V I/O:
5 Volt Push-Pull I/O Analog Functions (D-Style Motors)
INA(A,IO)
Raw analog read: 10-bit res. 0-32736=0-5 VDC
INA(V1,IO)
Scaled voltage reading in millivolts, where 3456 would be 3.456
VDC. 0-5000=0-5 VDC
NOTE: For the 5V I/O in the Class 5 motor's D-Sub connector, the value can be 0 6 for I/Os 0 - 6. For the 24V I/O, the value can be 16 - 25 for the ten I/Os 16 - 25.
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors)
INA(A,IO)
Raw analog read: 10-Bit res. 0-38130=0-41.25 VDC
INA(V,IO)
Scaled read 0-24000, where 15500 is 15.5 Volts
INA(V1,IO)
Scaled read 0-5100, where 550 is 0.55 Volts
INA(V2,IO)
Scaled read 0-610, where 60 is 0.06 Volts
INA(S,x)
Sourcing voltage for the I/O port (when output pin), where x is
16-25 for the Class 5 D-style, use 0 for the M-style.
INA(T,x)
I/O chip temperature, where x is 16-25 for the Class 5 D-style,
use 0 for the M-style.
NOTE: With the 24V I/O, the V1 and V2 settings focus the 10 bits of resolution on
the finer voltage spans of 5V and 0.6V, respectively.
CAUTION: For Class 5 D-style AD1 option motors, at no time should the
voltage to any input exceed the level on the I/O power input (Pin 11). Doing
so could cause immediate damage to the expanded I/O hardware.
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming: Special Functions of I/O Ports
Special Functions of I/O Ports
Class 5 D-Style Motors: Special Functions of I/O Ports
220
Class 5 M-Style Motors: Special Functions of I/O Ports
222
Class 6 M-Style Motors: Special Functions of I/O Ports
224
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Page 219 of 890
Part 1: Programming
This chapter provides information on the special functions of I/O ports for Class 5 and Class 6
motors.
Part 1: Programming: Class 5 D-Style Motors: Special Functions of I/O Ports
Class 5 D-Style Motors: Special Functions of I/O Ports
Part 1: Programming
The on-board I/O ports provide the following special functions:
Ports 0 and 1
External encoder (quadrature or step/direction) inputs, brake
output
Ports 2 and 3
Travel limit inputs, brake output
Ports 4 and 5
Communications, brake output
Port 6
Go function, capture input, brake output
NOTE: The brake output function can be pointed to any one of the on-board I/O or
expanded I/O ports.
I/O Ports 0 and 1 – External Encoder Function Commands
Ports 0 and 1 can be wired to a external encoder. Below are the supporting configuration
commands:
NOTE: For proper counting, the commands OS(), OR() and OUT() should be
avoided for ports 0 and 1.
MF0
Set encoder counter to zero; put it in Quadrature Count mode
MS0
Set encoder counter to zero; put it in Step and Direction Count
mode (default count mode)
I/O Ports 2 and 3 – Travel Limit Inputs
Ports 2 and 3 are defaulted to travel limit inputs. They can be changed to a general-purpose
I/O points by using the EIGN() commands and then returned to the travel limit function with
the following commands:
EILN
Set I/O 3 as negative overtravel limit
EILP
Set I/O 2 as positive overtravel limit
I/O Ports 4 and 5 – Communications
Ports 4 and 5 can be configured as a second communications channel. Channel 0 is the main
communications channel. Ports 4 and 5 are associated with commands for communications
across channel 1. For more details on communications, see Communication Details on page
96.
Modbus and DMX protocols are additional communications options that can be used instead of
RS4. For more details on these optional protocols, see the documentation for the specified
protocol. The communication protocol is specified with the OCHN command type parameter.
For details, see OCHN(type,channel,parity,bit rate,stop bits,data bits,mode,timeout) on page
104.
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Part 1: Programming: I/O Port 6 – Go Command, Encoder Index Capture Input
CAUTION: The secondary RS-485 port is non-isolated and not properly biased
by the two internal 5k ohm pull-up resistors. Therefore, it is suitable for
communication with a bar code reader or light curtain, but it cannot be used to
cascade motors because of the heavy biasing and ground bounce resulting
from variable shaft loading.
NOTE: These functions are not supported on the Class 5 IP-65 rated motors with
on-board 24V I/O.
OCHN(IIC,1,N,200000,1,8,D)
Set I/O 4 and 5 for I²C mode
CCHN(IIC,1)
Close the I²C channel
OCHN(RS4,1,N,38400,1,8,D)
Set I/O 4 and 5 to RS-485 mode
CCHN(RS4,1)
Close the RS-485 channel
I/O Port 6 – Go Command, Encoder Index Capture Input
The following commands are used to issue a G (Go) command, and capture input from internal
or external encoders:
EISM(6)
Issues G when specified I/O goes low
EIRE
Index/registration input capture of the external encoder count
(default setting)
EIRI
Index/registration input capture of the internal motor encoder
count
The following table provides a matrix of the index capture functions for the D-style motors.
Internal index inputa
Capture
External index
inputb
Disable index
inputc
Internal encoder
EIRE command (default
at startup)
EIRI command
Not supported
External encoder
Not supported
EIRE command
(default at startup)
EIRI command
a) From the internal encoder
b) I/O port 6, single-ended, 5 volts
c) Disables capture on indicated encoder
For additional information on index capture, see Index Capture Commands on page 130. For
more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 1: Programming
The following are examples of the supporting configuration commands:
Part 1: Programming: Class 5 M-Style Motors: Special Functions of I/O Ports
Class 5 M-Style Motors: Special Functions of I/O Ports
Part 1: Programming
The on-board I/O ports provide the following special functions:
COM Port pins 4, 5, 6, and 8
A-quad-B or Step-and-Direction counting modes
Ports 2 and 3
Travel limit inputs, brake output
Port 5
Capture input, brake output
Port 6
Go function, brake output
Drive enable input
Dedicated input to enable drive
No fault output
Dedicated output to indicate when no faults are
preventing motion
NOTE: The brake output function can be pointed to any one of the on-board I/O or
expanded I/O ports.
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
These pins are for encoder A+/-, B+/- inputs or outputs. They can also be used for step and
direction mode. Below are the supporting configuration commands:
MF0
Set encoder counter to zero; put it in Quadrature Count mode
MS0
Set encoder counter to zero; put it in Step-and-Direction Count
mode (default count mode)
I/O Ports 2 and 3 – Travel Limit Inputs
Ports 2 and 3 are defaulted to travel limit inputs. They can be changed to general-purpose I/O
points by using the EIGN() commands and then returned to the travel limit function with the
following commands:
EILN
Set I/O 3 as negative overtravel limit
EILP
Set I/O 2 as positive overtravel limit
I/O Port 5 – Encoder Index Capture Input
The following commands are used to capture input from internal or external encoders:
EIRE
Index/registration input capture of the external encoder count (default
setting)
EIRI
Index/registration input capture of the internal motor encoder count
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Part 1: Programming: I/O Port 6 – Go Command
The following table provides a matrix of the index capture functions for the M-style motors.
External index
inputb
Disable index
inputc
Internal encoder
EIRE command (default
at startup)
EIRI command
Not supported
External encoder
Not supported
EIRE command
(default at startup)
EIRI command
a) From the internal encoder
b) I/O port 5, single-ended, 24 volts
c) Disables capture on indicated encoder
For additional information on index capture, see Index Capture Commands on page 130. For
more details, see Part 2: SmartMotor Command Reference on page 233.
I/O Port 6 – Go Command
The following command is used to issue a G (Go) command:
EISM(6)
Issues G when specified I/O goes low
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Part 1: Programming
Internal index inputa
Capture
Part 1: Programming: Class 6 M-Style Motors: Special Functions of I/O Ports
Class 6 M-Style Motors: Special Functions of I/O Ports
The on-board I/O ports provide the following special functions:
Part 1: Programming
COM Port pins 4, 5, A-quad-B or Step-and-Direction counting modes
6, and 8
I/O Ports 2 and 3
Travel limit inputs
I/O Port 4 and 5
Capture input for external and internal encoder
I/O Port 6
Go function
I/O Port 7
Drive enable input - dedicated input to enable drive
I/O Port 8
Brake output
I/O Port 9
No fault output - dedicated output to indicate when no faults are
preventing motion
NOTE: The brake output function can be pointed to any one of the on-board I/O or
expanded I/O ports.
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes
These pins are for encoder A+/-, B+/- inputs or outputs. They can also be used for step and
direction mode. Below are the supporting configuration commands:
MF0
Set encoder counter to zero; put it in Quadrature Count mode
MS0
Set encoder counter to zero; put it in Step-and-Direction Count
mode (default count mode)
I/O Ports 2 and 3 – Travel Limit Inputs
Ports 2 and 3 are defaulted to travel limit inputs. They can be changed to general-purpose I/O
points by using the EIGN() commands and then returned to the travel limit function with the
following commands:
EILN
Set I/O 3 as negative overtravel limit
EILP
Set I/O 2 as positive overtravel limit
I/O Port 4 and 5 – Encoder Index Capture Input
The following commands are used to capture input from internal or external encoders:
EIRE
Index/registration input capture of the external encoder count (default
setting)
EIRI
Index/registration input capture of the internal motor encoder count
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Page 224 of 890
Part 1: Programming: I/O Port 6 – Go Command
The following table provides a matrix of the index capture functions for the M-style motors.
Disable index
inputc
Internal encoder
EIRE command (default
at startup)
EIRI command
Not supported
External encoder
Not supported
EIRE command
(default at startup)
EIRI command
a) From the internal encoder
b) I/O port 5, single-ended, 24 volts
c) Disables capture on indicated encoder
For additional information on index capture, see Index Capture Commands on page 130. For
more details, see Part 2: SmartMotor Command Reference on page 233.
I/O Port 6 – Go Command
The following command is used to issue a G (Go) command:
EISM(6)
Issues G when specified I/O goes low
I/O Brake Output Commands
The brake output function can be configured to any I/O port including the expanded I/O ports
where IO is the bit number.
The following commands are used to configure the brake output:
EOBK(IO)
Configure a given output to control an external brake
EOBK(-1)
Remove the brake function from the I/O port
For more details, see Part 2: SmartMotor Command Reference on page 233.
I²C Expansion (D-Style Motors)
I/O ports 4 and 5 can perform as an I²C port. I²C is an "Inter-IC-Communication" scheme that
is simple and powerful. There are dozens of low-cost I²C devices on the market that message
over I²C and deliver many resources. I²C chips include: I/O expanders, analog input and
output, nonvolatile memory, temperature sensors, etc. I²C provides a low cost means of
expanding the functionality of a SmartMotor. For more details on I²C, see I²C
Communications (D-Style Motors) on page 118.
A Moog Animatics AniLink I/O card combined with the I²C protocol offers easy digital and
analog I/O expansion. Simply buy I²C chips like the Texas Instruments PCF8574A, and the
PCF8591. For more details on the Moog Animatics AniLink I/O card, see this address:
http://www.animatics.com/products/peripherals/animatics/expanded-i-o/anilink-analog-i-ocard.html
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Part 1: Programming
External index
inputb
Internal index inputa
Capture
Part 1: Programming: Tuning and PID Control
Tuning and PID Control
Part 1: Programming
This chapter provides information on the PID control functionality that has been designed into
the SmartMotor.
Introduction
227
Understanding the PID Control
227
Tuning the PID Control
228
Using F
228
Setting KP
229
Setting KD
229
Setting KI and KL
229
Setting EL=formula
230
Other PID Tuning Parameters
230
KG=formula
230
KV=formula
230
KA=formula
231
Current Limit Control
232
AMPS=formula
232
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Part 1: Programming: Introduction
Introduction
The parameters that make it all work are found in the PID (Proportional, Integral, Derivative)
control section. These are the three fundamental coefficients to a mathematical algorithm that
intelligently recalculates and delivers the power needed by the motor. The input to the PID
control is the instantaneous desired position minus the actual position, whether at rest or part
of an ongoing trajectory. This difference is called the position error.
NOTE: The PID filter is off when operating in Torque mode.
In the Class 5 SmartMotor, the PID update rate defaults to 125 microseconds (8,000 times per
second). Optionally it may be decreased or increased to a maximum of 62.5 microseconds.
The faster 62.5 microsecond update rate allows for smoother high-speed operation and faster
acceleration/deceleration correction under varying load conditions.
Understanding the PID Control
The Proportional parameter (KP) of the PID control creates a simple spring constant. The
further the shaft is rotated away from its target position, the more power is delivered to
return it. With this as the only parameter, the motor shaft would respond just as the end of a
spring would if it was grabbed and twisted. If the spring is twisted and let go, it will vibrate
wildly. This sort of vibration is hazardous to most mechanisms. In this scenario, a shock
absorber is added to dampen the vibrations, which is the equivalent of what the Derivative
parameter (KD) does.
For example, when you sit on the fender of a car, it dips down because of the additional
weight based on the constant of the car’s spring. It gives you no indication if the shock
absorbers are good or bad. However, if you jump up and down on the bumper, you would
quickly see if the shock absorbers are working or not. That’s because they are not activated
by position but rather by speed.
The Derivative parameter steals power away as a function of the rate of change of the overall
PID control output. The parameter gets its name from the fact that the derivative of position is
speed. Electronically stealing power based on the magnitude of the motor shaft’s vibration has
the same effect as putting a shock absorber in the system.
NOTE: While the Derivative parameter usually acts to dampen instability, this is
not the true definition of the term. Therefore, it is also possible to cause instability
by setting the Derivative parameter too high.
Even with the Proportional and Derivative parameters working properly, a situation created
by "dead weight" can cause the servo to leave its target. If a constant torque is applied to the
end of the shaft, the shaft complies until the deflection causes the Proportional parameter to
rise to the equivalent torque. Because there is no speed, the Derivative parameter has no
effect. As long as the torque is there, the motor’s shaft position will be off target.
That’s where the Integral parameter (KI) comes in. The Integral parameter mounts an
opposing force that is a function of time. As time passes and there is a deflection present, the
Integral parameter adds a little force to bring it back on target with each PID cycle. There is
also a separate Integral Limit parameter (KL), which limits the Integral parameter’s scope of
what it can do and help prevent overreaction.
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Part 1: Programming
The SmartMotor includes a brushless servomotor with powerful rare-earth magnets and a
stator (the outside, stationary part), which is a densely-wound, multi-slotted electromagnet.
Controlling the position of a brushless servo’s rotor with only electromagnetism is like pulling
a sled with a rubber band—accurate control would seem impossible.
Part 1: Programming: Tuning the PID Control
Part 1: Programming
Each of these parameters has its own scaling factor to tailor the overall performance of the
PID control to the specific load conditions of any one particular application. The scaling factors
are as follows:
KP
Proportional coefficient
KI
Integral coefficient
KD
Derivative coefficient
KL
Integral limit
Tuning the PID Control
The task of tuning the PID control is made difficult by the fact that the parameters are so
interdependent. A change in one can shift the optimal settings of the others. The SMI software
has a Tuner tool, which is an automated utility for optimizing the settings. For details, refer to
the Tuner on page 85. Even if you use the Tuner tool, you should still read through this section
to understand how to tune a servo and the interaction between the tuning parameters.
When tuning the motor, it is useful to have the Motor View tool running, which will monitor
various bits of information that describe the motor's performance. For details on the Motor
View tool, see Motor View on page 71.
NOTE: In most cases, it is unnecessary to tune a SmartMotor. They are factory
tuned, and stable in virtually any application.
The following are the tuner parameters and their descriptions:
KP=formula
Set KP, proportional coefficient
KI=formula
Set KI, integral coefficient
KD=formula
Set KD, derivative coefficient
KS=formula
Set KS, velocity filter option for KD (value is 0, 1, 2, or 3; larger
number is longer filter time).
KL=formula
Set KL, integral coefficient limit
F
Update PID control
Using F
The F (update PID filter) command is used to update changes to any of the tuning parameter
settings. Keep in mind that the new parameter settings do not take effect until the F command
is issued. For example:
KP=100
F
'Initialize KP to some value
'Load into present PID filter
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Part 1: Programming: Setting KP
Setting KP
The main objective in tuning a servo is to get the KP (proportional coefficient) value as high as
possible, while maintaining stability. The higher the KP value, the stiffer the system and the
more "under control" it is. Also, when initially setting KP, it is a good idea to start with KI
equal to zero (for details, see Setting KI and KL on page 229).
RKP
KP=3500
F
3000
'Report current KP value
'Increase KP value
'Load new value into PID filter
Each time KP is raised, try to physically destabilize the system by bumping it, twisting it or
using a looping program that invokes abrupt motions. As long as the motor always settles to a
quiet rest, keep raising KP.
NOTE: If the SMI Tuning Utility is being used, it will employ a step function and
graphically show the reaction.
Setting KD
As soon as the SmartMotor starts to find it difficult to maintain stability, find the appropriate
value for KD (derivative compensation).
To do this, use the RKD (report KD command) to view the current value. Then move KD up and
down until a value is found that gives the quickest stability. Remember to use the F command
to update the new value.
Note that if KD is too high, there will be a grinding sound — it is not really grinding, but it is a
sign to go the other way. A properly-tuned motor is not only stable but reasonably quiet. The
level of noise immunity in the KD term is controlled by KS (velocity filter option for KD).
The derivative term KD requires estimating the derivative of the position error. The simplest
method is a backward difference, KS=0, which is no velocity filtering and can result in
excessive noise. The choices of KS=1, 2 and 3 provide increasing levels of noise immunity
(velocity filtering) at the expense of increasing latency. Because higher latency typically
results in lower achievable PID loop gains, choose the best compromise between smoothness
and tracking performance. The default setting is KS=1.
After optimizing KD, it may be possible to raise KP a bit more. Keep going back and forth
between KP and KD until you've maximized the stiffness of the system. After that, it’s time to
take a look at KI.
Setting KI and KL
Typically, KI (integral coefficient) is used to compensate for friction; without it, the
SmartMotor will never exactly reach the target. Begin with KI equal to zero and KL equal to
1000. Move the motor off target and start increasing KI and KL. Keep KL at least ten times
greater than KI during this phase. Use the RKI (report KI) and RKL (report KL) commands to
view the values; use the F command to update changes to the values.
Continue to increase KI until the motor always reaches its target. When that happens, add
about 30% to KI and start bringing down KL until it prevents the KI term from closing the
position precisely on target. After that point is reached, increase KL by about 30%. The
integral term needs to be strong enough to overcome friction. However, the limit needs to be
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Part 1: Programming
To begin, use the RKP (report KP) command to view the current setting and then increase it by
10% to 20%. For example:
Part 1: Programming: Setting EL=formula
set so that a surge of power will not be delivered if the mechanism were to jam or reach one
of the physical (hard stop) limits.
Setting EL=formula
Part 1: Programming
Set Maximum Position Error
The difference between where the motor shaft is supposed to be and where it is actually
positioned is called the "position error". The magnitude and sign of the error are delivered to
the motor in the form of torque after it is put through the PID control. As the error increases,
the motor becomes more uncontrolled. Therefore, it is useful to put a limit on the allowable
error, which will turn the motor off.
The EL command serves that purpose. It defaults to 1,000, but it can be set from 0 to 262,143.
You can view the current value with the REL (report EL) command.
For more details, see Part 2: SmartMotor Command Reference on page 233.
Other PID Tuning Parameters
There are additional parameters that can be used to reduce the position error of a dynamic
application. Most of the forces that aggravate a PID loop through the execution of a motion
trajectory are unpredictable. However, there are some that can be predicted and eliminated.
KG=formula
Set KG, Gravitational Offset
The simplest force to eliminate is gravity. When power is off, if motion would occur due to
gravity, a constant offset can be incorporated into the PID control to balance the system. The
KG (gravitational offset) provides this offset. The value for KG can range from -16777216 to
16777215.
To set KG, use the RKG (report KG) command to view the current value, and then make
changes to KG. Remember to use the F command to update the new value. Continue adjusting
KG until the load equally favors upward and downward motion.
KV=formula
Set KV, Velocity Feed Forward
Another predictable cause of position error is the natural latency of the PID loop itself. At
higher speeds, because the calculation takes a finite amount of time, the result is somewhat
delayed — the higher the speed, the more the actual motor position will slightly lag the
trajectory-calculated position. This can be programmed out with the KV (velocity feed
forward) parameter. KV can range from zero to 65535; typical values range in the low
hundreds.
To tune KV, use the RKV command to view the current value, and then make changes to KV
while running the motor at a constant speed if the application will allow. Remember to use the
F command to update the new value. Continue increasing the value of KV until the error is
reduced to near zero and stays there. The error can be seen in real time by activating the
Motor View window in the SMI software. For details, see Motor View on page 71.
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Position Error Value (in Motor View Window)
KA=formula
Set KA, Acceleration Feed Forward
If the SmartMotor is accelerating a mass, it will be exerting a force during that acceleration
(force = mass X acceleration), which disappears immediately on reaching the cruising speed.
This momentary torque during acceleration is also predictable, and its effects can be
programmed out with the KA (acceleration feed forward) parameter. KA can range from zero
to 65535.
It is a little more difficult to tune KA, especially with hardware attached. The objective is to
arrive at a value that will close the position error during the acceleration and deceleration
phases. It is better to tune KA with KI set to zero because KI will address this constant force in
another way. It is best to have KA address 100% of the forces due to acceleration, and use the
KI term to adjust for friction.
The PID update rate of the SmartMotor can be slowed down with the following values:
PID1
Set highest PID update rate, 16 kHz
PID2
(Default) Divide highest PID update rate by 2, 8 kHz
PID4
Divide highest PID update rate by 4, 4 kHz
PID8
Divide highest PID update rate by 8, 2 kHz
NOTE: A reduction in the PID rate can result in an increase in the SmartMotor
application program execution rate.
The trajectory and PID control calculations occur within the SmartMotor at the "sample rate"
selected by the PIDn command. Although 16 kHz (PID1) is available, 8 kHz (PID2, the default)
provides a reasonable compromise between optimum control and the SmartMotor application
program execution rate. The program execution rate can be increased by reducing the PID
rate using PID4 and PID8 in applications where the lower PID sample rate still results in
satisfactory control.
If the PID sample rate is lowered, remember that it is the basis for velocity values,
acceleration values and the PID coefficients. If the rate is cut in half, expect to do the
following to keep all else the same:
l
Double velocity
l
Increase acceleration by a factor of four
NOTE: If proper care is taken to keep the PID filter stable, the PID# command can
be issued on the fly.
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Part 1: Programming
Part 1: Programming: KA=formula
Part 1: Programming: Current Limit Control
Current Limit Control
In some applications, if the motor is misapplied at full power, the attached mechanism could
be damaged. Therefore, it can be useful to reduce the maximum amount of current available,
which limits the torque the motor can produce.
AMPS=formula
Part 1: Programming
Set Current Limit, 0 to 1023
The AMPS (PWM limit) command is used to set the current limit. Use the AMPS command with
a number, variable or formula within the range of 0 to 1023, where the value 1023
corresponds to the maximum commanded torque to the motor. Current is controlled by
limiting the maximum PWM duty cycle, which will reduce the maximum speed of the motor as
well.
NOTE: The AMPS command has no effect in Torque mode.
For more details, see Part 2: SmartMotor Command Reference on page 233.
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Part 2: SmartMotor Command Reference
Part 2: SmartMotor Command Reference
Part 2 of this guide provides the reference pages for the SmartMotor command set. The
commands are listed in alphabetical order. In addition:
l
A quick-reference command list sorted alphabetically is available at the end of this
manual. For details, see Commands Listed Alphabetically on page 873.
A quick-reference command list sorted by function is available at the end of this
manual. For details, see Commands Listed by Function on page 880.
NOTE: In the command syntax, when optional bracketed arguments are shown, the
comma within the brackets is only used with the optional argument. For example,
the comma is used with the optional "m/s" argument in the command MFSLEW
(distance[,m/s]).
Each command description includes the following items:
l
Summary Table
A table at the beginning of each command page provides a summary list of information
about the command. It includes the following categories: Application, Description,
Execution, Conditional To, Limitations, Read/Report, Write, Language Access, Units,
Range Of Values, Typical values, Default Value, Firmware Version, and Combitronic
Support.
NOTE: If an item does not apply to the particular command, it is marked with N/A.
l
Detailed Description
This section provides details about the command. Notes, Cautions and Warnings are
used to highlight any critical information that must be followed for proper use of the
command. For more details on Notes, Cautions and Warnings, see Safety Information
on page 34.
l
Example Code
This section provides some example code to show the use of the command. In some
cases, the example may be a "snippet" (one or a few lines); in other cases, the example
may be a complete program.
NOTE: The programs and code samples in this manual are provided for example
purposes only. It is the user's responsibility to decide if a particular code sample or
program applies to the application being developed and to adjust the values to fit
that application.
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Part 2: Commands
l
Part 2: SmartMotor Command Reference
In addition, note the following:
l
l
l
l
Code examples can be copied and pasted into the SMI program editor.
When copying from a PDF file, the pasted code will have line indents removed.
However, the code will still work properly.
All programs must include an END statement. For details, see END on page 420.
Related Commands
This section lists commands that are functionally related to the current command.
Part 2: Commands
NOTE: A superscript "R" character preceding the command indicates there is
a corresponding "report" version of that command.
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Part 2: Commands: (Single Space Character)
(Single Space Character)
Single Space Delimiter and String Terminator
Program execution and flow control
DESCRIPTION:
Single spaces placed between a series of user variables or commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
Serial communications channel data
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
A single space character may be placed between a series of user commands in a single ASCII
string as delimiter. If it is sent from a PLC or PC, the same space character can be used as a
string terminating character.
NOTE: When sending commands through the serial port from a PC, PLC or other
controller, a space character can be used as both a delimiter and a string
terminator. It can be used equally and interchangeably with a carriage return as a
string terminator.
EXAMPLE: (as delimiter and null terminator in PRINT command)
PRINT("a=1 b=2 ")
'Note space after b=2 as null terminator.
equivalent:
PRINT("a=1 b=2",#13)
'Note carriage return as null terminator.
RELATED COMMANDS:
N/A
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Part 2: Commands: a...z
a...z
aa...zz
aaa...zzz
Part 2: Commands
32-Bit Variables
APPLICATION:
Variables
DESCRIPTION:
Signed 32-bit user variables
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
Ra...Rz
Raa...Rzz
Raaa...Rzzz
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Signed 32-bit integer
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
a:3=1 or Ra:3 or a=a:3
aa:3=1 or Raa:3 or a=aa:3
aaa:3=1 or Raaa:3 or a=aaa:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ has three groups of predefined user variables:
l
The first group consists of the variables a through z
l
The second group consists of the variables aa through zz
l
The third group consists of the variables aaa through zzz
They are general-purpose, read/write, 32-bit, signed integer variables that can be reported
and used on either side of an equal sign in an equation.
CAUTION: These variables are stored in dynamic RAM, which means their
values are lost when power is lost.
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Part 2: Commands: aaa...zzz
The value of any variable a through z is reported with the R, PRINT() or PRINT1() functions.
NOTE: The following examples and descriptions use the single-character variables.
However, you can substitute the double- or triple-character variables, if desired.
EXAMPLE:
g=123
'Assign the value of 123 to "g".
Rg
'Report the value of g to the primary serial port.
PRINT("g=",g,#13)
'Print to the primary serial port.
PRINT1("g=",g,#13)
'Print to the secondary serial port.
END
Program output is:
123
g=123
If you assign or perform an operation that normally results in a value outside this range, the
Bs bit indicates an overflow and the operation aborts before assigning the value to the left of
the equal sign.
For modulo behavior, the operation must be promoted to a float and use the modulo operator
"%".
EXAMPLE:
c=123
Rc
RBs
b=70000
c=b*b
Rc
RBs
Zs
RBs
a=-2147483648
c=((b*1.0)*b)%a
'Sets initial value of c to 123.
'Reports 123; initial value of c.
'Reports 0; no error stored.
'This will overflow.
'Reports 123; the value of c is unchanged.
'Reports 1; error is indicated.
'Clears error bit.
'Reports 0; no error stored.
'Used as modulo range.
'Equation that promotes to a float internally
'and modulo divides.
'Reports 605032704; this is what is expected if
'the original value 'wrapped' on 32-bit boundaries.
'Reports 0; this does not cause an error.
Rc
RBs
Program output is:
123
0
123
1
0
605032704
0
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Part 2: Commands
These variables are 32-bit signed integers, so they are limited to whole numbers from
-2147483648 to 2147483647. Math operations that result in digits after the decimal point are
truncated toward zero. Therefore, the value 2.9 becomes 2, and the value -2.9 becomes -2.
Part 2: Commands: aaa...zzz
It is also possible to use these variables in certain array index operations:
EXAMPLE:
a=10
Raw[a]
Raw[a+1]
The following are other restrictions:
l
If a+b exceeds 32 signed bits, the operation c=a+b will abort, and an error flag is set.
l
If a-b exceeds 32 signed bits, the operation c=a-b will abort, and an error flag is set.
l
If a*b exceeds 32 signed bits, the operation c=a*b will abort, and an error flag is set.
Part 2: Commands
The system flag, Bs, is set. Note that many different types of command errors will also
set the Bs bit. The RERRC command can be used to retrieve the last command error. For
a math overflow, that is error code 23. For details on the RERRC command, see ERRC on
page 429.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be "type cast").
For example, assigning the variable aw[27]=yy directly stores the 16 least-significant bits of
yy to aw[27]. The sign bit of yy is not considered, the sign is determined based on bit 15 of yy.
The higher bits of variable yy are ignored.
Similarly, if the left-hand variable is an 8-bit one, such as ab[167], only the lowest 8 bits are
preserved. The sign is determined by bit 7 of the value on the right-side of the equals sign.
Conversely, if the left-hand value is a 32-bit variable and the right-hand side contains 16-bit
variables, the 16-bit variables will be "upgraded" to 32 bits. The sign is preserved when
casting to a longer format. For example, in the equation cc=ab[4]-aw[7], both ab[4] and aw
[7] are converted into 32-bit numbers before the subtraction occurs.
In the SmartMotor language, all user variables are written as lowercase letters, while
functions and commands have at least one uppercase character. The term "a" is a
general-purpose variable, while "A" is the acceleration function. As previously described, any
user variable can be assigned a value through an equation.
EXAMPLE:
c=123
d=345
e=-599
f=346
g=678678
'Assign
'Assign
'Assign
'Assign
'Assign
the
the
the
the
the
value
value
value
value
value
of
of
of
of
of
123 to "c".
345 to "d".
-599 to "e".
346 to "f".
678678 to "g".
All user variables are initialized to the value 0 at power up or on execution of the Z
system-reset command. Other than by direct assignment, this is the only way the SmartMotor
sets all of the user variables to 0. Issuing a RUN command does not perform this automatic
initialization. For this reason, it is better to test a program, whether it is auto-execution or
not, by power cycling the SmartMotor or issuing the Z system-reset command.
NOTE: To understand the relationship between user assigned letter variables a-z,
aa-zz and aaa-zzz, and variable arrays ab[ ], al[ ] and aw[ ], see Array Variable
Memory Map on page 836. The arrays and the letter variables do not overlap in the
Class 5 motor.
RELATED COMMANDS:
R
ab[index]=formula Array Byte [index] (see page 240)
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Part 2: Commands: aaa...zzz
al[index]=formula Array Long [index] (see page 267)
R
aw[index]=formula Array Word [index] (see page 283)
Part 2: Commands
R
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Part 2: Commands: ab[index]=formula
ab[index]=formula
Array Byte [index]
APPLICATION:
Variables
DESCRIPTION:
User signed 8-bit variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values range 0 to 203
LIMITATIONS:
An expression used as an index within the [] brackets is limited
to no more than one operator (two values).
Part 2: Commands
No Combitronic requests or functions with parenthesis are
supported within the [] brackets.
This data space is shared with Cam motion (MC) if a RAM table
location is selected. However, the aw command must not be
used to access this space during that time.
READ/REPORT:
Rab[index]
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Signed 8-bit number
RANGE OF VALUES:
-128 to 127
TYPICAL VALUES:
-128 to 127
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ab[0]:3=34
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32-bit arrays. The 8-bit array takes the form of the variables
ab[index]. These are general-purpose, 8-bit, signed-integer variables that can be reported,
used on either side of an equation, and mixed in an expression with variables other than 8-bit.
Like all user variables, they are always lowercase, and are automatically initialized to zero at
power up or reset.
The syntax of the 8-bit array is ab[index], which stands for "array byte", and accepts an index
value between 0 and 203. This index can be specified explicitly or through another variable.
For example, ab[4] refers to the fifth element in the 8-bit array, while ab[n] refers to an
element of the array where the variable "n" must be between 0 and 203.
The value of any array variable is reported with the R, PRINT( ) or PRINT1( ) functions.
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Part 2: Commands: ab[index]=formula
EXAMPLE:
ab[47]=20 'Assign the value of 20 to ab[47]
Rab[47]
'Report the value of ab[47] to the primary serial port
PRINT("ab[47]=",ab[47],#13)
'Print to the primary serial port
PRINT1("ab[47]=",ab[47],#13)
'Print to the secondary serial port
END
Program output is:
20
ab[47]=20
The ab[ ] array is classified as read/write, meaning that it can be assigned a value or can be
assigned to some other variable or function. In other words, these variables can be left-hand
or right-hand values.
EXAMPLE:
The above is a valid equation that combines the contents of ab[43] with ab[7] and sends the
total into ab[24]. As signed 8-bit variables, they are limited to whole numbers ranging from
-128 and 127. Math operations that result in digits after the decimal point are truncated
toward zero. Therefore, a value of 2.9 becomes 2, and a value of -2.9 becomes -2.
If you assign or perform an operation that would normally result in a value outside of this
range, the variable will "wrap" or take on the corresponding modulo. For example, 127+1=
-128; the result wrapped around to the negative extreme.
The following are other restrictions:
l
l
l
If ab[1]+a exceeds 32 signed bits, the operation c=ab[1]+a will abort and an error flag
is set.
If a-ab[1] exceeds 32 signed bits, the operation c=a-ab[1] will abort and an error flag is
set.
If a*ab[1] exceeds 32 signed bits, the operation c=a*ab[1] will abort and an error flag
is set.
The system flag, Bs, is set. Note that many different types of command errors will also
set the Bs bit. The RERRC command can be used to retrieve the last command error. For
a math overflow, that is error code 23. For details on the RERRC command, see ERRC on
page 429.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be "type cast").
If the left-hand variable is an 8-bit one like ab[167], only the lowest 8 bits are preserved. The
sign is determined by bit 7 of the value on the right-side of the equals sign.
Conversely, if the left-hand value is a 32-bit variable and the right-hand side contains 8-bit
variables, the 8-bit variables will be "upgraded" to 32-bits. The sign is preserved when casting
to a longer format. In the equation cc=ab[4]-aw[7], both ab[4] and aw[7] are converted into
32-bit numbers before the subtraction occurs.
In the SmartMotor language, all user variables are written as lowercase letters, while
functions and commands have at least one uppercase character. The term "a" is a
general-purpose variable, while "A" is the acceleration function. As previously described, any
user variable can be assigned a value through an equation.
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Part 2: Commands
ab[24]=ab[43]+ab[7]
Part 2: Commands: ab[index]=formula
All user variables are initialized to the value 0 at power up or on execution of the Z
system-reset command. Other than by direct assignment, this is the only way the SmartMotor
sets all of the user variables to 0. Issuing a RUN command does not perform this automatic
initialization. For this reason, it is better to test a program, whether it is auto-execution or
not, by power cycling the SmartMotor or issuing the Z system-reset command.
NOTE: To understand the relationship between user assigned letter variables a-z,
aa-zz and aaa-zzz, and variable arrays ab[ ], al[ ] and aw[ ], see Array Variable
Memory Map on page 836. The arrays and the letter variables do not overlap in the
Class 5 motor.
Part 2: Commands
RELATED COMMANDS:
R
a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
af[index]=formula Array Float [index] (see page 256)
R
al[index]=formula Array Long [index] (see page 267)
R
aw[index]=formula Array Word [index] (see page 283)
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
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Part 2: Commands: ABS(value)
ABS(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the absolute integer value of the specified variable or number
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RABS(value)
WRITE:
N/A
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: -2147483648 to 2147483647
Output: 0 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ABS command gets (reads) the absolute integer value of the specified variable or
number. For example:
x=ABS(value)
sets the variable x to the absolute integer value of the variable or number specified in (value).
The ABS command cannot have math arguments and cannot be a variable or value from
another motor. For example, x=ABS(PA) is allowed, but x=ABS(PA:3) is not allowed.
There is a special case when using this function—the input value of -2147483648 will output
2147483647. The positive value 2147483648 cannot be represented in a 32-bit value. If the
user finds this special case unacceptable, then the user must first test the input value for this
special case and provide an alternative action.
EXAMPLE:
a=ABS(-5)
PRINT(a,#13)
RABS(-5)
END
'Set variable = ABS(-5)
'Print value of variable a
'Report ABS(-5)
Program output is:
5
5
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Part 2: Commands
Absolute Value of ()
Part 2: Commands: ABS(value)
RELATED COMMANDS:
FABS(value) Floating-Point Absolute Value of ( ) (see page 436)
Part 2: Commands
R
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Part 2: Commands: AC
AC
Acceleration Commanded
Motion control
DESCRIPTION:
Get (reads) the commanded acceleration
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RAC
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-1000 to 1000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
RAC:3, x=AC:3
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The AC command gets (reads) the commanded acceleration:
l
=AC
Reads the real-time commanded acceleration from trajectory generator 1 (MV or MP
modes only)
When a velocity or position profile move is commanded, the velocity is ramped up and down
according to the settings of ADT=, AT=, or DT=. At any instant, the calculated acceleration or
deceleration of the motion profile can be reported. The sign (positive or negative) of this
reported acceleration depends on the direction of travel and the command type (begin motion
or end motion).
The following table provides example values that illustrate how the sign of AC is reported. It
assumes MV (velocity mode).
VT
Command
Direction
Reported
Sign of AC
100000 G (start motion)
Positive (increasing position)
Positive
100000 X (end motion)
Positive (increasing position)
Negative
-100000 G (start motion)
Negative (decreasing position)
Negative
-100000 X (end motion)
Negative (decreasing position)
Positive
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Part 2: Commands: AC
Also, refer to the following figure, which shows the sign (positive or negative) of the reported
commanded-acceleration value compared to command velocity and command position.
Parameter:
AC, RAC Commanded Acceleration
VC, RVC Commanded Velocity
PC, RPC Commanded Position
+
Part 2: Commands
0
Reported Sign of AC (Commanded Acceleration) Compared to VC and PC
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the value of AC to various units of acceleration. These equations force
floating-point calculations to avoid overflow and maintain resolution. They can be placed in a
user program, or they can be precalculated if the values of SAMP and RES are known (SAMP
and RES can be reported from the terminal using the RSAMP and RRES commands,
respectively). SAMP can change if the PID command is used. The value of RES can differ
between motor models.
Output
Equation
Radians/(Sec2)
=AC*PI*2*((((SAMP*1.0)*SAMP)/65536.0)/RES)
Encoder Counts/(Sec2)
=AC*(((SAMP*1.0)*SAMP)/65536.0)
Rev/(Sec2)
=AC*((((SAMP*1.0)*SAMP)/65536.0)/RES)
RPM/Sec
=AC*60.0*((((SAMP*1.0)*SAMP)/65536.0)/RES)
RPM/Min
=AC*3600.0*((((SAMP*1.0)*SAMP)/65536.0)/RES)
EXAMPLE:
ADT=10
VT=100000
MV
G
WAIT=10 'Wait to make sure move has started
WHILE AC>0
LOOP
PRINT("Acceleration Complete",#13)
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Part 2: Commands: AC
RELATED COMMANDS:
R
AT=formula Acceleration Target (see page 275)
Part 2: Commands
ADT=formula Acceleration/Deceleration Target (see page 252)
R DT=formula Deceleration Target (see page 383)
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Part 2: Commands: ACOS(value)
ACOS(value)
Part 2: Commands
Arccosine
APPLICATION:
Math function
DESCRIPTION:
Gets the arccosine of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RACOS(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees output
RANGE OF VALUES:
Input (floating-point): -1.0 to 1.0
Output in degrees: 180.0 to 0.0 (floating-point)
TYPICAL VALUES:
Input (floating-point): -1.0 to 1.0
Output in degrees: 180.0 to 0.0 (floating-point)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
ACOS takes an input and returns a floating-point arccosine in degrees:
af[1]=ACOS(arg)
where arg may be an integer (e.g., a or aw[0]) or floating-point variable (e.g., af[0]). Integer
or floating-point constants may also be used (e.g., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
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Part 2: Commands: ACOS(value)
EXAMPLE:
af[0]=ACOS(.5)
Raf[0]
RACOS(.5)
af[1]=0.4332
af[0]=ACOS(af[1])
Raf[0]
END
'Set array variable = ACOS(.5)
'Report variable af[0]
'Report ACOS(.5)
'Variables may be put in the parenthesis
'Output in degrees
Program output is:
60.000000000
60.000000000
64.329193115
RELATED COMMANDS:
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
R
COS(value) Cosine (see page 359)
R
SIN(value) Sine (see page 683)
R
TAN(value) Tangent (see page 719)
Part 2: Commands
R
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Part 2: Commands: ADDR=formula
ADDR=formula
Address (for RS-232 and RS-485)
APPLICATION:
Communications control
DESCRIPTION:
Motor address
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
PRINT(ADDR), =ADDR
Part 2: Commands
RADDR
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Address
RANGE OF VALUES:
0 to 120
TYPICAL VALUES:
1 to 120
DEFAULT VALUE:
0 on power-up and until an address is assigned to the motor
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SmartMotor™ is designed to be used as much in multiple-axis systems as in single-axis
systems. For that reason, each SmartMotor can be uniquely addressed through the ADDR
command. Used within a program, ADDR permits an identical program stored in different
motors to differentiate between motors and provide individual runtime controls. For example,
ADDR=5 sets the motor’s address to 5.
ADDR is a read/write function, so it can also be used to access the address of the current
SmartMotor. For example, to read the motor address, use the following ADDR command:
var=ADDR
where var is any variable. Then you can use the PRINT(var) command to print the motor's
serial address to the Terminal window.
To set the motor's serial address to the CAN address, use the following ADDR command:
ADDR=CADDR
For example, 3ADDR=CADDR sets the motor 3 serial address to its CAN address;
0ADDR=CADDR would globally set every serial motor's address to its CAN address.
NOTE: SmartMotor commands like 0CADDR=... or 0ADDR=... with a leading
number really send a corresponding address byte (i.e., "0", which is hex 80 or
decimal 128). This can be seen by viewing the serial data with the Serial Data
Analyzer ("sniffer") tool, which is available on the SMI software View menu.
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Part 2: Commands: ADDR=formula
The ADDR command also allows you to retrieve a value over the Combitronic network. See
the second example section for details.
EXAMPLE:
SWITCH ADDR
CASE 1
CASE 2
CASE 3 G
BREAK
CASE 4 S
ENDS
'Motors 1,2 and 3 "GO"
'Motor 4 "STOP"
'Start motion (or stop)
EXAMPLE:
The ADDR command allows you to retrieve a value over the Combitronic network, as shown in
the following examples.
where (assuming the motor processing the command is motor 1):
1.
2.
3.
4.
Motor
Motor
Motor
Motor
1 parses the line of text: ADDR=x:3
1 asks motor 3 for motor 3’s x variable.
1 completes any other operations on the right side of the equation.
1 assigns motor 1’s ADDR with the value from the right side of the equation.
For example: b:2=a+a:3+a:4
where (assuming the motor processing the command is motor 1):
1. Motor 1 parses the text: b:2=a+a:3+a:4
2. Motor 1 retrieves variable a from motors 3 and 4.
3. Motor 1 completes the right side of the equation, including in this case, its own variable
a.
4. Motor 1 sends result of the right side of the equation into motor 2’s variable b.
EXAMPLE: (Code sets CAN address to motor address and resets all motors. Motors should be
addressed on serial RS-232 chain first.)
NOTE: Issue these commands at serial port (SMI Terminal window) only. The "0"
in front of these commands will not be recognized by a user program.
0CADDR=ADDR
0Z
'Set if not same as motor address
'Reset all motors to enable CAN address
RELATED COMMANDS:
R
CADDR=formula CAN Address (see page 343)
SADDR# Set Address (see page 671)
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Part 2: Commands
For example: ADDR=x:3
Part 2: Commands: ADT=formula
ADT=formula
Part 2: Commands
Acceleration/Deceleration Target
APPLICATION:
Motion control
DESCRIPTION:
Sets the buffered acceleration target (AT) /deceleration target
(DT) at the same time
EXECUTION:
Buffered until a G command is issued or an X command is
issued
CONDITIONAL TO:
MP, MV, G, X, PIDn (sample rate), encoder resolution
LIMITATIONS:
Must not be negative; effective value is rounded down to next
even number
READ/REPORT:
There is no direct report for ADT; use RAT and RDT
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
2 to 5000
DEFAULT VALUE:
See: AT, DT
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ADT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ADT command sets the AT and DT parameters of the motion profile. Those values are
individually accessible with the AT=, =AT, DT=, and =AT commands. ADT is provided as a
convenience when those values do not need to be different from each other. See the
respective commands for specific details about how they apply to a motion profile.
The ADT= command cannot be reported back directly, because it simply passes the value to
AT= and DT=.
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
EXAMPLE: (Shows use of ADT, PT and VT)
MP
ADT=5000
PT=20000
VT=10000
G
END
'Set mode position
'Set target accel/decel
'Set absolute position
'Set velocity
'Start motion
'End program
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Part 2: Commands: ADT=formula
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
R
AT=formula Acceleration Target (see page 275)
R
DT=formula Deceleration Target (see page 383)
R
EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
R PRT=formula Position, Relative Target (see page 636)
R
PT=formula Position, (Absolute) Target (see page 642)
R
VT=formula Velocity Target (see page 771)
X Decelerate to Stop (see page 787)
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Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
Part 2: Commands: ADTS=formula
ADTS=formula
Part 2: Commands
Acceleration/Deceleration Target, Synchronized
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized (path) acceleration/deceleration target
EXECUTION:
Must be set before issuing PTS or PRTS; will not be effective
after that point
CONDITIONAL TO:
PIDn
LIMITATIONS:
Must not be negative; 0 is not valid; effective value is rounded
up to next even number
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
(encoder counts / (sample²) ) * 65536 in 2D or 3D space
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
10 to 500
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The ADTS value determines the synchronized (path) acceleration/deceleration that will be
used by subsequent position or velocity moves to calculate the required trajectory. Changing
ADTS during a move will not alter the current trajectory unless a new G command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
EXAMPLE: (Configures and starts a synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=100000
'Set target synchronized velocity
x=1000 y=2000 z=3500 a=100 b=200
PTS(x;1,y;2,z;3)
'Set next positions, axes 1, 2 & 3
PTSS(a;4)
'Set supplemental position, axes 4
PTSS(b;5)
'Set supplemental position, axes 5
GS
'Go, starts the synchronized move
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Part 2: Commands: ADTS=formula
EXAMPLE: (Synchronized relative and supplemental synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=10000
'Set target synchronized velocity
PRTS(3000;1,4000;2,1000;3) 'Set synchronized relative
'target positions
PRTSS(2000;4)
'Set supplemental synchronized relative target
GS
'Start synchronized motion
TSWAIT
'Wait for synchronized motions to complete
RELATED COMMANDS:
Part 2: Commands
PID# Proportional-Integral-Differential Filter Rate (see page 607)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Part 2: Commands: af[index]=formula
af[index]=formula
Part 2: Commands
Array Float [index]
APPLICATION:
Variables
DESCRIPTION:
Floating-point array variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values 0 to 7
LIMITATIONS:
Index limited to two values with single operator; index values
may be a constant or variables a-zzz
READ/REPORT:
Raf[index]
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Signed floating-point number
RANGE OF VALUES:
Very large: more than ±10300a,b
TYPICAL VALUES:
Depends on required precision (approximate):
To maintain integer precision:
-4503599627370496 to +4503599627370496b
To maintain 3 decimal digits:
-4503599627370.496 to +4503599627370.496b
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
af[0]:3=1234.0
where ":3" is the motor address — use the actual address or a
variable
a
Use of full range is not recommended because precision of the number is lost. At this
extreme range, precision is worse than a whole number.
b Entering
and reporting values through user commands is limited to the range:
-2147483648.0 to 2147483647.0
DETAILED DESCRIPTION:
The floating-point array variables meet IEEE-754 specifications. Therefore, they are true
floating-point variables — the location of the decimal point can vary with the exponent from
very small (approximately 1x10-300) to very large (approximately 1x10300). The user is
encouraged to make use of floating-point variables in equations where a typical 32-bit integer
might overflow (see examples).
While floating-point numbers seem to have nearly limitless range from large to small, the
user must exercise caution. The precision of the number is limited to approximately 15
decimal digits. The number is stored in a base-2 format, including the fractional part. This can
result in subtle issues with precision and representation of base-10 values. This is generally
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 256 of 890
Part 2: Commands: af[index]=formula
avoided by only displaying nine rounded digits after the decimal place. This allows for small
numbers (less than 100000) to show all nine decimal digits.
When using floating-point values or floating-point variables in equations, there are some rules
to be aware of. The equation parser will not perform floating-point operations until at least
one of the input values is a floating-point value. After a floating-point value is seen, the
following operations (in the order of operations) in that equation will proceed with floatingpoint operations. Note that it is a common mistake to divide two integers and expect a
floating-point result — at least one of those input values must be entered as a floating-point
value or first multiplied by 1.0, to invoke floating-point operations.
Floating-point variables will remember the full range possible but can only display a limited
range. The display is limited to nine digits after the decimal point, and -2147483648 to
2147483647 before the decimal point.
When assigning a floating-point variable to an integer, the integer cannot accept a value
outside of the range: -2147483648 to 2147483647. This will result in a command error (Code
23: Math Overflow) and the integer will remain at its previous value.
Basic math operations (+, -, *, /) are performed at 64-bit precision. However, the
trigonometric functions are only calculated with 32-bit precision.
For more details, see Variables and Math on page 189.
EXAMPLE:
af[0]=123.5
Raf[0]
af[0]=1/10
Raf[0]
af[0]=1.0/10
'Assign the value of 123.5 to af[0].
'Perform the integer divide and store result to af[0].
'Perform the floating-point divide and store
'result to af[0].
Raf[0]
af[0]=1300000.0*2700000 'The product would overflow a 32-bit integer,
'but af[0] can handle it.
a=af[0]/1000000 'Reduce the size of the value to something an
'integer can handle.
Ra
a=(1300000.0*2700000)/1000000 'This has the same result; the equation
'still performs a floating-point divide
'and stores the integer result.
Ra
END
Program output is:
123.500000000
0.000000000
0.100000000
3510000
3510000
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Page 257 of 890
Part 2: Commands
A floating-point number can be assigned to an integer, but it will round toward 0. For
example, the value 1.9 becomes 1; the value -1.9 becomes -1.
Part 2: Commands: af[index]=formula
RELATED COMMANDS:
R
a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
ab[index]=formula Array Byte [index] (see page 240)
R
al[index]=formula Array Long [index] (see page 267)
R
aw[index]=formula Array Word [index] (see page 283)
R
DFS(value) Dump Float, Single (see page 380)
R
LFS(value) Load Float Single (see page 504)
Part 2: Commands
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
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Page 258 of 890
Part 2: Commands: Ai(arg)
Ai(arg)
APPLICATION:
I/O control
DESCRIPTION:
Arms the index register for capturing the rising edge of the
encoder
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: 0 or 1
TYPICAL VALUES:
Input: 0 or 1
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Ai(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Ai(value) command arms the index register for capturing the rising edge of the encoder.
To capture the falling edge, see Aj(arg) on page 263.
NOTE: The rising and falling edges are stored to different index registers.
The value parameter specifies the encoder to be captured; it does not specify the source of
the index signal.
l
Ai(0) specifies internal encoder
l
Ai(1) specifies external encoder
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Page 259 of 890
Part 2: Commands
Arm Index Rising Edge
Part 2: Commands: Ai(arg)
Part 2: Commands
EXAMPLE:
EIGN(W,0)
'Set all I/O as general inputs
a=0
ZS
'Clear all faults
Ai(0)
'Arm motor’s capture register
MV
'Set up slow velocity mode
VT=1000
ADT=10
'Set up accel/decel
G
'Start motion
WHILE Bt
'While trajectory
IF Bi(0)==0
'Check index capture of encoder
GOSUB(1)
'Call subroutine
ELSE
X
ENDIF
'End checking
LOOP
'Loop back
RI(0)
'Report rising edge
OFF
END
'SUB 1: Increment a every 1 second
C1
IF B(4,0)==0 'Check Timer 0 status
a=a+1
'Updating a every second
TMR(0,1000) 'Set Timer 0 counting
ENDIF
RETURN
RELATED COMMANDS:
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R Bi(enc) Bit, Index Capture, Rising (see page 297)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R I(enc) Index, Rising-Edge Position (see page 459)
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Page 260 of 890
Part 2: Commands: Aij(arg)
Aij(arg)
APPLICATION:
I/O control
DESCRIPTION:
Arms the index registers for capturing the rising edge and then
the falling edge of the encoder
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
Input: 0 or 1
DEFAULT VALUE:
Input: 0 or 1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Aij(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Aij(arg) command arms the index registers for capturing the rising edge and then the
falling edge of the encoder. To first capture the falling edge and then the rising edge, see Aji
(arg) on page 265.
NOTE: The rising and falling edges are stored to different index registers.
The argument specifies the encoder to be captured, it does not specify the source of the index
signal.
l
Aij(0) specifies internal encoder
l
Aij(1) specifies external encoder
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Page 261 of 890
Part 2: Commands
Arm Index Rising Edge Then Falling Edge
Part 2: Commands: Aij(arg)
EXAMPLE:
Part 2: Commands
EIGN(W,0)
a=0
ZS
Aij(0)
MV
VT=1000
ADT=10
G
WHILE Bi(0)==0
LOOP
RI(0)
WHILE Bj(0)==0
LOOP
RJ(0)
OFF
END
'Set all I/O as general inputs
'Clear all faults
'Arm motor’s capture register
'Set up slow velocity mode
'Set up slow accel/decel
'Start motion
'While waiting for rising edge
'Loop back
'Report rising edge
'While waiting for falling edge
'Loop back
'Report falling edge
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R Bi(enc) Bit, Index Capture, Rising (see page 297)
R
Bj(enc) Bit, Index Capture, Falling (see page 300)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R I(enc) Index, Rising-Edge Position (see page 459)
R
J(enc) Index, Falling-Edge Position (see page 481)
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Page 262 of 890
Part 2: Commands: Aj(arg)
Aj(arg)
APPLICATION:
I/O control
DESCRIPTION:
Arms the index register for capturing the falling edge of the
encoder
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: 0 or 1
TYPICAL VALUES:
Input: 0 or 1
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Aj(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Aj(arg) command arms the index register for capturing the falling edge of the encoder. To
capture the falling edge, see Ai(arg) on page 259.
NOTE: The rising and falling edges are stored to different index registers.
The argument specifies the encoder to be captured, it does not specify the source of the index
signal.
l
Aj(0) specifies internal encoder
l
Aj(1) specifies external encoder
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 263 of 890
Part 2: Commands
Arm Index Falling Edge
Part 2: Commands: Aj(arg)
Part 2: Commands
EXAMPLE:
EIGN(W,0)
'Set all I/O as general inputs
a=0
ZS
'Clear all faults
Aj(0)
'Arm motor’s capture register
MV
'Set up slow velocity mode
VT=1000
ADT=10
'Set up slow accel/decel
G
'Start motion
WHILE Bt
'While trajectory
IF Bj(0)==0
'Check index capture of encoder
GOSUB(1)
'Call subroutine
ELSE
X
ENDIF
'End checking
LOOP
'Loop back
RJ(0)
'Report falling edge
OFF
END
'SUB 1: Increment a every 1 second
C1
IF B(4,0)==0 'Check Timer 0 status
a=a+1
'Updating a every second
TMR(0,1000) 'Set Timer 0 counting
ENDIF
RETURN
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R Bj(enc) Bit, Index Capture, Falling (see page 300)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R J(enc) Index, Falling-Edge Position (see page 481)
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Page 264 of 890
Part 2: Commands: Aji(arg)
Aji(arg)
APPLICATION:
I/O control
DESCRIPTION:
Arms the index registers for capturing the falling edge and then
the rising edge of the encoder
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
Input: 0 or 1
DEFAULT VALUE:
Input: 0 or 1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Aji(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Aji(arg) command arms the index registers for capturing the falling edge and then the
rising edge of the encoder. To first capture the rising edge and then falling edge, see Aij(arg)
on page 261.
NOTE: The rising and falling edges are stored to different index registers.
The argument specifies the encoder to be captured, it does not specify the source of the index
signal.
l
Aji(0) specifies internal encoder
l
Aji(1) specifies external encoder
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 265 of 890
Part 2: Commands
Arm Index Falling Edge Then Rising Edge
Part 2: Commands: Aji(arg)
EXAMPLE:
Part 2: Commands
EIGN(W,0)
a=0
ZS
Aji(0)
MV
VT=1000
ADT=10
G
WHILE Bj(0)==0
LOOP
RJ(0)
WHILE Bi(0)==0
LOOP
RI(0)
OFF
END
'Set all I/O as general inputs
'Clear all faults
'Arm motor’s capture register
'Set up slow velocity mode
'Set up slow accel/decel
'Start motion
'While waiting for falling edge
'Loop back
'Report falling edge
'While waiting for rising edge
'Loop back
'Report rising edge
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
R Bi(enc) Bit, Index Capture, Rising (see page 297)
R
Bj(enc) Bit, Index Capture, Falling (see page 300)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R I(enc) Index, Rising-Edge Position (see page 459)
R
J(enc) Index, Falling-Edge Position (see page 481)
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Page 266 of 890
Part 2: Commands: al[index]=formula
al[index]=formula
Array Long [index]
APPLICATION:
Variables
DESCRIPTION:
User signed 32-bit variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values range 0 to 50
LIMITATIONS:
An expression used as an index within the [] brackets is limited
to no more than one operator (two values).
This data space is shared with Cam motion (MC) if a RAM table
location is selected. However, the aw command must not be
used to access this space during that time.
READ/REPORT:
Ral[index]
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Signed 32-bit number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
al[0]:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32-bit arrays. The 32-bit array takes the form of the
variables al[index]. These are general-purpose, 32-bit signed integer variables that can be
reported, used on either side of an equation, and can be mixed in an expression with variables
other than 32-bit. Like all user variables, they are always lowercase, and they are
automatically initialized to zero at power up or reset.
The syntax of the 32-bit array is al[index] which stands for array long and accepts an index
value between 0 and 50. This index can be specified explicitly or through another variable. For
example, al[4] refers to the fifth element in the 32-bit array, while aw[n] refers to an element
of the array, where the variable "n" must be between 0 and 50.
The value of any array variable is reported with the R, PRINT( ) or PRINT1( ) functions.
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Page 267 of 890
Part 2: Commands
No Combitronic requests or functions with parenthesis are
supported within the [] brackets.
Part 2: Commands: al[index]=formula
EXAMPLE:
al[47]=20 'Assign the value of 20 to al[47]
Ral[47]
'Report the value of al[47] to the primary serial port.
PRINT("al[47]=",al[47],#13)
'Print to the primary serial port.
PRINT1("al[47]=",al[47],#13)
'Print to the secondary serial port.
END
Program output is:
20
al[47]=20
The al[ ] array is classified as read/write, meaning that it can be assigned a value, or it can be
assigned to some other variable or function. In other words, these variables can be left- or
right-hand values.
EXAMPLE:
Part 2: Commands
al[24]=al[43]+al[7]
The above is a valid equation, combining the contents of al[43] and al[7] and sending the total
into al[24].
These variables are 32-bit signed integers, so they are limited to whole numbers from
-2147483648 to 2147483647. Math operations that result in digits after the decimal point are
truncated toward zero. Therefore, the value 2.9 becomes 2, and the value -2.9 becomes -2.
If you assign or perform an operation that normally results in a value outside this range, the
Bs bit indicates an overflow and the operation aborts before assigning the value to the left of
the equal sign.
The following are other restrictions:
l
l
l
If al[1]+a exceeds 32 signed bits, the operation c=al[1]+a aborts and an error flag is
set.
If a-al[1] exceeds 32 signed bits, the operation c=a-al[1] aborts and an error flag is set.
If a*al[1] exceeds 32 signed bits, the operation c=a*al[1] aborts and an error flag is
set.
The system flag, Bs, is set. Note that many different types of command errors will also
set the Bs bit. The RERRC command can be used to retrieve the last command error. For
a math overflow, that is error code 23. For details on the RERRC command, see ERRC on
page 429.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be "type cast").
For example, assigning the variable aw[27]=al[0] directly stores the 16 least-significant bits
of al[0] to aw[27]. The sign bit of al[0] is not considered, the sign is determined based on bit
15 of al[0]. The higher bits of the variable al[0] are ignored.
Conversely, if the left-hand value is a 32-bit variable and the right-hand side contains 16-bit
variables, the 16-bit variables will be "upgraded" to 32-bits. The sign is preserved when
casting to a longer format. In the equation al[0]=ab[4]-aw[7], both ab[4] and aw[7] are
converted into 32-bit numbers before the subtraction occurs.
In the SmartMotor language, all user variables are written as lowercase letters, while
functions and commands have at least one uppercase character. The term "a" is a
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 268 of 890
Part 2: Commands: al[index]=formula
general-purpose variable, while "A" is the acceleration function. As previously described, any
user variable can be assigned a value through an equation.
All user variables are initialized to the value 0 at power up or on execution of the Z
system-reset command. Other than by direct assignment, this is the only way the SmartMotor
sets all of the user variables to 0. Issuing a RUN command does not perform this automatic
initialization. For this reason, it is better to test a program, whether it is auto-execution or
not, by power cycling the SmartMotor or issuing the Z system-reset command.
NOTE: To understand the relationship between user assigned letter variables a-z,
aa-zz and aaa-zzz, and variable arrays ab[ ], al[ ] and aw[ ], see Array Variable
Memory Map on page 836. The arrays and the letter variables do not overlap in the
Class 5 motor.
R
a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
ab[index]=formula Array Byte [index] (see page 240)
R
af[index]=formula Array Float [index] (see page 256)
R
aw[index]=formula Array Word [index] (see page 283)
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
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Page 269 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: AMPS=formula
AMPS=formula
Part 2: Commands
Amps, PWM Limit
APPLICATION:
Motion control
DESCRIPTION:
Sets maximum allowed pulse width modulation (PWM) to motor
windings
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
Must not be negative
READ/REPORT:
RAMPS
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
1/1023 of maximum PWM permitted
RANGE OF VALUES:
0 to 1023
TYPICAL VALUES:
0 to 1023
DEFAULT VALUE:
1023
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
AMPS:3=100
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The AMPS command limits both the continuous torque and speed of the SmartMotor™.
To set the SmartMotor to use maximum available PWM, issue the command AMPS=1023.
Setting AMPS=0 limits PWM to 0 and prevents any output torque. To conceptually understand
what happens when you use values between 0 and 1023, consider the following torque-speed
diagram:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 270 of 890
AMPS torque-speed diagram
The AMPS function essentially cuts the torque-speed characteristic of the motor by slicing off
the part of the curve to the right of the AMPS line. Note that there are some values of AMPS
that will limit top speed but not peak torque. The slope of the line is highly dependent on the
voltage of the power source.
AMPS is often used to limited torque and speed.
AMPS has no effect in torque mode (MT or T). In this mode, the value of T controls the
commanded torque of the motor without limitation by AMPS.
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 271 of 890
Part 2: Commands
Part 2: Commands: AMPS=formula
Part 2: Commands: AMPS=formula
RELATED COMMANDS:
Part 2: Commands
MT Mode Torque (see page 573)
R T=formula Torque, Open-Loop Commanded (see page 713)
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Page 272 of 890
Part 2: Commands: ASIN(value)
ASIN(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the arcsine of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RASIN(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees output
RANGE OF VALUES:
Input (floating-point): -1.0 to 1.0
Output in degrees: -90.0 to 90.0 (floating-point)
TYPICAL VALUES:
Input (floating-point): -1.0 to 1.0
Output in degrees: -90.0 to 90.0 (floating-point)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
ASIN takes an input and returns a floating-point arcsine in degrees:
af[1]=ASIN(arg)
where arg may be an integer (e.g., a or aw[0]) or floating-point variable (e.g., af[0]). Integer
or floating-point constants may also be used (e.g., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
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Page 273 of 890
Part 2: Commands
Arcsine
Part 2: Commands: ASIN(value)
EXAMPLE:
af[0]=ASIN(.5)
Raf[0]
RASIN(.5)
af[1]=0.4332
af[0]=ASIN(af[1])
Raf[0]
END
'Set array variable = ASIN(.5)
'Report variable af[0]
'Report ASIN(.5)
'Variables may be put in the parenthesis
'Output in degrees
Program output is:
30.000000000
30.000000000
25.670810699
Part 2: Commands
RELATED COMMANDS:
R
ACOS(value) Arccosine (see page 248)
R
ATAN(value) Arctangent (see page 277)
R
COS(value) Cosine (see page 359)
R
SIN(value) Sine (see page 683)
R
TAN(value) Tangent (see page 719)
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Part 2: Commands: AT=formula
AT=formula
APPLICATION:
Motion control
DESCRIPTION:
Sets the target acceleration only (does not change deceleration
unless no deceleration has been set)
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MP, MV, ADT=, G, PIDn (sample rate), encoder resolution
LIMITATIONS:
Must not be negative; effective value is rounded down to next
even number
READ/REPORT:
RAT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
2 to 5000
DEFAULT VALUE:
0 (for firmware 5.x.4.x and later, the default is set to 4)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
AT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The buffered AT value determines the acceleration used by subsequent position or velocity
moves to calculate the required trajectory. Changing AT during a move will not alter the
current trajectory unless a new G command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
If the value for DT has not been set since powering up the motor, the value of AT= will be
automatically applied to DT=. However, this should be avoided. Instead, always use the ADT=
command to specify the value for AT and DT when they are the same. If the value needed for
DT is different than AT, specify it with the DT= command.
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the real-world units of acceleration to a value for AT, where af[0] is
already set with the real-world unit value. These equations force floating-point calculations to
avoid overflow and maintain resolution. They can be placed in a user program, or they can be
precalculated if the values of SAMP and RES are known (SAMP and RES can be reported from
the terminal using the RSAMP and RRES commands, respectively). SAMP can change if the PID
command is used. The value of RES can differ between motor models.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 2: Commands
Acceleration Target
Part 2: Commands: AT=formula
Input as value
in af[0]
Equation
Radians/(Sec2)
AT=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec2)
AT=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec2)
AT=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec
AT=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min
AT=((af[0]*RES)/(3600.0*((SAMP*1.0)*SAMP)))*65536
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
EXAMPLE:
Part 2: Commands
MP
AT=5000
PT=20000
VT=10000
G
'Set mode position
'Set target acceleration
'Set absolute position
'Set velocity
'Start motion
EXAMPLE:
AT=100
VT=750
MV
G
'Set buffered acceleration
'Set buffered velocity
'Set buffered velocity mode
'Start motion
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
ATS=formula Acceleration Target, Synchronized (see page 281)
R DT=formula Deceleration Target (see page 383)
DTS=formula Deceleration Target, Synchronized (see page 385)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
R PT=formula Position, (Absolute) Target (see page 642)
R
RES Resolution (see page 653)
R
SAMP Sampling Rate (see page 677)
R
VT=formula Velocity Target (see page 771)
X Decelerate to Stop (see page 787)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 2: Commands: ATAN(value)
ATAN(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the arctangent of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RATAN
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees output
RANGE OF VALUES:
Input (floating-point): any value
Output in degrees (floating-point): -90.0 to 90.0
TYPICAL VALUES:
Input (floating-point): any value
Output in degrees (floating-point): -90.0 to 90.0
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
ATAN takes an input and returns a floating-point arctangent in degrees:
af[1]=ATAN(arg)
where arg may be an integer (e.g., a or aw[0]) or floating-point variable (e.g., af[0]). Integer
or floating-point constants may also be used (e.g., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
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Part 2: Commands
Arctangent
Part 2: Commands: ATAN(value)
EXAMPLE:
af[0]=ATAN(50.5)
Raf[0]
RATAN(50.5)
af[1]=0.4332
af[0]=ATAN(af[1])
Raf[0]
END
'Set array variable = ATAN(50.5)
'Report value of af[0] variable
'Report ATAN(50.5)
'Variables may be put in the parenthesis
'Output in degrees
Program output is:
88.865577697
88.865577697
23.422260284
Part 2: Commands
RELATED COMMANDS:
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
COS(value) Cosine (see page 359)
R
SIN(value) Sine (see page 683)
R
TAN(value) Tangent (see page 719)
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Part 2: Commands: ATOF(index)
ATOF(index)
APPLICATION:
Data conversion
DESCRIPTION:
Gets (reads) the ASCII to float conversion
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Integer portion of input string must be in 32-bit range
READ/REPORT:
RATOF(index)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-2147483648.000000000 to +2147483647.000000000
TYPICAL VALUES:
-2147483648.000000000 to +2147483647.000000000
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ATOF command is used to read an ASCII string containing a number in the format:
-123456789.123456789
The string is stored in the ab[index] array. The argument in the ATOF(index) function is the
index of ab[] where the string begins. The parsing ends when a character other than a digit,
decimal point or minus sign is met.
The value returned is a float, which can be assigned to a floating-point variable or an integer.
EXAMPLE:
ab[10]=50
ab[11]=51
ab[12]=48
ab[13]=46
ab[14]=49
ab[15]=0
af[0]=ATOF(10)
Raf[0]
END
Program output is:
230.099999999
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Part 2: Commands
ASCII to Float
Part 2: Commands: ATOF(index)
RELATED COMMANDS:
HEX(index) Decimal Value of a Hex String (see page 457)
Part 2: Commands
R
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Page 280 of 890
Part 2: Commands: ATS=formula
ATS=formula
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized (path) target acceleration (does not
change deceleration)
EXECUTION:
Immediate
CONDITIONAL TO:
PIDn
LIMITATIONS:
Must not be negative; 0 is not valid; effective value is rounded
up to next even number
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 5000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
Setting the synchronized (path) ATS value determines the acceleration that will be used by
subsequent position or velocity moves to calculate the required trajectory. Changing ATS
during a move will not alter the current trajectory unless a new G command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the real-world units of acceleration to a value for ATS, where af[0] is
already set with the real-world unit value. These equations force floating-point calculations to
avoid overflow and maintain resolution. They can be placed in a user program, or they can be
precalculated if the values of SAMP and RES are known (SAMP and RES can be reported from
the terminal using the RSAMP and RRES commands, respectively). SAMP can change if the PID
command is used. The value of RES can differ between motor models.
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Part 2: Commands
Acceleration Target, Synchronized
Part 2: Commands: ATS=formula
Input as value
in af[0]
Equation
Radians/(Sec2)
ATS=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec2)
ATS=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec2)
ATS=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec
ATS=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min
ATS=((af[0]*RES)/(3600.0*((SAMP*1.0)*SAMP)))*65536
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
Part 2: Commands
EXAMPLE: (Shows use of ATS, DTS and VTS)
EIGN(W,0)
'Set all I/O as general inputs.
ZS
'Clear errors.
ATS=100
'Set synchronized acceleration target.
DTS=500
'Set synchronized deceleration target.
VTS=100000000
'Set synchronized target velocity.
PTS(500;1,1000;2,10000;3) 'Set synchronized target position
'on motor 1, 2 and 3.
GS
'Initiate synchronized move.
TSWAIT
'Wait until synchronized move ends.
END
'Required END.
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
DTS=formula Deceleration Target, Synchronized (see page 385)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
R PTST Position Target, Synchronized Time (see page 649)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Part 2: Commands: aw[index]=formula
aw[index]=formula
Array Word [index]
APPLICATION:
Variables
DESCRIPTION:
User signed 16-bit data variables
EXECUTION:
Immediate
CONDITIONAL TO:
Index values range 0 to 101
LIMITATIONS:
An expression used as an index within the [] brackets is limited
to no more than one operator (two values).
This data space is shared with Cam motion (MC) if a RAM table
location is selected. However, the aw command must not be
used to access this space during that time.
READ/REPORT:
Raw[index]
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Signed 16-bit number
RANGE OF VALUES:
-32768 to 32767
TYPICAL VALUES:
-32768 to 32767
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
aw[0]:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ has 8, 16 and 32-bit arrays. The 16-bit array takes the form of the
variables aw[index]. These are general-purpose, 16-bit signed integer variables that can be
reported, used on either side of an equation, and can be mixed in an expression with variables
other than 16-bit. Like all user variables, they are always lowercase, and are automatically
initialized to zero at power up or reset.
The syntax of the 16-bit array is aw[index], which stands for array word, and accepts an index
value between 0 and 101. This index can be specified explicitly or through another variable.
For example, aw[4] refers to the fifth element in the 16-bit array, while aw[n] refers to an
element of the array, where the variable "n" must be between 0 and 101.
The value of any array variable is reported with the R, PRINT( ) or PRINT1( ) functions.
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Part 2: Commands
No Combitronic requests or functions with parenthesis are
supported within the [] brackets.
Part 2: Commands: aw[index]=formula
EXAMPLE:
aw[47]=20 'Assign the value of 20 to aw[47]
Raw[47]
'Report the value of aw[47] to the primary serial port
PRINT("aw[47]=",aw[47],#13)
'Print to the primary serial port
PRINT1("aw[47]=",aw[47],#13)
'Print to the secondary serial port
END
Program output is:
20
aw[47]=20
The aw[ ] array is classified as read/write, meaning that it can be assigned a value, or it can
be assigned to some other variable or function. In other words, these variables can be left- or
right-hand values.
EXAMPLE:
Part 2: Commands
aw[24]=aw[43]+aw[7]
The above is a valid equation, combining the contents of aw[43] and aw[7] and sending the
total into aw[24].
As signed 16-bit variables, they are limited to whole numbers ranging from -32768 and 32767.
Math operations that result in digits after the decimal point are truncated toward zero. So a
value of 2.9 becomes 2, and a value of -2.9 becomes -2.
If you assign or perform an operation that would normally result in a value outside of this
range, the variable will "wrap," or take on the corresponding modulo. As an example, because
of this, 32767+1=-32768. The result "wrapped around" to the negative extreme.
The following are other restrictions:
l
l
l
If aw[1]+a exceeds 32 signed bits, the operation c=aw[1]+a will abort and an error flag
is set.
If a-aw[1] exceeds 32 signed bits, the operation c=a-aw[1] will abort and an error flag
is set.
If a*aw[1] exceeds 32 signed bits, the operation c=a*aw[1] will abort and an error flag
is set.
The system flag, Bs, is set. Note that many different types of command errors will also
set the Bs bit. The RERRC command can be used to retrieve the last command error. For
a math overflow, that is error code 23. For details on the RERRC command, see ERRC on
page 429.
If one of these variables is used with a variable of another type, it will be appropriately
converted (the variable will be "type cast").
If the left-hand variable is a 16-bit one like aw[100], only the lowest 16 bits are preserved.
The sign is determined by bit 15 of the value on the right-side of the equals sign.
Conversely, if the left-hand value is a 32-bit variable and the right-hand side contains 16-bit
variables, the 16-bit variables will be "upgraded" to 32-bits. The sign is preserved when
casting to a longer format. In the equation cc=ab[4]-aw[7], both ab[4] and aw[7] are
converted into 32-bit numbers before the subtraction occurs.
In the SmartMotor language, all user variables are written as lowercase letters, while
functions and commands have at least one uppercase character. The term "a" is a
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 284 of 890
Part 2: Commands: aw[index]=formula
general-purpose variable, while "A" is the acceleration function. As previously described, any
user variable can be assigned a value through an equation.
All user variables are initialized to the value 0 at power up or on execution of the Z
system-reset command. Other than by direct assignment, this is the only way the SmartMotor
sets all of the user variables to 0. Issuing a RUN command does not perform this automatic
initialization. For this reason, it is better to test a program, whether it is auto-execution or
not, by power cycling the SmartMotor or issuing the Z system-reset command.
NOTE: To understand the relationship between user assigned letter variables a-z,
aa-zz and aaa-zzz, and variable arrays ab[ ], al[ ] and aw[ ], see Array Variable
Memory Map on page 836. The arrays and the letter variables do not overlap in the
Class 5 motor.
R
a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
ab[index]=formula Array Byte [index] (see page 240)
R
af[index]=formula Array Float [index] (see page 256)
R
al[index]=formula Array Long [index] (see page 267)
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
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Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: B(word,bit)
B(word,bit)
Part 2: Commands
Status Byte
APPLICATION:
System
DESCRIPTION:
Reads the status from the specified status word and bit number
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RB(sw,b)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
Input:
word argument range: 0–17
bit argument range: 0–15
Output: 0 or 1
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The B command reads the status from the specified status word and bit number:
=B(word,bit)
where "word" is the word number and "bit" is the bit number.
EXAMPLE: Check timer status
IF B(4,0)==0
a=a+1
TMR(0,1000)
ENDIF
'Check Timer 0 status
'Updating a every second
'Set Timer 0 counting
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Page 286 of 890
Part 2: Commands: B(word,bit)
EXAMPLE: (For CANopen only, using firmware 5.x.4.21 or later) Read status word 10, bits 15, and then clear the event flag.
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)
. . .
LOOP
END
RELATED COMMANDS:
R
W(word) Report Specified Status Word (see page 776)
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Page 287 of 890
Part 2: Commands
ENDIF
IF B(10,5)==1
Z(10,5) ' Clear event flag
PRINT("Rx PDO 5",#13)
ENDIF
Part 2: Commands: Ba
Ba
Bit, Peak Overcurrent
APPLICATION:
System
DESCRIPTION:
Overcurrent detected state
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Hardware Detection
LIMITATIONS:
None
READ/REPORT:
RBa
Part 2: Commands
RB(0,4)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SmartMotor™ firmware checks each PID Sample to see whether or not a peak
overcurrent condition exists. The setpoint is in hardware and depends on the model motor and
drive stage. If the setpoint is reached, the system flag Ba is to 1.
For a Class 5 D-style motor:
When an overcurrent condition is detected, the SmartMotor will turn off the amplifier for
several servo samples to reduce the peak load and then turn on the amplifier to complete the
commanded motion. During the off state, if the position error exceeds the allowable following
error (EL), the servo will indicate a following error (shown by the Be status bit).
For an M-style motor:
The M-style motor has more sophisticated current sensing and protection. Other mechanisms
in the firmware are used to try to prevent the peak current from occurring. This bit is an
indication that a more severe situation has occurred. If this bit is indicated on an M-style
motor, then the motor will shut down, similar to other faults. This fault must be cleared
(typically with a ZS command) to resume motion.
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Page 288 of 890
Part 2: Commands: Ba
The Ba bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,4) command
l
ZS command
l
Za command
When the Ba flag is repeatedly set, it indicates an underlying problem:
l
l
If the Ba flag is frequently set, it typically indicates that the motor is undersized in the
peak range.
If the Ba bit is set during every machine cycle, the acceleration value may be too high.
Therefore, try lowering the acceleration value. If the flag is still set for every cycle,
then the motor may be under sized for the application.
EXAMPLE: (Subcomponent of system check routine)
IF Ba
PRINT("OVERCURRENT")
Za
ENDIF
'If Peak overcurrent is detected
'Inform host
'Clear overcurrent state latch
EXAMPLE: (Subroutine finds and prints errors)
C10
'Subroutine label
IF Be
'Check for position error
PRINT("Position Error", #13)
ENDIF
IF Bh
'Check for overtemp error
PRINT("Overtemp Error",#13)
ENDIF
IF Ba
'Check for overcurrent error
PRINT("Overcurrent Error",#13)
ENDIF
RETURN
'Return to subroutine call
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
W(word) Report Specified Status Word (see page 776)
Z(word,bit) Reset Specified Status Bit (see page 791)
Z Total CPU Reset (see page 789)
Za Reset Overcurrent Flag (see page 793)
ZS Global Reset System State Flag (see page 801)
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Part 2: Commands
For details on motor sizing, see the Moog Animatics Product Catalog.
Part 2: Commands: BAUD(x)=formula
BAUD(x)=formula
Part 2: Commands
Set BAUD Rate (RS-232 and RS-485)
APPLICATION:
Communications control
DESCRIPTION:
Set serial communication BAUD rate for transmitting data
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
BAUD(1)= and RBAUD(1) are not available on M-style motors
READ/REPORT:
RBAUD(channel)
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
bits per second (Baud)
RANGE OF VALUES:
2400, 4800, 9600, 19200, 38400, 57600 or 115200
TYPICAL VALUES:
2400, 4800, 9600, 19200, 38400, 57600 or 115200
DEFAULT VALUE:
9600
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The BAUD command sets the speed or baud rate of the specified serial channel. To do this,
use:
BAUD(x)=y
where (x) is 0 or 1 for channel 0 or channel 1, respectively, and y is the desired baud rate.
NOTE: BAUD(1)= and RBAUD(1) are not available on M-style motors.
Additionally, the baud rate of the primary communications channel can be set by the following
commands:
Command
Serial BAUD
Rate (bps)
BAUD2400
2400
BAUD4800
4800
BAUD9600
9600
BAUD19200
19200
BAUD38400
38400
BAUD57600
57600
BAUD115200
115200
You can also set the baud rate for all motors, for example:
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Page 290 of 890
Part 2: Commands: BAUD(x)=formula
0BAUD9600
would globally set all motors on the serial network to a baud rate of 9600 bps.
NOTE: SmartMotor commands like 0CADDR=... or 0ADDR=... with a leading
number really send a corresponding address byte (i.e., "0", which is hex 80 or
decimal 128). This can be seen by viewing the serial data with the Serial Data
Analyzer ("sniffer") tool, which is available on the SMI software View menu.
EXAMPLE:
EIGN(W,0)
ZS
BAUD115200
END
'Make all onboard I/O inputs
'Clear errors
'Set baud rate of channel 0 to 115.2k
RELATED COMMANDS:
CAN, CAN(arg) CAN Bus Status (see page 345)
R
CBAUD=formula CAN Baud Rate (see page 351)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 291 of 890
Part 2: Commands: Be
Be
Bit, Following Error Limit
APPLICATION:
System
DESCRIPTION:
Position error declared
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Position error exceeded EL value during trajectory move
LIMITATIONS:
Torque modes have no position error
READ/REPORT:
RBe
Part 2: Commands
RB(0,6)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Be status bit indicates the detection of a position error. At each PID sample, the
magnitude of the measured position error is compared to the user-specified following error
(EL) value. If this value is exceeded, the servo will be immediately turned off.
The Be bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,6) command
l
ZS command
l
Ze command
EXAMPLE: (test for position error)
TWAIT
'wait for trajectory in progress
'to complete
IF Be
'unsuccessful, position error?
PRINT("POSITION ERROR")
'inform host
ENDIF
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Part 2: Commands: Be
EXAMPLE: (loop while Be is 0)
WHILE Be==0 LOOP 'Loop while Be is 0
'Then proceed when Be is 1
NOTE: An extended period of overcurrent condition may result in a position error
because this condition will cause a reduction in power to the motor and cause it to
fall behind, possibly enough to exceed EL (maximum allowable position error).
If position errors are continuously received, check for loss of drive power, increased load or
locked load.
C10
'Subroutine label
IF Be
'Check for position error
PRINT("Position Error", #13)
ENDIF
IF Bh
'Check for overtemp error
PRINT("Overtemp Error",#13)
ENDIF
IF Ba
'Check for overcurrent error
PRINT("Overcurrent Error",#13)
ENDIF
RETURN
'Return to subroutine call
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
W(word) Report Specified Status Word (see page 776)
Z(word,bit) Reset Specified Status Bit (see page 791)
Z Total CPU Reset (see page 789)
Ze Reset Position Error Flag (see page 794)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 293 of 890
Part 2: Commands
EXAMPLE: (Subroutine finds and prints errors)
Part 2: Commands: Bh
Bh
Bit, Overheat
APPLICATION:
System
DESCRIPTION:
Hardware motor overheat state
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Motor temperature, temperature setpoint (TH)
LIMITATIONS:
None
READ/REPORT:
RBh
Part 2: Commands
RB(0,5)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SmartMotor has an internal temperature sensor on the control circuit board. This provides
a simple safety mechanism to shut down the motor when the average temperature exceeds
85 degrees Celsius.
Under continuous heavy loads, all motors will generate heat. If the heat sink or ventilation
method is inadequate, eventually the motor will overheat. If this situation repeatedly occurs,
it may mean that the motor does not have enough power for the assigned task (inadequate
motor size) or excessive resistance (friction) to motion is occurring. Therefore, check the
design of your motion system. For details on motor sizing, see the Moog Animatics Product
Catalog.
The overheat temperature limit is specified using the TH command, but it cannot exceed 85
degrees Celsius. If the temperature exceeds the TH value, the motor will turn off, and Bh will
be set to 1. The SmartMotor will reject any motion command until the temperature has
dropped below the trip point by 5 degrees Celsius (below 80 degrees Celsius).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 294 of 890
Part 2: Commands: Bh
The Ba bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,5) command
l
ZS command
l
Zh command
EXAMPLE: (Subcomponent of system check routine)
IF Bh
PRINT("MOTOR TOO HOT") 'Inform host
GOSUB123
'Deal with condition
ENDIF
C123
'Some code to deal with condition
PRINT(#13,"Default value of TH = ",TH) 'default=85
PRINT(#13,"Motor Temperature = ",TEMP)
PRINT(#13,"START MOTION")
ADT=222
'Set accel/decel
VT=44444
MV
'Set velocity mode
G
'Start motion
TH=TEMP-5
'Force an overheat condition
'units are degrees Celsius
'TH maximum setting is 85
a=CLK
WHILE Bh==0 LOOP 'Loop while Bh is 0
WHILE Bt LOOP
b=CLK
PRINT(#13,"Servo OFF after ",b-a," milliseconds")
EXAMPLE: (Subroutine finds and prints errors)
C10
'Subroutine label
IF Be
'Check for position error
PRINT("Position Error", #13)
ENDIF
IF Bh
'Check for overtemp error
PRINT("Overtemp Error",#13)
ENDIF
IF Ba
'Check for overcurrent error
PRINT("Overcurrent Error",#13)
ENDIF
RETURN
'Return to subroutine call
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 2: Commands
EXAMPLE:
Part 2: Commands: Bh
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
TEMP Temperature, Motor (see page 721)
R
TH=formula Temperature, High Limit (see page 723)
R
W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Zh Reset Temperature Fault (see page 795)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 296 of 890
Part 2: Commands: Bi(enc)
Bi(enc)
Bit, Index Capture, Rising
APPLICATION:
System
DESCRIPTION:
Rising edge capture on encoder:
Bi(0) specifies the internal encoder (channel 0)
Bi(1) specifies the external encoder (channel 1)
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Index capture, arming index: Ai(enc), Aij(enc), Aji(enc), EIRI,
EIRE
LIMITATIONS:
None
READ/REPORT:
RBi(enc)
RB(1,2), RB(1,6)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Bi(enc) flag is set to 1 when the associated encoder Z pulse (index mark) is detected. The
value of the associated encoder capture is valid and can be read using the I(enc) command.
Before a capture can occur, arming is required using the Ai(enc), Aij(enc) or Aji(enc)
command. After a capture has occurred, the value stored in I(enc) will remain the same until
another arming command is issued and another index is detected. Reading the captured value
does not change the capture state or captured value.
The command RI(enc) reports the captured index reading.
The Bi(0) bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,2) command
l
ZS command
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Part 2: Commands
RBi(0), RBi(1),
Part 2: Commands: Bi(enc)
The Bi(1) bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,6) command
l
ZS command
Part 2: Commands
EXAMPLE: (simple homing)
MV
'Set buffered velocity mode
ADT=10
'Set buffered accel/decel
VT=-4000
'Set low buffered maximum velocity
i=0
'A flag to know if any index was found
ZS G
'Start slow motion profile
Ai(0)
'Clear and arm index capture
WHILE Bm==0
'Travel until negative limit reached
IF Bi(0)==1
PT=I(0)
'Save this target
Ai(0)
'Clear and arm index capture
i=1
'Set flag to indicate index was found
ENDIF
LOOP
X
'Decelerate to a stop
IF i==0
'Index not seen, must have started close to limit
VT=4000
'Set low buffered maximum velocity
Ai(0)
'Clear and arm index capture
ZS G
WHILE Bi(0)==0
'Travel positive until index reached
LOOP
PT=I(0)
'Go back to index
ENDIF
MP ZS G
'Start motion
TWAIT
'Wait till end of trajectory
O=0
'Set origin at index
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Part 2: Commands: Bi(enc)
EXAMPLE: (fast index find)
MP
ADT=1000
VT=4000000
PRT=RES+100
Ai(0)
O=0
G
TWAIT
PT=I(0)+100
G
TWAIT
O=0
'Set buffered velocity mode
'Set fast accel/decel
'Set fast velocity
'Set relative distance just beyond
'One shaft turn
'Clear and arm index capture
'Force change to position register
'Start fast move
'Wait till end of trajectory
'Go back to index
'Start motion
'Wait until end of trajectory
'Set origin at index
Index used as High Speed Position Capture:
EXAMPLE: (fast position capture)
EIGN(6)
EIRI
'Set port 6 as input port
'Set port 6 to register internal encoder
'Set F command flags
VT=100000
'Set Velocity
ADT=100
'Set accel/decel
MV
'Set to Velocity Mode
Ai(0)
'Arm registration
G
'Start moving
WHILE Bi(0)==0 'Travel until index reached
LOOP
X
'Decelerate to a stop
RI(0)
'Report registered position
END
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R B(word,bit) Status Byte (see page 286)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R I(enc) Index, Rising-Edge Position (see page 459)
R
W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
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Part 2: Commands
When enabled through EIRI, the Bi(0) flag is set to 1 when a rising edge is seen at I/O pin 6.
As a result, I/O pin 6 can be used to capture position for high-speed registration applications.
Part 2: Commands: Bj(enc)
Bj(enc)
Bit, Index Capture, Falling
APPLICATION:
System
DESCRIPTION:
Falling edge capture on encoder:
Bj(0) specifies the internal encoder (channel 0)
Bj(1) specifies the external encoder (channel 1)
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
Index capture, arming index: Aj(enc), Aij(enc), Aji(enc), EIRI,
EIRE
LIMITATIONS:
None
READ/REPORT:
RBj(enc)
Part 2: Commands
RBj(0), RB(1,3)
RBj(1), RB(1,7)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Bj(enc) flag is set to 1 when the associated encoder Z pulse (index mark) is detected. The
value of the associated encoder capture is valid and can be read using the J(enc) command.
Before a capture can occur, arming is required using the Aj(enc), Aij(enc) or Aji(enc)
command. After a capture has occurred, the value stored in J(enc) will remain the same until
another arming command is issued and another index is detected. Reading the captured value
does not change the capture state or captured value.
The command RJ(enc) reports the captured index reading.
The Bj(0) bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,3) command
l
ZS command
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Part 2: Commands: Bj(enc)
The Bj(1) bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,7) command
l
ZS command
MV
'Set buffered velocity mode
ADT=10
'Set buffered accel/decel
VT=-4000
'Set low buffered maximum velocity
i=0
'A flag to know if any index was found
ZS G
'Start slow motion profile
Aj(0)
'Clear and arm index capture
WHILE Bm==0
'Travel until negative limit reached
IF Bj(0)==1
PT=J(0)
'Save this target
Aj(0)
'Clear and arm index capture
i=1
'Set flag to indicate index was found
ENDIF
LOOP
X
'Decelerate to a stop
IF i==0
'Index not seen, must have started close to limit
VT=4000
'Set low buffered maximum velocity
Aj(0)
'Clear and arm index capture
ZS G
WHILE Bj(0)==0
'Travel positive until index reached
LOOP
PT=J(0)
'Go back to index
ENDIF
MP ZS G
'Start motion
TWAIT
'Wait till end of trajectory
O=0
'Set origin at index
Index used as High Speed Position Capture:
When enabled through EIRI, the Bj(0) flag is set to 1 when a falling edge is seen at I/O pin 6.
As a result, I/O pin 6 can be used to capture position for high-speed registration applications.
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Part 2: Commands
EXAMPLE: (simple homing)
Part 2: Commands: Bj(enc)
EXAMPLE: (fast position capture)
EIGN(6)
EIRI
'Set port 6 as input port
'Set port 6 to register internal encoder
'Set F command flags
VT=100000
'Set velocity
ADT=100
'Set accel/decel
MV
'Set to Velocity Mode
Aj(0)
'Arm registration
G
'Start moving
WHILE Bj(0)==0
'Travel until index reached
LOOP
X
'Decelerate to a stop
RJ(0)
'Report registered position
END
Part 2: Commands
RELATED COMMANDS:
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R B(word,bit) Status Byte (see page 286)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R J(enc) Index, Falling-Edge Position (see page 481)
R
W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
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Page 302 of 890
Part 2: Commands: Bk
Bk
Bit, Program EEPROM Data Status
APPLICATION:
System
DESCRIPTION:
Program EEPROM checksum failure state
EXECUTION:
Historical, set on EEPROM data check (during startup and program download)
CONDITIONAL TO:
None
LIMITATIONS:
None
READ/REPORT:
RBk
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= valid EEPROM user program checksum
1= Invalid EEPROM user program checksum
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bk indicates whether a user-program checksum write error has been detected. If Bk is 1, the
user program and/or program header has been corrupted. You should not run the program in
the SmartMotor™. This can occur if communications was lost or corrupted during a download
of a program. Bk is reset to zero by a power reset or Z command, and a valid (pass)
checksum is detected through RCKS.
RCKS scans the entire program, including the header, and returns two 6-bit checksums
followed by a "P" (pass) or "F" (fail) at the end. If RCKS reports a failure, Bk is set to 1. RCKS
sends its value through the primary serial port.
EXAMPLE: (commands entered in terminal window followed by responses)
RCKS
RBk
000049 0025E0 P
0
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
LOAD Download Compiled User Program to Motor (see page 506)
RCKS Report Checksum (see page 652)
R W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
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Page 303 of 890
Part 2: Commands
RB(2,15)
Part 2: Commands: Bl
Bl
Bit, Left Hardware Limit, Historical
APPLICATION:
System
DESCRIPTION:
Hardware left travel limit
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
EIGN(3), OUT(3)=, EILN
LIMITATIONS:
None
READ/REPORT:
RBl
Part 2: Commands
RB(0,13)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Left/negative limit has not been active
1= Left/negative limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bl is the historical left limit flag. If the left limit is found to be active during any servo sample,
Bl is set to 1; it remains at 1 until you reset it. In addition, the motion will stop, and the motor
will either servo in place or turn off the amplifier, depending on the value of the FSA function.
The historical left/negative limit flag Bl provides a latched limit value, in case the limit was
already reached or exceeded but is not currently active.
The real-time left/negative limit flag is Bm. It remains at 1 only while there is an active signal
level on user pin 3. When Bm is set to 1, Bl is set to 1.
If the pin’s function is assigned as general-purpose I/O through the EIGN(3) command,
neither Bm nor Bl will be affected by the pin state. Changing pin states will not elicit limit
behavior from the motor. For the pin to again elicit limit behavior, including the setting of Bl,
the EILN command must be used to assign the pin’s function as a limit switch.
The Bl bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(0,13) command
l
ZS command
l
Zl command
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 304 of 890
Part 2: Commands: Bl
EXAMPLE:
IF Bm
PRINT("LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bl
PRINT("LEFT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("LEFT LIMIT NEVER REACHED")
ENDIF
R
B(word,bit) Status Byte (see page 286)
R
Bm Bit, Left Hardware Limit, Real-Time (see page 308)
R
Bp Bit, Right Hardware Limit, Real-Time (see page 313)
R
Br Bit, Right Hardware Limit, Historical (see page 317)
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
R W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Zl Reset Historical Left Limit Flag (see page 796)
ZS Global Reset System State Flag (see page 801)
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Page 305 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: Bls
Bls
Bit, Left Software Limit, Historical
APPLICATION:
System
DESCRIPTION:
Software left travel limit
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
SLD, SLM, SLE, SLN, motor actual position (RPA)
LIMITATIONS:
None
READ/REPORT:
RBls
Part 2: Commands
RB(1,13)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Left/negative software limit has not been active
1= Left/negative software limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bls is the historical software left-limit flag. Bls provides a latched value in case the software
limit was already reached or exceeded but is not currently active.
The software limits are an indication that the motor's actual position has exceeded the set
range. If the software left limit is found to be active during any servo sample, Bls is set to 1
and remains 1 until you reset it. In addition, the motion will stop, and the motor will either
servo in place or turn off the amplifier, depending on the value of the SLM and/or FSA
function.
The left/negative software limit position can be set through the SLN command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
The real-time software left/negative limit flag is Bms, which only remains set to 1 while the
motor is past the software limit. When Bms is set to 1, Bls is set to 1.
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Part 2: Commands: Bls
The Bls bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,13) command
l
ZS command
l
Zls command
EXAMPLE:
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bms Bit, Left Software Limit, Real-Time (see page 310)
R
Bps Bit, Right Software Limit, Real-Time (see page 315)
R
Brs Bit, Right Software Limit, Historical (see page 329)
FSA(cause,action) Fault Stop Action (see page 438)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Zls Reset Left Software Limit Flag, Historical (see page 797)
ZS Global Reset System State Flag (see page 801)
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Page 307 of 890
Part 2: Commands
IF Bms
PRINT("SOFTWARE LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bls
PRINT("SOFTWARE LEFT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARE LEFT LIMIT NEVER REACHED")
ENDIF
Part 2: Commands: Bm
Bm
Bit, Left Hardware Limit, Real-Time
APPLICATION:
System
DESCRIPTION:
Left/negative hardware limit state
EXECUTION:
Real time, sampled each PID update
CONDITIONAL TO:
EIGN(3), OUT(3)=, EILN
LIMITATIONS:
None
READ/REPORT:
RBm
Part 2: Commands
RB(0,15)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 = Left/negative limit switch not active, or pin not assigned as
a limit switch
1 = Left/negative limit switch active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bm indicates if the left/negative pin is currently active. When Bm is set to 1, the historical left
limit flag (Bl) is set to 1.
The left/negative software travel limit may be disabled by being assigned as a
general-purpose input using the EIGN(3) command or as an output using the OUT(3)=
command. To re-enable the left/negative hardware travel limit, issue the EILN command.
EXAMPLE:
IF Bm
PRINT("LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bl
PRINT("LEFT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("LEFT LIMIT NEVER REACHED")
ENDIF
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Page 308 of 890
Part 2: Commands: Bm
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
R
Bp Bit, Right Hardware Limit, Real-Time (see page 313)
R
Br Bit, Right Hardware Limit, Historical (see page 317)
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
R W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 309 of 890
Part 2: Commands: Bms
Bms
Bit, Left Software Limit, Real-Time
APPLICATION:
System
DESCRIPTION:
Left (negative) software limit state flag
EXECUTION:
Real time, sampled each PID update
CONDITIONAL TO:
SLD, SLM, SLE, SLN, motor actual position (RPA)
LIMITATIONS:
None
READ/REPORT:
RBms
Part 2: Commands
RB(1,15)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 = Software left/negative limit switch not active, or pin not
assigned as a limit switch
1 = Software left/negative limit switch active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bms indicates if the left/negative software limit is currently active. The software limits are an
indication that the motor's actual position has exceeded the set range. When Bms is set to 1,
the historical left limit flag (Bls) is set to 1.
The left/negative software limit position can be set through the SLN command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
EXAMPLE:
IF Bms
PRINT("SOFTWARE LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bls
PRINT("SOFTWARE LEFT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARE LEFT LIMIT NEVER REACHED")
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 310 of 890
Part 2: Commands: Bms
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bls Bit, Left Software Limit, Historical (see page 306)
R
Bps Bit, Right Software Limit, Real-Time (see page 315)
R
Brs Bit, Right Software Limit, Historical (see page 329)
FSA(cause,action) Fault Stop Action (see page 438)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 311 of 890
Part 2: Commands: Bo
Bo
Bit, Motor OFF
APPLICATION:
System
DESCRIPTION:
Motor OFF state
EXECUTION:
Immediate
CONDITIONAL TO:
Motor is off
LIMITATIONS:
None
READ/REPORT:
RBo
Part 2: Commands
RB(0,1)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
1 = Motor is off
0 = Motor is on
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Bo bit represents the SmartMotor™ drive stage state. When Bo is 0, the drive stage is on;
when Bo is 1, the drive stage is off.
Bo is set to 1 for any of the following conditions:
l
The motor has been powered on but no command has activated the drive stage
l
The Z command is used to reset the motor
l
The OFF command is issued or triggered by a motor fault
EXAMPLE:
C1
'Subroutine C1
IF Bo==1
'If Bo (motor off) is true
PRINT("MOTOR DRIVE IS OFF",#13)
ENDIF
RETURN
RELATED COMMANDS:
G Start Motion (GO) (see page 444)
OFF Off (Drive Stage Power) (see page 589)
Z Total CPU Reset (see page 789)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 312 of 890
Part 2: Commands: Bp
Bp
Bit, Right Hardware Limit, Real-Time
APPLICATION:
System
DESCRIPTION:
Right/positive hardware limit state
EXECUTION:
Sampled each PID update
CONDITIONAL TO:
EIGN(2), OUT(2)=, EILP
LIMITATIONS:
None
READ/REPORT:
RBp
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary bit
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Right/positive limit switch not active, or pin not assigned as
a limit switch
1= Right/positive limit switch is active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bp indicates if the right/positive pin is active. When Bp is set to 1, the historical right limit flag
(Br) is set to 1.
The right/positive software travel limit may be disabled by being assigned as a
general-purpose input using the EIGN(2) command or as an output using the OUT(2)=
command. To re-enable the right/positive software travel limit, issue the EILP command.
EXAMPLE:
IF Br
PRINT("RIGHT LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("RIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("RIGHT LIMIT NEVER REACHED")
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 313 of 890
Part 2: Commands
RB(0,14)
Part 2: Commands: Bp
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
R
Bm Bit, Left Hardware Limit, Real-Time (see page 308)
R
Br Bit, Right Hardware Limit, Historical (see page 317)
EIGN(...) Enable as Input for General-Use (see page 396)
EILP Enable Input as Limit Positive (see page 401)
R W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 314 of 890
Part 2: Commands: Bps
Bps
Bit, Right Software Limit, Real-Time
APPLICATION:
System
DESCRIPTION:
Right (positive) software limit state flag
EXECUTION:
Real time, sampled each PID update
CONDITIONAL TO:
SLD, SLM, SLE, SLP, motor actual position (RPA)
LIMITATIONS:
None
READ/REPORT:
RBps
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Right/positive limit switch not active, or pin not assigned as
a limit switch
1= Right/positive limit switch is active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bps indicates if the right/positive software limit is currently active. The software limits are an
indication that the motor's actual position has exceeded the set range. When Bps is set to 1,
the historical right limit flag (Brs) is set to one.
The right/positive software limit position can be set through the SLP command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
EXAMPLE:
IF Brs
PRINT("SOFTWARE RIGHT LIMIT PRESENTLY ACTIVE")
ELSEIF Bps
PRINT("SOFTWARE RIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARE RIGHT LIMIT NEVER REACHED")
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 315 of 890
Part 2: Commands
RB(1,14)
Part 2: Commands: Bps
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bls Bit, Left Software Limit, Historical (see page 306)
R
Bms Bit, Left Software Limit, Real-Time (see page 310)
R
Brs Bit, Right Software Limit, Historical (see page 329)
FSA(cause,action) Fault Stop Action (see page 438)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLP=formula Software Limit, Positive (see page 697)
R
W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 316 of 890
Part 2: Commands: Br
Br
Bit, Right Hardware Limit, Historical
APPLICATION:
System
DESCRIPTION:
Hardware right travel limit
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
EIGN(2), OUT(2)=, EILP
LIMITATIONS:
None
READ/REPORT:
RBr
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Right/positive limit has not been active
1= Right /positive limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Br is the historical right limit flag. If the right limit is found to be active during any servo
sample, Br is set to 1, and it remains at 1 until you reset it. In addition, depending on the
value of the F function, the motion will stop and the motor will either servo or turn the
amplifier OFF. The historical right/positive limit flag Br provides a latched limit value, in case
the limit was already reached or exceeded but is not currently active.
The real-time right/positive limit flag is Bp; it remains at 1 only while there is an active signal
level on user pin 2. When Bp is set to 1, Br is set to 1.
If the pin’s function is assigned as general-purpose I/O through the EIGN(2) command,
neither Bp nor Br will be affected by the pin state. Changing pin states will not elicit limit
behavior from the motor. It will be necessary to issue the EILP command to assign the pin’s
function to being a limit switch for the pin to again elicit limit behavior, including the setting of
Br.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 317 of 890
Part 2: Commands
RB(0,12)
Part 2: Commands: Br
The Br bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(0,12) command
l
ZS command
l
Zr command
EXAMPLE:
IF Br
Part 2: Commands
PRINT("RIGHT LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("RIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("RIGHT LIMIT NEVER REACHED")
ENDIF
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
R
Bm Bit, Left Hardware Limit, Real-Time (see page 308)
R
Bp Bit, Right Hardware Limit, Real-Time (see page 313)
EIGN(...) Enable as Input for General-Use (see page 396)
EILP Enable Input as Limit Positive (see page 401)
R W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Zr Reset Right Limit Flag, Historical (see page 798)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 318 of 890
Part 2: Commands: BREAK
BREAK
Break from CASE or WHILE Loop
Program execution and flow control
DESCRIPTION:
Causes immediate exit from a WHILE or SWITCH control block
(loop)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
For downloaded code only; cannot be used through a serial
port!
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
BREAK is used by the WHILE...LOOP and SWITCH...ENDS flow-control blocks (loops). In both
structures, if BREAK is encountered, the program jumps out of that particular WHILE loop or
SWITCH structure. If the control blocks are nested, BREAK only exits the WHILE loop or
SWITCH structure that it is currently in.
The most common use of BREAK is to end each CASE of a SWITCH control structure. Without
the BREAK statement, the program would continue to execute into the next CASE, even if it is
not true.
EXAMPLE:
SWITCH a
CASE 1
PRINT("Hiya!",#13)
CASE 2
PRINT("Lo there!",#13)
BREAK
CASE 3
PRINT("Me here!",#13)
BREAK
DEFAULT
PRINT("Urp!",#13)
BREAK
ENDS
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 319 of 890
Part 2: Commands: BREAK
If a=2, the SmartMotor™ will print "Lo there!" However, if a=1, the SmartMotor will print
both "Hiya!" and "Lo there!" There is no BREAK statement to stop the program from running
into case 2.
The BREAK statement can always be replaced by a GOTO statement, and this is how it is
actually executed using the precompiled program location. BREAK has the advantage of not
requiring a statement label to define the program branch location and, therefore, not
conforming to structured programming methodology.
BREAK is not a valid terminal command; it is only valid from within a user program. If you
want to be able to "break out of" a control block by remote (terminal) commands, you will
need to use GOTO# or GOSUB# with appropriate statement labels. The following example
illustrates this concept.
Part 2: Commands
EXAMPLE:
a=1
WHILE a
PRINT("I am still here …",#13)
WAIT=12000
IF a==100
BREAK
'a=100 could be sent through serial command
ENDIF
LOOP
GOTO20
C10
PRINT("EXITED with a==100",#13)
END
C20
PRINT("EXITED with a<0",#13)
END
RELATED COMMANDS:
CASE formula Case Label for SWITCH Block (see page 348)
DEFAULT Default Case for SWITCH Structure (see page 375)
ENDS End SWITCH Structure (see page 424)
LOOP Loop Back to WHILE Formula (see page 511)
SWITCH formula Switch, Program Flow Control (see page 710)
WHILE formula While Condition Program Flow Control (see page 784)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 320 of 890
Part 2: Commands: BRKENG
BRKENG
APPLICATION:
Motion control
DESCRIPTION:
Immediately engages the hardware brake
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Hardware brake option is required
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
See BRKSRV
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
BRKENG:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION: It is important to turn the servo off when the brake is engaged.
Otherwise, the motor could drive against the brake and overheat. When the
SmartMotor™ powers up or comes out of a soft reset, the brake control is set
to BRKSRV, by default, to automatically enforce this safety rule.
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
When BRKENG is issued, the brake is de-energized, which allows the magnetic brake to lock
the shaft in place.
BRKENG terminates the brake control modes BRKSRV, BRKTRJ and BRKRLS.
NOTE: BRKENG is a manual override for the BRKSRV and BRKTRJ commands.
When BRKENG is used, you must subsequently issue a BRKSRV, BRKTRJ or BRKRLS
command to resume shaft movement.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 321 of 890
Part 2: Commands
Brake Engage
Part 2: Commands: BRKENG
EXAMPLE:
OFF
WHILE VA
LOOP
BRKENG
'Turn motor off
'Wait for zero velocity
' before
' applying the brake (shaft locked)
RELATED COMMANDS:
Part 2: Commands
BRKRLS Brake Release (see page 323)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
EOBK(IO) Enable Output, Brake Control (see page 426)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 322 of 890
Part 2: Commands: BRKRLS
BRKRLS
APPLICATION:
Motion control
DESCRIPTION:
Immediately release hardware brake
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Hardware brake option is required
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
BRKSRV
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
BRKRLS:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION: It is important to turn the servo off when the brake is engaged.
Otherwise, the motor could drive against the brake and overheat. When the
SmartMotor™ powers up or comes out of a soft reset, the brake control is set
to BRKSRV, by default, to automatically enforce this safety rule.
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
When BRKRLS is issued, the brake is energized (disengaged), which allows full shaft
movement.
BRKRLS terminates the brake control modes BRKSRV, BRKTRJ and BRKENG.
BRKRLS OFF is required to release MTB mode even if no brake is installed. For details on MTB
mode, see MTB on page 575.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 323 of 890
Part 2: Commands
Brake Release
Part 2: Commands: BRKRLS
EXAMPLE:
BRKENG
'Assuming motion has stopped
OFF
' or almost stopped
WAIT=1000
VT=0
'Set buffered velocity
ADT=0
'Set buffered accel/decel
MP
'Set buffered mode
PT=PA
'Set Target position to current position
G
'Begin servo at current position
BRKRLS
'Release (disengage brake)
RELATED COMMANDS:
Part 2: Commands
BRKENG Brake Engage (see page 321)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
EOBK(IO) Enable Output, Brake Control (see page 426)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 324 of 890
Part 2: Commands: BRKSRV
BRKSRV
APPLICATION:
Motion control
DESCRIPTION:
Release hardware brake while motor is on;
engage hardware brake while motor is off
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Hardware brake option is required
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
This is the default brake command at power up
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
BRKSRV:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION: It is important to turn the servo off when the brake is engaged.
Otherwise, the motor could drive against the brake and overheat. When the
SmartMotor™ powers up or comes out of a soft reset, the brake control is set
to BRKSRV, by default, to automatically enforce this safety rule.
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
BRKSRV terminates the brake control modes BRKRLS, BRKTRJ and BRKENG.
NOTE: A position error will terminate both the trajectory in progress state and
servo on state. In this instance, the brake would then be asserted automatically.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 325 of 890
Part 2: Commands
Brake Servo, Engage When Not Servoing
Part 2: Commands: BRKSRV
EXAMPLE:
BRKSRV
MP
ADT=100
VT=100000
PT=1000
G
'Set brake mode assuming it is safe
'Set buffered mode
'Set buffered accel/decel
'Set buffered maximum velocity
'Set target
'Servo on, brake release, go to target
RELATED COMMANDS:
Part 2: Commands
BRKENG Brake Engage (see page 321)
BRKRLS Brake Release (see page 323)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
EOBK(IO) Enable Output, Brake Control (see page 426)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 326 of 890
Part 2: Commands: BRKTRJ
BRKTRJ
APPLICATION:
Motion control
DESCRIPTION:
Release hardware brake while a trajectory is in progress;
engage hardware brake while no trajectory is in progress
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Hardware brake option is required
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
See BRKSRV on page 325
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
BRKTRJ:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ may be purchased with optional, internal, zero-backlash brakes, which are
used to hold a load for safety purposes. They are fail-safe, magnetic-clutch, disk brakes. The
default power-on state is to disengage the brake when the drive stage is turned on. When
power is lost, the brake engages. The brake takes from 3 to 5 milliseconds to actuate or
release.
BRKTRJ automatically coordinates movement and brake application. When a trajectory is
started by a G command, the brake is released. When the trajectory completes, the brake is
engaged and the servo is simultaneously turned off. In this mode, and whenever the motor is
not performing a trajectory, the brake is automatically engaged and the servo is turned off for
any reason that clears the Bt (Busy Trajectory) bit.
As a result, any non-trajectory mode, like Torque mode, will not result in motion because the
brake will be engaged and the servo will be off. Because the motor-off flag Bo is 0 (false), this
behavior could be confusing to a user who is unaware of the function of BRKTRJ. However,
from an operation/control perspective, the motor has not changed modes to OFF, which would
be coincidental with Bo set to 1. When running in Torque mode or some other non-trajectory
mode, it is more appropriate to use BRKSRV. For details, see BRKSRV on page 325.
BRKTRJ terminates the brake control modes BRKRLS, BRKTRJ and BRKSRV.
BRKTRJ immediately resets the trajectory flag to zero when the trajectory generator declares
the trajectory has completed. At that instant, the BRKTRJ will engage (de-energize) the brake.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 327 of 890
Part 2: Commands
Brake Trajectory, Engage When No Active Trajectory
Part 2: Commands: BRKTRJ
EXAMPLE:
Part 2: Commands
BRKTRJ
'Set brake mode to follow Bt bit
MP
'Set buffered mode
ADT=100
'Set buffered accel/decel
VT=100000
'Set buffered maximum velocity
C1
'Program statement label
PT=1000
'Set buffered target position
G
'Servo on, start trajectory
'The brake will automatically be energized and released
TWAIT
'Wait for trajectory to end,
' now brake will be on and servo off
WAIT=1000
'Brake on for ~one second
PT=0
'Set new buffered target position
G
'Servo on, brake off, trajectory
WAIT=1000
GOTO1
'Effective loop forever
NOTE: A position error will terminate the trajectory-in-progress state. In this case,
the brake would then be asserted.
When in BRKTRJ mode, the brake will click on at the beginning of each move and click off at
the end of each move. The clicking sound is normal and indicates proper operation.
RELATED COMMANDS:
BRKENG Brake Engage (see page 321)
BRKRLS Brake Release (see page 323)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
EOBK(IO) Enable Output, Brake Control (see page 426)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 328 of 890
Part 2: Commands: Brs
Brs
Bit, Right Software Limit, Historical
APPLICATION:
System
DESCRIPTION:
Software right travel limit
EXECUTION:
Historical, sampled each PID update until latched
CONDITIONAL TO:
SLD, SLM, SLE, SLP, motor actual position (RPA)
LIMITATIONS:
None
READ/REPORT:
RBrs
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Right/positive limit has not been active
1= Right /positive limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Brs is the historical software right-limit flag. Brs provides a latched value in case the software
limit was already reached or exceeded but is not currently active.
The software limits are an indication that the motor's actual position has exceeded the set
range. If the software right limit is found to be active during any servo sample, Brs is set to 1
and remains 1 until you reset it. In addition, the motion will stop, and the motor will either
servo in place or turn off the amplifier, depending on the value of the SLM and/or FSA
function.
The right/positive software limit position can be set through the SLP command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
The real-time software right/positive limit flag is Bps, which only remains set to 1 while the
motor is past the software limit. When Bps is set to 1, Brs is set to 1.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 329 of 890
Part 2: Commands
RB(1,12)
Part 2: Commands: Brs
The Brs bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(1,12) command
l
ZS command
l
Zrs command
EXAMPLE:
Part 2: Commands
IF Brs
PRINT("SOFTWARE RIGHT LIMIT PRESENTLY ACTIVE")
ELSEIF Bps
PRINT("SOFTWARE RIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARE RIGHT LIMIT NEVER REACHED")
ENDIF
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
Bls Bit, Left Software Limit, Historical (see page 306)
R
Bms Bit, Left Software Limit, Real-Time (see page 310)
R
Bps Bit, Right Software Limit, Real-Time (see page 315)
FSA(cause,action) Fault Stop Action (see page 438)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLP=formula Software Limit, Positive (see page 697)
R
W(word) Report Specified Status Word (see page 776)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Zrs Reset Right Software Limit Flag, Historical (see page 799)
ZS Global Reset System State Flag (see page 801)
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Page 330 of 890
Part 2: Commands: Bs
Bs
Bit, Syntax Error
APPLICATION:
System
DESCRIPTION:
Command syntax error occurred state
EXECUTION:
Immediate
CONDITIONAL TO:
Syntax error found while executing commands
LIMITATIONS:
None
READ/REPORT:
RBs
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Right/positive limit has not been active
1= Right /positive limit has been active
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
If a syntax error is encountered in either a serial command or user program, the Bs flag is set
to 1. This flag only indicates that a syntax error was encountered. The most common syntax
errors are misspellings of commands, but the improper use of variables is also flagged. For
example, trying to access the array element aw[20000] will produce a syntax error. The
command that contains the syntax error is ignored.
The Bs bit is reset by any of the following:
l
Power reset
l
Z command (total reset of software)
l
Z(2,14) command
l
ZS command
l
Zs command
EXAMPLE:
Suppose the host should have transmitted ADT=100 but actually transmitted ADT=L00 due to
noise in transmission. Bs would be set.
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Page 331 of 890
Part 2: Commands
RB(2,14)
Part 2: Commands: Bs
IF Bs
PRINT("Syntax Error",#13)
ENDIF
RELATED COMMANDS:
Part 2: Commands
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
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Page 332 of 890
Part 2: Commands: Bt
Bt
Bit, Trajectory In Progress
APPLICATION:
System
DESCRIPTION:
Trajectory in progress state flag
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
Trajectory in progress
LIMITATIONS:
None
READ/REPORT:
RBt
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 = No trajectory in progress
1 = Trajectory in progress
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The flag Bt is set to 1 when the motor performs a calculated trajectory path from one point to
another. After the trajectory generator has requested the final target position, the Bt flag is
reset to zero. At this point, the PID positioning control takes over the motion — this means the
motor shaft may still be moving due to mechanical settling.
Mode Torque (MT) will set the Bt bit to 1 only when the torque slope (TS) is active. When the
torque reaches a constant value, the Bt will be 0.
Mode Velocity (MV) will maintain the Bt bit to 1 regardless of commanded velocity or
acceleration, even they are set to zero.
Mode Follow (MFR) and Mode Step (MSR) will maintain the Bt bit to 1 even if there is no
change to incoming counts.
If a relative or absolute move is commanded in Mode Position (MP), and there is no (zero)
commanded acceleration or velocity, the Bt bit will be set to 1 and the motor shaft will not
move. In other words, if ADT=0 and VT=0, then the motor shaft will not move, but the Bt bit
will show a trajectory in progress.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 333 of 890
Part 2: Commands
RB(0,2)
Part 2: Commands: Bt
EXAMPLE:
WHILE Bt
LOOP
WHILE VA
LOOP
OFF
BRKENG
'While trajectory in progress
'While still settling or while velocity not zero
'Motor off
'Brake engage
Part 2: Commands
EXAMPLE:
MP
ADT=10
VT=440000
PT=10000
G
WHILE Bt
LOOP
ADT=20
VT=-222000
PT=20000
G
'Buffer a position move request
'Start the first buffered move
'Wait for first trajectory to be done
'NOTE: TWAIT could have been used!
'Buffer another move
'Now begin the second move
EXAMPLE: (Routine changes speed on digital input)
EIGN(W,0)
KD=10010
F
O=0
ADT=100
VT=10000
PT=40000
MP
G
WHILE Bt
IF IN(0)==0
IF VT==10000
VT=12000
G
ENDIF
ENDIF
LOOP
END
'Disable hardware limit IO
'Changing KD value in tuning
'Accept new KD value
'Reset origin
'Set maximum accel/decel
'Set maximum velocity
'Set final position
'Set Position mode
'Start motion
'Loop while motion continues
'If input is low
'Check VT so change happens once
'Set new velocity
'Initiate new velocity
'Loop back to WHILE
RELATED COMMANDS:
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
G Start Motion (GO) (see page 444)
OFF Off (Drive Stage Power) (see page 589)
X Decelerate to Stop (see page 787)
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Page 334 of 890
Part 2: Commands: Bv
Bv
Bit, Velocity Limit
APPLICATION:
System
DESCRIPTION:
Velocity limit reached
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
VL=
LIMITATIONS:
N/A
READ/REPORT:
RBv
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= Velocity limit not reached
1= Velocity limit reached
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bv reports the status of the velocity limit fault. It returns a 1 if the velocity limit was reached
or a 0 if not. It is reported by the RBv command. The equivalent reporting PRINT() command
is PRINT(Bv,#13).
When this bit is indicated, the motor has exceeded the speed set in the VL command. The
motor will stop according to the fault action. This bit must be cleared to resume motion.
The Bv bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,7) command
l
ZS command
l
Zv command
EXAMPLE:
C1
'Subroutine C1
IF Bv==1
'If Bv (Velocity Limit) is true
PRINT("VELOCITY LIMIT EXCEEDED",#13)
ENDIF
RETURN
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Page 335 of 890
Part 2: Commands
RB(0,7)
Part 2: Commands: Bv
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
VL=formula Velocity Limit (see page 761)
R
W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Zv Reset Velocity Limit Fault (see page 803)
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Page 336 of 890
Part 2: Commands: Bw
Bw
Bit, Wrapped Encoder Position
APPLICATION:
System
DESCRIPTION:
Encoder overflow or underflow occurred
EXECUTION:
Historical, latched by PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBw
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0= No encoder wrap around occurred
1= Encoder wrap around occurred by position mode move
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
If Bw is 1, it indicates that the encoder position has exceeded or "wrapped" beyond the
maximum value for the 32-bit position register. Specifically, the position has gone outside of
the range -2147483648 to 2147483647.
This does not mean that the SmartMotor™ has lost its position information — it is still tracking
its position.
The Bw bit can be set during any type of motion, it is not a fault and will not stop motion.
The Bw bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(3,3) command
l
ZS command
l
Zw command
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Page 337 of 890
Part 2: Commands
RB(3,3)
Part 2: Commands: Bw
EXAMPLE: (Test for wraparound and then reset flag)
IF Bw
'Test flag
PRINT("Wraparound Occurred")
Zw 'Reset flag
ENDIF
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
R
W(word) Report Specified Status Word (see page 776)
Part 2: Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Zw Reset Encoder Wrap Status Flag (see page 804)
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Page 338 of 890
Part 2: Commands: Bx(enc)
Bx(enc)
Bit, Index Input, Real-Time
APPLICATION:
System
DESCRIPTION:
Index input state
EXECUTION:
Updated each PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
None
READ/REPORT:
RBx(enc)
RBx(0), RB(1,8)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Binary flag
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 = Index capture input is not in contact (low)
1 = Index capture input is in contact (high)
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Bx(enc) indicates the real-time state of the index input level. The Bx bit is set to 1 only while
the motor is sitting on the index marker. Note that the index marker is only one encoder count
wide. Therefore, this function is mainly used to verify the exact position of the index. For
other uses, it is more efficient to use the functions like Bi and I.
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Page 339 of 890
Part 2: Commands
RBx(1), RB(1,9)
Part 2: Commands: Bx(enc)
EXAMPLE: (Fast Index Find, Report Bx)
MP
ADT=1000
VT=4000000
PRT=RES*1.1
Ai(0)
O=0
G
TWAIT
PT=I(0)
G
TWAIT
O=0
IF Bx(0)
PRINT("On
ENDIF
'Set buffered velocity mode
'Set fast accel/decel
'Set fast velocity
'Set relative distance just beyond one shaft turn
'Clear and arm index capture
'Force change to position register
'Start fast move
'Wait till end of trajectory
'Go back to index
'Start motion
'Wait until end of trajectory
'Set origin at index
Index Pulse",#13)
Part 2: Commands
RELATED COMMANDS:
R
Bi(enc) Bit, Index Capture, Rising (see page 297)
R
I(enc) Index, Rising-Edge Position (see page 459)
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Page 340 of 890
Part 2: Commands: C{number}
C{number}
APPLICATION:
Program execution and flow control
DESCRIPTION:
Program statement label
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
Labels C0…C999 are permitted
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
C{number} is a statement label, where "number" is a value between 0 and 999. Statement
labels provide the internal addressing required to support the GOSUB{number} and GOTO
{number} language commands. For example, GOTO1 directs the program to label C1,
whereas GOSUB37 directs the program to the subroutine that starts at label C37. You can also
use labels to simply enhance program clarity. Statement labels may be placed anywhere
within a program except in the middle of an expression.
NOTE: Program labels work by using a jump table in the header of the compiled
program. The header contains the location of every label from 0 up to the highest
label value used.
EXAMPLE: (consider these two programs)
C0
END
and
C999
END
Both programs behave exactly the same. However, the first compiled program (C0...END) will
be much smaller than the second (C999...END) because the second contains all the label
locations from 0-999.
The program header is read whenever the SmartMotor™ powers up or is reset. This means
that the SmartMotor knows how to jump to any label location, even if the program has never
been run, and start executing the program from there. This is a common means of making a
single program with several routines that can be invoked on demand from a host.
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Page 341 of 890
Part 2: Commands
Command Label
Part 2: Commands: C{number}
EXAMPLE:
END
C0
PRINT("Routine 0",#13)
END
C1
PRINT("Routine 1",#13)
END
C2
PRINT("Routine 2",#13)
END
Part 2: Commands
To run routine 1, the host simply issues GOTO1 to the SmartMotor. If the host issues GOTO2,
the motor runs routine 2. You can use a similar technique to allow the host to control where
the program starts.
Using GOTOnnn to jump to a location within a SWITCH block may be syntactically valid.
However, it can yield unexpected runtime program execution when a CASE number is
encountered.
RELATED COMMANDS:
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
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Page 342 of 890
Part 2: Commands: CADDR=formula
CADDR=formula
CAN Address
APPLICATION:
Communications control
DESCRIPTION:
Set and read the CAN address (also used for DeviceNet and
PROFIBUS); it can be different from the serial address. Value is
retained in EEPROM between power cycles.
EXECUTION:
Requires reboot of motor for change to take effect
CONDITIONAL TO:
N/A
LIMITATIONS:
Requires reboot of motor for change to take effect
READ/REPORT:
PRINT(CADDR), =CADDR,
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
1 to 127
TYPICAL VALUES:
1 to 127
DEFAULT VALUE:
63 (factory EEPROM setting)
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CADDR command is used to set and read the CAN address of the motor. The CAN address
can be different from the serial address. The PROFIBUS firmware will also use this to set/read
the PROFIBUS address.
The SmartMotor supports different protocols over the optional CAN port. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves under either of these standard protocols, the Combitronic
protocol can still function, and it will not be detected by the CANopen or DeviceNet master.
NOTE: To operate properly, the CAN network must have all devices set to the same
baud rate.
The following commands set up and support the CAN port of the motor:
CADDR=formula
where formula may be from 1 to 127. The setting is stored in the EEPROM, but you must
reboot the motor to activate the setting.
CBAUD=formula
where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
50000 or 20000.
To read the CAN address, use the following CADDR command:
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Page 343 of 890
Part 2: Commands
RCADDR
Part 2: Commands: CADDR=formula
var=CADDR
where var is any variable. Then you can use the PRINT(var) command to print the
CAN address to the Terminal window.
To set the CAN address to the serial address on all motors, use the following CADDR
command:
CADDR=
For example, 3CADDR=10 sets serial motor 3's CAN address to 10; 0CADDR=ADDR would
globally set every serial motor's CAN address to its serial address.
NOTE: SmartMotor commands like 0CADDR=... or 0ADDR=... with a leading
number really send a corresponding address byte (i.e., "0", which is hex 80 or
decimal 128). This can be seen by viewing the serial data with the Serial Data
Analyzer ("sniffer") tool, which is available on the SMI software View menu.
EXAMPLE: (Code sets CAN address to motor address and resets all motors. Motors should be
addressed on serial RS-232 chain first.)
Part 2: Commands
NOTE: Issue these commands at serial port (SMI Terminal window) only. The "0"
in front of these commands will not be recognized by a user program.
0CADDR=ADDR
0Z
'Set if not same as motor address
'Reset all motors to enable CAN address
RELATED COMMANDS:
R
ADDR=formula Address (for RS-232 and RS-485) (see page 250)
CANCTL(function,value) CAN Control (see page 347)
R CBAUD=formula CAN Baud Rate (see page 351)
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Page 344 of 890
Part 2: Commands: CAN, CAN(arg)
CAN, CAN(arg)
CAN Bus Status
APPLICATION:
Communications control
DESCRIPTION:
Get CAN bus error
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RCAN, RCAN(arg)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
See the following description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later, model dependent
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CAN command is used to get (read) an error or other status information about the
CAN bus. The user should not assume an error is indicated simply because a value greater
than 0 is reported. Several of the bits are for information only and do not indicate an error.
If an error condition exists, then status word 2, bit 4 will indicate so. A user program or a
manual report using RCAN provides further detail about the error condition after the CAN
error status bit is indicated in status word 2, bit 4.
The SmartMotor supports different protocols over the optional CAN port. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves under either of these standard protocols, the Combitronic
protocol can still function, and it will not be detected by the CANopen or DeviceNet master.
NOTE: To operate properly, the CAN network must have all devices set to the same
baud rate.
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Page 345 of 890
Part 2: Commands
See the following description for values of arg
Part 2: Commands: CAN, CAN(arg)
The following commands set up and support the CAN port of the motor:
CADDR=formula
where formula may be from 1 to 127. The setting is stored in the EEPROM, but you must
reboot the motor to activate the setting.
CBAUD=formula
where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
50000 or 20000.
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
Part 2: Commands
EXAMPLE:
C1
'Subroutine C1
IF CAN&16
'Test CAN word at value 16 (position 5)
PRINT("USER TRIED COMBITRONIC READ FROM BROADCAST ADDRESS",#13)
ENDIF
RETURN
RELATED COMMANDS:
R
CADDR=formula CAN Address (see page 343)
CANCTL(function,value) CAN Control (see page 347)
R CBAUD=formula CAN Baud Rate (see page 351)
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Page 346 of 890
Part 2: Commands: CANCTL(function,value)
CANCTL(function,value)
APPLICATION:
Communications control
DESCRIPTION:
Sets the CAN attributes for industrial network protocols
(CANopen, DeviceNet, etc.)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: CANCTL(function,value)
function: >= 0
value: -2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later, model dependent
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CANCTL command is used to control CAN network features. Commands execute based on
the function argument to control CAN functions. For example:
l
l
function = 1: Reset the CAN MAC and all errors. Resets the CANopen stack, PROFIBUS
stack or DeviceNet stack depending on firmware type. Value is ignored.
function = 5: Set timeout for Combitronic. Value is in milliseconds; the default is 30.
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
CANCTL(5,100) 'Set Combitronic timeout to 100ms
END
RELATED COMMANDS:
R
CADDR=formula CAN Address (see page 343)
R
CAN, CAN(arg) CAN Bus Status (see page 345)
R
CBAUD=formula CAN Baud Rate (see page 351)
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Page 347 of 890
Part 2: Commands
CAN Control
Part 2: Commands: CASE formula
CASE formula
Part 2: Commands
Case Label for SWITCH Block
APPLICATION:
Program execution and flow control
DESCRIPTION:
CASE label for SWITCH program control block
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Can only be executed from within user program
REPORT VALUE:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CASE command provides a label for defining a specific block of code that is referred to
from a SWITCH formula.
The execution time is similar to the equivalent IF formula control block. Therefore, placing the
most likely CASE values at the top of the CASE list will yield faster program execution times.
At execution time, the program interpreter evaluates the SWITCH formula value and then
tests the CASE numbers for an equal value in the programmed order.
l
l
l
l
If the SWITCH formula value does equal the CASE number, then program execution
continues with the command immediately after.
If the SWITCH formula value does not equal the CASE number, then the next CASE
statement is evaluated.
If the SWITCH formula value does not equal any CASE number, then the DEFAULT entry
point is used.
If the SWITCH formula value does not equal any CASE number and there is no DEFAULT
case, then program execution passes through the SWITCH to the ENDS without
performing any commands.
If a BREAK is encountered, then program execution branches to the instruction or label
following the ENDS of the SWITCH control block. BREAK can be used to isolate CASEs. Without
BREAK, the CASE number syntax is transparent and program execution continues at the next
instruction. That is, you will run into the next CASE number code sequence.
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Page 348 of 890
Part 2: Commands: CASE formula
Each SWITCH control block must have at least one CASE number defined plus one, and only
one, ENDS statement. SWITCH is not a valid terminal command — it is only valid within a user
program.
EXAMPLE:
Consider the following code fragment:
1 ",#13)
2 ",#13)
-23 ",#13)
NOT 1, 2 OR -23",#13)
The first line, SWITCH v, lets the SmartMotor™ know that it is checking the value of the
variable v. Each following CASE begins the section of code that tells the SmartMotor what to
do if v is equal to that case.
EXAMPLE:
a=-3
'Assign a value
WHILE a<4
PRINT(#13,"a=",a," ")
SWITCH a
'Test the value
CASE 3
PRINT("MAX VALUE",#13)
BREAK
CASE -1
'Negative test values are valid
CASE -2
'Note no BREAK here
CASE -3
PRINT("NEGATIVE")
BREAK
'Note use of BREAK
CASE 0
'Zero test value is valid
PRINT("ZERO")
'Note order is random
DEFAULT
'The default case
PRINT("NO MATCH VALUE")
BREAK
ENDS
'Need not be numerical
a=a+1
LOOP
END
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Page 349 of 890
Part 2: Commands
SWITCH v
CASE 1
PRINT(" v =
BREAK
CASE 2
PRINT(" v =
BREAK
CASE 3
PRINT(" v =
BREAK
DEFAULT
PRINT("v IS
BREAK
ENDS
Part 2: Commands: CASE formula
Program output is:
a=-3 NEGATIVE
a=-2 NEGATIVE
a=-1 NEGATIVE
a=0 ZERO
a=1 NO MATCH VALUE
a=2 NO MATCH VALUE
a=3 MAX VALUE
RELATED COMMANDS:
Part 2: Commands
BREAK Break from CASE or WHILE Loop (see page 319)
DEFAULT Default Case for SWITCH Structure (see page 375)
ENDS End SWITCH Structure (see page 424)
SWITCH formula Switch, Program Flow Control (see page 710)
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Page 350 of 890
Part 2: Commands: CBAUD=formula
CBAUD=formula
APPLICATION:
Communications control
DESCRIPTION:
Gets/sets the CAN baud rate (not used for PROFIBUS); value is
retained in EEPROM between power cycles
EXECUTION:
Requires reboot of motor for change to take effect
CONDITIONAL TO:
N/A
LIMITATIONS:
Requires reboot of motor for change to take effect
READ/REPORT:
RCBAUD
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Baud
RANGE OF VALUES:
20000, 50000, 125000, 250000, 500000, 800000,1000000
TYPICAL VALUES:
20000, 50000, 125000, 250000, 500000, 800000,1000000
DEFAULT VALUE:
125000 (Factory EEPROM setting)
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CBAUD command is used to get (read) and set the CAN baud rate as follows:
l
l
=CBAUD
Get CAN baud rate.
CBAUD=
Set CAN baud rate.
The SmartMotor supports different protocols over the optional CAN port. CANopen and
DeviceNet are popular industrial networks that use CAN. If a master is communicating to a
group of SmartMotors as slaves under either of these standard protocols, the Combitronic
protocol can still function, and it will not be detected by the CANopen or DeviceNet master.
NOTE: To operate properly, the CAN network must have all devices set to the same
baud rate.
The following commands set up and support the CAN port of the motor:
CADDR=formula
where formula may be from 1 to 127. The setting is stored in the EEPROM, but you must
reboot the motor to activate the setting.
CBAUD=formula
where formula may be one of the following: 1000000, 800000, 500000, 250000, 125000,
50000 or 20000.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 351 of 890
Part 2: Commands
CAN Baud Rate
Part 2: Commands: CBAUD=formula
NOTE: Unlike the CADDR command, the CBAUD value has no effect on PROFIBUS,
where the baud rate is auto-detected.
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
CBAUD=1000000 'Set CAN network baud rate to 1,000,000 bps
END
RELATED COMMANDS:
R
CADDR=formula CAN Address (see page 343)
R
CAN, CAN(arg) CAN Bus Status (see page 345)
Part 2: Commands
CANCTL(function,value) CAN Control (see page 347)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 352 of 890
Part 2: Commands: CCHN(type,channel)
CCHN(type,channel)
APPLICATION:
Communications control
DESCRIPTION:
Close a communications channel
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Type= RS2, RS4
Channel = 0 or 1
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
CCHN(type,channel) closes the specified communications channel, where "type" is the
communications mode, and "channel" is the COM port to close. This command flushes the
serial port buffer — any characters in the buffer will be lost.
For a D-style motor, the channel 0 COM port can only be RS-232 or RS-485, while channel 1
can only be RS-485.
For an M-style motor, only the channel 0 COM port can be opened. It is only RS-485.
The following are valid CCHN commands:
CCHN(RS2,0) 'Close the channel 0 RS-232 port
CCHN(RS4,1) 'Close the channel 1 RS-485 port
After power up or a Z reset command, channel 0 is opened as RS-232 by default.
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
CCHN(RS2,0) 'Close main RS-232 communications port 0
END
RELATED COMMANDS:
OCHN(...) Open Channel (see page 585)
Z Total CPU Reset (see page 789)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 353 of 890
Part 2: Commands
Close Communications Channel (RS-232 or RS-485)
Part 2: Commands: CHN(channel)
CHN(channel)
Communications Error Flag
APPLICATION:
Communications control
DESCRIPTION:
Get the communications error flags from the specified channel:
Part 2: Commands
CHN(0): RS-232 communications error flag
CHN(1): RS-485 communications error flag
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RCHN(channel)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Set of four binary state flags
RANGE OF VALUES:
Channel = 0 or 1
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The read-only function, CHN, holds binary-code, historical error information for serial
channels 0 or 1 on the SmartMotor™, which are specified as follows:
l
CHN(0): Channel 0 communications error flag
l
CHN(1): Channel 1 communications error flag
The command gives the 5-bit status of either serial port channels 0 or 1, broken down as
follows:
l
Bit 0 = 1: Receive buffer has overflowed on the specified channel
l
Bit 1 = 1: Framing error occurred on the specified channel
l
Bit 2 = 1: N/A
l
Bit 3 = 1: Parity error occurred on the specified channel
l
Bit 4 = 1: Timeout occurred in command mode on the specified channel
CHN is read only. It can be reported through RCHN. For example, if RCHN(0) returns an 8, it
means that a parity error was detected on channel 0; if RCHN(0) equals zero, no error has
been detected since opening channel 0.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 354 of 890
Part 2: Commands: CHN(channel)
EXAMPLE: (test individual flags)
IF CHN(0)&8
PRINT("HOST CHANNEL - parity error occurred")
ELSEIF CHN(0)&1
PRINT("HOST CHANNEL - buffer overflow")
ENDIF
EXAMPLE: (test all flags)
IF CHN(0)!=0
PRINT("SERIAL ERROR !!")
ENDIF
RELATED COMMANDS:
Part 2: Commands
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
OCHN(...) Open Channel (see page 585)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 355 of 890
Part 2: Commands: CLK=formula
CLK=formula
Part 2: Commands
Millisecond Clock
APPLICATION:
System
DESCRIPTION:
Value (in milliseconds) of the firmware system clock
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RCLK
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Number
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
CLK:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CLK is an independent, free-running, read/write counter. It is reset to zero on a hardware or
software reset, and it counts once per millisecond.
The user may assign a value to this counter at any time. The size of CLK is 32 bits (signed). At
the value 2147483647, it will roll over to the value -2147483648 and continue counting up. The
time required to start from 0 and reach the roll-over value is 24.8 days.
EXAMPLE: The following example pauses for one second.
WAIT=1000
'Pause for one sec
EXAMPLE:
This example uses code within a WHILE loop that executes during the pause.
CLK=0
WHILE CLK<1000
LOOP
'Initialize clock
'Loop one sec
RELATED COMMANDS:
WAIT=formula Wait for Specified Time (see page 778)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 356 of 890
Part 2: Commands: COMCTL(function,value)
COMCTL(function,value)
APPLICATION:
Communications control
DESCRIPTION:
Special configuration options for communications channels
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: COMCTL(function,value)
function: >= 1
value: See details in following table
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The COMCTL(function, value) command is used for serial communications control with the
DMX protocol. The following table provides details on the possible action settings, their
corresponding functions and allowed value settings.
'function' 'value'
Comm.
protocol
Description
1
1 to
512
DMX
Set base DMX slot/channel; default is 1 at power-up.
2
1 to
102
DMX
Set number of DMX slots/channels to accept; default is 1 at
power-up.
3
1 to
512
DMX
Sync on DMX slot/channel; default is 512 at power-up. User
bit 2 is set when that channel is received. Therefore, a full
512 channel packet will set this bit at the end of packet.
4
0 to
101
DMX
Allows for the selection of the aw[ ] register where the DMX
data begins loading; default is 0 at power-up. For example,
COMCTL(4,10) will start loading DMX data at aw[10].
For more details on using the SmartMotor with the DMX protocol, see the Class 5 SmartMotor
DMX Guide.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 357 of 890
Part 2: Commands
Serial Communications Control
Part 2: Commands: COMCTL(function,value)
EXAMPLE:
Part 2: Commands
'Variables for DMX control:
b=1 'Set DMX base address Valid Address: 1 thru 512.
n=3 'Set number of DMX channels to use.
'NOTE: max that may be summed is 3 or 24 bit position unsigned int.
s=0 'First motor array variable index to use starting with aw[s].
'Configure DMX data usage and motor variable storage:
IF n>3 PRINT("n too large.",#13) END ENDIF
'Limit "n" based on a max of 3 bytes.
IF b>(513-n) PRINT("b too large.",#13) END ENDIF
'Limit "b" based on max data slot.
IF s>(102-n) PRINT("s too large.",#13) END ENDIF
'Limit "s" to max array value.
q=b+n-1 'Last data channel used (will be trigger when data received).
COMCTL(1,b) 'Set base DMX channel to value from CADDR.
COMCTL(2,n) 'Accept 1 DMX channel of data.
COMCTL(3,q) 'Status word 12 bit 2 will be set to 1 when
'channel "q" arrives.
COMCTL(4,s) 'Set start of array index storage (good for
'bypassing cam mode dynamic array).
OCHN(DMX,1,N,250000,2,8,D) 'Open DMX channel: COM 1, no parity,
'250 kBd, 2 stop, 8 data, datamode.
RELATED COMMANDS:
OCHN(...) Open Channel (see page 585)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 358 of 890
Part 2: Commands: COS(value)
COS(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the cosine of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RCOS(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees input
RANGE OF VALUES:
Input in degrees (floating-point): 0.0 to 360.0 (larger values
can be used, but it is not recommended; user should keep
range within modulo 360)
Output: +/- 1.0 (floating-point)
TYPICAL VALUES:
Input in degrees (floating-point): 0.0 to 360.0 (larger values
can be used, but it is not recommended; user should keep
range within modulo 360)
Output: +/- 1.0 (floating-point)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
COS takes an input angle in degrees and returns a floating-point cosine:
af[1]=COS(arg)
where arg is in degrees, and may be an integer (i.e., a, aw[0]) or floating-point variable (i.e.,
af[0]). Integer or floating-point constants may also be used (i.e., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 359 of 890
Part 2: Commands
Cosine
Part 2: Commands: COS(value)
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
EXAMPLE:
af[0]=COS(57.3)
Raf[0]
RCOS(57.3)
af[1]=42.3
af[0]=COS(af[1])
Raf[0]
END
'Set array variable = COS(57.3)
'Report value of af[0] variable
'Report COS(57.3)
'42.3 degrees
'Variables may be put in the parenthesis.
Program output is:
Part 2: Commands
0.540240287
0.540240287
0.739631056
RELATED COMMANDS:
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
R
SIN(value) Sine (see page 683)
R
TAN(value) Tangent (see page 719)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 360 of 890
Part 2: Commands: CP
CP
APPLICATION:
Motion control
DESCRIPTION:
Reads the current cam pointer for the Cam table
EXECUTION:
Immediate
CONDITIONAL TO:
Cam mode active
LIMITATIONS:
N/A
READ/REPORT:
RCP
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Cam segments (not master counts)
RANGE OF VALUES:
0-65536
TYPICAL VALUES:
0-750 (maximum storage capacity of data points in EEPROM)
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Slave Position
The CP command reads the current Cam pointer used by the Cam table. When running in Cam
mode, the trajectory interpolates between the points entered in the Cam table. These
segments in between are numbered starting from 0. For example, segment 0 has point 0 at
the low end of the segment and point 1 at the high end.
Segment 0
Point 1
Segment 1
Point 0
Master Counts
Note that CP reports the segment and not the master input value to the Cam table. Segments
are typically many master counts long. The length of segments can either be fixed or variable
depending on the initial configuration used when the table is created. In either case, the
length of segments in terms of master counts is specified when writing the table.
The number of segments is primarily limited by the amount of storage available in the Cam
table.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 361 of 890
Part 2: Commands
Cam Pointer for Cam Table
Part 2: Commands: CP
Part 2: Commands
EXAMPLE:
EIGN(W,0)
ZS
MF0
O=0
CTE(1)
CTA(5,1000)
CTW(0)
CTW(500)
CTW(4000)
CTW(2000)
CTW(0)
SRC(1)
MCE(1)
MFMUL=1
MFDIV=1
MC
G
WHILE CP<3 LOOP
OS(4)
END
'Erase all cam tables
'Add cam table, 5 points, 1000 counts apart
'1st cam point
'Use external encoder input
'Spline cam table
'Numerator
'Denominator
'Mode: Cam
'Go
'While we are below cam point 3, loop
'After cam point 3 is passed, turn on output 4
RELATED COMMANDS:
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
R CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
MC Mode Cam (Electronic Camming) (see page 513)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 362 of 890
Part 2: Commands: CTA(points,seglen[,location])
CTA(points,seglen[,location])
APPLICATION:
Motion control
DESCRIPTION:
Creates a new Cam table in memory: number of records, segment length, memory area (volatile or nonvolatile)
EXECUTION:
Immediate
CONDITIONAL TO:
Any pre-existing tables in nonvolatile memory
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
points: 2-2147483647
seglen: 0-65535
location: 0, 1
TYPICAL VALUES:
Input:
points: 2-750
seglen: 0-65535
location: 0, 1
DEFAULT VALUE:
See details.
Parameter 3 (location) is optional; if omitted, then location 1 is
used.
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
This command adds a Cam table to memory with the supplied parameters. The table can use
either EEPROM memory (default) or the data variable space. After this table has been added,
the CTW command will write data points into it (CTW writes to the most recent table).
l
l
Parameter 1 "points": Specifies the number of points in the table.
Parameter 2 "Segment length": Specifies the master encoder distance between each
point. If exp2 is set to 0, then the distance is specified per data record through the CTW
command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 363 of 890
Part 2: Commands
Cam Table Attribute
Part 2: Commands: CTA(points,seglen[,location])
l
Parameter 3 (Optional): Specifies if this is a table in user variables or EEPROM. By
default, if parameter 3 is omitted or set to 1, then EEPROM is chosen. Up to ten tables
(numbered from 1 through 10) can exist in EEPROM location. The tables are added
sequentially after any existing tables in EEPROM.
If parameter 3 is 0, then the user array location is chosen (al[0] through al[50]). Only
one table can exist in the user variables.
Part 2: Commands
EXAMPLE: (Subroutine erases EEPROM tables and sets up Cam table)
C40
CTE(1)
CTA(15,8000)
CTW(0)
CTW(500)
CTW(4000)
CTW(20000)
CTW(45000)
CTW(50000)
CTW(60000)
CTW(65000)
CTW(55000,0,1)
CTW(46000)
CTW(45000,0,2)
CTW(8000)
CTW(4000)
CTW(500)
CTW(0)
RETURN
'Erase all EEPROM tables
'CP=0
'CP=1
'CP=2
'Turn
'Will
'Turn
'Will
{cam pointer or cam index pointer}
on Bit 0
turn off
on Bit 1
turn off
Status Word 8
at this point
Status Word 8
at this point
'CP=14
RELATED COMMANDS:
R
CP Cam Pointer for Cam Table (see page 361)
CTE(table) Cam Table Erase (see page 365)
R CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
MC Mode Cam (Electronic Camming) (see page 513)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 364 of 890
Part 2: Commands: CTE(table)
CTE(table)
APPLICATION:
Motion control
DESCRIPTION:
Erase the Cam tables
EXECUTION:
Immediate
CONDITIONAL TO:
Existence of tables in nonvolatile memory
LIMITATIONS:
Tables cannot be individually deleted
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
table: 1-10
TYPICAL VALUES:
1
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
CTE is used to erase the Cam tables. To erase all EEPROM tables, choose CTE(1).
By choosing a number higher than 1, lower table numbers can be preserved. If, for example,
there were three tables stored, CTE(2) would erase tables 2 and 3, but not table 1.
NOTE: The feature that allows partial erasure may not be available in future
generations of motors.
CTE(0) is not defined; therefore, it will not change the table in RAM memory.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 365 of 890
Part 2: Commands
Cam Table Erase
Part 2: Commands: CTE(table)
Part 2: Commands
EXAMPLE: (Subroutine erases EEPROM tables and sets up Cam table)
C40
CTE(1)
CTA(15,8000)
CTW(0)
CTW(500)
CTW(4000)
CTW(20000)
CTW(45000)
CTW(50000)
CTW(60000)
CTW(65000)
CTW(55000,0,1)
CTW(46000)
CTW(45000,0,2)
CTW(8000)
CTW(4000)
CTW(500)
CTW(0)
RETURN
'Erase all EEPROM tables
'CP=0
'CP=1
'CP=2
'Turn
'Will
'Turn
'Will
{cam pointer or cam index pointer}
on Bit 0
turn off
on Bit 1
turn off
Status Word 8
at this point
Status Word 8
at this point
'CP=14
RELATED COMMANDS:
R
CP Cam Pointer for Cam Table (see page 361)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
R CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
MC Mode Cam (Electronic Camming) (see page 513)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 366 of 890
Part 2: Commands: CTR(enc)
CTR(enc)
APPLICATION:
Motion control
DESCRIPTION:
Encoder counter reading: CTR(0)=internal encoder counter;
CTR(1)=external encoder counter
EXECUTION:
Updated once each PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
None
READ/REPORT:
RCTR(enc)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
DETAILED DESCRIPTION:
The CTR command can be used as follows:
l
The CTR(enc) command allows access to the internal or external encoders
l
The CTR(0) command will always access the internal encoder
l
The CTR(1) command will always access the external encoder
If the ENC0 or ENC1 commands are used, the CTR commands will still access the encoders as
described above.
Note that the O= or OSH= commands will affect the encoder selected by the ENC0 (internal
encoder) or ENC1 (external encoder) command. Therefore, if ENC0 is commanded, then O=
and OSH= commands will affect CTR(0). However, if ENC1 is commanded, then O= or OSH=
will affect CTR(1) because the external encoder is being used to measure the motor's position
and to close the PID loop.
MF0 and MS0 will both set CTR(1) to zero in addition to selecting the type of input (quadrature
or step/direction, respectively). However, those commands will only have an effect in ENC0
mode (the default mode at power-up).
EXAMPLE:
EIGN(W,0)
ZS
WHILE CTR(1)==0 LOOP
'Wait for motion on external encoder
PRINT("INPUT ENCODER HAS MOVED",#13)
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 367 of 890
Part 2: Commands
Counter, Encoder, Step and Direction
Part 2: Commands: CTR(enc)
RELATED COMMANDS:
Part 2: Commands
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
MC Mode Cam (Electronic Camming) (see page 513)
MF0 Mode Follow, Zero External Counter (see page 532)
MFR Mode Follow Ratio (see page 554)
MS0 Mode Step, Zero External Counter (see page 569)
MSR Mode Step Ratio (see page 571)
O=formula, O(trj#)=formula Origin (see page 581)
OSH=formula, OSH(trj#)=formula Origin Shift (see page 595)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 368 of 890
Part 2: Commands: CTT
CTT
APPLICATION:
Motion control
DESCRIPTION:
Gets the total number of Cam tables in EEPROM
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RCTT
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Output: 0-10
TYPICAL VALUES:
Output: 0-10
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CTT command reports the number of Cam tables stored in EEPROM. The table in RAM
memory is not included in that number.
EXAMPLE:
C1
IF CTT==0
GOSUB2
ENDIF
RETURN
'Cam check subroutine
'If no cam tables have been created
'Go to cam creation subroutine
C2
'Cam creation subroutine code here
RETURN
RELATED COMMANDS:
R
CP Cam Pointer for Cam Table (see page 361)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
MC Mode Cam (Electronic Camming) (see page 513)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 369 of 890
Part 2: Commands
Cam Table Total in EEPROM
Part 2: Commands: CTW(pos[,seglen][,user])
CTW(pos[,seglen][,user])
Part 2: Commands
Cam Table Write Data Points
APPLICATION:
Motion control
DESCRIPTION:
Writes data points into Cam table
EXECUTION:
Immediate
CONDITIONAL TO:
CTA command must be called before CTW
LIMITATIONS:
Data points (pos) cannot exceed a difference of +/-134217727
from one to the next.
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
pos: -2147483648 to 2147483647
seglen (segment length): 0 to 65535
user (user bits): 0 to 255
TYPICAL VALUES:
Input:
pos: -2147483648 to 2147483647
seglen (segment length): 0 to 65535
user (user bits): 0 to 255
DEFAULT VALUE:
See details.
The seglen (segment length) and user (user bits) parameters
are optional; if omitted, then segment length must have been
defined in CTA command; user bits assume 0 if omitted.
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The CTW command writes to the table addressed by the most recent CTA command. CTW
writes to either the tables stored in the EEPROM or the user array.
NOTE: Typically, the actual Cam table would not be part of the program that
executes the mode. The SMI software contains an Import Cam tool to facilitate
Cam table generation.
l
pos (position): The position coordinate of the motor for that data point. The first point in
the table should be set to 0 to avoid confusion. When the table is run, the currently
commanded motor position seamlessly becomes the starting point of the table. The first
point of the table is kept at 0, which makes it easier to see that all of the data points are
relative to that starting point.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 370 of 890
Part 2: Commands: CTW(pos[,seglen][,user])
l
seglen (segment length): If the Cam table was specified as variable length in the CTA
command, then parameter 2 is required for each data point. It is optional when using a
fixed-length Cam table (specified in the CTA command). This parameter represents the
absolute distance of the encoder source beginning from the start of the table. For
reasons similar to pos, seglen should also be 0 for the first data point specified.
If you wish to use the optional user parameter, then the seglen parameter must be used
(set to the default: 0).
l
user (user bits): (Optional) Defines Cam user bits and Spline mode override. It is an 8bit binary value where:
l
l
l
Bit 0-5: User may apply as desired to Cam status bits 0-5 of status word 8; the
segment between the previous point and this point will apply these bits.
Bit 6: Factory reserved — user should leave as 0.
Bit 7: When set to 0, there is no special override of Spline mode; when set to 1,
the segment between the previous point and this point are forced into linear
interpolation. Bit 7 has no effect when MCE has chosen linear mode.
l
l
When a Cam table is stored in user array memory (al[0]-al[50]), 52 points can be
stored as fixed-length segments; 35 points are possible when variable-length segments
are used.
When Cam tables are written to EEPROM memory, significantly more data can be
written:
l
For fixed-length segments, there is space for at least 750 points.
l
For variable length segments, at least 500 points can be written.
EXAMPLE: (Subroutine erases EEPROM tables and sets up Cam table)
C40
CTE(1)
CTA(15,8000)
CTW(0)
CTW(500)
CTW(4000)
CTW(20000)
CTW(45000)
CTW(50000)
CTW(60000)
CTW(65000)
CTW(55000,0,1)
CTW(46000)
CTW(45000,0,2)
CTW(8000)
CTW(4000)
CTW(500)
CTW(0)
RETURN
'Erase all EEPROM tables
'CP=0
'CP=1
'CP=2
'Turn
'Will
'Turn
'Will
{cam pointer or cam index pointer}
on Bit 0
turn off
on Bit 1
turn off
Status Word 8
at this point
Status Word 8
at this point
'CP=14
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 371 of 890
Part 2: Commands
When loading Cam tables, it is important to note the table capacity. As mentioned previously:
Part 2: Commands: CTW(pos[,seglen][,user])
RELATED COMMANDS:
R
CP Cam Pointer for Cam Table (see page 361)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
R CTT Cam Table Total in EEPROM (see page 369)
Part 2: Commands
MC Mode Cam (Electronic Camming) (see page 513)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 372 of 890
Part 2: Commands: DEA
DEA
APPLICATION:
Motion control
DESCRIPTION:
Read actual derivative error value
EXECUTION:
Updated once each PID sample
CONDITIONAL TO:
Servo active (MP, MV, etc., but not MT mode)
LIMITATIONS:
N/A
READ/REPORT:
RDEA
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Units of position error per PID cycle *65536
RANGE OF VALUES:
Output: -2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The DEA command is used to read back the rate of change of the PID position error. This value
is averaged over four consecutive PID cycles and is in units of position error per PID cycle
*65536. This measured value is used in dE/dt limiting, which can be set through the DEL
command.
DEL (Derivative Error Limit) provides the safest and quickest method to fault a motor on
sudden changes in load or detection of human interference.
The purpose of this limit is to act as a look-ahead on following error. Instead of just triggering
on a raw following error based on how far behind the motor may be in a move, the processor
is looking at how fast that following error changes.
dE/dt refers to the dynamic rate of change of following error. This results in an instant release
of energy and less chance of damage to equipment or injury to machine operator. Under
normal servo control following error limits, if the load collides against an object, the motor
will not fault until the following error limit is reached. As a result, applied current and torque
will increase until that condition is met. By adding an additional derivative limit on following
error, the servo will fault within milliseconds of contact with an object.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 373 of 890
Part 2: Commands
Derivative Error, Actual
Part 2: Commands: DEA
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
MV
'Mode Velocity
VT=500000
'Velocity target
ADT=50
'Accel/Decel target
G
'Go
WHILE DEA <32768 & Bt LOOP
PRINT("Possible collision",#13)
END
RELATED COMMANDS:
R
DEL=formula Derivative Error Limit (see page 377)
Part 2: Commands
DELM(arg) Derivative Error Limit Mode (see page 379)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 374 of 890
Part 2: Commands: DEFAULT
DEFAULT
APPLICATION:
Program execution and flow control
DESCRIPTION:
Default for SWITCH program control block
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Must reside within a SWITCH and ENDS structure
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
DEFAULT allows controlled code execution in a SWITCH structure for results that are not
evaluated by CASE. There can only be one DEFAULT statement per SWITCH control block.
DEFAULT is not a valid terminal command. It is only valid within a user program.
In the following example, DEFAULT is used when no CASE can be executed for the value of
"v".
EXAMPLE:
SWITCH x
CASE 1
PRINT(" x =
BREAK
CASE 2
PRINT(" x =
BREAK
CASE 3
PRINT(" x =
BREAK
DEFAULT
PRINT("x IS
BREAK
ENDS
1 ",#13)
2 ",#13)
-23 ",#13)
NOT 1, 2 OR -23",#13)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 375 of 890
Part 2: Commands
Default Case for SWITCH Structure
Part 2: Commands: DEFAULT
The first line, SWITCH x, tells the SmartMotor™ that it is checking the value of the variable x.
The second line, CASE 1, begins the section of code that tells the SmartMotor what to do if x is
equal to 1. Similarly, the eighth line, CASE 3, tells what to do if x=3. Finally, DEFAULT tells
what to do if none of the CASEs match the value of x.
Part 2: Commands
EXAMPLE:
a=20
WHILE a
SWITCH a-12
CASE -4 PRINT("-4 ") BREAK
CASE -3 PRINT("-3 ") BREAK
CASE -2 PRINT("-2 ") BREAK
CASE -1 PRINT("-1 ") BREAK
CASE 0 BREAK
CASE 1 PRINT("+1 ") BREAK
CASE 2 PRINT("+2 ") BREAK
CASE 3 PRINT("+3 ") BREAK
CASE 4 PRINT("+4 ") BREAK
DEFAULT PRINT("D ")
ENDS
a=a-1
LOOP
Program output is:
D D D D +4 +3 +2 +1 -1 -2 -3 -4 D D D D D D D
RELATED COMMANDS:
BREAK Break from CASE or WHILE Loop (see page 319)
CASE formula Case Label for SWITCH Block (see page 348)
ENDS End SWITCH Structure (see page 424)
SWITCH formula Switch, Program Flow Control (see page 710)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 376 of 890
Part 2: Commands: DEL=formula
DEL=formula
APPLICATION:
Motion control
DESCRIPTION:
Get/set the derivative error limit
EXECUTION:
Immediate
CONDITIONAL TO:
Servo active (MP, MV, etc., not MT mode)
LIMITATIONS:
N/A
READ/REPORT:
RDEL
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Units of position error per PID cycle *65536
RANGE OF VALUES:
Input: 0 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
2147483647
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
DEL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The DEL command is used to get (read) or set the dE/dt fault limit as follows:
l
l
=DEL
Gets the setting for dE/dt fault limit
DEL=frm
Sets the dE/dt fault limit
When the actual dE/dt reaches the value of this setting, then the dE/dt fault is tripped and the
motor will perform the fault reaction. The absolute value of the actual value is used so that
both positive and negative values of dE/dt will be compared against the DEL setting. Also, the
DELM command can modify the functionality to behave differently depending on direction of
dE/dt relative to motor direction.
DEL (Derivative Error Limit) provides the safest and quickest method to fault a motor on
sudden changes in load or detection of human interference.
The purpose of this limit is to act as a look-ahead on following error. Instead of just triggering
on a raw following error based on how far behind the motor may be in a move, the processor
is looking at how fast that following error changes.
dE/dt refers to the dynamic rate of change of following error. This results in an instant release
of energy and less chance of damage to equipment or injury to machine operator. Under
normal servo control following error limits, if the load collides against an object, the motor
will not fault until the following error limit is reached. As a result, applied current and torque
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 377 of 890
Part 2: Commands
Derivative Error Limit
Part 2: Commands: DEL=formula
will increase until that condition is met. By adding an additional derivative limit on following
error, the servo will fault within milliseconds of contact with an object.
EXAMPLE:
DEL=VT 'Set limit to commanded speed
If dE/dt equals commanded velocity, then the motor just hit a hard stop. Normally, the motor
would have to continue applying torque until the normal following error is exceeded.
However, if DEL (dE/dt limit) is set to target velocity (VT), then as soon as contact is made
with a hard stop, the controller will immediately fault without any wind up.
RELATED COMMANDS:
R
DEA Derivative Error, Actual (see page 373)
Part 2: Commands
DELM(arg) Derivative Error Limit Mode (see page 379)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 378 of 890
Part 2: Commands: DELM(arg)
DELM(arg)
APPLICATION:
Motion control
DESCRIPTION:
Derivative error limit mode
EXECUTION:
Immediate
CONDITIONAL TO:
Servo active (MP, MV, etc., but not MT mode)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
N/A
RANGE OF VALUES:
0, 1
TYPICAL VALUES:
0, 1
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The DELM command allows the dE/dt fault limit to be reconfigured. By default, DELM is set to
the value 0. This means that the absolute value of DEA is compared to DEL when determining
if the dE/dt limit has been exceeded. This means that a disturbance to the motor in either
direction can potentially lead to a fault if the disturbance is large enough.
This behavior can be changed by setting DELM(1). When that value is issued, the DEL limit is
only reactive to disturbances that block the commanded direction of motion (i.e., something
that attempts to cause the motor to run slower). Disturbances that attempt to cause the motor
to run faster are ignored.
EXAMPLE:
EIGN(W,0)
ZS
IF IN(6)==0
DELM(1)
ELSE DELM(0)
ENDIF
END
'Make all onboard I/O inputs
'Clear
'Check Input 6
'Set derivative error limit mode to 1
'Otherwise, set to 0
RELATED COMMANDS:
R
DEA Derivative Error, Actual (see page 373)
R
DEL=formula Derivative Error Limit (see page 377)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 379 of 890
Part 2: Commands
Derivative Error Limit Mode
Part 2: Commands: DFS(value)
DFS(value)
Part 2: Commands
Dump Float, Single
APPLICATION:
Data conversion
DESCRIPTION:
Get the af[index] variable in its raw 32-bit IEEE format
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RDFS
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: Any float value within 32-bit float range:
±1x1038
Output: 32-bit integer -2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The DFS(value) command allows the creation of a 32-bit value in IEEE-754 format. This allows
export of floating-point values to external systems. This format may be needed for
interchange.
The 32-bit value output by this function is not the integer rounded off from the input. It is an
encoded number that includes the exponent of the floating point value. The output of this
function does not have any usefulness within the SmartMotor programming language.
EXAMPLE:
af[0]=(a+b)/3.0
al[0]=DFS(af[0])
'Create a floating-point result.
'Dump the IEEE-754 32-bit representation
'into al[0].
PRINT(#ab[0],#ab[1],#ab[2],#ab[3]) 'Print the 4 bytes (32-bits)
'of this result to the serial port for the
'host PLC to interpret.
RELATED COMMANDS:
R
af[index]=formula Array Float [index] (see page 256)
R
ATOF(index) ASCII to Float (see page 279)
R
HEX(index) Decimal Value of a Hex String (see page 457)
R
LFS(value) Load Float Single (see page 504)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 380 of 890
Part 2: Commands: DITR(int)
DITR(int)
APPLICATION:
Program execution and flow control
DESCRIPTION:
Disable the specified interrupt or combination of interrupts
EXECUTION:
Immediate
CONDITIONAL TO:
Interrupts configured and enabled; ITR, EITR and ITRE
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
DITR(interrupt), where interrupt is 0–7
TYPICAL VALUES:
Input:
DITR(interrupt), where interrupt is 0–7
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
DITR(1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The DITR (Disable Interrupts) command is used to disable interrupts as follows:
l
DITR(interrupt#)
Where the interrupt# is used to specify an interrupt (0–7)
For an interrupt to work, it must be enabled at two levels: first, enable individual interrupts
with the EITR() command using the interrupt number from 0 to 7 in the parentheses; second,
enable all interrupts with the ITRE command. Similarly, individual interrupts can be disabled
with the DITR() command, and all interrupts can be disabled with the ITRD command. For
more details, see the corresponding command-description pages.
NOTE: The user program must also be running for interrupts to take effect, the
END and RUN commands will reset the state of the interrupts to defaults.
For more details on interrupt programming, see Interrupt Programming on page 186.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 381 of 890
Part 2: Commands
Disable Interrupts
Part 2: Commands: DITR(int)
EXAMPLE: (Subroutine shows use of DITR, EITR, TMR and TWAIT)
C10
IF PA>47000
DITR(0)
TWAIT
p=0
PT=p
G
TWAIT
EITR(0)
TMR(0,1000)
ENDIF
GOTO10
'Place a label
'Just before 12 moves
'Disable interrupt
'Wait till reaches 48000
'Reset variable p
'Set target position
'Start motion
'Wait for move to complete
'Re-enable interrupt
'Restart timer
'Go back to label
Part 2: Commands
RELATED COMMANDS:
EISM(6) E-Configure Input as Sync Master (see page 405)
EITR(int) Enable Interrupts (see page 406)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
RETURNI Return Interrupt (see page 659)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 382 of 890
Part 2: Commands: DT=formula
DT=formula
APPLICATION:
Motion control
DESCRIPTION:
Get/set target deceleration only (does not change acceleration)
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MP, MV, ADT=, AT=, G, X, PIDn (sample rate), encoder resolution
LIMITATIONS:
Must not be negative; effective value is rounded down to next
even number
READ/REPORT:
RDT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
2 to 5000
DEFAULT VALUE:
0 (for firmware 5.x.4.x and newer, default is set to 4)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
DT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
Setting the buffered DT value determines the deceleration that will be used by subsequent
position or velocity moves to calculate the required trajectory. Changing DT during a move
will not alter the current trajectory unless a new G or X command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
If the value for DT has not been set since powering up the motor, the value of AT= will be
automatically applied to DT=. However, this should be avoided. Instead, always use the ADT=
command to specify the value for AT and DT when they are the same. If the value needed for
DT is different than AT, specify it with the DT= command.
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the real-world units of deceleration to a value for DT, where af[0] is
already set with the real-world unit value. These equations force floating-point calculations to
avoid overflow and maintain resolution. They can be placed in a user program, or they can be
precalculated if the values of SAMP and RES are known (SAMP and RES can be reported from
the terminal using the RSAMP and RRES commands, respectively). SAMP can change if the PID
command is used. The value of RES can differ between motor models.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 383 of 890
Part 2: Commands
Deceleration Target
Part 2: Commands: DT=formula
Input as value
in af[0]
Equation
Radians/(Sec2)
DT=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec2)
DT=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec2)
DT=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec
DT=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min
DT=((af[0]*RES)/(3600.0*((SAMP*1.0)*SAMP)))*65536
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
EXAMPLE:
Part 2: Commands
MP
DT=5000
PT=20000
VT=500
G
'Set position mode
'Set target deceleration
'Set absolute position
'Set velocity
'Start motion
EXAMPLE:
DT=100
VT=750
MV
G
'Set buffered deceleration
'Set buffered velocity
'Set buffered velocity mode
'Start motion
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
R AT=formula Acceleration Target (see page 275)
ATS=formula Acceleration Target, Synchronized (see page 281)
DTS=formula Deceleration Target, Synchronized (see page 385)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
R PT=formula Position, (Absolute) Target (see page 642)
R
RES Resolution (see page 653)
R
SAMP Sampling Rate (see page 677)
R
VT=formula Velocity Target (see page 771)
X Decelerate to Stop (see page 787)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 384 of 890
Part 2: Commands: DTS=formula
DTS=formula
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized (path) deceleration for a move
EXECUTION:
Immediate
CONDITIONAL TO:
PIDn
LIMITATIONS:
Must not be negative; 0 is not valid; effective value is rounded
up to next even number
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
(encoder counts / (sample²) ) * 65536
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 5000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
Setting the synchronized (path) DTS value determines the deceleration that will be used by
subsequent position or velocity moves to calculate the required trajectory. Changing DTS
during a move will not alter the current trajectory unless a new G command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the real-world units of acceleration to a value for DTS, where af[0] is
already set with the real-world unit value. These equations force floating-point calculations to
avoid overflow and maintain resolution. They can be placed in a user program, or they can be
precalculated if the values of SAMP and RES are known (SAMP and RES can be reported from
the terminal using the RSAMP and RRES commands, respectively). SAMP can change if the PID
command is used. The value of RES can differ between motor models.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 385 of 890
Part 2: Commands
Deceleration Target, Synchronized
Part 2: Commands: DTS=formula
Input as value
in af[0]
Equation
Radians/(Sec2)
DTS=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec2)
DTS=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec2)
DTS=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec
DTS=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min
DTS=((af[0]*RES)/(3600.0*((SAMP*1.0)*SAMP)))*65536
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
Part 2: Commands
EXAMPLE: (Shows use of ATS, DTS and VTS)
EIGN(W,0)
'Set all I/O as general inputs.
ZS
'Clear errors.
ATS=100
'Set synchronized acceleration target.
DTS=500
'Set synchronized deceleration target.
VTS=100000000
'Set synchronized target velocity.
PTS(500;1,1000;2,10000;3) 'Set synchronized target position
'on motor 1, 2 and 3.
GS
'Initiate synchronized move.
TSWAIT
'Wait until synchronized move ends.
END
'Required END.
RELATED COMMANDS:
ATS=formula Acceleration Target, Synchronized (see page 281)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
R PTST Position Target, Synchronized Time (see page 649)
VTS=formula Velocity Target, Synchronized Move (see page 774)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 386 of 890
Part 2: Commands: EA
EA
APPLICATION:
Motion control
DESCRIPTION:
Get current position error in real time
EXECUTION:
Updated once each PID sample
CONDITIONAL TO:
Servo active (MP, MV, etc., not MT mode)
LIMITATIONS:
N/A
READ/REPORT:
REA
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
Output: -2147483648 to 2147483647
TYPICAL VALUES:
Magnitude limited to user set value of EL
DEFAULT VALUE:
1000
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The EA command provides the current position error in real time. Position error is the
difference in encoder counts between the desired trajectory position and the measured
position. If the absolute value of EA exceeds the user value EL, the fault reaction is performed
and Be (Position Error) status bits will be set to 1, within that PID servo sample. When the
servo is off, EA reverts to zero because there is no longer a desired position.
NOTE: As acceleration (AC) is increased, a larger value of EL may be required. EL
is unsigned, but EA may be positive or negative.
EXAMPLE:
IF EA<1234
'test value of EA
'then do something
ENDIF
WHILE EA<1234 LOOP
'Loop while EA is less than 1234
'Then continue with program
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 387 of 890
Part 2: Commands
Error Actual
Part 2: Commands: EA
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
R
EL=formula Error Limit (see page 408)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 388 of 890
Part 2: Commands: ECHO
ECHO
APPLICATION:
Communications control
DESCRIPTION:
Enable motor echo of received channel 0 serial data
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
Not for use with an RS-485 port such as an M-style motor, or a
D-style motor with the RS485-ISO adapter
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ECHO_OFF (non-echo)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ECHO command causes the SmartMotor™ to retransmit (or echo out) all serial bytes on
the transmit line that were received on the receive line of COM port 0. This retransmission
occurs when the SmartMotor reads these bytes from the buffer, regardless of whether these
bytes are command or individual data bytes. ECHO_OFF terminates the echo capability.
ECHO is required to pass serial bytes though a motor to the next motor in an RS-232 serial
daisy-chain configuration, such as when the Add-A-Motor cables are used. Also, it is often
used in single-motor applications for transmit verification.
NOTE: It is not recommended to use ECHO when communications channel 0 is an
RS-485 port such as an M-style motor or a D-style motor with the RS485-ISO
adapter. This mode of communication is half-duplex and is not compatible with the
ECHO command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 389 of 890
Part 2: Commands
Echo Incoming Data on Communications Port 0
Part 2: Commands: ECHO
EXAMPLE:
SADDR1 'Address the first motor
ECHO
'Echo for host data
PRINT(#128,"SADDR2",#13) '0SADDR2
WAIT=10
'Allow time
PRINT(#130,"ECHO",#13)
'2ECHO
WAIT=10
PRINT(#130,"SLEEP",#13) '2SLEEP
WAIT=10
PRINT(#128,"SADDR3",#13) '0SADDR3
WAIT=10
PRINT(#131,"ECHO",#13)
'3ECHO
WAIT=10
PRINT(#128,"WAKE",#13)
'0WAKE
WAIT=10
Part 2: Commands
RELATED COMMANDS:
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 390 of 890
Part 2: Commands: ECHO1
ECHO1
APPLICATION:
Communications control
DESCRIPTION:
Enable motor echo of received channel 1 serial data
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ECHO_OFF1 (non-echo)
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ECHO1 command causes the SmartMotor™ to retransmit (or echo out) all serial bytes on
the transmit line that were received on the receive line of COM port 1. This retransmission
occurs when the SmartMotor reads these bytes from the buffer, regardless of whether these
bytes are command or individual data bytes. ECHO_OFF1 terminates the echo capability.
NOTE: It is not recommended to use ECHO when communications channel 1 is a
half-duplex RS-485 port, such as an M-style motor or a D-style motor with the
RS485-ISO adapter.
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
OCHN(RS4,1,N,9600,1,8,D) 'Open auxiliary com port
ECHO1
'enable echo on aux com port
RELATED COMMANDS:
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 391 of 890
Part 2: Commands
Echo Incoming Data on Communications Port 1
Part 2: Commands: ECHO_OFF
ECHO_OFF
Part 2: Commands
Turn Off Echo on Communications Port 0
APPLICATION:
Communications control
DESCRIPTION:
Disable motor echo of received channel 0 serial data
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ECHO_OFF (non-echo)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ECHO_OFF command causes the SmartMotor™ channel 0 COM port to stop echoing. This
is the default power-up state of any SmartMotor. No incoming channel 0 characters are
retransmitted.
In order to automatically detect and differentiate between multiple motors on a serial daisychain cable, the ECHO state can be alternately turned on and off to ensure the motors are
properly addressed.
NOTE: It is not possible to maintain communications on a serial chain without
issuing ECHO.
EXAMPLE:
ECHO_OFF
EIGN(W,0)
ZS
'Remove echo from channel 0
'Make all onboard I/O inputs
'Clear errors
RELATED COMMANDS:
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 392 of 890
Part 2: Commands: ECHO_OFF1
ECHO_OFF1
APPLICATION:
Communications control
DESCRIPTION:
Disable motor echo of received channel 1 serial data
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ECHO_OFF1 (non-echo)
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ECHO_OFF1 command causes the SmartMotor™ channel 1 serial port to stop echoing. No
incoming channel 1 characters are retransmitted.
EXAMPLE: (Shows use of ECHO_OFF1 and OCHN)
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
OCHN(RS4,1,N,9600,1,8,C) 'Open aux communications channel
ECHO_OFF1
'Turn echo off for aux communications channel
END
RELATED COMMANDS:
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 393 of 890
Part 2: Commands
Turn Off Echo on Communications Port 1
Part 2: Commands: ECS(counts)
ECS(counts)
Part 2: Commands
Encoder Count Shift
APPLICATION:
Motion control
DESCRIPTION:
External encoder counter shift
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
Input
counts: -2147483648 to 2147483647
TYPICAL VALUES:
-100 to +100
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ECS(value) command immediately shifts the external encoder counter by the specified
value. In Follow mode or Cam mode this is interpreted as incoming master counts, so motion
may result. In other words, ECS adds the specified value to the incoming master counts as if
they actually had an instantaneous change in value.
NOTE: When issued, ECS is dynamic and immediate! It is not buffered. No G
command is required.
For example, if the external encoder count is 4000 and ECS(1234) is issued, the count would
immediately shift to 5234. It is instantaneously shifted by 1234 counts, as seen by the
trajectory generator.
ECS accounts for changes in material width on traverse and take up winding applications to
allow for full placement of material onto spools. These applications require the means to
dynamically detect material width as close as possible to where it is being wound onto the
master spool.
This command works on top of any gear or Cam mode. It should be used with care because it
can cause abrupt changes to position.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 394 of 890
Part 2: Commands: ECS(counts)
EXAMPLE:
C1
'Instant step routine
WHILE 1
'Forever loop
IF IN(1)==0
'Check input 1 for low state
ECS(100)
'Instantly add 100 counts to CTR(1)
WHILE IN(1)==0 LOOP
'Hold while input is triggered
ENDIF
LOOP
RETURN
END
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 395 of 890
Part 2: Commands
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
Part 2: Commands: EIGN(...)
EIGN(...)
Part 2: Commands
Enable as Input for General-Use
APPLICATION:
I/O control
DESCRIPTION:
Configure I/O as general-use input
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
EIGN(IO)
EIGN(W,word)
EIGN(W,word[,mask])
See details for range of IO, word and mask — depends on
motor series
TYPICAL VALUES:
N/A
DEFAULT VALUE:
See details — depends on motor series
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EIGN(0):3, EIGN(W,0):3, or EIGN(W,0,m):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EIGN command is used to configure I/O pins for general-use input as follows:
l
l
l
EIGN(IO)
Sets the specified I/O port to or back to an input with no function attached. In other
words, to remove the travel-limit function from I/O port 2, execute the instruction EIGN
(2). See the following table for allowed range of IO.
EIGN(W,word)
Sets all I/O in the specified I/O word back to inputs. A literal "W" is used as the first
argument. See the following table for allowed values for "word".
EIGN(W,word[,mask])
Set all I/O in the specified I/O word back to input if mask bit is set. A literal "W" is used
as the first argument. See the following table for allowed values for "word" and for the
mask range.
NOTE: The range of IO and word depends on the motor series:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 396 of 890
Part 2: Commands: EIGN(...)
Motor
Type
word
Allowed
Values
IO
Allowed
Range
Word 0
Bitmask
Range
Word 1
Bitmask
Range
0
0-6
0 to 127
N/A
0,1
0-6, 16-25
0 to 127
0 to 1023
0
0-10
0 to 2047
N/A
D-style
D-style with AD1 option
M-style
Ports 2 and 3 are travel limit inputs by default. However, the EIGN() commands can change
them to general-purpose I/O points. They can be returned to travel limits with the EILN and
EILP commands.
EXAMPLE:
'Assigns a single I/O point (I/O 6) as
'general-use input.
EIGN(W,0)
'Assigns all local I/O in word 1 as general-use
'inputs and disables the travel limits.
EIGN(W,0,12) 'Assigns inputs 2 and 3 as general-use inputs at
'once (disabling overtravel limits).
EIGN(W,0,m) 'Assign a masked word-sized set of local I/O as
'general-use inputs at once.
EXAMPLE: (assign inputs 2 and 3 as general-use inputs at once; disable overtravel limits)
x=12
y=0
EIGN(W,y,x) 'EIGN(W,y)&x will also do the same thing
EXAMPLE: (configuring individual ports as inputs)
EIGN(0)
EIGN(1)
EIGN(2)
EIGN(3)
EIGN(4)
EIGN(5)
EIGN(6)
'Set
'Set
'Set
'Set
'Set
'Set
'Set
User
User
User
User
User
User
User
port
port
port
port
port
port
port
0
1
2
3
4
5
6
as
as
as
as
as
as
as
Input
Input
Input
Input
Input
Input
Input
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 397 of 890
Part 2: Commands
EIGN(6)
Part 2: Commands: EIGN(...)
EXAMPLE: (disabling left and right limits)
EIGN(2)
'Disable left limit
EIGN(3)
'Disable right limit
ZS
'Clear faults
VT=700000 'Set Target Velocity
ADT=100
'Set accel/decel
MV
'Set Mode Velocity
ITR(0,3,15,1,20) 'Set interrupt
EITR(0)
'Enable interrupt zero
ITRE
'Enable all interrupts
G
'Start motion
C10
'Place a label
GOTO10
'Loop..., required for interrupt operation
END
'End (never reached)
Part 2: Commands
C20
RETURNI
'Interrupt subroutine code here
'Return from interrupt subroutine
RELATED COMMANDS:
EILN Enable Input as Limit Negative (see page 399)
EILP Enable Input as Limit Positive (see page 401)
EISM(6) E-Configure Input as Sync Master (see page 405)
EOBK(IO) Enable Output, Brake Control (see page 426)
R IN(...) Specified Input (see page 466)
R
INA(...) Specified Input, Analog (see page 469)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 398 of 890
Part 2: Commands: EILN
EILN
APPLICATION:
I/O control
DESCRIPTION:
Activate left/negative hardware limit
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Limit switch
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EILN:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EILN command activates the left/negative hardware limit.
The EILN command sets I/O port 3 as the negative overtravel limit. User I/O port 3 can be a
general-purpose analog or digital input, output or act as the negative-limit input (which is the
default state). EILN explicitly defines I/O port 3 as the negative limit, while the EIGN
command configures it as a general-purpose input, which disables the limit behavior.
NOTE: I/O port 3 cannot be set as an output until the EIGN command is issued first
(i.e., the OR, OS or OUT command will not change I/O 3 until EIGN is issued to set
I/O 3 as an input).
Ports 2 and 3 are travel limit inputs by default. However, the EIGN() commands can change
them to general-purpose I/O points. They can be returned to travel limits with the EILN and
EILP commands.
EXAMPLE: (Subroutine enables negative hardware limit)
C1
c=0
PRINT("Enter c=1 to enable negative HW limit...",#13)
WHILE c==0 LOOP
'Wait for user to change variable c
EILN
'Enable negative hardware limit
PRINT("Negative HW limit enabled!",#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 399 of 890
Part 2: Commands
Enable Input as Limit Negative
Part 2: Commands: EILN
Program output is:
Enter c=1 to enable negative HW limit...
(The user enters c=1)
Negative HW limit enabled!
RELATED COMMANDS:
Part 2: Commands
EIGN(...) Enable as Input for General-Use (see page 396)
EILP Enable Input as Limit Positive (see page 401)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
EISM(6) E-Configure Input as Sync Master (see page 405)
EOBK(IO) Enable Output, Brake Control (see page 426)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 400 of 890
Part 2: Commands: EILP
EILP
APPLICATION:
I/O control
DESCRIPTION:
Activate right/positive hardware limit
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Limit switch
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EILP:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EILP command activates the right/positive hardware limit.
The EILP command sets I/O port 2 as the positive overtravel limit. User I/O port 2 can be a
general-purpose analog or digital input, output or act as the positive-limit input (which is the
default state). EILP explicitly defines I/O port 2 as the positive limit, while the EIGN command
configures it as a general-purpose input, which disables the limit behavior.
NOTE: I/O port 2 cannot be set as an output until the EIGN command is issued first
(i.e., the OR, OS or OUT command will not change I/O 2 until EIGN is issued to set
I/O 2 as an input).
Ports 2 and 3 are travel limit inputs by default. However, the EIGN() commands can change
them to general-purpose I/O points. They can be returned to travel limits with the EILN and
EILP commands.
EXAMPLE: (Subroutine enables positive hardware limit)
C1
c=0
PRINT("Enter c=1 to enable positive HW limit...",#13)
WHILE c==0 LOOP
'Wait for user to change variable c
EILP
'Enable positive hardware limit
PRINT("Positive HW limit enabled!",#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 401 of 890
Part 2: Commands
Enable Input as Limit Positive
Part 2: Commands: EILP
Program output is:
Enter c=1 to enable positive HW limit...
(The user enters c=1)
Positive HW limit enabled!
RELATED COMMANDS:
Part 2: Commands
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
EISM(6) E-Configure Input as Sync Master (see page 405)
EOBK(IO) Enable Output, Brake Control (see page 426)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 402 of 890
Part 2: Commands: EIRE
EIRE
APPLICATION:
I/O control
DESCRIPTION:
Set I/O 6 to capture external encoder's current value
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to EIRE (external input captures the external
encoder)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The predefined external probe input is assigned to capture the external encoder's position.
This is also known as index capture, registration or touch probes.
The predefined input is as follows:
l
Class 5 D-style motors use I/O logical input 6 (pin 7 on the DA-15 connector)
l
Class 5 M-style motors use I/O logical input 5 (pin 4 of the 12-pin I/O connector)
EXAMPLE:
EIGN(W,0)
ZS
EIRE
END
'Make all onboard I/O inputs
'Clear errors
'Use external IO to capture external encoder position
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aj(arg) Arm Index Falling Edge (see page 263)
EIGN(...) Enable as Input for General-Use (see page 396)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
R I(enc) Index, Rising-Edge Position (see page 459)
R
J(enc) Index, Falling-Edge Position (see page 481)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 403 of 890
Part 2: Commands
Enable Index Register, External-Input Capture
Part 2: Commands: EIRI
EIRI
Part 2: Commands
Enable Index Register, Internal-Input Capture
APPLICATION:
I/O control
DESCRIPTION:
Set I/O 5 to capture internal encoder's current value
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to EIRE (external input captures the external
encoder)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The predefined external probe input is assigned to capture the internal encoder's position.
This is also known as index capture, registration or touch probes.
The predefined input is as follows:
l
Class 5 D-style motors use I/O logical input 6 (pin 7 on the DA-15 connector)
l
Class 5 M-style motors use I/O logical input 5 (pin 4 of the 12-pin I/O connector)
EXAMPLE:
EIGN(W,0)
ZS
EIRI
END
'Make all onboard I/O inputs
'Clear errors
'Use external IO to capture internal encoder position
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aj(arg) Arm Index Falling Edge (see page 263)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIGN(...) Enable as Input for General-Use (see page 396)
R I(enc) Index, Rising-Edge Position (see page 459)
R
J(enc) Index, Falling-Edge Position (see page 481)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 404 of 890
Part 2: Commands: EISM(6)
EISM(6)
APPLICATION:
I/O control
DESCRIPTION:
Configure specified I/O as the start-motion input
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
By default, this feature is not enabled
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The EISM(x) command configures the specified input as the start-motion input. EISM(6),
which is currently the only input supported, issues a G command when input 6 is asserted.
l
For D-style motors, the input must be driven low
l
For M-style motors, the input must be driven high
Refer to Connecting the System in your motor's user guide for the location of pin I/O-6 on
your motor.
EXAMPLE:
EIGN(W,0)
ZS
EISM(6)
MV
ADT=100
VT=100000
WHILE 1 LOOP
'Make all onboard I/O inputs
'Clear errors
'Configure motor to receive G when I/O 6 is triggered
'Mode Velocity
'Set accel/decel
'Set target velocity
'Hold program here
RELATED COMMANDS:
EIGN(...) Enable as Input for General-Use (see page 396)
G Start Motion (GO) (see page 444)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 405 of 890
Part 2: Commands
E-Configure Input as Sync Master
Part 2: Commands: EITR(int)
EITR(int)
Part 2: Commands
Enable Interrupts
APPLICATION:
Program execution and flow control
DESCRIPTION:
Enable the specified interrupt or a combination of interrupts
EXECUTION:
Immediate
CONDITIONAL TO:
Interrupts configured and globally enabled (with ITR and ITRE)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
EITR(interrupt), where interrupt is 0–7
TYPICAL VALUES:
Input:
EITR(interrupt), where interrupt is 0–7
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EITR(1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EITR (Enable Interrupts) command is used to enable interrupts as follows:
l
EITR(interrupt#)
Where interrupt# is used to specify an interrupt.
For an interrupt to work, it must be enabled at two levels: first, enable individual interrupts
with the EITR() command using the interrupt number from 0 to 7 in the parentheses; second,
enable all interrupts with the ITRE command. Similarly, individual interrupts can be disabled
with the DITR() command, and all interrupts can be disabled with the ITRD command. For
more details, see the corresponding command-description pages.
NOTE: The user program must also be running for interrupts to take effect, the
END and RUN commands will reset the state of the interrupts to defaults.
For more details on interrupt programming, see Interrupt Programming on page 186.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 406 of 890
Part 2: Commands: EITR(int)
EXAMPLE:
EIGN(2)
'Disable left limit
EIGN(3)
'Disable right limit
ZS
'Clear faults
VT=700000
'Set target velocity
ADT=100
'Set target accel/decel
MV
'Set Mode Velocity
ITR(0,3,15,1,10) 'Set interrupt
EITR(0)
'Enable interrupt zero
ITRE
'Enable all interrupts
G
'Start motion
PAUSE
'Pause here so program doesn't end
END
'End would disable interrupts
C10
IF PA>47000
DITR(0)
TWAIT
p=0
PT=p
G
TWAIT
EITR(0)
TMR(0,1000)
ENDIF
GOTO10
'Place a label
'Just before 12 moves
'Disable interrupt
'Wait till reaches 48000
'Reset variable p
'Set target position
'Start motion
'Wait for move to complete
'Re-enable interrupt
'Restart timer
'Go back to label
RELATED COMMANDS:
DITR(int) Disable Interrupts (see page 381)
EISM(6) E-Configure Input as Sync Master (see page 405)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
RETURNI Return Interrupt (see page 659)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 407 of 890
Part 2: Commands
EXAMPLE: (Subroutine shows use of DITR, EITR, TMR and TWAIT)
Part 2: Commands: EL=formula
EL=formula
Part 2: Commands
Error Limit
APPLICATION:
Motion control
DESCRIPTION:
Set maximum allowable position error (the error limit)
EXECUTION:
Immediate; enforced each PID sample
CONDITIONAL TO:
Servo active (MP, MV, etc., not MT mode)
LIMITATIONS:
Torque mode has no position error
READ/REPORT:
REL
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
0 to 262143
TYPICAL VALUES:
1000
DEFAULT VALUE:
1000
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The EL command is used to set the maximum allowable position error in encoder counts.
Position error is the difference between the calculated trajectory position (PC), at any instant
in time, and the actual position (PA). The SmartMotor™ uses the position error to generate a
torque by means of the PID filter. The greater the error or deflection, the more torque the
motor applies in attempt to correct it.
CAUTION: An EL setting that is greater than the expected move distance may
result in drive saturation and severely limit the life of the SmartMotor.
EL is primarily used as a safety measure. It is a programmable, allowable error beyond which
the motor recognizes it is outside of the domain of control being enforced. If EL=100 is
commanded and a position error of greater than 100 encoder counts occurs, the motor will
perform its fault reaction and the Be (Position Error bit) will be set to 1. All closed-loop modes
are bound by this EL value. Non-closed-loop modes, such as Torque mode, ignore the value of
EL.
EXAMPLE:
EL=1234
'Set maximum allowable error to 1234
If the motor dynamically exceeds 1234, it immediately faults on position error.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 408 of 890
Part 2: Commands: EL=formula
RELATED COMMANDS:
R
EA Error Actual (see page 387)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
R PA Position, Actual (see page 599)
PC, PC(axis) Position, Commanded (see page 603)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 409 of 890
Part 2: Commands: ELSE
ELSE
Part 2: Commands
IF-Structure Command Flow Element
APPLICATION:
Program execution and flow control
DESCRIPTION:
Alternate action of IF formula or ELSEIF formula within
IF...ELSE...ENDIF control block
EXECUTION:
Immediate
CONDITIONAL TO:
Value of previous IF formula or ELSEIF formula.
LIMITATIONS:
Must reside with IF formula...ENDIF program control block; can
be executed only from within a user program
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
An IF formula...ENDIF control block may optionally include an ELSE statement to control
execution when none of the test conditions are true. As illustrated in the following example,
an IF formula can be used when you want the SmartMotor™ to do one thing if the variable
g=43 and another if it does not equal that value.
EXAMPLE:
IF g==43
PRINT("Gee...43!",#13)
ELSE
PRINT("No 43 for me.",#13)
ENDIF
The first line checks to see if g is equal to 43. If so, the string "Gee...43!" is sent out the
primary serial port. The ELSE in line 3 tells the SmartMotor what to do otherwise.
An IF control block can have only one ELSE statement. When the language interpreter
evaluates the IF formula as false (zero), an ELSE exists and there are no ELSEIF statements,
the program branches immediately to the statement following the ELSE. If there are ELSEIF
formula clauses within the control block, all the ELSEIF clauses must precede the ELSE clause.
In these cases, the ELSE clause is only executed when both the IF formula is false (zero) and
all ELSEIF formulas are false (zero).
ELSE is analogous to the DEFAULT case for a SWITCH control block.
ELSE is not a valid terminal command; it is only valid within a user program.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 410 of 890
Part 2: Commands: ELSE
EXAMPLE:
a=1
'PRINT("FALSE") is always executed
IF a==2
PRINT("TRUE")
ELSE
PRINT("FALSE")
ENDIF
EXAMPLE:
'Only if a is NOT 1, 2, or 3
'will GOSUB5 be executed.
GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF
C2
C3
C4
C5
'Some
'Some
'Some
'Some
subroutine
subroutine
subroutine
subroutine
code
code
code
code
here
here
here
here
RELATED COMMANDS:
ELSEIF formula IF-Structure Command Flow Element (see page 412)
ENDIF End IF Statement (see page 422)
IF formula Conditional Program Code Execution (see page 463)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 411 of 890
Part 2: Commands
IF a==1
Part 2: Commands: ELSEIF formula
ELSEIF formula
Part 2: Commands
IF-Structure Command Flow Element
APPLICATION:
Program execution and flow control
DESCRIPTION:
Alternate evaluation of IF...ENDIF control block
EXECUTION:
Immediate
CONDITIONAL TO:
Value of formula and previous IF formula or ELSEIF formula
LIMITATIONS:
Must reside with IF formula...ENDIF program control block; can
be executed only from within user program
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
An IF formula's control block may optionally include any number of ELSEIF formulas to
perform multiple evaluations in a specified order. For example, ELSEIF would be used when
you want the SmartMotor™ to do one thing if the variable g=43, another if g=43000, and
another if g=-2.
For more detail about valid formulas that can be used, see IF formula on page 463.
EXAMPLE:
IF g==43
PRINT("Gee...43!",#13)
ELSEIF g==43000
PRINT("43 grand for me.",#13)
ELSEIF g==-2
PRINT("2?",#13)
ENDIF
The first line checks to see if g is equal to 43. If so, the string "Gee...43!" is sent out the
primary serial port and the IF control block terminates. If g is not 43, the program goes on to
test if g is 43000. If it is, then "43 grand for me." is sent out the primary serial port and the IF
control block terminates. Similarly, if g is not 43000, then the program goes on to test if g is 2. If it is, then "-2?" is sent out the primary serial port and the IF control block terminates.
An IF control block can have multiple ELSEIF statements. If such an ELSEIF clause exists and
the language interpreter evaluates the IF formula to be false (zero), then the program will
branch immediately to first ELSEIF formula.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 412 of 890
Part 2: Commands: ELSEIF formula
If the associated formula is true, then the following clause is executed until an ELSEIF, ELSE
or ENDIF is encountered, and then execution branches to the ENDIF of the current IF control
block. If the first ELSEIF clause is not executed, then program execution continues at the next
ELSEIF formula, and so on, until all the ELSEIF formulas have been tested. In the case all
ELSEIFs have false formulas and an ELSE clause exists, that clause will be executed.
The ELSEIF statement is similar to the CASE number in a SWITCH control block. Note the
difference—ELSEIF handles formulas, but CASE only handles a fixed number.
ELSEIF is not a valid terminal command. It is only valid within a user program.
EXAMPLE:
a=3
IF a==2
PRINT("222")
ELSEIF a==3
PRINT("333")
ENDIF
'Will be found false
'Will be found true
'so "333" will be printed.
IF a==1
'Only if a is NOT 1, 2, or 3
'will GOSUB5 be executed.
GOSUB2
ELSEIF a==2
GOSUB3
ELSEIF a==3
GOSUB4
ELSE
GOSUB5
ENDIF
RELATED COMMANDS:
ELSE IF-Structure Command Flow Element (see page 410)
ENDIF End IF Statement (see page 422)
IF formula Conditional Program Code Execution (see page 463)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 413 of 890
Part 2: Commands
EXAMPLE:
Part 2: Commands: ENC0
ENC0
Part 2: Commands
Encoder Zero (Close Loop on Internal Encoder)
APPLICATION:
Motion control
DESCRIPTION:
Use internal encoder for the PID, actual position, actual velocity
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ENC0 (use internal encoder for PID, actual
position)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ENC0:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ can accept inputs from either the internal integrated encoder or an external
source. ENC0 causes the SmartMotor to read its position from the internal encoder; ENC1 uses
the secondary (external) encoder. When ENC0 is active, PA (position actual) will track the
internal encoder. For more details, see PA on page 599.
EXAMPLE:
ENC1
ENC0
'Servo from external encoder
'Restore default encoder behavior
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 419)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
MS0 Mode Step, Zero External Counter (see page 569)
MF0 Mode Follow, Zero External Counter (see page 532)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 414 of 890
Part 2: Commands: ENC1
ENC1
APPLICATION:
Motion control
DESCRIPTION:
Use external encoder for the PID, actual position, actual velocity
EXECUTION:
Immediate
CONDITIONAL TO:
External encoder attached to motor
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ENC0 (use internal encoder for PID, actual position)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ENC1:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
WARNING: If the ENC1 command is issued without an external encoder
properly electrically connected to the A and B encoder inputs and physically
connected to the shaft, the motor will run away with full speed and torque.
The SmartMotor™ can accept position information from either the internal integrated encoder
or an external source. The ENC1 command will cause the SmartMotor to servo from the
secondary (external) encoder channel instead of the internal encoder. When ENC1 is active,
PA (Position Actual) will track the external encoder.
The default mode of operation (accept position information from the internal encoder) is
restored with the ENC0 command.
NOTE: Always issue either MS0 or MF0 to select the input mode of the external
encoder. Do not assume one mode or the other.
l
MS0 will set step/direction (and clear the position to 0)
l
MF0 will set quadrature input (and clear the position to 0)
If the external encoder is not connected or is incorrectly connected, the motor may run away.
In this case, use the RPA command to check the position. If you can change the position by
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 415 of 890
Part 2: Commands
Encoder Zero (Close Loop on External Encoder)
Part 2: Commands: ENC1
rotating the shaft, then the encoder is connected but the A and B signals need to be swapped,
which reverses the direction described by the quadrature phasing of the A and B signals.
EXAMPLE:
ENC1
ENC0
'Servo from external encoder
'Restore default encoder behavior
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
Part 2: Commands
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 419)
MS0 Mode Step, Zero External Counter (see page 569)
MF0 Mode Follow, Zero External Counter (see page 532)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 416 of 890
Part 2: Commands: ENCCTL(function,value)
ENCCTL(function,value)
APPLICATION:
Motion control
DESCRIPTION:
Special configuration options for encoder
EXECUTION:
Immediate
CONDITIONAL TO:
Depends on sub-command; certain specific encoders apply
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: ENCCTL(function,value)
function: >= -1
value: See details in following table
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ENCCTL(function,value) command is used to set special configuration options for the
encoder. It has two input parameters:
l
function: specifies the configuration setting for the encoder
l
value: (where applicable) specifies the value to apply to the selected action
This command requires the absolute encoder option for the M-style motor. It does not apply to
the typical optical incremental encoder found in most SmartMotors.
NOTE: The D-style motor does not offer an ABS option.
Refer to the following table for details.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 417 of 890
Part 2: Commands
Encoder Control
Part 2: Commands: ENCCTL(function,value)
'function'
'value'
range
Encoder
type
-1
N/A
ABS*
Removes the effect of the ENCCTL(0,value)
command. PA offset is then set as shipped from the
factory.
0
-2147483648
to
2147483647
ABS*
Sets the current absolute position to 'value'. This
calculates the offset required and stores it in
nonvolatile memory. Motor firmware will adjust
absolute position with offset on every power up.
5
N/A
ABS*
Reset error flags.
6
0,1,2
ABS*
Report encoder firmware version to the terminal.
value 0: Report lowest byte (minor rev)
value 1: Report mid byte (major rev)
value 2: Report high byte (firmware type)
Description
Part 2: Commands
*Requires the absolute encoder option for the M-style motor.
EXAMPLE:
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
ENCCTL(0,0) 'Set absolute encoder to zero
RELATED COMMANDS:
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 419)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 418 of 890
Part 2: Commands: ENCD(in_out)
ENCD(in_out)
APPLICATION:
I/O control
DESCRIPTION:
Set M-style motor Encoder Bus port as an input or output
EXECUTION:
Immediate
CONDITIONAL TO:
M-style SmartMotor
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ENCD(0) where encoder is input
FIRMWARE VERSION:
5.97.x or 5.98.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The M-style SmartMotor™ is equipped with a bidirectional Encoder Bus port, which can be
configured as an input or an output for use as a slave or master, respectively, in an
"electronic line shaft" configuration.
NOTE: The D-style motor does not support this command and will return an error.
Using the Encoder Bus port along with Moog Animatics encoder bus cables and ENCD
commands, you can create a daisy-chained series of M-style motors. In this configuration:
l
One motor will have ENCD(1) issued — this will be the master
l
All other motors will have ENCD(0) (default) issued — these will be the slaves
EXAMPLE:
ENCD(1)
ENCD(0)
'Encoder bus port set as output (master)
'(Default) Encoder bus port set as input (slave)
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
MC Mode Cam (Electronic Camming) (see page 513)
MF0 Mode Follow, Zero External Counter (see page 532)
MFR Mode Follow Ratio (see page 554)
MS0 Mode Step, Zero External Counter (see page 569)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 419 of 890
Part 2: Commands
Set Encoder Bus Port as Input or Output
Part 2: Commands: END
END
Part 2: Commands
End Program Code Execution
APPLICATION:
Program execution and flow control
DESCRIPTION:
Terminates execution of the user program
EXECUTION:
Immediate
CONDITIONAL TO:
Valid whether issued by host or user program
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
END:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The END command terminates execution of a user program if there is one running. END may
be issued through serial communications channels or from within the user program. Each
program must have a minimum of at least one END statement.
NOTE: The SMI program will not compile a source file without at least one END
present.
END only terminates the user program and internally resets the program pointer to the
beginning of the program; no other state, variable, mode or trajectory is affected.
User program interrupts will stop functioning when the END is encountered in a program or
issued from the serial communication channel.
The SMI program provides several toolbar buttons that send an END command. This is
especially useful when something prevents you from entering the END command at the
terminal screen. For more details, see the SMI software's online help file, which can be
accessed from the Help menu or by pressing the F1 key.
EXAMPLE:
IF Be END ENDIF
'Terminate user program
'on position error
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 420 of 890
Part 2: Commands: END
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
RCKS Report Checksum (see page 652)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
Z Total CPU Reset (see page 789)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 421 of 890
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
Part 2: Commands: ENDIF
ENDIF
Part 2: Commands
End IF Statement
APPLICATION:
Program execution and flow control
DESCRIPTION:
IF formula... ENDIF control block terminator
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Requires corresponding IF formula; can be executed only from
within a user program
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Each control block beginning with an IF formula must have a corresponding ENDIF block-exit
statement. Regardless of the execution path through the control block at run time, the
program statement following ENDIF is the common exit point branched to after processing the
IF...ENDIF control block.
NOTE: There can only be one ENDIF statement for each IF statement; every IF
structure must be terminated with an ENDIF statement.
The common exit point following ENDIF is branched to when:
l
Processing a true IF formula clause and encountering ELSEIF, ELSE or ENDIF
l
Processing a true ELSEIF formula and encountering another ELSEIF, ELSE or ENDIF
l
Processing an ELSE clause and encountering ENDIF
l
All IF and ELSEIF formulas are false, and there is no ELSE clause
ENDIF is not a valid terminal command; it is only valid within a user program.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 422 of 890
Part 2: Commands: ENDIF
EXAMPLE:
a=1
'PRINT("FALSE") is always executed
IF a==2
PRINT("TRUE")
ELSE
PRINT("FALSE")
ENDIF
RELATED COMMANDS:
Part 2: Commands
ELSE IF-Structure Command Flow Element (see page 410)
ELSEIF formula IF-Structure Command Flow Element (see page 412)
IF formula Conditional Program Code Execution (see page 463)
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Page 423 of 890
Part 2: Commands: ENDS
ENDS
Part 2: Commands
End SWITCH Structure
APPLICATION:
Program execution and flow control
DESCRIPTION:
SWITCH formula...ENDS control block terminator
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
Requires corresponding SWITCH formula; can be executed only
from within a user program
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Each SWITCH formula must have a corresponding ENDS block exit statement. Regardless of
the execution path through the control block at run time, any program statement immediately
following ENDS is the common exit point branched to when processing the SWITCH...ENDS
control block.
NOTE: There can only be one ENDS statement for each SWITCH statement.
The common exit point following ENDS is branched to when:
l
Encountering a BREAK
l
Encountering ENDS
l
The SWITCH formula value is not equal to any CASE number value, and there is no
DEFAULT statement label for the control block
ENDS is not a valid terminal command; it is only valid within a user program.
EXAMPLE:
SWITCH x
CASE 1
CASE 2
CASE 3
ENDS
'This is the
PRINT("x=1",#13) BREAK
PRINT("x=2",#13) BREAK
PRINT("x=3",#13) BREAK
exit point for SWITCH...ENDS code block
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 424 of 890
Part 2: Commands: ENDS
RELATED COMMANDS:
Part 2: Commands
BREAK Break from CASE or WHILE Loop (see page 319)
CASE formula Case Label for SWITCH Block (see page 348)
DEFAULT Default Case for SWITCH Structure (see page 375)
SWITCH formula Switch, Program Flow Control (see page 710)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 425 of 890
Part 2: Commands: EOBK(IO)
EOBK(IO)
Part 2: Commands
Enable Output, Brake Control
APPLICATION:
I/O control
DESCRIPTION:
Configure a specified output to control an external brake
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See below for range of IO — depends on motor series
TYPICAL VALUES:
See below for range of IO — depends on motor series
DEFAULT VALUE:
Motor defaults to disabled: EOBK(-1)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
EOBK(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
If an external brake is used instead of the optional internal brake, the EOBK(IO) command
allows automatic control of the external brake through a selectable I/O port pin.
EOBK(-1) disables the brake output from any I/O pin.
The logic state follows the current brake-control method (i.e., BRKRLS, BRKENG, BRKSRV or
BRKTRJ).
IO Range
Brake
Engaged
Voltagea
Brake
Released
Voltageb
D-style
0-6
5
0
D-style with AD1
option
0-6
5
0
16-25
0
24
0-10
0c
24c
Motor Type
M-style
a Commanded
to lock the motor shaft.
to allow the motor to rotate.
cRequires firmware 5.x.3.60 or newer for M-style motor.
bCommanded
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 426 of 890
Part 2: Commands: EOBK(IO)
EXAMPLE:
EIGN(W,0)
ZS
EOBK(22)
'Make all onboard I/O inputs
'Clear errors
'Set output 22 to brake control
RELATED COMMANDS:
Part 2: Commands
BRKENG Brake Engage (see page 321)
BRKRLS Brake Release (see page 323)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 427 of 890
Part 2: Commands: EPTR=formula
EPTR=formula
Part 2: Commands
EEPROM Pointer
APPLICATION:
EEPROM (Nonvolatile Memory)
DESCRIPTION:
Set user data EEPROM pointer
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
REPTR
WRITE:
Read/write EPTR auto incremented as used
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
EEPROM address pointer (bytes)
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 32767
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
EPTR sets the address location (pointer) within the nonvolatile, user-data EEPROM for the
data-retrieval read VLD(variable, number) function, and data-storage write VST(variable,
number) function. EPTR auto-increments by 1, 2 or 4 with each read or write access to the
physical EEPROM device according to the current data type.
EXAMPLE:
EPTR=4000
VST(hh,1)
VST(ab[7],1)
VST(aw[7],1)
VST(x,3)
VST(x,4)
'Set EPTR = 4000
'Store a 32-bit value; EPTR is now 4004
'Store an 8-bit value; EPTR is now 4005
'Store a 16-bit value; EPTR is now 4007
'Store three consecutive variables: x, y, z
'EPTR is now 4007+(3*4) or 4019
'INVALID !!! EPTR remains 4019 !!!
NOTE: You cannot store consecutive variables past their group range (i.e.,
consecutive variables a-z, aa-zz or aaa-zzz must be stored within their groups).
VST(aa,26)
VST(aa,27)
'Perfectly valid !!!
'INVALID !!!
RELATED COMMANDS:
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 428 of 890
Part 2: Commands: ERRC
ERRC
APPLICATION:
System
DESCRIPTION:
Get code for most recent command error
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RERRC
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Output: 0-65535
TYPICAL VALUES:
0-33
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ERRC command reports the most recent command error. Command errors originate from
SmartMotor commands through a user program, serial port or command encapsulation such
as CANopen object 2500h. The command error bit status word 2, bit 14 will be indicated when
a new error has occurred. The ERRC command can be used to determine which error has
occurred. Refer to the following table.
Code Description
0
1
NO_ERROR
BAD_LENGTH
2
BAD_ARGUMENT
3
4
5
6
7
8
9
BAD_PACKET
BAD_OPERATION
MISSING_ARGUMENT
Reserved
ERROR_PARENTHESIS
Reserved
LENGTH_VIOLATION
10
11
12
BAD_ARRAY_ADDR
DIVIDE_BY_ZERO
STACK_OVERFLOW
13
STACK_UNDERFLOW
Notes
A command is too long, or contains too many parameters if a variable
list of parameters is allowed.
One or more of the values given to a command was out of range, so the
command was aborted.
Command was not recognized. Check the command name and syntax.
General error, command not allowed in the current state of the motor.
Incomplete formula
Reserved (no longer used)
Reserved (no longer used)
Reserved (no longer used)
Embedded address in a user program was not found within the 64character buffer for IF, SWITCH, GOTO, etc.
Array index outside the defined range.
Attempt to divide by 0.
No room on stack for another 10 GOSUB and INTERRUPTS use the
same stack.
RETURN or RETURNI with no place to return.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 429 of 890
Part 2: Commands
Error Code, Command
Part 2: Commands: ERRC
Part 2: Commands
Code Description
Notes
14
15
16
BAD_LABEL
NESTED_SWITCH
BAD_FORMULA
17
18
19
BAD_WRITE_LENGTH
NOT_USED
BAD_BIT
20
21
22
23
INVALID_INTERRUPT
NO_PERMISSION
OPERATION_FAILED
MATH_OVERFLOW
24
25
26
27
28
29
CMD_TIMEOUT
IO_NOT_PRESENT
NO_CROSS_AXIS_SUPPORT
BAD_MOTOR_STATE
BAD_CROSS_AXIS_ID
BAD_COMBITRONIC_FCODE
30
BAD_COMBITRONIC_SFCODE
31
32
33
EE_WRITE_QUEUE_FULL
CAM_FULL
GOSUB_GOTO_BLOCKED
Label does not exist for GOSUB or GOTO.
Reserved (no longer used)
Formula used in an assignment, IF, or SWITCH is improperly formatted. Check syntax, parenthesis, operators, etc.
VST command amount written too long
Reserved (no longer used)
Z{letter} command issued for a bit that cannot be reset; ITR command
may also show this error if incorrect bit number is specified.
EITR command for interrupt not defined.
Operation or memory range is not user-accessible.
General error
A math operation (add, multiply, etc.) overflowed, or an assignment to
a variable where the value is outside of the allowable range.
Combitronic timeout
Attempt to access an I/O point that does not exist.
Attempt to use Combitronic on a command that does not support it.
Reserved (no longer used)
Reserved (no longer used)
The remote Combitronic does not support the command called, possibly due to older firmware or different motor series.
The remote Combitronic does not support the command called, possibly due to older firmware or different motor series.
Reserved (no longer used)
Cam table cannot fit a table of the specified size (CTA command).
GOSUB attempted but motor cannot process it. This could happen
when another command source (such as CANopen) attempts a GOSUB
during a user program upload/download.
EXAMPLE:
x=ERRC
'Assign error value to the variable x
ERRC may be used in SWITCH CASE code:
SWITCH ERRC
CASE 2
CASE 11
ENDS
PRINT("BAD_ARGUMENT",#13)
PRINT("DIVIDE_BY_ZERO",#13)
BREAK
BREAK
RELATED COMMANDS:
R
ERRW Communication Channel of Most Recent Command Error (see page 431)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 430 of 890
Part 2: Commands: ERRW
ERRW
Communication Channel of Most Recent Command Error
System
DESCRIPTION:
Get communication channel of most recent command error
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RERRW
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Output: 0-65535
TYPICAL VALUES:
0-3
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The ERRW command reports the command source of the most recent command error.
Command errors originate from SmartMotor commands through a user program, serial port
or command encapsulation such as CANopen object 2500h. The command error bit status
word 2, bit 14 will be indicated when a new error has occurred. The ERRW command can be
used to determine the source of the error. Refer to the following table.
Code Description
0
1
2
3
CMD_COMM0
CMD_COMM1
CMD_PROG
CMD_CAN
Notes
Communications port 0 (RS-232 for D-style, RS-485 for M-style)
Communications port 1 (RS-485 for D-style only)
From user program running in the motor
CAN port (CANopen, DeviceNet , Combitronic) or PROFIBUS
EXAMPLE:
x=ERRW
'Assign error value to the variable x
ERRW may be used in SWITCH CASE code:
SWITCH ERRW
CASE 0
CASE 1
CASE 2
CASE 3
ENDS
PRINT("Command
PRINT("Command
PRINT("Command
PRINT("Command
Error
Error
Error
Error
on
on
in
on
Com Channel 0",#13)
Com Channel 1",#13)
User Program",#13)
Network Bus",#13)
BREAK
BREAK
BREAK
BREAK
RELATED COMMANDS:
R
ERRC Error Code, Command (see page 429)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 431 of 890
Part 2: Commands: ETH(arg)
ETH(arg)
Part 2: Commands
Get Ethernet Status and Errors
APPLICATION:
Communications control
DESCRIPTION:
Assign the result to a variable, or report errors and certain
status information for the industrial Ethernet (IE) bus
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RETH(arg)
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ETH command is used to gather specific error or status information relating to the
industrial Ethernet (IE) bus interface.
l
Assign the result to a program variable: x=ETH(arg)
l
As a report: RETH(arg)
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
EXAMPLE:
x=ETH(0)
'Get the Ethernet status and assign it to x.
RELATED COMMANDS:
ETHCTL(function,value) Control Industrial Ethernet Network Features (see page 433)
IPCTL(function,"string") Set IP Address, Subnet Mask or Gateway (see page 472)
SNAME("string") Set PROFINET Station Name (see page 699)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 432 of 890
Part 2: Commands: ETHCTL(function,value)
ETHCTL(function,value)
APPLICATION:
Communications control
DESCRIPTION:
Control features of the industrial Ethernet (IE) network
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See below
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ETHCTL command is used to control the industrial Ethernet (IE) network features.
Commands execute based on the action argument, which controls Ethernet functions. After
issuing an ETHCTL command, the Ethernet error codes will be checked to determine the state
of Object 2304h, sub-index 3, bit 6 (Ethernet error).
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
EXAMPLE:
ETHCTL(13,0) 'Disables 402 profile (motion) commands in EtherCAT
ETHCTL(13,1) 'Enables 402 profile (motion) commands in EtherCAT
RELATED COMMANDS:
IPCTL(function,"string") Set IP Address, Subnet Mask or Gateway (see page 472)
SNAME("string") Set PROFINET Station Name (see page 699)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 433 of 890
Part 2: Commands
Control Industrial Ethernet Network Features
Part 2: Commands: F
F
Part 2: Commands
Force Into PID Filter
APPLICATION:
Motion control
DESCRIPTION:
Load buffered PID values into PID filter
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
F:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The servo tuning parameters KA, KD, KG, KI, KL, KP, KS, and KV are all buffered parameters.
Once requested, these parameters take effect only when the F command is issued. This allows
several parameters to be changed simultaneously without intermediate tuning states causing
disruptions. Tuning parameters can be changed during a move profile, although caution is
urged.
CAUTION: Use caution when changing the servo tuning parameters during a
move profile.
Different motor sizes have different optimal PID default gain values. A default set of tuning
parameters is in effect at power up or reset of the motor. However, the default tuning
parameters are optimized for an unloaded shaft.
EXAMPLE:
KP=100
F
G
WAIT=40000
KP=KP+10
F
END
'Initialize KP to a some value
'Load into present PID filter
'Start motion
'Increment the present KP gain value
'Change into filter
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 434 of 890
Part 2: Commands: F
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 435 of 890
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
Part 2: Commands: FABS(value)
FABS(value)
Part 2: Commands
Floating-Point Absolute Value of ( )
APPLICATION:
Math function
DESCRIPTION:
Gets the floating-point absolute value of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RFABS(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: floating-point variable range; integer inputs or literal
values limited are limited to -2147483648 to 2147483647
Output: floating-point value range
TYPICAL VALUES:
Input: floating-point variable range; integer inputs or literal
values limited are limited to -2147483648 to 2147483647
Output: floating-point value range
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
FABS takes an input and returns the floating-point absolute value:
af[1]=FABS(arg)
where arg may be an integer (e.g., a or aw[0]) or floating-point variable (e.g., af[0]). Integer
or floating-point constants may also be used (e.g., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 436 of 890
Part 2: Commands: FABS(value)
EXAMPLE:
af[0]=FABS(-5.545)
PRINT(af[0],#13)
RFABS(-5.545)
END
'Set array variable = FABS(-5.545)
'Print value of array variable af[0]
'Report FABS(-5.545)
Program output is:
5.545000076
5.545000076
RELATED COMMANDS:
ABS(value) Absolute Value of () (see page 243)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 437 of 890
Part 2: Commands: FSA(cause,action)
FSA(cause,action)
Part 2: Commands
Fault Stop Action
APPLICATION:
Motion control
DESCRIPTION:
Fault stop action
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
FSA(0,0)-FSA(1,2)
TYPICAL VALUES:
FSA(0,0)-FSA(1,2)
DEFAULT VALUE:
FSA(0,0)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
FSA(0,0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
FSA(cause,action) is used to specify the fault type and fault mode. FSA(0,0) is the default
configuration, which sets the fault action of all types of faults to result in Mode Torque Brake
(MTB).
FSA(cause,action) sets the fault stop action as follows:
cause: specifies the type of fault that will trigger the action:
0 - All types of faults
1 - Hardware travel limit faults
2 - Reserved
action: specifies the desired action:
0 - Default action (MTB)
1 - Servo off
2 - X command
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 438 of 890
Part 2: Commands: FSA(cause,action)
EXAMPLE: (Shows various values for the FSA command)
FSA(0,0)
FSA(0,1)
FSA(0,2)
'All Faults: servo will dynamically brake to stop.
'All Faults: servo will turn off.
'All Faults: servo will decelerate to stop with "X" command.
FSA(1,0)
FSA(1,1)
FSA(1,2)
'Hardware Travel Limit Faults: servo will dynamically brake to stop.
'Hardware Travel Limit Faults: servo will turn off.
'Hardware Travel Limit Faults: servo will decelerate to
'stop with "X" command.
RELATED COMMANDS:
Part 2: Commands
MTB Mode Torque Brake (see page 575)
X Decelerate to Stop (see page 787)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 439 of 890
Part 2: Commands: FSQRT(value)
FSQRT(value)
Part 2: Commands
Floating-Point Square Root
APPLICATION:
Math function
DESCRIPTION:
Gets the floating-point square root of the specified variable or
number
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RFSQRT(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Floating-point number
RANGE OF VALUES:
Input: Non-negative floating-point variable range, integer
inputs or literal values are limited to 0 to 2147483647
Output: Non-negative floating-point value range
TYPICAL VALUES:
Input: Non-negative floating-point variable range, integer
inputs or literal values are limited to 0 to 2147483647
Output: Non-negative floating-point value range
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
FSQRT takes a value and reports the floating-point square root:
af[1]=FSQRT(arg)
where arg may be an integer (e.g., a or aw[0]) or floating-point variable (e.g., af[0]). Integer
or floating-point constants may also be used (e.g., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 440 of 890
Part 2: Commands: FSQRT(value)
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
EXAMPLE:
a=9
'Set variable a = 9
af[0]=FSQRT(4)
'Set array variable af[0] = FSQRT(4)
RFSQRT(4)
af[1]=FSQRT(6.5)
'Set array variable af[1] = FSQRT(6.5)
RFSQRT(6.5)
af[2]=FSQRT(8.5)
'Set array variable af[2] = FSQRT(8.5)
RFSQRT(8.5)
af[3]=FSQRT(a)
'Set array variable af[3] = FSQRT(a)
RFSQRT(a)
PRINT(af[0],", ",af[1],", ",af[2],", ",af[3],#13) 'Print variable values
END
2.000000000
2.549509763
2.915475845
3.000000000
2.000000000, 2.549509763, 2.915475845, 3.000000000
RELATED COMMANDS:
R
SQRT(value) Integer Square Root (see page 701)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 441 of 890
Part 2: Commands
Program output is:
Part 2: Commands: FW
FW
Part 2: Commands
Firmware Version
APPLICATION:
System
DESCRIPTION:
Gets (reads) the firmware version
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RFW
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
Long
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The FW command gets (reads) the motor firmware version as a long (32-bit) value. This
allows user programs to inspect the current firmware version. A comparison can be made to
check for an exact version number. This can be a very important part of ensuring the integrity
of a system. For instance, a program can check the firmware version and refuse to operate a
machine if an improper firmware version has been loaded.
CAUTION: If a machine has been tested and certified using a particular
firmware version, then older or newer firmware may produce unexpected
results.
The encoding of this 32-bit number follows the format of firmware numbering, but
compresses this value into a single (large) number. For example, firmware version 5.0.3.44
is converted to four individual bytes: 5, 0, 3 and 44. These four bytes are then assembled into
a 32-bit number — the 5 (class) becomes the most significant byte, and the 44 (minor
version) becomes the least significant byte. The resulting number in decimal format is
83886892.
EXAMPLE:
PRINT(FW,#13)
RFW
END
'Print the motor firmware version as a long
'Report the motor firmware version as a long
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 442 of 890
Part 2: Commands: FW
Program output is:
83886892
83886892
RELATED COMMANDS:
SP2 Bootloader Revision (see page 700)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 443 of 890
Part 2: Commands: G
G
Part 2: Commands
Start Motion (GO)
APPLICATION:
Motion control
DESCRIPTION:
Initiate motion, or change trajectory parameters of existing
motion.
EXECUTION:
Immediate
CONDITIONAL TO:
Drive is ready (status word 0, bit 0)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
G:3 or G(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The G (Go) command is used to start motion or update buffered values such as speed or
acceleration.
The G command is required in each of the following cases:
l
Initiate an Absolute Move in Mode Position (MP):
VT=10000 ADT=100 PT=1234 MP G
l
Initiate a Relative Move in Mode Position (MP):
VT=10000 ADT=100 PRT=4000 MP G
l
Initiate a Velocity in Mode Velocity (MV):
VT=10000 ADT=100 MV G
l
Change to a new Velocity in Mode Position (MP) or Mode Velocity (MV):
VT=10000 ADT=100 MV G WAIT=1000 VT=VT*2 G
l
Change to a new Acceleration in Mode Position (MP) or Mode Velocity ( MV):
VT=10000 ADT=100 MV G WAIT=1000 ADT=200 G
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 444 of 890
Part 2: Commands: G
l
Initiate/change an Electronic Gear Ratio in Mode Follow with Ratio (MFR):
MF0 MFMUL=1 MFDIV=10 MFR G
l
Initiate/change an Electronic Gear Ratio in Mode Step with Ratio (MSR):
MF0 MFMUL=1 MFDIV=10 MSR G
l
Initiate Cam Mode (MC):
MF0 MC G
l
Initiate a phase offset move while in Electronic Gear Ratio in either Mode Follow or
Mode Step:
MF0 MFMUL=1 MFDIV=10 MFR G MP(1) WAIT=2000 PRT=2000 VT=100 G(1)
On power-up, the motor defaults to the off state with MP (Mode Position) buffered with no
velocity or acceleration values. As a result, if G is issued, the motor will immediately servo in
place.
l
EL=0 or too small
l
ADT=0 or 1
l
VT=0 or so small that motion is not visible
l
Target position equals current position
l
PRT=0
l
Bh=1 the motor is hotter than max permitted temperature TH
l
AMPS=0 or too small
l
T=0 or too small
l
Motor is in Torque mode
l
Limit input switch(s) asserted
l
External encoder signal not present or not changing (in Follow modes)
l
Motor is part of a daisy chain that has not been properly configured
l
Serial communications are good but target motor is not addressed
l
Serial communications at incorrect baud rate
l
Serial communications cable not attached or poorly connected
l
Motor has no drive power
l
Motor has a previous fault that needs to be cleared
l
Motor has no connections to limit switch inputs on boot-up and, therefore, has a
travel-limit fault
l
Drive enable is not asserted (M-style only)
l
Bus voltage is too high or too low
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 445 of 890
Part 2: Commands
If a G command is transmitted and no motion results, any of the following may be the cause:
Part 2: Commands: G
EXAMPLE:
ADT=100
VT=10000
PT=1000
MP
G
'Set buffered accel/decel
'Set buffered velocity
'Set buffered position
'Set buffered Position Mode
'Load buffered move, start motion
To servo in place:
PT=PA
G
'Set buffered position = actual position
'Set buffered Velocity
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R AT=formula Acceleration Target (see page 275)
R
DT=formula Deceleration Target (see page 383)
EISM(6) E-Configure Input as Sync Master (see page 405)
R EL=formula Error Limit (see page 408)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
MC Mode Cam (Electronic Camming) (see page 513)
MFR Mode Follow Ratio (see page 554)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
R PRT=formula Position, Relative Target (see page 636)
R
PT=formula Position, (Absolute) Target (see page 642)
R
VT=formula Velocity Target (see page 771)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 446 of 890
Part 2: Commands: GETCHR
GETCHR
APPLICATION:
Communications control
DESCRIPTION:
Get the next character in channel 0 serial input buffer
EXECUTION:
Immediate
CONDITIONAL TO:
Requires that a character is in the buffer; communications channel 0 must be open in data mode
LIMITATIONS:
Maximum buffer length is 31 characters
READ/REPORT:
RGETCHR
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-1 to 255
TYPICAL VALUES:
-1 to 255
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
GETCHR (or GETCHR0) reads and removes the next available character in the channel 0 serial
receive buffer. It is recommended to check that LEN>0 before issuing the GETCHR command.
Otherwise, it is possible to read an empty receive buffer.
Alternatively, the value returned from GETCHR can be checked to see if it is -1. However, do
not use an ab[] register to store the value in this case, because the value -1 will be aliased
with the character 255. Instead use an aw[] or al[] register.
Normally, the SmartMotor™ interprets incoming characters on communications channel 0 as
commands. However, it is sometimes useful to prevent that from happening and write a
custom command interpreter. This is accomplished by reopening the input channel in data
mode with the OCHN command. For details see OCHN(...) on page 585.
CAUTION: The OCHN command will cause the SmartMotor to ignore incoming
commands and can lock you out. Therefore, during development, prevent this
by using the RUN? command at the start of each program.
NOTE: If you get locked out and are unable to communicate with the SmartMotor,
you may be able to recover communications using the SMI software's
Communication Lockup Wizard. For more details, see Communication Lockup
Wizard on page 34.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 447 of 890
Part 2: Commands
Next Character from Communications Port 0
Part 2: Commands: GETCHR
EXAMPLE:
C20
IF LEN>0
c=GETCHR
IF c==69
END
ENDIF
ENDIF
GOTO20
'Place a label
'Check to see that LEN>0
'Get character from buffer
'Check to see if it is an E
'End the program
'Loop back to C20
RELATED COMMANDS:
R
GETCHR1 Next Character from Communications Port 1 (see page 449)
R
LEN Length of Character Count in Communications Port 0 (see page 501)
R
LEN1 Length of Character Count in Communications Port 1 (see page 502)
Part 2: Commands
OCHN(...) Open Channel (see page 585)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 448 of 890
Part 2: Commands: GETCHR1
GETCHR1
APPLICATION:
Communications control
DESCRIPTION:
Get the next character in channel 1 serial input buffer
EXECUTION:
Immediate
CONDITIONAL TO:
Requires that a character is in the buffer; communications channel 1 must be open in data mode
LIMITATIONS:
Maximum buffer length is 31 characters
READ/REPORT:
RGETCHR1
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-1 to 255
TYPICAL VALUES:
-1 to 255
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
GETCHR1 reads and removes the next available character in the channel 1 serial receive
buffer. It is recommended to check that LEN1>0 before issuing the GETCHR1 command.
Otherwise, it is possible to read an empty receive buffer.
Alternatively, the value returned from GETCHR1 can be checked to see if it is -1. However, do
not use an ab[] register to store the value in this case, because the value -1 will be aliased
with the character 255. Instead use an aw[] or al[] register.
Communications channel 1 can be used to accept special commands and/or data such as those
from a light curtain or a barcode reader. This is done by opening the input channel in data
mode with the OCHN command. For details see OCHN(...) on page 585.
CAUTION: The OCHN command will cause the SmartMotor to ignore incoming
commands and can lock you out. Therefore, during development, prevent this
by using the RUN? command at the start of each program.
NOTE: If you get locked out and are unable to communicate with the SmartMotor,
you may be able to recover communications using the SMI software's
Communication Lockup Wizard. For more details, see Communication Lockup
Wizard on page 34.
NOTE: M-style motors do not have the second communications port (COM 1)
needed to support the LEN1 and GETCHR1 commands.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 449 of 890
Part 2: Commands
Next Character from Communications Port 1
Part 2: Commands: GETCHR1
EXAMPLE:
C20
IF LEN1>0
c=GETCHR1
IF c==69
END
ENDIF
ENDIF
GOTO20
'Place a label
'Check to see that LEN1>0
'Get character from buffer
'Check to see if it is an E
'End the program
'Loop back to C20
RELATED COMMANDS:
R
GETCHR Next Character from Communications Port 0 (see page 447)
R
LEN Length of Character Count in Communications Port 0 (see page 501)
R
LEN1 Length of Character Count in Communications Port 1 (see page 502)
Part 2: Commands
OCHN(...) Open Channel (see page 585)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 450 of 890
Part 2: Commands: GOSUB(label)
GOSUB(label)
APPLICATION:
Program execution and flow control
DESCRIPTION:
Perform subroutine beginning at C{number}
EXECUTION:
Immediate
CONDITIONAL TO:
C{number} previously defined
LIMITATIONS:
Nesting must be <10 levels deep
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: 0–999
TYPICAL VALUES:
Input: 0–999
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
GOSUB(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The GOSUB(label) command redirects program execution to a subroutine of the program
marked with a label C{number}. The end of every subroutine is marked by the RETURN
statement, which causes execution to return to the line following the corresponding GOSUB
command.
NOTE: If a GOSUB is attempted to a label that does not exist, the GOSUB is ignored
and the next program line is executed.
Subroutines may call further subroutines — that is called nesting. There may be as many as a
thousand GOSUBs, but the nesting cannot exceed nine levels deep. A counter, conditional test
or some other method can be used to stay within the nesting limit. A subroutine may call
itself, which is called recursion. However, this practice is highly discouraged because it can
lead to a stack overflow or nesting limit.
NOTE: Subroutines present a great opportunity to partition and organize your code.
The STACK control flow command explicitly and deliberately destroys the RETURN address
history. Therefore, if you issue a STACK command, ensure that the program execution does
not encounter a RETURN before the next GOSUB.
The GOSUB command is valid from both serial channels and within a user program. There are
three forms of the command that are valid:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 451 of 890
Part 2: Commands
Subroutine Call
Part 2: Commands: GOSUB(label)
l
GOSUB1 — Traditional format (no parenthesis)
l
GOSUB(1) — With parenthesis
l
GOSUB(a) — Any variable may be used
The third format allows for highly flexible programs that can call an array of different
subroutines.
EXAMPLE:
GOSUB20
GOSUB21
a=3
GOSUB25
END
'Run subroutine 20
'Run subroutine 20
'Run subroutine 20
'End code execution
Part 2: Commands
C20
'Nested subroutine
GOSUB30
PRINT("20",#13)
RETURN
C21
'Nested subroutine
GOSUB30
PRINT("21",#13)
RETURN
C25
'Recursive subroutine
PRINT(" 25:",a)
a=a-1
IF a==0
RETURN
ENDIF
GOSUB25
RETURN
C30
'Normal subroutine
PRINT(#13,"Subroutine Call ")
RETURN
Program output is:
Subroutine Call 20
Subroutine Call 21
25:3 25:2 25:1
Referring to the previous example, the GOSUB commands: GOSUB20, GOSUB21, GOSUB25 or
GOSUB30 can also be issued from the terminal.
RELATED COMMANDS:
C{number} Command Label (see page 341)
GOTO(label) Branch Program Flow to a Label (see page 453)
STACK Stack Pointer Register, Clear (see page 705)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 452 of 890
Part 2: Commands: GOTO(label)
GOTO(label)
APPLICATION:
Program execution and flow control
DESCRIPTION:
Branch program execution to statement C{number}
EXECUTION:
Immediate
CONDITIONAL TO:
C{number} previously defined
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: 0–999
TYPICAL VALUES:
Input: 0–999
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
GOTO(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
CAUTION: Extensive use of IF statements and GOTO branches can quickly
make your programs impossible to read or debug. Learn to organize your code
with one main loop using a GOTO and write the rest of the program with
subroutines (GOSUB). For details, see GOSUB(label) on page 451.
The GOTO{number} command unconditionally redirects program execution control to another
part of the program marked by the label C{number}.
NOTE: If a GOTO jump is attempted to a label that does not exist, the GOTO is
ignored and the next program line is executed. This can create problems because it
would likely not be the correct command order. Therefore, be certain that every
GOTO has a corresponding label.
The GOTO{number} command is valid for both serial channels and within a user program.
However, take care not to issue a GOTO{number} command unless the corresponding C
{number} label exists within the stored program.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 453 of 890
Part 2: Commands
Branch Program Flow to a Label
Part 2: Commands: GOTO(label)
The GOTO command is valid from both the serial channels and within a user program. There
are three forms of the command that are valid:
l
GOTO1 — Traditional format
l
GOTO(1) — With parenthesis
l
GOTO(a) — Any variable may be used
The third format allows for highly flexible programs that can jump to an array of different
labels.
EXAMPLE:
C0
'Place main label
IF IN(0)==0
PRINT("Input 0 Low",#13)
ENDIF
GOTO0
'GOTO allows program to run forever
END
Part 2: Commands
RELATED COMMANDS:
BREAK Break from CASE or WHILE Loop (see page 319)
C{number} Command Label (see page 341)
DEFAULT Default Case for SWITCH Structure (see page 375)
ELSE IF-Structure Command Flow Element (see page 410)
GOSUB(label) Subroutine Call (see page 451)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 454 of 890
Part 2: Commands: GS
GS
APPLICATION:
Motion control
DESCRIPTION:
Go synchronized; initiates linear-interpolated moves
EXECUTION:
Immediate
CONDITIONAL TO:
Combitronic network of motors is established
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A (see details)
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The GS (Go Synchronized) command is used to start synchronized motion or update buffered
values such as speed or acceleration. Only motors that have been included in the
synchronized move group will start when this is commanded. Motors are included in the
synchronized move group using the PTS, PTSS, PRTS or PRTSS command issued from a single
master motor.
If a GS command is transmitted and no motion results, refer to the G command for conditions
that may prevent motion (for details, see G on page 444). In addition, the PTS command has
several aspects that must be considered (for details, see PTS(...) on page 644).
While this command uses Combitronic communications, it does not have the typical
Combitronic syntax — that is because this command is intended to be called on the master
within the group of motors. Combitronic communications will automatically be sent to the
network so that participating motors will receive this command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 455 of 890
Part 2: Commands
Start Synchronized Motion (GO Synchronized)
Part 2: Commands: GS
EXAMPLE: (Configures and starts a synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=100000
'Set target synchronized velocity
x=1000 y=2000 z=3500 a=100 b=200
PTS(x;1,y;2,z;3)
'Set next positions, axes 1, 2 & 3
PTSS(a;4)
'Set supplemental position, axes 4
PTSS(b;5)
'Set supplemental position, axes 5
GS
'Go, starts the synchronized move
Part 2: Commands
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
ATS=formula Acceleration Target, Synchronized (see page 281)
DTS=formula Deceleration Target, Synchronized (see page 385)
G Start Motion (GO) (see page 444)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
R PTST Position Target, Synchronized Time (see page 649)
VTS=formula Velocity Target, Synchronized Move (see page 774)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 456 of 890
Part 2: Commands: HEX(index)
HEX(index)
APPLICATION:
Data conversion
DESCRIPTION:
Get (read) the integer value of an ASCII-encoded hex string
EXECUTION:
Immediate
CONDITIONAL TO:
ASCII-encoded hexadecimal number stored in the ab[] array
LIMITATIONS:
Hex string maximum length is 8 digits long;
lower-case characters "a" though "f" are not supported
READ/REPORT:
RHEX(index)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: "0" to "FFFFFFFF"
Output: -2147483648 to 2147483647
TYPICAL VALUES:
Input: "0" to "FFFFFFFF"
Output: -2147483648 to 2147483647
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The HEX command reads a hexadecimal (hex) string into a variable. The hex string must be
ASCII-encoded (i.e., the ASCII digits 0–9 and upper-case characters A–F).
NOTE: For Class 5 SmartMotors, lower-case characters are not supported in
firmware versions preceding 5.x.4.8.
This command uses the input ASCII bytes found in the ab[] registers and converts them to a
value.
The argument into the HEX command is the starting ab[] register for the string. For example:
x=HEX(10)
In this case:
l
l
The HEX command will start at ab[10] and proceed up to ab[17].
The string must be stored with the most significant hex digit at the beginning. In this
example, ab[10] is the most significant digit, and ab[17] is the least significant digit.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 457 of 890
Part 2: Commands
Decimal Value of a Hex String
Part 2: Commands: HEX(index)
l
l
The string can be up to eight bytes long and terminated with a NULL value 0. If fewer
than eight digits are found, the termination is required so the command knows the size
of the hex number. If more than eight digits are found, only the first eight are
processed.
The result is an integer.
EXAMPLE:
Part 2: Commands
'Value of: 5862
'Hex of: 16E6
'Decimal representation of hex: 049 054 069 054
ab[10]=49
ab[11]=54
ab[12]=69
ab[13]=54
ab[14]=0
'Null character to end value
x=HEX(10)
'Set x to hex value
Rx
'Report x command
Program output is:
5862
RELATED COMMANDS:
R
ATOF(index) ASCII to Float (see page 279)
R
DFS(value) Dump Float, Single (see page 380)
R
LFS(value) Load Float Single (see page 504)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 458 of 890
Part 2: Commands: I(enc)
I(enc)
APPLICATION:
I/O control
DESCRIPTION:
Encoder value latched by rising-edge, hardware-index capture
EXECUTION:
Immediate
CONDITIONAL TO:
Index previously captured
LIMITATIONS:
N/A
READ/REPORT:
RI(enc)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
Input: 0 or 1
Output: -2147483648 to 2147483647
TYPICAL VALUES:
Input: 0 or 1
Output: -2147483648 to 2147483647
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
I (capital i) is the function that stores the last hardware-latched, rising-edge encoder index
position. It can be read from a host with the RI(arg) command, or it can be read by the
program with a line such as a=I(arg). The value of enc determines which encoder is being
referred:
l
I(0) reads the internal encoder captured count
l
I(1) reads the external encoder captured count
The index capture must first be armed with the Ai, Aij or Aji command before a capture
occurs. The Bi(arg) command can be used to detect the capture event (due to encoder index
or input signal). These capture events can also be detected by status bits in status word 1.
The index is a physical reference mark on the encoder. It is also referred to as a Z pulse,
marker pulse, and sometimes a combination of those names. It is typically used in homing
sequences requiring a high degree of repeatability.
Class 5.x and later firmware has the ability to redirect port 6 to the Index register input
trigger, which allows high-speed position capture through port 6. The internal or external
encoder can use this source through the EIRI and EIRE commands, respectively. When using
this method, the previously-stated rules for arming and clearing the index still apply.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 459 of 890
Part 2: Commands
Index, Rising-Edge Position
Part 2: Commands: I(enc)
EXAMPLE: (homing against a hard stop with Index reference)
Part 2: Commands
NOTE: This method of referencing against a hard stop can eliminate an additional
switch and cable.
AMPS=100
'Current limit 10%
O=0
'Declare this home
MP
'Set Mode Position
ADT=100
'Set accel/decel
VT=100000
'Set Velocity
PT=-1000000
'Move negative
Ai(0)
G
'Start Motion
WHILE Bt
'Wait for motion fault
IF Bi(0) 'If rising-edge index pulse seen
a=I(0) 'Record rising-edge index position
ENDIF
LOOP
'Loop back to wait
O=-a
'Last Index is Home
PT=0
'Move to New Home
G
'Start Motion
AMPS=1023
'Restore power
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R Bi(enc) Bit, Index Capture, Rising (see page 297)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 460 of 890
Part 2: Commands: IDENT=formula
IDENT=formula
APPLICATION:
EEPROM (Nonvolatile Memory)
DESCRIPTION:
Get/set the SmartMotor identification value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RIDENT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The IDENT command gets (reads) and sets the identification value for a SmartMotor. It
doesn’t have any effect on the motor — it’s just a non-volatile ID that is preserved between
power cycles. It allows a SmartMotor's user program to self-detect its designated purpose
according to the programmer's setting of IDENT on that motor.
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l
x=IDENT
Get the IDENT value and assign it to the variable x.
IDENT=formula
Set IDENT equal to the value of the formula.
The value of IDENT can be reported with the RIDENT command.
EXAMPLE:
In the following example, the programmer has three motors on the machine. He wants to load
the same user program in all motors but have each motor do certain operations based on its
IDENT value. That part of the program could look like this:
IF IDENT=1
' Do the motor 1 operation - motors 2 and 3 ignore this.
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 461 of 890
Part 2: Commands
Set Identification Value
Part 2: Commands: IDENT=formula
RELATED COMMANDS:
R
IDENT=formula Set Identification Value (see page 461)
Part 2: Commands
IF formula Conditional Program Code Execution (see page 463)
SWITCH formula Switch, Program Flow Control (see page 710)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 462 of 890
Part 2: Commands: IF formula
IF formula
Conditional Program Code Execution
Program execution and flow control
DESCRIPTION:
IF formula...ENDIF control block
EXECUTION:
Immediate
CONDITIONAL TO:
Value of formula after the IF statement
LIMITATIONS:
Requires corresponding ENDIF; can be executed only from
within user program
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
CAUTION: Extensive use of IF statements and GOTO branches can quickly
make your programs impossible to read or debug. Learn to organize your code
with one main loop using a GOTO and write the rest of the program with
subroutines (GOSUB). For details, see GOSUB(label) on page 451.
The IF statement provides a method for an executing program to choose between alternate
execution paths at runtime. In its simplest form, the IF control block consists of:
IF (formula) 'Evaluates as nonzero
'Run the code below the "IF" command
ENDIF
NOTE: Every IF structure must be terminated with an ENDIF.
Formula is a test condition — both mathematical comparisons and Boolean-logic bitwise
comparisons can be used.
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If the result of the formula is any value besides 0, then it is considered true and the
code immediately following the IF formula statement is executed.
If the result of formula is 0, then it is considered false and execution skips the code
following IF formula. When false, execution skips to the next available ELSE, ELSEIF or
ENDIF command.
The following table shows various forms of IF formulas and their descriptions:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 463 of 890
Part 2: Commands: IF formula
IF
formula
Description
IF a==b
if a equals b
IF a!=b
if a does not equal b
IF ab
if a is greater than b
IF a>=b
if a is greater than or equal to b
IF a&b
if a AND b (bitwise comparison)
IF a|b
if a OR b (bitwise comparison)
IF a
if a does not equal zero (common shortcut to IF a==1)
Part 2: Commands
The formula after the IF statement may:
l
Include Combitronic values retrieved from other motors
l
Consist of multiple variables and math operators
Note that there isn't a logical OR, AND or XOR. The bitwise operators may be used with proper
attention paid to the result of those operations. For example:
IF (a==b)|(c==d)
will be true if a equals b, OR if c equals d. The reason this works is that comparison operators
such as "==" return 0 if false and 1 if true. In a bitwise sense, this is setting bit 0 when true.
The bitwise OR operator "|" compares all bits. However, only the lowest bit becomes
significant.
EXAMPLE: (If true, run some code.)
IF PA>12345
'If Position is above 12345
PRINT("position is greater than 12345",#13)
ENDIF
'This is the next line of code to be executed
'whether it is true or not.
EXAMPLE: (If true, run some code; ELSE if false, run some other code.)
IF PA>12345
'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSE
'If it is no true
PRINT("position is not greater than 12345",#13)
ENDIF
'This is the next line of code to be executed
EXAMPLE: (If true, run some code; else if something else is true, run that code.)
IF PA>12345
'If Position is above 12345
PRINT("position is greater than 12345",#13)
ELSEIF PA==0 'If Position equals zero
PRINT("position is at zero",#13)
ENDIF
'This is the next line of code to be executed
'even if position is not at zero and
'not greater than 12345.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 464 of 890
Part 2: Commands: IF formula
EXAMPLE: (Test for two conditions and default to another line of code.)
IF PA>100
'If Position is above 100
PRINT("position is greater than 100",#13)
ELSEIF PA<=0 'If it less than or equal to zero
PRINT("position is <= to zero",#13)
ELSE
PRINT("position is between zero and 100",#13)
ENDIF
a=10 'binary 1010
b=5 'binary 0101
c=7 'binary 0111
d=1 'binary 0001
e=0 'binary 0000
IF a&2 'Compare "a" and 2 as binary numbers bit for it.
PRINT("This is true because 2 is 0010",#13)
ENDIF
IF a&d 'Are any bits in common with a AND d?
PRINT("This will never PRINT",#13)
ENDIF
IF a|b 'Are there any bits that are 1 in either number?
PRINT("This will print",#13)
ENDIF
IF d|e 'Even though e is zero, d is nonzero:
PRINT("This will print",#13)
ENDIF
IF b&c
PRINT("This is true",#13)
ENDIF
END
RELATED COMMANDS:
ELSE IF-Structure Command Flow Element (see page 410)
ELSEIF formula IF-Structure Command Flow Element (see page 412)
ENDIF End IF Statement (see page 422)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 465 of 890
Part 2: Commands
EXAMPLE: (Binary bit mask comparison.)
Part 2: Commands: IN(...)
IN(...)
Part 2: Commands
Specified Input
APPLICATION:
I/O control
DESCRIPTION:
Read the specified input or all inputs
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RIN(...)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Depends on motor series and command options (see details)
TYPICAL VALUES:
Depends on motor series and command options (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The IN command reads one specific input or all inputs. It can be used in the following ways:
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x=IN(IO)
where IN(IO) specifies the I/O number that is assigned to the variable x. See the
following table for allowed range of IO. The result is a value of 0 or 1 assigned to x.
x=IN(W,word)
where IN(W,word) specifies which word of I/O will be assigned to the variable x. A
literal "W" is used as the first argument. See the following table for the allowed values
for "word" and the output word value range.
x=IN(W,word[,mask])
where IN(W,word[,mask]) specifies which word of I/O will be assigned to the variable
x. A literal "W" is used as the first argument. The mask argument is ANDed with the
resulting response word (equivalent to using the & operator on the result). See the
following table for the allowed values for "word", the output word value range, and the
bitmask range.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 466 of 890
Motor
Type
D-style
D-style with AD1
option
M-style
Logic 1
Voltage
Output
Word
Value
Range
Bitmask
Range
0
5
0 to 255
0 to 255
7 (virtual
only, not connected)
N/A
N/A
0-6
0
5
0 to 255
0 to 255
7 (virtual
only, not connected)
N/A
N/A
1
16-25
0
24
0 to 1023
0 to 1023
0
0-10
0
24
0 to 2047
0 to 2047
word
Allowed
Values
IO
Allowed
Range
Logic 0
Voltage
0
0-6
0
NOTE: D-style motor's bit #7 does not connect to any physical I/O but does
remember the state it was set to.
EXAMPLE:
The following line of code could be written in motor number 1 — it sets variable "a" in motor 2
equal to an I/O of motor 3:
a:2=IN(0):3
'Set variable in motor 2 to I/O of motor 3
EXAMPLE: (Subroutine checks inputs and calls corresponding subroutines based on state;
shows C#, ENDIF, GOSUB, GOTO, IF and IN)
C10
IF IN(0)==0
GOSUB20
ENDIF
IF IN(1)==0
a=30
GOSUB(a)
ENDIF
GOTO(10)
'Place label
'Check Input 0
'If Input 0 low, call Subroutine 20
'End check Input 0
'Check Input 1
'as example for below
'If Input 1 low, call Subroutine 30
'End check Input 1
'Will loop back to C10
C20
RETURN
'Subroutine 20 code here
C30
RETURN
'Subroutine 30 code here
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 467 of 890
Part 2: Commands
Part 2: Commands: IN(...)
Part 2: Commands: IN(...)
RELATED COMMANDS:
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
EILP Enable Input as Limit Positive (see page 401)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
EISM(6) E-Configure Input as Sync Master (see page 405)
EOBK(IO) Enable Output, Brake Control (see page 426)
R INA(...) Specified Input, Analog (see page 469)
Part 2: Commands
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
UO(...)=formula User Status Bits (see page 739)
UR(...) User Bits, Reset (see page 745)
US(...) User Bits, Set (see page 747)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 468 of 890
Part 2: Commands: INA(...)
INA(...)
APPLICATION:
I/O control
DESCRIPTION:
Read the desired analog input
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RINA(...)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Depends on motor series and command options (see details)
TYPICAL VALUES:
Depends on motor series and command options (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The INA command reads the specified analog input. It can be used in the following ways:
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l
l
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x=INA(A,IO)
where IN(A,IO) specifies a raw analog reading with 10-bit resolution and spanned over
a signed 16-bit range, which is assigned to variable x.
x=INA(V,IO)
where IN(V,IO) specifies a reading of the input voltage (V) in millivolts of analog input
value and for a given I/O (defined by IO), which is assigned to the variable x. Only
applies to inputs 16-25 on the D-style motor with AD1 option, or inputs 0-10 on an
M-style motor.
x=INA(V1,IO)
where INA(V1,IO) specifies a scaled 0–5 VDC reading in millivolts (3456 would be 3.456
VDC) for a given I/O (defined by IO) that is assigned to the variable x.
x=INA(V2,IO)
where INA(V2,IO) specifies a scaled 0–.6 VDC reading in millivolts (60 would be 0.06
VDC) for a given I/O (defined by IO) that is assigned to the variable x. Only applies to
inputs 16-25 on the D-style motor with AD1 option, or inputs 0-10 on an M-style motor.
x=INA(S,x)
where INA(S,x) specifies the sourcing voltage for the I/O port (when output pin); x is
16-25 for the Class 5 D-style motor and 0 for the M-style motor. Only applies to inputs
16-25 on the D-style motor with AD1 option, or inputs 0-10 on an M-style motor.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 469 of 890
Part 2: Commands
Specified Input, Analog
Part 2: Commands: INA(...)
l
x=INA(T,x)
where INA(T,x) specifies the I/O chip temperature; x is 16-25 for the Class 5 D-style
motor and 0 for the M-style motor. Only applies to inputs 16-25 on the D-style motor
with AD1 option, or inputs 0-10 on an M-style motor.
Motor type
IO
D-style
Command
0–6
INA(A,IO)
Nominal
input
voltage
0–5V
INA(V1,IO)
D-style with AD1 option
0–6
INA(A,IO)
Part 2: Commands
M-style
0–10
INA(A,IO)
0-32736
0-5000
0–5V
INA(V1,IO)
16–25
Nominal
value
reported
0-32736
0-5000
0–24V
0-38130
INA(V,IO)
0-24000
INA(V1,IO)
0-5100*
INA(V2,IO)
0-610*
INA(S,x)
2400
INA(T,x)
30 (°C)
INA(A,IO)
0–24V
0-38130
INA(V,IO)
0-24000
INA(V1,IO)
0-5100*
INA(V2,IO)
0-610*
INA(S,x)
2400
INA(T,x)
30 (°C)
*99999 indicates out of range.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 470 of 890
Part 2: Commands: INA(...)
EIGN(W,0)
KP=3020
KD=10010
F
ADT=100
MV
d=10
o=2500
m=40
w=10
b=0
C10
a=INA(V1,3)-o
x=a-b
IF x>d
VT=b*m
G
ELSEIF x<-d
VT=b*m
G
ENDIF
b=a
WAIT=w
GOTO10
END
'Disable hardware limits
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Set maximum accel/decel
'Set to Velocity mode
'Analog dead band, 5000 = full scale
'Offset to allow negative swings
'Multiplier for speed
'Time delay between reads
'Seed b
'Label to create infinite loop
'Take analog 5 Volt full-scale reading
'Set x to determine change in input
'Check if change beyond dead band
'Multiplier for appropriate speed
'Initiate new velocity
'Check if change beyond dead band
'Multiplier for appropriate speed
'Initiate new velocity
'End IF statement
'Update b for prevention of hunting
'Pause before next read
'Loop back to label
'Required END (never reached)
RELATED COMMANDS:
R
IN(...) Specified Input (see page 466)
R
OC(...) Output Condition (see page 583)
R
OF(...) Output Fault (see page 587)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 471 of 890
Part 2: Commands
EXAMPLE: (Routine maintains velocity during analog drift)
Part 2: Commands: IPCTL(function,"string")
IPCTL(function,"string")
Part 2: Commands
Set IP Address, Subnet Mask or Gateway
APPLICATION:
Communications control
DESCRIPTION:
Sets IP address, subnet mask or Gateway
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
ASCII string: decimal values 0-255 separated by "."
RANGE OF VALUES:
"0.0.0.0" to "255.255.255.255"
TYPICAL VALUES:
"192.168.0.10" (IP address)
"255.255.255.0" (Subnet mask)
"192.168.0.1" (Gateway)
DEFAULT VALUE:
"0.0.0.0" for IP address, subnet mask, gateway (disabled / automatic)
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: In PROFINET networks, IP addresses are usually automatically configured
and this command is not needed. Therefore, leave the address at the default
(0.0.0.0) setting, unless you need to set a specific static IP address.
The IPCTL command sets the IP address, subnet mask, or gateway for the industrial Ethernet
network. It uses the form IPCTL(function,"string"), where, for example:
l
function is one of the following codes:
function
l
Description
0
Set IP address
1
Set subnet mask
2
Set gateway
"string" is formatted as an IP address and entered as a string
Specific features are based on the fieldbus network being used. See the corresponding
SmartMotor fieldbus guide for more details.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 472 of 890
Part 2: Commands: IPCTL(function,"string")
EXAMPLE: (Set a static IP address)
IPCTL(0,"192.168.0.10") 'Set the IP address to 192.168.0.10
RELATED COMMANDS:
Part 2: Commands
SNAME("string") Set PROFINET Station Name (see page 699)
ETHCTL(function,value) Control Industrial Ethernet Network Features (see page 433)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 473 of 890
Part 2: Commands: ITR(Int#,StatusWord,Bit#,BitState,Label#)
ITR(Int#,StatusWord,Bit#,BitState,Label#)
Part 2: Commands
Interrupt Setup
APPLICATION:
Program execution and flow control
DESCRIPTION:
Configure a single user program interrupt
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See details
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults with no ITR interrupts configured
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The ITR command is used to configure an interrupt. It uses the form:
ITR(Int#,StatusWord,Bit#,BitState,Label#)
where:
l
Int# — the interrupt number: 0–7 (lower number is a higher priority)
l
StatusWord — the status word number containing the bit to monitor: 0–17
l
Bit# — the bit number in a status word to monitor: 0–15
l
BitState — the transition to this state will cause the interrupt: 0 or 1
l
Label# — the label number to jump to for the interrupt routine: 0–999
After this command is called, the user-program process will be monitoring for the specified
condition. The interrupts are always triggered by an edge (transition) of a bit in the status
words. Any status word/bit can be chosen.
For the interrupt to function, a program must be running, ITRE must enable the global
interrupt scanner, and the individual interrupt must be enabled with the EITR() command.
Often, a program is completely interrupt driven and has no need for a main loop. In this case,
the PAUSE command can be placed in a program after the point where the interrupts are
configured. This will halt the main loop of the program but will leave the interrupts active. To
understand where the PAUSE command will continue on with the main program, see RESUME
on page 655.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 474 of 890
Part 2: Commands: ITR(Int#,StatusWord,Bit#,BitState,Label#)
The routine called as label# must have a RETURNI at the end instead of a RETURN. Therefore,
interrupt routines should not be called as subroutines, and subroutines should not be called as
interrupt routines. If there is a need for an interrupt or a subroutine to use a common section
of code, then the interrupt routine should use a GOSUB to call the common section as a
subroutine. This method ensures that the return path will still go through the RETURNI at the
end of the interrupt routine.
Lower interrupt ID numbers have a higher priority. This means that they can be called even
while a lower-priority interrupt routine is in progress. In some cases, this may cause a
conflict, which is typically referred to as a race condition. For example, if both routines need
to read and modify the same variable, one or more interrupts can be disabled while this
critical operation is taking place. For more details, see the command pair DITR(int) on page
381 and EITR(int) on page 406, or the command pair ITRD on page 477 and ITRE on page 479.
NOTE: Each instance of the ITR command must have a unique interrupt level. It is
not possible to configure two different events with the same priority level.
EXAMPLE: (Fault handler routine)
EIGN(W,0,12)
ZS
ITR(0,0,0,0,0)
EITR(0)
ITRE
PAUSE
'Another way to disable Travel Limits
'Clear faults
'Set Int 0 for: stat word 0, bit 0,
'shift to 0, to call C0
'Enable Interrupt 0
'Global Interrupt Enable
'Pause to prevent "END" from disabling
'Interrupt, no change to stack
END
C0
MTB:0
US(0):0
US(ADDR):0
'Fault handler
'Motor will turn off
'braking, tell other
'Set User Status Bit
'Word 12 bit zero)
'Set User Status Bit
'(Status Word 12 Bit
with Dynamic
motors to stop.
0 to 1 (Status
"address" to 1
"address")
RETURNI
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 475 of 890
Part 2: Commands
An interrupt will block itself, but an interrupt does not automatically disable itself. In other
words, the interrupt-causing event will call the interrupt routine. If the same event occurs
again while inside the interrupt routine, then that same interrupt routine will be called again.
This occurs immediately after the first instance of the interrupt routine completes.
Part 2: Commands: ITR(Int#,StatusWord,Bit#,BitState,Label#)
Part 2: Commands
EXAMPLE: (Routine pulses output on a given position)
EIGN(W,0)
'Disable limits
ZS
'Clear faults
ITR(0,4,0,0,1)
'ITR(int#,sw,bit,state,lbl)
ITRE
'Enable all interrupts
EITR(0)
'Enable interrupt 0
OUT(1)=1
'Set I(0)/O B to output, high
ADT=100
'Set maximum accel/decel
VT=100000
'Set maximum velocity
MP
'Set Position mode
'****Main Program Body****
WHILE 1>0
O=0
'Reset origin for move
PT=40000
'Set final position
G
'Start motion
WHILE PA<20000
'Loop while motion continues
LOOP
'Wait for desired position to pass
OUT(1)=0
'Set output low
TMR(0,400)
'Use timer 0 for pulse width
TWAIT
WAIT=1000
'Wait 1 second
LOOP
END
'****Interrupt Subroutine****
C1
OUT(1)=1
'Set output high again
RETURNI
RELATED COMMANDS:
DITR(int) Disable Interrupts (see page 381)
EISM(6) E-Configure Input as Sync Master (see page 405)
EITR(int) Enable Interrupts (see page 406)
END End Program Code Execution (see page 420)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RETURNI Return Interrupt (see page 659)
RUN Run Program (see page 665)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 476 of 890
Part 2: Commands: ITRD
ITRD
APPLICATION:
Program execution and flow control
DESCRIPTION:
Disable the global interrupt scanner
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ITRD (interrupts disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ITRD:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ITRD command is used to disable the global interrupt scanner. ITRD disables the interrupt
handler and clears Interrupt Status Bit 15.
For an interrupt to work, it must be enabled at two levels: first, enable individual interrupts
with the EITR() command using the interrupt number from 0 to 7 in the parentheses; second,
enable all interrupts with the ITRE command. Similarly, individual interrupts can be disabled
with the DITR() command, and all interrupts can be disabled with the ITRD command. For
more details, see the corresponding command-description pages.
NOTE: The user program must also be running for interrupts to take effect, the
END and RUN commands will reset the state of the interrupts to defaults.
For more details, see Interrupt Programming on page 186.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 477 of 890
Part 2: Commands
Interrupt Disable, Global
Part 2: Commands: ITRD
EXAMPLE:
ITR(0,4,0,0,10) 'Set interrupt 0 for: status word 16, bit 3,
'Shift to 0, to call C10
TMR(0,2000)
'Timer bit set for 2 seconds
EITR(0)
ITRE
'Global enable interrupts
MP
'Set position mode
VT=10000
'Set velocity target
ADT=50
'Set accel/decel target
PT=10000
'Set position target
G
'Start motion
TWAIT
'Wait for move to complete
'Use ITRD to disable all interrupts after move
ITRD
'Global disable interrupts
END
'Ending the program will also disable interrupts
Part 2: Commands
C10
'Interrupt subroutine
PRINT("Move exceeded two seconds.",#13)
RETURNI
Program output is:
Move exceeded two seconds.
RELATED COMMANDS:
DITR(int) Disable Interrupts (see page 381)
EISM(6) E-Configure Input as Sync Master (see page 405)
EITR(int) Enable Interrupts (see page 406)
END End Program Code Execution (see page 420)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RETURNI Return Interrupt (see page 659)
RUN Run Program (see page 665)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 478 of 890
Part 2: Commands: ITRE
ITRE
APPLICATION:
Program execution and flow control
DESCRIPTION:
Enable the global interrupt scanner
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Configuration of interrupt (ITR), program running, individual
interrupt enabled (EITR)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor defaults to ITRD (interrupts disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ITRE:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ITRE command is used to enable the global interrupt scanner.
For an interrupt to work, it must be enabled at two levels: first, enable individual interrupts
with the EITR() command using the interrupt number from 0 to 7 in the parentheses; second,
enable all interrupts with the ITRE command. Similarly, individual interrupts can be disabled
with the DITR() command, and all interrupts can be disabled with the ITRD command. For
more details, see the corresponding command-description pages.
NOTE: The user program must also be running for interrupts to take effect, the
END and RUN commands will reset the state of the interrupts to defaults.
For more details, see Interrupt Programming on page 186.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 479 of 890
Part 2: Commands
Enable Interrupts, Global
Part 2: Commands: ITRE
Part 2: Commands
EXAMPLE: (Routine pulses output on a given position)
EIGN(W,0)
'Disable limits
ZS
'Clear faults
ITR(0,4,0,0,1)
'ITR(int#,sw,bit,state,lbl)
ITRE
'Enable all interrupts
EITR(0)
'Enable interrupt 0
OUT(1)=1
'Set I(0)/O B to output, high
ADT=100
'Set maximum accel/decel
VT=100000
'Set maximum velocity
MP
'Set Position mode
'****Main Program Body****
WHILE 1>0
O=0
'Reset origin for move
PT=40000
'Set final position
G
'Start motion
WHILE PA<20000
'Loop while motion continues
LOOP
'Wait for desired position to pass
OUT(1)=0
'Set output low
TMR(0,400)
'Use timer 0 for pulse width
TWAIT
WAIT=1000
'Wait 1 second
LOOP
END
'****Interrupt Subroutine****
C1
OUT(1)=1
'Set output high again
RETURNI
RELATED COMMANDS:
DITR(int) Disable Interrupts (see page 381)
EISM(6) E-Configure Input as Sync Master (see page 405)
EITR(int) Enable Interrupts (see page 406)
END End Program Code Execution (see page 420)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RETURNI Return Interrupt (see page 659)
RUN Run Program (see page 665)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 480 of 890
Part 2: Commands: J(enc)
J(enc)
APPLICATION:
I/O control
DESCRIPTION:
Encoder value latched by falling-edge, hardware-index capture
EXECUTION:
Immediate
CONDITIONAL TO:
Index previously captured
LIMITATIONS:
N/A
READ/REPORT:
RJ(enc)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
Input: 0 or 1
Output: -2147483648 to 2147483647
TYPICAL VALUES:
Input: 0 or 1
Output: -2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
J is the function that stores the last hardware-latched, falling-edge encoder index position. It
can be read from a host with the RJ(arg) command, or it can be read by the program with a
line such as a=J(arg). The value of arg determines which encoder is being referred to:
l
J(0) reads the internal encoder captured count
l
J(1) reads the external encoder captured count
The index capture must first be armed with the Aj, Aij or Aji command before a capture will
occur. The Bj(arg) command can be used to detect the capture event (due to encoder index or
input signal). These capture events can also be detected by status bits in status word 1.
The index is a physical reference mark on the encoder. It is also referred to as a Z pulse,
marker pulse, and sometimes a combination of those names. It is typically used in homing
sequences requiring a high degree of repeatability.
Class 5.x and later firmware has the ability to redirect port 6 to the Index register input
trigger, which allows high-speed position capture through port 6. The internal or external
encoder can use this source through the EIRI and EIRE commands, respectively. When using
this method, the previously-stated rules for arming and clearing the index still apply.
EXAMPLE: (homing against a hard stop with Index reference)
NOTE: This method of referencing against a hard stop can eliminate an additional
switch and cable.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 481 of 890
Part 2: Commands
Index, Falling-Edge Position
Part 2: Commands: J(enc)
AMPS=100
'Current limit 10%
O=0
'Declare this home
MP
'Set Mode Position
ADT=100
'Set accel/decel
VT=100000
'Set velocity
PT=-1000000
'Move negative
Aj(0)
G
'Start motion
WHILE Bt
'Wait for motion fault
IF Bj(0) 'If rising-edge index pulse seen
a=J(0) 'Record falling-edge index position
ENDIF
LOOP
'Loop back to wait
O=-a
'Last index is home
PT=0
'Move to new home
G
'Start motion
AMPS=1023
'Restore power
Part 2: Commands
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R Bi(enc) Bit, Index Capture, Rising (see page 297)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 482 of 890
Part 2: Commands: KA=formula
KA=formula
APPLICATION:
Motion control
DESCRIPTION:
Acceleration feed forward
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKA
WRITE:
Read/write
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
0 to 3000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KA:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
KA sets the buffered acceleration feed-forward gain. The acceleration feed-forward term
helps the PID filter cope with the predictable effects of acceleration and inertia.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
The KA gain factor is only applied in position (MP) and velocity (MV) moves. The default value
for KA is 0, and acceptable values range from 0 to 65535.
It is difficult or impossible to tune KA in low-inertia systems. Even in high-inertia systems, it
can be a challenge to observe the benefit during brief acceleration periods. Therefore, if you
think that modifying KA could be useful, use the SMI software Tuner tool for assistance.
EXAMPLE:
KA=200
F
'Set buffered acceleration feed forward
'Update PID filter
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 483 of 890
Part 2: Commands
Constant, Acceleration Feed Forward
Part 2: Commands: KA=formula
RELATED COMMANDS:
F Force Into PID Filter (see page 434)
R KD=formula Constant, Derivative Coefficient (see page 485)
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 484 of 890
Part 2: Commands: KD=formula
KD=formula
APPLICATION:
Motion control
DESCRIPTION:
Derivative coefficient
EXECUTION:
Value of buffered derivative gain
CONDITIONAL TO:
Buffered until an F command is issued
LIMITATIONS:
Must be positive
READ/REPORT:
RKD
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
400 to 2000
DEFAULT VALUE:
Motor-size dependent
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KD:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
KD sets the value of the PID filter's derivative gain. If the PID filter gives stable performance,
KD is usually the vibration absorbing or damping term.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
For any stable KP value, there is an optimum KD value, and any KD value outside of that
causes the motor to be unstable. Therefore, an effective way to tune the filter is to
repetitively raise the KP value, and then run the KD term up and down to find the optimum
setting. The point at which the KD term cannot stabilize the servo is the point where KP has
gone too far.
To test each setting, twist the shaft of the motor and let it go while looking for an abrupt and
firm response. Typically, a KD value of approximately ten times KP is a good starting point
when KP<300. The SMI software Tuner tool can be useful in finding the optimum setting.
EXAMPLE:
KD=2000
F
'Set buffered derivative gain
'Update PID filter
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 485 of 890
Part 2: Commands
Constant, Derivative Coefficient
Part 2: Commands: KD=formula
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 486 of 890
Part 2: Commands: KG=formula
KG=formula
APPLICATION:
Motion control
DESCRIPTION:
Gravitational offset
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RKG
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-16777216 to 16777215
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KG:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
KG sets the gravity compensation term of the PID filter.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
Simple PID filters are not equipped for a constant force asserted on the system. An example
of a constant force is that induced by gravity acting on a vertically moving axis. The KG term
exists to offset the PID filter output in a way that removes the effect of these constant forces.
To set KG, set KP and KI to zero and servo in place. The load will want to fall, so you will need
to hold it in place. Increase or decrease KG until the load barely holds. Record that value and
then continue increasing the parameter until the load begins to move upward. Now record that
value. The optimum KG value is the average of the two recorded values.
Valid values for KG are integers from -16777216 to 16777215; the default value is 0. As a
result, you may not see much of an effect until KG has a magnitude greater than one million.
However, extremely high values will cause rapid pulse-width modulation (PWM) saturation,
which results in uncontrollable servo behavior.
EXAMPLE:
KG=1000000
F
'Set buffered gravity term
'Update PID filter
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 487 of 890
Part 2: Commands
Constant, Gravitational Offset
Part 2: Commands: KG=formula
KD=formula Constant, Derivative Coefficient (see page 485)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 488 of 890
Part 2: Commands: KI=formula
KI=formula
APPLICATION:
Motion control
DESCRIPTION:
Value of buffered integral gain
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive, total integral limited by KL
READ/REPORT:
RKI
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 1000
DEFAULT VALUE:
Motor-size dependent
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KI:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The KI term sets the integral gain of the PID filter. The integral compensator is not for
stability. Raising it too far will cause the motor to become unstable.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
The KI command is designed to compensate for constant offsets, such as friction in the
system or other constant forces. The amount of effort sent to the motor from the KP term of
the PID is proportional to the distance it is from its target position. Therefore, as the target
gets close, the small position error results in a torque that is too small to allow the motor to
reach the final target. The KI term helps to overcome this limitation by adding up, over a long
period of time, this small but constant error. This ensures that the servo can eventually reach
a position error of 0 at a steady-state speed.
The integral term of the PID filter is generated by taking the sum of the position error of every
sample and then multiplying by KI. By doing this, it creates a force that increases over time
until the error is corrected. This correction occurs at a rate set by the KI parameter.
Therefore, when tuning your motor for stability, it is a good idea to set KI to zero and then
increase it until you see that it reliably compensates your system.
NOTE: KL, the protective upper limit, must be set high enough to allow KI to do its
job.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 489 of 890
Part 2: Commands
Constant, Integral Coefficient
Part 2: Commands: KI=formula
EXAMPLE:
KI=250
F
'Set buffered integral gain
'Update PID filter
RELATED COMMANDS:
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 490 of 890
Part 2: Commands: KII=formula
KII=formula
APPLICATION:
Motion control
DESCRIPTION:
Current control loop integral gain
EXECUTION:
Immediate
CONDITIONAL TO:
MDC commutation active
LIMITATIONS:
D-style motor does not support this command
READ/REPORT:
RKII
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 16000
DEFAULT VALUE:
From factory settings in EEPROM
FIRMWARE VERSION:
5.97.x or 5.98.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: The D-style motor does not support this command.
The KII command sets or reports the current-loop integral gain when operating in fieldoriented, current-control mode (i.e., MDC).
There are two PI current-control loops when operating in field-oriented control: one loop
controls the torque-producing current "Iq", and the other loop nullifies currents that do not
produce torque "Id". Both loops use the parameters KPI and KII to control proportional and
integral response.
The default (factory) settings for KPI and KII will work in most applications. These should only
be changed if necessary and if the effects on the application are understood.
EXAMPLE: (Shows use of KII and KPI)
KPI=2000
KII=1500
F
MDC
'Set proportional gain for MDC mode
'Set integral gain for MDC mode
'Initiate gains
'Change to Current mode commutation
RELATED COMMANDS:
R
KPI=formula Current Control Loop: Proportional (see page 496)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 491 of 890
Part 2: Commands
Current Control Loop: Integrator
Part 2: Commands: KL=formula
KL=formula
Part 2: Commands
Constant, Integral Limit
APPLICATION:
Motion control
DESCRIPTION:
Integral gain limit
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKL
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 32767
DEFAULT VALUE:
32767
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The KL term sets a limit on the effects of the KI term. Because KI integrates the position error
over time, it can eventually dominate the PID equation. To prevent this, KL sets an upper limit
on the KI term.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
The KI term will raise the power to the servo as a function of time. If there is something other
than friction blocking the servo and it is unable to move, the amount of torque given to the
motor can quickly become extremely large. Therefore, KL may be an option for dynamic
(changing) loads, or for overshoot due to KI "wind-up".
Note that KL restricts the ability of the PID to compensate for speed when using voltage
commutation modes like MDT, MDE and MDS. Therefore, the position error (EA) may become
larger as speed increases.
EXAMPLE:
KL=1500
F
'Set buffered integral limit
'Update PID filter
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 492 of 890
Part 2: Commands: KL=formula
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 493 of 890
Part 2: Commands: KP=formula
KP=formula
Part 2: Commands
Constant, Proportional Coefficient
APPLICATION:
Motion control
DESCRIPTION:
Proportional coefficient
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKP
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
40 to 8000
DEFAULT VALUE:
Motor-size dependent
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KP:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The KP command is used to set the gain of the proportional parameter of the PID filter.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
This creates a force from the PID in direct proportion to how far the motor is pushed away
from the calculated trajectory. This force is like a spring that is being stretched — the more it
is stretched, the further it resists. While this gives a predictable force to maintain the desired
position, it has diminishing results as the error gets smaller. Therefore, to zero the position
error in the long term, use the KI term of the PID filter. For details, see KI=formula on page
489.
The higher the KP value, the stiffer the motor will be. At some point, the added stiffness will
cause the motor to become unstable. This can sometimes be stabilized by adjusting the
KD value (for details, see KD=formula on page 485). However, if moving the KD value up or
down does not stabilize the servo, then the KP value is too high and must be reduced.
EXAMPLE:
KP=250
F
'Set buffered proportional gain
'Update PID filter
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 494 of 890
Part 2: Commands: KP=formula
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 495 of 890
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
Part 2: Commands: KPI=formula
KPI=formula
Part 2: Commands
Current Control Loop: Proportional
APPLICATION:
Motion control
DESCRIPTION:
Current control loop proportional gain
EXECUTION:
Immediate
CONDITIONAL TO:
MDC commutation active
LIMITATIONS:
D-style motor does not support this command
READ/REPORT:
RKPI
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 32767
TYPICAL VALUES:
0 to 16000
DEFAULT VALUE:
From factory settings in EEPROM
FIRMWARE VERSION:
5.97.x or 5.98.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: The D-style motor does not support this command.
The KPI command sets or reports the current-loop proportional gain when operating in fieldoriented, current-control mode (i.e., MDC).
There are two PI current-control loops when operating in field-oriented control: one loop
controls the torque-producing current "Iq", and the other loop nullifies currents that do not
produce torque "Id". Both loops use the parameters KPI and KII to control proportional and
integral response.
The default (factory) settings for KPI and KII will work in most applications. These should only
be changed if necessary and if the effects on the application are understood.
EXAMPLE: (Shows use of KII and KPI)
KPI=2000
KII=1500
F
MDC
'Set proportional gain for MDC mode
'Set integral gain for MDC mode
'Initiate gains
'Change to Current mode commutation
RELATED COMMANDS:
R
KII=formula Current Control Loop: Integrator (see page 491)
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Part 2: Commands: KS=formula
KS=formula
APPLICATION:
Motion control
DESCRIPTION:
Velocity filter option (for KD)
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKS
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 3 (larger number = longer filter time)
TYPICAL VALUES:
1
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KS:3=3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PID filter's KS term is used to adjust the filtering of the KD term.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
The KD term requires a filter because the velocity error signal is inherently noisy and
quantized. This is because the measurement of velocity is based on encoder counts per
PID sample. It is often a difference of just a few counts.
For example, a speed of VT=65536 is only 1 count per PID sample. This means that in real
time, the number jumps between whole numbers. To smooth this out, the quantity can be
averaged. The KS value controls the amount of filtering applied. Refer to the following table.
KS
Value
Filter Sample
Length
(PID Samples)
Notes
0
1
No filtering
1
4
Default
2
8
3
16
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Page 497 of 890
Part 2: Commands
Constant, Velocity Filter Option (for KD)
Part 2: Commands: KS=formula
Adjusting the filter will sometimes allow the SmartMotor™ to handle inertial ratios in excess
of the traditional 5:1 or 10:1 ratios. This "reflected load to rotor inertia" ratio is often cited as
a traditional limit for dependable servo motor applications.
A KS value of 0 produces the least latency, which results in better stability. However, it also
produces the most noise (it may produce an audible white noise).
By increasing the KS value, the latency of the PID differential term is increased. Note that this
can have a negative impact on the damping ability of the KD term. In other words, the tuning
may be less stable with larger values of KS.
EXAMPLE:
KS=3
F
'Set buffered differential sample rate
'Update PID filter
Part 2: Commands
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
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Part 2: Commands: KV=formula
KV=formula
APPLICATION:
Motion control
DESCRIPTION:
Velocity feed forward
EXECUTION:
Buffered until an F command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
Must be positive
READ/REPORT:
RKV
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 to 65535
TYPICAL VALUES:
0 to 10000
DEFAULT VALUE:
Motor-size dependent
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
KV:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
KV sets the gain for the velocity feed-forward element of the extended PID filter.
NOTE: The motion or servo modifications from this command must be applied by
the F function. For details, see F on page 434.
The velocity feed-forward element can be thought of as a force that the PID outputs based on
the expected speed from the trajectory calculation. This reduces the lag time of the PID
waiting for position feedback. The KV term begins the PID response as soon as the trajectory
calls for more speed. KP and KI are still required, but the KV term will help improve
responsiveness.
If you put the SmartMotor™ into a high-velocity move with KI=0 and monitor the position
error with the Motor View tool's Status tab in the SMI software, then you will see a constant
position error. To reduce the error to zero, issue a series of successively larger KV
parameters followed by F commands.
Acceptable values range from 0 to 65535. Typically, useful values range from 0 to 2000.
Current values can be reported with RKV.
EXAMPLE:
KV=1000
F
'Set buffered velocity feed forward
'Update PID filter
RELATED COMMANDS:
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
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Page 499 of 890
Part 2: Commands
Constant, Velocity Feed Forward
Part 2: Commands: KV=formula
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
Part 2: Commands
R
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Page 500 of 890
Part 2: Commands: LEN
LEN
APPLICATION:
Communications control
DESCRIPTION:
Number of characters in channel 0 receive buffer
EXECUTION:
Immediate
CONDITIONAL TO:
Communications channel 0 must be open in data mode
LIMITATIONS:
Maximum buffer length is 31 characters
READ/REPORT:
RLEN
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Number of available characters
RANGE OF VALUES:
0 to 31
TYPICAL VALUES:
0 to 31
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The LEN command checks the receive buffer of serial communications channel 0 and returns
the number of characters that are waiting to be processed. Testing the value of LEN is a good
way to see if there is a character available for retrieval with the GETCHR command (see the
following example).
EXAMPLE:
i=0
IF LEN>0
GOSUB5
ENDIF
END
C5
ab[i]=GETCHR
i=i+1
RETURN
'Any data received?
'If so, process data
'Read and store in data
'Process incoming data
'Maintain reference index
In the previous example, "i" will be equal to LEN.
RELATED COMMANDS:
R
GETCHR Next Character from Communications Port 0 (see page 447)
R
GETCHR1 Next Character from Communications Port 1 (see page 449)
R
LEN1 Length of Character Count in Communications Port 1 (see page 502)
OCHN(...) Open Channel (see page 585)
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Page 501 of 890
Part 2: Commands
Length of Character Count in Communications Port 0
Part 2: Commands: LEN1
LEN1
Part 2: Commands
Length of Character Count in Communications Port 1
APPLICATION:
Communications control
DESCRIPTION:
Number of characters in channel 1 receive buffer
EXECUTION:
Immediate
CONDITIONAL TO:
Communications channel 1 must be open in data mode-
LIMITATIONS:
Maximum buffer length is 31 characters
READ/REPORT:
RLEN1
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Number of available characters
RANGE OF VALUES:
0 to 31
TYPICAL VALUES:
0 to 31
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The LEN1 command checks the receive buffer of serial communications channel 1 and returns
the number of characters that are waiting to be processed. Testing the value of LEN1 is a good
way to see if there is a character waiting for retrieval with GETCHR1 command (see the
following example).
NOTE: M-style motors do not have the second communications port (COM 1)
needed to support the LEN1 and GETCHR1 commands.
EXAMPLE:
i=0
IF LEN1>0
GOSUB5
ENDIF
END
C5
ab[i]=GETCHR1
i=i+1
RETURN
'Any data received?
'If so, process data
'Read and store in data
'Process incoming data
'Maintain reference index
From the above example, "i" will be equal to LEN1.
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Page 502 of 890
Part 2: Commands: LEN1
RELATED COMMANDS:
R
GETCHR Next Character from Communications Port 0 (see page 447)
R
GETCHR1 Next Character from Communications Port 1 (see page 449)
R
LEN Length of Character Count in Communications Port 0 (see page 501)
Part 2: Commands
OCHN(...) Open Channel (see page 585)
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Page 503 of 890
Part 2: Commands: LFS(value)
LFS(value)
Part 2: Commands
Load Float Single
APPLICATION:
Data conversion
DESCRIPTION:
Get float value from 32-bit IEEE format
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RLFS(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: 32-bit integer, -2147483648 to 2147483647
Output: any floating-point value within 32-bit float range:
±1x1038
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The LFS command is used to get the float value from 32-bit IEEE-754 format.
It allows the import of floating-point values from external systems — this format may be
needed for interchange.
The 32-bit value input by this function is not a normal integer value. It is an encoded number
that includes the exponent of the floating-point value.
NOTE: The input of this function does not have any usefulness within the
SmartMotor programming language.
The output of this function is a floating-point value that can be used in a formula. The output of
LFS() is directed to DFS(). For details on DFS(), see DFS(value) on page 380.
EXAMPLE:
al[0]=1162934955
af[0]=LFS(al[0])
'4 byte value in IEEE-754 format
'Convert from IEEE-754 to float
Raf[0]
'Report value of float
Program output is:
3343.666748046
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Page 504 of 890
Part 2: Commands: LFS(value)
RELATED COMMANDS:
af[index]=formula Array Float [index] (see page 256)
R
DFS(value) Dump Float, Single (see page 380)
Part 2: Commands
R
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Page 505 of 890
Part 2: Commands: LOAD
LOAD
Part 2: Commands
Download Compiled User Program to Motor
APPLICATION:
Program access
DESCRIPTION:
Download and store executable SmartMotor™ program to
motor
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
EEPROM is read/write unless "locked"
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command is intended to be used in custom terminal software for PLCs,
HMIs or similar devices.
The LOAD command is used by a terminal to download a compiled program file and store it
within the user-program EEPROM in the SmartMotor. The LOAD command causes a
SmartMotor to load all incoming host communications into program memory up to the first
occurrence of ASCII character 255. Program sizes can be as great as 32 KB. This command is
mainly used by host utilities, which also compile the program before download.
LOAD terminates the current motion mode or trajectory. However, it does not change motion
parameters such as EL, ADT, VT, KP, etc., or alter the current value of the user variables.
If the motor does not receive the ASCII 255 byte after the LOAD command is issued, it will
continue to store incoming serial bytes directly to the user-program EEPROM. During this
time, the motor will not respond to your commands. The only way to terminate this condition
is to transmit ASCII 255 bytes or to reset the power.
NOTE: The SMI (SmartMotor Interface) software package is adjusted to take care
of this automatically.
By using the LOAD command, you can download the file from any controller, HMI, PLC or PCbased program capable of storing an ASCII text file. For any given motor that is actively
addressed (i.e., you are talking to it and it responds), if you issue the LOAD command to the
motor, it immediately goes into a memory-write mode while checking all incoming data. After
issuing the LOAD command, every ASCII character that is received goes directly into the
user-program EEPROM. To terminate the LOAD command, the last characters sent must be
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Page 506 of 890
Part 2: Commands: LOAD
two hex FF characters and one hex 20 character. This tells the motor that it is the end of the
file and to revert to regular command mode.
Details on the downloadable file:
When you compile an SMS file with the SMI software, it creates an SMX file extension with the
same name in the same directory. That is the file you need to download to the motor.
Perform the following steps to complete the download operation:
1. Establish serial communications with the motor.
2. Issue the LOAD command.
3. If ECHO is enabled, you should see the LOAD command followed by an ECHOed hex 20.
4. Hex value 06 should be transmitted by the motor. Read and verify this byte.
5. Transmit the first 32 characters from the SMX file. If the SMX file is shorter than 32
bytes, just send what is available and skip to step 8 (sending FF FF 20).
7. Repeat step 5 using the next 32 bytes.
8. When the last character is read from the file and sent to the motor, then send two hex
FF characters and one hex 20 character to the motor.
9. Issue another RCKS command. If it returns a success status (with the P character at the
end), then the download was successful.
10. RUN the program (no reboot required).
The following are reasons for unsuccessful download:
l
Noise on the serial port
l
Loss of connection during download
l
Failure to send the two hex FF characters and one hex 20 character before power down
l
The SMI-compiled SMX file was altered in some way
NOTE: Do not alter the SMX file from its originally-compiled version. For example,
if you open an SMX file in Windows Notepad to view and save it, Notepad
automatically adds a carriage return character to the end of each line. Therefore,
the saved file will not work, and the carriage returns must be removed before
downloading the file to the motor.
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Page 507 of 890
Part 2: Commands
6. Hex value 06 should be transmitted by the motor. Read and verify this byte.
Part 2: Commands: LOAD
EXAMPLE:
The following procedure is an example of the steps needed for an outside program to send an
SMX file to the SmartMotor.
1. Write the LOAD command.
2. Read a 0x06 character back from the motor.
3. Write 32 bytes of the .SMX file to the motor at a time.
4. Read the 0x06 character back from the motor.
5. Write any remaining bytes of the .SMX file (< 32).
6. Write 0xff 0xff 0x20.
Part 2: Commands
RELATED COMMANDS:
LOCKP Lock Program (see page 509)
RCKS Report Checksum (see page 652)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
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Page 508 of 890
Part 2: Commands: LOCKP
LOCKP
APPLICATION:
Program access
DESCRIPTION:
Prevents function of UP and UPLOAD
EXECUTION:
N/A
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
CAUTION: The LOCKP command is for serial command use only (e.g., issued
from the Terminal window). DO NOT use the LOCKP command in a program.
The LOCKP command modifies the downloaded program in the motor's EEPROM to prevent it
from being uploaded. That is, the commands UP and UPLOAD will not be able to upload the
program body or contents.
NOTE: LOCKP does not prevent the download of another program.
The LOCKP command should be used after program development and testing is complete.
LOCKP is intended as a serial command only. It should:
l
Be issued from the Terminal window
l
Not be contained in the actual downloaded code
After LOCKP is issued, issuing UP or UPLOAD will no longer produce results.
EXAMPLE:
LOCKP 'Issued through serial port only, do not use within a program.
'Requires a motor reboot to take effect.
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Page 509 of 890
Part 2: Commands
Lock Program
Part 2: Commands: LOCKP
RELATED COMMANDS:
Part 2: Commands
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
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Page 510 of 890
Part 2: Commands: LOOP
LOOP
APPLICATION:
Program execution and flow control
DESCRIPTION:
Terminator for WHILE formula
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
LOOP is the statement terminator for the WHILE control block. Each WHILE must have only
one corresponding LOOP. Each time LOOP is encountered, program execution branches back
to reevaluate the WHILE formula.
The WHILE formula...LOOP control block creates a program loop that repeatedly executes for
as long as the formula value is true or nonzero. The formula is evaluated when WHILE is first
encountered, and each time program execution is sent back to the WHILE by the
corresponding terminating LOOP statement. If the formula value is zero or false, program
execution continues on the line of code just below the LOOP command.
WHILE formula...LOOP
It is legal to jump from an external program location to a label within a WHILE control loop.
However, this method may not be the best practice.
LOOP is not a valid terminal command. It is only valid within a user program.
BREAK can be used to exit the WHILE loop.
EXAMPLE:
b=1
WHILE b<5
PRINT(#13,"b=",b)
b=b+1
LOOP PRINT(#13,"Exit Loop")
END
The previous code outputs:
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Page 511 of 890
Part 2: Commands
Loop Back to WHILE Formula
Part 2: Commands: LOOP
b=1
b=2
b=3
b=4
b=5
Exit Loop
RELATED COMMANDS:
Part 2: Commands
BREAK Break from CASE or WHILE Loop (see page 319)
WHILE formula While Condition Program Flow Control (see page 784)
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Page 512 of 890
Part 2: Commands: MC
MC
APPLICATION:
Motion control
DESCRIPTION:
Request Cam mode (electronic camming)
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
Cam table created
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MC:3 or MC(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MC command puts the SmartMotor™ into Cam mode, which causes the motor to follow a
predetermined profile according to an external encoder source. To set up a Cam operation,
you must also specify position data and initialize it to the master source (either an external or
internal timer). The camming motion is started by issuing a G command. The following
example shows a complete command sequence.
NOTE: Refer to the Related Commands section, as there are several important
commands to use when creating a Cam table and configuring the cam motion.
In Cam mode, each value of the external encoder defines a required corresponding motor
position. Cams typically define a periodic motion profile or trajectory.
Cam tables may be stored in EEPROM or in user variables ab, aw or al.
The master source can be selected with the SRC command. Also, the MFA, MFD, MFMUL,
MFDIV, MFSLEW and MFSDC commands are in effect with Cam mode. This allows
sophisticated traversal control over the Cam table. For instance, a motion can be defined
where a continuously running master can be eased into and out of using the MFA and MFD
ramps. Also, using the MFSLEW command, a predefined number of master counts can be
accepted before the Cam table halts.
The MCMUL and MCDIV commands allow the output (slave position) to be scaled without
rewriting the Cam table.
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Page 513 of 890
Part 2: Commands
Mode Cam (Electronic Camming)
Part 2: Commands: MC
EXAMPLE: (Routine exercises each Cam User Bit during the programmed cam profile)
Part 2: Commands
EIGN(W,0)
ZS
CTA(7,0,0)
CTW(0,0,1)
CTW(1000,4000,1)
CTW(3000,8000,2)
CTW(4000,12000,132)
CTW(1000,16000,136)
CTW(-2000,20000,16)
CTW(0,24000,32)
MC
SRC(2)
MCE(0)
MCW(0,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
G
END
'Add table into RAM al[0]-al[8].
'Add 1st point, Cam User Bit 0 ON.
'Add 2nd point, Cam User Bit 0 ON.
'Add 3rd point, Cam User Bit 1 ON.
'Add 4th, Spline Mode, Cam Bit 2 ON.
'Add 5th, Spline Mode, Cam Bit 3 ON.
'Add 6th point, Cam Bit 4 ON.
'Add 7th point, Cam Bit 5 ON.
'Select Cam Mode.
'Use the virtual master encoder.
'Force Linear interpolation.
'Use table 0 in RAM from point 0.
'Simple 1:1 ratio from virtual enc.
'Simple 1:1 ratio from virtual enc.
'Disable virtual enc. ramp-up/ramp'down sections.
'Table is 6 segments * 4000 encoder
'counts each. Specify 1 for the second
'argument, which forces this number as
'the output total of the virtual master
'encoder into the cam.
'Disable virtual master (gearing) repeat.
'Begin move.
'Required END.
RELATED COMMANDS:
R
MCDIV=formula Mode Cam Divisor (see page 515)
MF0 Mode Follow, Zero External Counter (see page 532)
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MS0 Mode Step, Zero External Counter (see page 569)
R MCMUL=formula Mode Cam Multiplier (see page 518)
MCE(arg) Mode Cam Enable ( ) (see page 516)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
ECS(counts) Encoder Count Shift (see page 394)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
CTE(table) Cam Table Erase (see page 365)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
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Page 514 of 890
Part 2: Commands: MCDIV=formula
MCDIV=formula
APPLICATION:
Motion control
DESCRIPTION:
Cam mode ratio divisor
EXECUTION:
Buffered at start of cam motion and at restarts due to MFSLEW
length
CONDITIONAL TO:
Cam mode active
LIMITATIONS:
N/A
READ/REPORT:
RMCDIV
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-32767 to -1 and 1 to 32767 (0 excluded)
TYPICAL VALUES:
-32767 to -1 and 1 to 32767 (0 excluded)
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MCDIV:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MCDIV command provides the Cam mode ratio divisor. It works in combination with the
MCMUL command, which provides the Cam mode ratio multiplier. For usage details, see
MCMUL=formula on page 518.
NOTE: MCDIV cannot be set to 0.
EXAMPLE:
For examples, see MCMUL=formula on page 518.
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 513)
R MCMUL=formula Mode Cam Multiplier (see page 518)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
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Page 515 of 890
Part 2: Commands
Mode Cam Divisor
Part 2: Commands: MCE(arg)
MCE(arg)
Part 2: Commands
Mode Cam Enable ( )
APPLICATION:
Motion control
DESCRIPTION:
Enable Cam mode operation type
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MC mode selected
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
0,1,2
TYPICAL VALUES:
0,1,2
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The MCE(arg) command specifies the Cam mode operation type. For details on Cam mode,
see Cam Mode (Electronic Camming) on page 155.
The arg parameter must be one of the following values:
arg
Description
0
Force linear interpolation. This overrides any per-segment, linear versus spline option.
1
(Default) Allow spline mode unless a segment has a linear specification.
The shape of the spline assumes that both the beginning and end of the table have a
slope of 0.
2
Allow spline mode unless a segment has a linear specification.
The shape (slope) of the spline takes into consideration wrapping around the end of the
table.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 516 of 890
Part 2: Commands: MCE(arg)
EIGN(W,0)
ZS
CTA(7,0,0)
CTW(0,0,1)
CTW(1000,4000,1)
CTW(3000,8000,2)
CTW(4000,12000,132)
CTW(1000,16000,136)
CTW(-2000,20000,16)
CTW(0,24000,32)
MC
SRC(2)
MCE(0)
MCW(0,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
G
END
'Add table into RAM al[0]-al[8].
'Add 1st point, Cam User Bit 0 ON.
'Add 2nd point, Cam User Bit 0 ON.
'Add 3rd point, Cam User Bit 1 ON.
'Add 4th, Spline Mode, Cam Bit 2 ON.
'Add 5th, Spline Mode, Cam Bit 3 ON.
'Add 6th point, Cam Bit 4 ON.
'Add 7th point, Cam Bit 5 ON.
'Select Cam Mode.
'Use the virtual master encoder.
'Force Linear interpolation.
'Use table 0 in RAM from point 0.
'Simple 1:1 ratio from virtual enc.
'Simple 1:1 ratio from virtual enc.
'Disable virtual enc. ramp-up/ramp'down sections.
'Table is 6 segments * 4000 encoder
'counts each. Specify 1 for the second
'argument, which forces this number as
'the output total of the virtual master
'encoder into the cam.
'Disable virtual master (gearing) repeat.
'Begin move.
'Required END.
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 513)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 517 of 890
Part 2: Commands
EXAMPLE: (Routine exercises each Cam User Bit during the programmed cam profile)
Part 2: Commands: MCMUL=formula
MCMUL=formula
Part 2: Commands
Mode Cam Multiplier
APPLICATION:
Motion control
DESCRIPTION:
Cam mode ratio multiplier
EXECUTION:
Buffered at start of cam motion and at restarts due to MFSLEW
length
CONDITIONAL TO:
Cam mode active
LIMITATIONS:
N/A
READ/REPORT:
RMCMUL
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-32767 to 32767
TYPICAL VALUES:
-32767 to 32767
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MCMUL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MCMUL command provides the Cam mode ratio multiplier. It is used in combination with
MCDIV to scale the output of the slave position in Cam mode. This allows a Cam table's
amplitude to be rescaled without rewriting the table.
Choose a ratio of MCMUL/MCDIV that provides sufficient resolution while allowing the desired
range. For example, to allow scaling from 10% to 1000% in 0.1% increments, choose
MCDIV=1000. For this case, a setting of MCMUL=1000 would provide a 100% (1:1) scaling of
the Cam table.
If the ratio of MCMUL/MCDIV produces a negative ratio, then the amplitude of the Cam table is
also negative.
Typically, the scaling should be configured before initiating cam motion with the G command.
However, under some circumstance, it is possible to change the scaling while moving.
To change scaling while moving, the changes to MCMUL are only accepted if a restart of the
cam motion occurs. A G command will force the restart of the cam motion. However, issuing a
G command during cam motion will cause a major disruption in speed and position. It will
move the starting slave position of the table to home, which is usually detrimental to machine
operations. Therefore, issuing a G command will only work if the cam is at the starting slave
position and remains there long enough to reliably issue that command. It may be difficult to
correctly time this in a program.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 518 of 890
Part 2: Commands: MCMUL=formula
Instead, the master profile can be used to accurately time the restart of the cam motion. The
Follow mode commands are still active in Cam mode, and are used to feed the master into the
Cam table. The MFSLEW and MFSDC commands can be used to create a master profile that
repeats to correspond to the start of the Cam table.
The master profile can be programmed to restart by carefully selecting an MFSLEW(length,1)
command value to align with the length of the Cam table (i.e., the number of segments times
the segment length, or the sum of all variable-length segment lengths). Note that the MFSLEW
command specifies the length in "slave" units because the output (slave) of the follow
commands is fed into the cam. The MFSDC(0,0) command is also required if a repetitive cam
motion is desired. The input source (specified by the SRC command) can be any source. For
details, see SRC(enc_src) on page 703.
C41
MP PT=0 G TWAIT
SRC(2)
MCE(1)
'Spline
MFA(0)
MFD(0)
MFMUL=1
MFDIV=1
MCMUL=1
MCDIV=1
MFSLEW(112000,1)
MFSDC(100,0)
'Set dwell for "c" counts, auto reverse after dwell
MC
G
RETURN
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 513)
R MCDIV=formula Mode Cam Divisor (see page 515)
R
MCMUL=formula Mode Cam Multiplier (see page 518)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 519 of 890
Part 2: Commands
EXAMPLE: (Subroutine from Cam program)
Part 2: Commands: MCW(table,point)
MCW(table,point)
Part 2: Commands
Mode Cam Where (Start Point)
APPLICATION:
Motion control
DESCRIPTION:
Specifies the Cam mode start point
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
Cam table created; MC (Cam mode) selected
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
table: 0–10
point: 0–65535
TYPICAL VALUES:
Input:
table: 0–10
point: 0–750
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The MCW command selects the Cam table and specifies the starting point used when the cam
motion is initiated with a G command. Typically, the starting point is point 0, but values from
0 to 65535 are valid. For the table input parameter, valid values and their meanings are:
Table
Selection
0
1–10
Description
RAM table
Tables stored sequentially in EEPROM
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 520 of 890
Part 2: Commands: MCW(table,point)
EIGN(W,0)
ZS
CTA(7,0,0)
CTW(0,0,1)
CTW(1000,4000,1)
CTW(3000,8000,2)
CTW(4000,12000,132)
CTW(1000,16000,136)
CTW(-2000,20000,16)
CTW(0,24000,32)
MC
SRC(2)
MCE(0)
MCW(0,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
G
END
'Add table into RAM al[0]-al[8].
'Add 1st point, Cam User Bit 0 ON.
'Add 2nd point, Cam User Bit 0 ON.
'Add 3rd point, Cam User Bit 1 ON.
'Add 4th, Spline Mode, Cam Bit 2 ON.
'Add 5th, Spline Mode, Cam Bit 3 ON.
'Add 6th point, Cam Bit 4 ON.
'Add 7th point, Cam Bit 5 ON.
'Select Cam Mode.
'Use the virtual master encoder.
'Force Linear interpolation.
'Use table 0 in RAM from point 0.
'Simple 1:1 ratio from virtual enc.
'Simple 1:1 ratio from virtual enc.
'Disable virtual enc. ramp-up/ramp'down sections.
'Table is 6 segments * 4000 encoder
'counts each. Specify 1 for the second
'argument, which forces this number as
'the output total of the virtual master
'encoder into the cam.
'Disable virtual master (gearing) repeat.
'Begin move.
'Required END.
RELATED COMMANDS:
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
R CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
G Start Motion (GO) (see page 444)
MC Mode Cam (Electronic Camming) (see page 513)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 521 of 890
Part 2: Commands
EXAMPLE: (Routine exercises each Cam User Bit during the programmed cam profile)
Part 2: Commands: MDB
MDB
Part 2: Commands
Enable TOB Feature (Commutation Mode)
APPLICATION:
Motion control
DESCRIPTION:
Enable the Trajectory Overshoot Braking (TOB) option
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Trapezoidal (6-step) commutation mode active: MDT or MDE
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
By default, this mode is not enabled
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MDB:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDB command enables the Trajectory Overshoot Braking (TOB) option.
This command should be used to enable TOB after using the MDT or MDE commands. Note the
following:
l
This option reverts to off when one of these commutation mode commands are used.
l
This option is off by default. Status Word 6, Bit 9 indicates if this mode is active.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 530); the default commutation mode for
M-style motors is MDC (see MDC on page 524).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 522 of 890
Part 2: Commands: MDB
EXAMPLE: (Shows the use of MDB and MDE)
'NOTE: MDE and MDB can help with handling high inertia loads.
EIGN(W,0)
'Make all onboard I/O inputs.
ZS
'Clear errors.
MP VT=20000 ADT=100 O=0 'Mode Position, Velocity, accel/decel,
'zero encoder.
MDE 'Switch to Enhanced Trap Commutation Mode (default is MDT).
MDB 'Turn on Trajectory Overshoot Braking (MDE mode is required for MDB).
PT=8000 G TWAIT
'Move to Absolute Position 8000.
PT=0 G TWAIT
'Move to Absolute Position 0.
END
RELATED COMMANDS:
Mode Current (Commutation Mode) (see page 524)
Mode Enhanced (Commutation Mode) (see page 526)
Mode Sine (Commutation Mode) (see page 528)
Mode Trap (Commutation Mode) (see page 530)
Part 2: Commands
MDC
MDE
MDS
MDT
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 523 of 890
Part 2: Commands: MDC
MDC
Part 2: Commands
Mode Current (Commutation Mode)
APPLICATION:
Motion control
DESCRIPTION:
Sine current commutation mode
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
M-style motors only, not supported in D-style motors
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
D-style motors default to MDT commutation mode;
M-style motors default to MDC commutation mode
FIRMWARE VERSION:
5.97.x or 5.98.x series only
COMBITRONIC:
MDC:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDC command enables the motor's sinusoidal (sine) commutation mode augmented with
digital current control. Available only in the M-style SmartMotor, this method offers optimum
performance without sacrificing quiet operation. It is the best choice for an application when
this capability is available.
Because MDC uses the encoder, it requires angle match (the first sighting of the encoder
index) before it will engage.
Use status word 6 to see the active commutation mode.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 530); the default commutation mode for
M-style motors is MDC (see MDC on page 524).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 524 of 890
Part 2: Commands: MDC
EXAMPLE:
KPI=2000
KII=1500
F
'Set proportional gain for MDC mode
'Set integral gain for MDC mode
'Initiate gains
MDC
'Change to Current Mode commutation
MV
VT=200000
ADT=50
G
'Set velocity move
'Set velocity target
'Set accel/decel target
'Start motion
RELATED COMMANDS:
Enable TOB Feature (Commutation Mode) (see page 522)
Mode Enhanced (Commutation Mode) (see page 526)
Mode Sine (Commutation Mode) (see page 528)
Mode Trap (Commutation Mode) (see page 530)
Part 2: Commands
MDB
MDE
MDS
MDT
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 525 of 890
Part 2: Commands: MDE
MDE
Part 2: Commands
Mode Enhanced (Commutation Mode)
APPLICATION:
Motion control
DESCRIPTION:
Enables enhanced trapezoidal (6-step) mode commutation
using the encoder
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Motor rotates past internal index to initialize commutation
angle
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
D-style motors default to MDT commutation mode;
M-style motors default to MDC commutation mode
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MDE:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDE command enables the motor's enhanced trapezoidal commutation mode using the
encoder. This driving method is the same as basic trapezoidal commutation using Hall
sensors. However, it also uses the internal encoder to add accuracy to the commutation
trigger points. This idealized trapezoidal commutation mode offers the greatest motor torque
and speed, but it can exhibit minor ticking sounds at low rates, which are created as the
current shifts abruptly from one coil to the next.
Because MDE uses the encoder, it requires angle match (the first sighting of the encoder
index) before it will engage.
Use status word 6 to see the active commutation mode.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 530); the default commutation mode for
M-style motors is MDC (see MDC on page 524).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 526 of 890
Part 2: Commands: MDE
EXAMPLE: (Shows the use of MDB and MDE)
'NOTE: MDE and MDB can help with handling high inertia loads.
EIGN(W,0)
'Make all onboard I/O inputs.
ZS
'Clear errors.
MP VT=20000 ADT=100 O=0 'Mode Position, Velocity, accel/decel,
'zero encoder.
MDE 'Switch to Enhanced Trap Commutation Mode (default is MDT).
MDB 'Turn on Trajectory Overshoot Braking (MDE mode is required for MDB).
PT=8000 G TWAIT
'Move to Absolute Position 8000.
PT=0 G TWAIT
'Move to Absolute Position 0.
END
RELATED COMMANDS:
Enable TOB Feature (Commutation Mode) (see page 522)
Mode Current (Commutation Mode) (see page 524)
Mode Sine (Commutation Mode) (see page 528)
Mode Trap (Commutation Mode) (see page 530)
Part 2: Commands
MDB
MDC
MDS
MDT
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 527 of 890
Part 2: Commands: MDS
MDS
Part 2: Commands
Mode Sine (Commutation Mode)
APPLICATION:
Motion control
DESCRIPTION:
Enable sine mode commutation, voltage mode
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Motor rotates past internal index to initialize commutation
angle
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
D-style motors default to MDT commutation mode;
M-style motors default to MDC commutation mode
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MDS:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDS command enables the motor's sine commutation mode (voltage mode). This mode
offers smoother commutation when compared to trapezoidal modes. It accomplishes this by
shifting current more gradually from one coil to the next. Whereas, trapezoidal modes exhibit
higher torque due to the longer application of current to the windings, which overrides losses.
Refer to the following figure. It shows the differences between sine and 6-step trapezoidal
commutation modes, used by the SmartMotor, for one magnetic cycle. (Commutation ensures
firing of switches on the proper magnetic cycle.) The shaded leading areas indicate the
application of current sooner in trapezoidal commutation mode, which results in greater
torque.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 528 of 890
Part 2: Commands: MDS
Sine vs 6-Step Trapezoid Commutation
Sine
1.0
Trapezoid
Leading areas of higher current
resulting in greater torque for
trapezoidal commutation
0
-1.0
Because MDS uses the encoder, for motors with incremental encoders, it requires angle
match (the first sighting of the encoder index) before it will engage. MDS is the best choice for
applications that require extremely smooth and quiet rotation at low speeds.
Use status word 6 to see the active commutation mode.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 530); the default commutation mode for
M-style motors is MDC (see MDC on page 524).
EXAMPLE:
MDS
MV
VT=50000
ADT=10
G
END
'Set sine mode
'Will remain in sine mode until commanded otherwise
'Set velocity move
'Set velocity target
'Set accel/decel target
'Start motion
RELATED COMMANDS:
MDB
MDC
MDE
MDT
Enable TOB Feature (Commutation Mode) (see page 522)
Mode Current (Commutation Mode) (see page 524)
Mode Enhanced (Commutation Mode) (see page 526)
Mode Trap (Commutation Mode) (see page 530)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 529 of 890
Part 2: Commands
Magnetic Cycle
Part 2: Commands: MDT
MDT
Part 2: Commands
Mode Trap (Commutation Mode)
APPLICATION:
Motion control
DESCRIPTION:
Enable trapezoidal (6-step) mode commutation using Hall
sensors
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
D-style motors default to MDT commutation mode;
M-style motors default to MDC commutation mode
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
MDT:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDT command enables the motor's trapezoidal commutation mode using Hall sensors
(the default mode for D-style motors). Despite the minor inaccuracies that are typical in the
mechanical placement of the sensors, this is the most simple and effective method, and it is
ready on boot up.
Use status word 6 to see the active commutation mode.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 530); the default commutation mode for
M-style motors is MDC (see MDC on page 524).
EXAMPLE:
MDT
MV
VT=1500000
ADT=100
G
END
'Set trap mode
'Will remain in trap mode until commanded otherwise
'Set velocity move
'Set velocity target
'Set accel/decel target
'Start motion
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 530 of 890
Part 2: Commands: MDT
RELATED COMMANDS:
Enable TOB Feature (Commutation Mode) (see page 522)
Mode Current (Commutation Mode) (see page 524)
Mode Enhanced (Commutation Mode) (see page 526)
Mode Sine (Commutation Mode) (see page 528)
Part 2: Commands
MDB
MDC
MDE
MDS
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 531 of 890
Part 2: Commands: MF0
MF0
Part 2: Commands
Mode Follow, Zero External Counter
APPLICATION:
Motion control
DESCRIPTION:
Reset external encoder to zero, select quadrature mode input
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
External encoder inputs available, connected to an encoder
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
This is not the motor default; it is best practice to issue MF0
before beginning a program that uses quadrature inputs
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MF0:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MF0 command zeroes the second encoder register (see CTR(enc) on page 367) without
changing the current motion mode of the SmartMotor™.
Following MF0, the A and B pins will be interpreted as a quadrature encoder signal. MS0 is the
opposite input mode.
l
l
On the D-style motor, these are inputs 0 and 1.
On the M-style motor, these encoder inputs are differential and are labeled separately
from general I/O signals.
If the Mode Follow with Ratio (MFR) or the Cam mode does not meet your requirements, you
can write your own loop and define a unique relationship between the incoming secondary
encoder signal and the motor’s position.
MF0 is also typically used to take input from a quadrature output selector switch, especially in
the context of a user interface. It is not necessary to use the inputs for motion.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 532 of 890
Part 2: Commands: MF0
EXAMPLE: (Shows use of MF0, MFDIV and MFMUL)
EIGN(W,0)
ZS
MF0
MFDIV=-10
MFMUL=21
MFR
G
END
'Make all onboard I/O inputs
'Clear errors
'Reset CTR(1)
'Divisor = -10
'Multiplier = 21
'Calculate Ratio, input -10 external counts
'Resulting motion 21 counts
'Start following external encoder
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
Part 2: Commands
MS0 Mode Step, Zero External Counter (see page 569)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 533 of 890
Part 2: Commands: MFA(distance[,m/s])
MFA(distance[,m/s])
Part 2: Commands
Mode Follow Ascend
APPLICATION:
Motion control
DESCRIPTION:
Follow mode, ascend ramp;
EXECUTION:
Buffered until a G command is issued or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR or MC modes
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Either encoder counts from encoder input, or internal encoder
counts (selectable)
RANGE OF VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE:
0 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFA(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFA command sets the ascend ramp to the specified sync ratio from a ratio of zero. It
uses the format:
MFA(exp1[,exp2])
where:
l
l
Exp1
Specifies counts — valid values are from 0 to 2147483647. Set to 0 (default) to disable.
Exp2
(Optional) Specifies the meaning of exp1. Values are: 0 specifies input units (master
units); 1 specifies distance-traveled units (slave units).
When operating in MFR or MSR mode, it is possible to create a motion profile where the ratio
of the incoming encoder signal to the motor output motion can be gradually ramped up. This
ramp starts when motion is commanded to start with a G command, and will end when the
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 534 of 890
Part 2: Commands: MFA(distance[,m/s])
programmed ratio of MFMUL/MFDIV is reached. The rate of increase is controlled by the two
parameters to the MFA function. The first argument is a distance (in encoder counts), and the
second argument specifies if that distance is in terms of the encoder input or the motors
output motion.
In MC mode MFA still functions. However it does not directly affect the motor's output motion.
It is a front-end profile between the encoder input and the operation of the Cam table.
MFA allows for gradual increase of the rate at which cam points are followed.
EXAMPLE: (profile driven by an incoming encoder signal)
MFMUL=300
MFDIV=100
MFA(300,1)
MFD(600,1)
MFSLEW(200,1)
MFR
G
'Slave moves 300 counts over ascend
'Slave moves 600 counts over descend
'Slave maintains sync ratio for 200 counts
CTE(1)
CTA(7,4000)
CTW(0)
CTW(1000)
CTW(3000)
CTW(4000)
CTW(1000)
CTW(-2000)
CTW(0)
SRC(2)
MCE(0)
MCW(1,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
MC
G
END
'Erase all EEPROM tables.
'Create 7-point table at each 4K encoder increment.
'Add 1st point.
'Add 2nd point; go to point 1000 from start.
'Add 3rd point; go to point 3000 from start.
'Add 4th point; go to point 4000 from start.
'Add 5th point; go to point 1000 from start.
'Add 6th point; go to point -2000 from start.
'Add 7th point; return to starting point.
'Table has now been written to EEPROM.
'Use the virtual encoder.
'Force linear interpolation.
'Use table 1 from point 0.
'Simple 1:1 ratio from virtual encoder.
'Simple 1:1 ratio from virtual encoder.
'Disable virtual encoder ramp-up/
'ramp-down sections.
'Table is 6 segments * 4000 encoder
'counts each.
'Specify the second argument as a 1 to
'force this number as the output total of
'the virtual encoder into the cam.
'Disable virtual encoder profile repeat.
'Enter Cam mode.
'Begin move.
RELATED COMMANDS:
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 535 of 890
Part 2: Commands
EXAMPLE: (Cam program example; uses virtual encoder)
Part 2: Commands: MFA(distance[,m/s])
Part 2: Commands
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MSR Mode Step Ratio (see page 571)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 536 of 890
Part 2: Commands: MFCTP(arg1,arg2)
MFCTP(arg1,arg2)
Mode Follow Control Traverse Point
Motion control
DESCRIPTION:
Control information for traverse mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
arg1: -1,0,1
arg2: 0,1
TYPICAL VALUES:
Input:
arg1: -1,0,1
arg2: 0,1
DEFAULT VALUE:
MFCTP(0,0)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The MFCTP command provides control information for traverse mode. It allows a several
mode selections to be made. It uses the format:
MFCTP(exp1,exp2)
Refer to the following tables for exp1 and exp2 values and descriptions.
l
Exp1
Value
Description
-1
When G is issued, continue in the same direction from when the previous
traverse move was ended. This direction is indicated by status word 7, bit 13.
This state is not reset by an X or an OFF.
0
(Default at power up) When G is issued, initially traverse toward higher bound.
1
When G is issued, initially traverse toward lower bound.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 537 of 890
Part 2: Commands: MFCTP(arg1,arg2)
l
Exp2
Value
Description
0
(Default at power up) The RPC(2) frame of reference is frozen when the servo
is off (OFF, MTB, MT).
1
The RPC(2) frame of reference will be updated with shaft motion when the
servo is off (OFF, MTB, MT). This is a special setting to ensure backward
compatibility with existing applications that may use the RPC(2) frame of
reference.
EXAMPLE: (Single-trajectory traverse winding application)
' *** User does some type of homing before this. ***
SRC(2)
'*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
Part 2: Commands
MFCTP(0,1)
MFL(1000,1)
MFH(1000,1)
MFLTP=-1000
MFHTP=1000
MFMUL=1
MFDIV=1
MFSDC(4000,2)
MFR
G
'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
'Lower-end ramp.
'Higher-end ramp.
'Lower traverse point.
'Higher traverse point.
'Ratio (default is 1).
'Ratio (default is 1).
'Dwell for 4000 counts, 2 is active traverse mode.
'Enable follow mode.
'Begin move.
RELATED COMMANDS:
R
MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 538 of 890
Part 2: Commands: MFD(distance[,m/s])
MFD(distance[,m/s])
APPLICATION:
Motion control
DESCRIPTION:
Follow mode, descend ramp; default is zero (off)
EXECUTION:
Buffered until a G command is issued, or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR or MC modes
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts from encoder input or internal counter (selectable)
RANGE OF VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE:
0 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFD(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFD command specifies the descend ramp from the current ratio to a ratio of 0. It uses
the format:
MFD(exp1[,exp2])
where:
l
l
Exp1
Specifies counts — valid values from 0 to 2147483647. Set to 0 (default) to disable.
Exp2
(Optional) Specifies the meaning of exp1. Values are: 0 specifies input units (master
units); 1 specifies distance-traveled units (slave units).
When operating in MFR or MSR mode, it is possible to create a motion profile where the ratio
of the incoming encoder signal to the motor output motion can be gradually ramped down.
This ramp starts when an X (decelerate to stop) is commanded, or a pre-programmed
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 539 of 890
Part 2: Commands
Mode Follow Descend
Part 2: Commands: MFD(distance[,m/s])
distance was traveled as specified by MFSLEW. The ramp will end when the ratio reaches 0.
The rate of decrease is controlled by the two parameters to the MFD function. The first
argument is a distance (in encoder counts), and the second argument specifies if that distance
is in terms of the encoder input or the motors output motion.
In MC mode, MFD still functions. However, it does not directly affect the output motor motion.
It is a front-end profile between the encoder input and the operation of the Cam table. MFD
can be used to gradually decrease the rate at which cam points are followed.
EXAMPLE: (profile driven by an incoming encoder signal)
MFMUL=300
MFDIV=100
MFA(300,1)
MFD(600,1)
MFSLEW(200,1)
MFR
G
'Slave moves 300 counts over ascend
'Slave moves 600 counts over descend
'Slave maintains sync ratio for 200 counts
Part 2: Commands
EXAMPLE: (Cam program example; uses virtual encoder)
CTE(1)
CTA(7,4000)
CTW(0)
CTW(1000)
CTW(3000)
CTW(4000)
CTW(1000)
CTW(-2000)
CTW(0)
SRC(2)
MCE(0)
MCW(1,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
MC
G
END
'Erase all EEPROM tables.
'Create 7-point table at each 4K encoder increment.
'Add 1st point.
'Add 2nd point; go to point 1000 from start.
'Add 3rd point; go to point 3000 from start.
'Add 4th point; go to point 4000 from start.
'Add 5th point; go to point 1000 from start.
'Add 6th point; go to point -2000 from start.
'Add 7th point; return to starting point.
'Table has now been written to EEPROM.
'Use the virtual encoder.
'Force linear interpolation.
'Use table 1 from point 0.
'Simple 1:1 ratio from virtual encoder.
'Simple 1:1 ratio from virtual encoder.
'Disable virtual encoder ramp-up/
'ramp-down sections.
'Table is 6 segments * 4000 encoder
'counts each.
'Specify the second argument as a 1 to
'force this number as the output total of
'the virtual encoder into the cam.
'Disable virtual encoder profile repeat.
'Enter Cam mode.
'Begin move.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 540 of 890
Part 2: Commands: MFD(distance[,m/s])
RELATED COMMANDS:
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
Part 2: Commands
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 541 of 890
Part 2: Commands: MFDIV=formula
MFDIV=formula
Part 2: Commands
Mode Follow Divisor
APPLICATION:
Motion control
DESCRIPTION:
Divisor for external encoder mode follow with ratio
MFMUL/MFDIV
EXECUTION:
Buffered until a G command is issued, or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR or MC modes
LIMITATIONS:
N/A
READ/REPORT:
RMFDIV
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-32767 to -1 and 1 to 32767 (0 excluded)
TYPICAL VALUES:
-32767 to -1 and 1 to 32767 (0 excluded)
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFDIV:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFDIV command specifies the divisor for use with the MFR, MSR or MC command. For
more details about how this ratio is applied, see MFR on page 554.
MFMUL/MFDIV specifies the ratio for the MFR or MSR mode. The MC mode is also affected. To
use the MFR or MSR command, you will need to define the specific relationship (ratio) of the
encoder count input to outgoing requested encoder counts of motion.
Both MFMUL and MFDIV may be positive or negative; this controls the resulting direction of
shaft rotation.
EXAMPLE: (Shows use of MF0, MFDIV and MFMUL)
EIGN(W,0)
ZS
MF0
MFDIV=-10
MFMUL=21
MFR
G
END
'Make all onboard I/O inputs
'Clear errors
'Reset CTR(1)
'Divisor = -10
'Multiplier = 21
'Calculate Ratio, input -10 external counts
'Resulting motion 21 counts
'Start following external encoder
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 542 of 890
Part 2: Commands: MFDIV=formula
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 513)
R MFMUL=formula Mode Follow Multiplier (see page 552)
Part 2: Commands
MFR Mode Follow Ratio (see page 554)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 543 of 890
Part 2: Commands: MFH(distance[,m/s])
MFH(distance[,m/s])
Part 2: Commands
Mode Follow, High Ascend/Descend Rate
APPLICATION:
Motion control
DESCRIPTION:
Sets the ramp at the high end of the traverse
EXECUTION:
Buffered until a G command is issued or either traverse point
after reversal
CONDITIONAL TO:
MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS:
If the combined ramp slave distances of MFL and MFH exceed
the traverse distance, then the ramp rate(s) are increased as
required.
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Either encoder counts from encoder input, or internal encoder
counts (selectable)
RANGE OF VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE:
0 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The MFH command sets the ramp at the high end of the traverse. It uses the format:
MFH(exp1[,exp2])
where:
l
l
Exp1
Specifies counts — valid values from 0 to 2147483647. Set to 0 (default) to disable.
Exp2
(Optional) Specifies the meaning of exp1. Values of exp2: 0 specifies input units
(master units); 1 specifies distance-traveled units (slave units).
MFH behaves similar to MFA and MFD, where a ramp is defined during the follow profile.
However, MFH has a slightly different application. It is only used in absolute traverse mode,
MFSDC(x,2). MFH defines the descent and ascent ramps at the high end of the absolute
traverse. This is an important difference because the other ramps, MFA and MFD, are
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 544 of 890
Part 2: Commands: MFH(distance[,m/s])
associated with increasing and decreasing ramps, respectively. Whereas, MFH is associated
with the higher physical position and orientation of the ramp in the absolute traverse profile.
The MFH command can be set at any time, but the value is buffered and accepted when the
absolute traverse mode reaches a speed of 0. Typically, this is when starting, or when a
traverse point is reached and the motor has ramped down to a stop (using the previous ramp
rate).
NOTE: This can cause an asymmetry because the descent and ascent ramps at a
particular traverse point will not be the same.
Depending on the application, this could be a problem. The best way to avoid an asymmetry is
to set the ramp when heading away from the traverse point it affects. In other words, only set
MFH when the motor is traveling in a negative direction away from the high traverse point.
NOTE: MFA is not applied in the absolute traverse mode. MFD is only applied in the
absolute traverse mode if an X (decelerate to stop) command is issued.
' *** User does some type of homing before this. ***
SRC(2)
'*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1)
MFL(1000,1)
MFH(1000,1)
MFLTP=-1000
MFHTP=1000
MFMUL=1
MFDIV=1
MFSDC(4000,2)
MFR
G
'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
'Lower-end ramp.
'Higher-end ramp.
'Lower traverse point.
'Higher traverse point.
'Ratio (default is 1).
'Ratio (default is 1).
'Dwell for 4000 counts, 2 is active traverse mode.
'Enable follow mode.
'Begin move.
RELATED COMMANDS:
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MSR Mode Step Ratio (see page 571)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 545 of 890
Part 2: Commands
EXAMPLE: (Single-trajectory traverse winding application)
Part 2: Commands: MFHTP=formula
MFHTP=formula
Part 2: Commands
Mode Follow, High Traverse Point
APPLICATION:
Motion control
DESCRIPTION:
High traverse point
EXECUTION:
Buffered until a G command is issued, or the opposite traverse
point
CONDITIONAL TO:
MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS:
MFHTP-MFLTP must be in the range 0 to 2147483647
READ/REPORT:
RMFHTP
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Slave encoder counts of the motor
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
0 to 1000000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
When in absolute traverse mode, MFHTP=formula sets the high traverse point in terms of the
slave motor's position. The value may be anywhere in the range from -2147483648 to
2147483647. However, it should be higher than the low traverse point specified by MFLTP.
NOTE: The distance between MFLTP and MFHTP must be in the range from 0 to
2147483647; MFHTP must be the higher value.
The MFHTP traverse point can be set at any time. However, it is buffered and accepted into
the motion profile when the motion profile reaches the opposite traverse point (MFLTP).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 546 of 890
Part 2: Commands: MFHTP=formula
EXAMPLE: (Single-trajectory traverse winding application)
' *** User does some type of homing before this. ***
SRC(2)
'*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1)
MFL(1000,1)
MFH(1000,1)
MFLTP=-1000
MFHTP=1000
MFMUL=1
MFDIV=1
MFSDC(4000,2)
MFR
G
'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
'Lower-end ramp.
'Higher-end ramp.
'Lower traverse point.
'Higher traverse point.
'Ratio (default is 1).
'Ratio (default is 1).
'Dwell for 4000 counts, 2 is active traverse mode.
'Enable follow mode.
'Begin move.
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 547 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: MFL(distance[,m/s])
MFL(distance[,m/s])
Part 2: Commands
Mode Follow, Low Ascend/Descend Rate
APPLICATION:
Motion control
DESCRIPTION:
Sets the ramp at the low end of the traverse
EXECUTION:
Buffered until a G command is issued or either traverse point
after reversal
CONDITIONAL TO:
MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS:
If the combined ramp slave distances of MFL and MFH exceed
the traverse distance, then the ramp rate(s) are increased as
required.
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts from encoder input or internal counter (selectable)
RANGE OF VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES:
Input:
value: 0 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE:
0 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The MFL specifies the ramp at the low end of the traverse. It uses the format:
MFL(exp1[,exp2])
where:
l
l
Exp1
Specifies counts — valid value from 0 to 2147483647. Set to 0 (default) to disable.
Exp2
(Optional) specifies the meaning of exp1. Values are: 0 specifies input units (master
units); 1 specifies distance-traveled units (slave units).
MFL behaves similar to MFA and MFD — a ramp is defined during the follow profile. However,
MFL is only used in absolute traverse mode, MFSDC(x,2). MFL defines the descent and ascent
ramps at the lower end of the absolute traverse. This is an important difference because the
other ramps, MFA and MFD, are associated with increasing and decreasing ramps,
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 548 of 890
Part 2: Commands: MFL(distance[,m/s])
respectively. Whereas, MFL is associated with the lower physical position and orientation of
the ramp in the absolute traverse profile.
The MFL command can be set at any time, but the value is buffered and accepted when the
absolute traverse mode reaches a speed of 0. Typically, this is when starting, or when a
traverse point is reached and the motor has ramped down to a stop (using the previous ramp
rate).
NOTE: This can cause an asymmetry because the descent and ascent ramps at a
particular traverse point will not be the same.
Depending on the application, this could be a problem. The best way to avoid an asymmetry is
to set the ramp when heading away from the traverse point it affects. In other words, only set
MFL when the motor is traveling in a positive direction away from the low traverse point.
NOTE: MFA is not applied in the absolute traverse mode. MFD is only applied in the
absolute traverse mode if an X (decelerate to stop) command is issued.
' *** User does some type of homing before this. ***
SRC(2)
'*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1)
MFL(1000,1)
MFH(1000,1)
MFLTP=-1000
MFHTP=1000
MFMUL=1
MFDIV=1
MFSDC(4000,2)
MFR
G
'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
'Lower-end ramp.
'Higher-end ramp.
'Lower traverse point.
'Higher traverse point.
'Ratio (default is 1).
'Ratio (default is 1).
'Dwell for 4000 counts, 2 is active traverse mode.
'Enable follow mode.
'Begin move.
RELATED COMMANDS:
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
R
MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 549 of 890
Part 2: Commands
EXAMPLE: (Single-trajectory traverse winding application)
Part 2: Commands: MFLTP=formula
MFLTP=formula
Part 2: Commands
Mode Follow, Low Traverse Point
APPLICATION:
Motion control
DESCRIPTION:
Low traverse point
EXECUTION:
Buffered until a G command is issued, or the opposite traverse
point
CONDITIONAL TO:
MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS:
MFHTP-MFLTP must be in the range 0 to 2147483647
READ/REPORT:
RMFLTP
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Slave encoder counts of the motor
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
0 to 1000000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
When in absolute traverse mode, MFLTP=formula sets the lower traverse point in terms of the
slave motor's position. The value may be anywhere in the range from -2147483648 to
2147483647. However, it should be lower than the high traverse point specified by MFHTP.
NOTE: The distance between MFLTP and MFHTP must be in the range from 0 to
2147483647; MFHTP must be the higher value.
The MFLTP traverse point can be set at any time. However, it is buffered and accepted into the
motion profile when the motion profile reaches the opposite traverse point (MFHTP).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 550 of 890
Part 2: Commands: MFLTP=formula
EXAMPLE: (Single-trajectory traverse winding application)
' *** User does some type of homing before this. ***
SRC(2)
'*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1)
MFL(1000,1)
MFH(1000,1)
MFLTP=-1000
MFHTP=1000
MFMUL=1
MFDIV=1
MFSDC(4000,2)
MFR
G
'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
'Lower-end ramp.
'Higher-end ramp.
'Lower traverse point.
'Higher traverse point.
'Ratio (default is 1).
'Ratio (default is 1).
'Dwell for 4000 counts, 2 is active traverse mode.
'Enable follow mode.
'Begin move.
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 551 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: MFMUL=formula
MFMUL=formula
Part 2: Commands
Mode Follow Multiplier
APPLICATION:
Motion control
DESCRIPTION:
Multiplier for external encoder mode follow with ratio
MFMUL/MFDIV
EXECUTION:
Buffered until a G command is issued or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR or MC mode
LIMITATIONS:
N/A
READ/REPORT:
RMFMUL
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-32767 to 32767
TYPICAL VALUES:
-32767 to 32767
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFMUL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFMUL command specifies the divisor for use with the MFR, MSR or MC command. For
more details about how this ratio is applied, see the MSR on page 571.
MFMUL/MFDIV specifies the ratio for the MFR or MSR mode. The MC mode is also affected. To
use the MFR or MSR command, you will need to define the specific relationship (ratio) of the
encoder count input to outgoing requested encoder counts of motion.
Both MFMUL and MFDIV may be positive or negative; this controls the resulting direction of
shaft rotation.
EXAMPLE: (Shows use of MF0, MFDIV and MFMUL)
EIGN(W,0)
ZS
MF0
MFDIV=-10
MFMUL=21
MFR
G
END
'Make all onboard I/O inputs
'Clear errors
'Reset CTR(1)
'Divisor = -10
'Multiplier = 21
'Calculate Ratio, input -10 external counts
'Resulting motion 21 counts
'Start following external encoder
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 552 of 890
Part 2: Commands: MFMUL=formula
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 513)
R MFDIV=formula Mode Follow Divisor (see page 542)
Part 2: Commands
MFR Mode Follow Ratio (see page 554)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 553 of 890
Part 2: Commands: MFR
MFR
Part 2: Commands
Mode Follow Ratio
APPLICATION:
Motion control
DESCRIPTION:
Request mode follow with ratio
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFR:3 or MFR(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFR command is used to implement a fractional relationship between an incoming
secondary encoder signal and the SmartMotor™ internal shaft position, which is represented
by the primary internal encoder count. The fractional relationship is defined by the user-set
ratio of MFMUL to MFDIV. The motor will move in proportion to the incoming encoder signal.
The encoder input is configured as a quadrature input. If a step-and-direction operation is
desired, then select MSR instead of MFR. Both commands operate the same with the exception
of the input signal type.
Either the external encoder can be selected, or an internal time-base can be selected. For
details, see SRC(enc_src) on page 703.
The motion can be gradually started and stopped even if the encoder source is constantly
running. For instance, if a conveyor is constantly running, the motor can be ramped up to
speed and then ramped down from speed by command or programmed distance. This allows
for operations on moving products, such as labeling, stamping or transfers from one conveyor
to another. For more information, see MFA(distance[,m/s]) on page 534, MFD(distance
[,m/s]) on page 539, and MFSLEW(distance[,m/s]) on page 559.
There are automatic modes that allow for repeating start-stop cycles or for traversing
applications like winders and cut-to-length material. For more information, see MFSDC
(distance,mode) on page 557.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 554 of 890
Part 2: Commands: MFR
To use MFR, you will need to define the desired relationship (ratio) of the external encoder
input to shaft position, which is represented by the primary internal encoder count. The MFR
command must be issued after both MFMUL and MFDIV have been specified. Both MFMUL and
MFDIV may be positive or negative — this controls the resulting direction of shaft rotation.
The MFR command followed by a G command will immediately turn on the servo. The
servo-off flag (Bo) is set to 0; the trajectory flag (Bt) is set to 1. The motion is restricted by
the current value of EL. The motion is also subject to the currently defined activity of the limit
switches.
The fractional ratio of input encoder to motor motion is maintained with a continuing
remainder. This means that the ratio can run continuously without concern about loss of
accuracy. Any ratio that can be expressed with the integers MFMUL and MFDIV, and within
their range limits, can be maintained accurately. For example, the ratio 1:10 or 2:3 can be
maintained accurately. Keep in mind that the values of MFMUL and MFDIV can be creatively
selected to give the desired ratio. For instance, MFMUL=10 and MFDIV=395 gives a reduction
ratio of 39.5.
Ratios that are irrational — a mathematical definition that means it cannot be represented by
a ratio of integers — cannot be tracked continuously. This is a fundamental mathematical
principal and not a limitation of the SmartMotor. For example, converting degrees to radians,
or diameter to circumference, is considered irrational because an integer ratio cannot express
the precision required to operate continuously. Such a ratio would only be accurate in a
limited range of motion. Depending on the application, this could be a problem. Therefore, it
is the responsibility of the system designer to be aware of this.
EXAMPLE: (phase offset adjustment)
In some applications, it may be necessary to introduce a phase shift to achieve proper
alignment during MFR following. To perform this shift, configure trajectory 1 to execute a
position move.
EIGN(W,0)
ZS
MF0
MFDIV=-10
MFMUL=21
MFR
MP(1)
PRT=0
G(2)
PRT=500
VT=5000
ADT=100
G(1)
END
'Make all onboard I/O inputs
'Clear errors
'Reset CTR(1)
'Divisor = -10
'Multiplier = 21
'Calculate Ratio, input -10 external counts
'Resulting motion 21 counts
'Position mode in trajectory 1
'Also, keep MFR active
'No phase shift
'Start following
'Implementing phase adjust:
' Set relative distance
' Set velocity target
' Set accel/decel
' Start phase adjust
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
G Start Motion (GO) (see page 444)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 555 of 890
Part 2: Commands
NOTE: The only method of inputting a ratio to the SmartMotor is with the MFMUL
and MFDIV commands, which require integers within a certain range.
Part 2: Commands: MFR
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
Part 2: Commands
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MSR Mode Step Ratio (see page 571)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 556 of 890
Part 2: Commands: MFSDC(distance,mode)
MFSDC(distance,mode)
APPLICATION:
Motion control
DESCRIPTION:
Follow mode stall-dwell-continue; controls dwell and repeat of
the follow profile
EXECUTION:
Buffered until a G command is issued, or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR, or MC modes; MFSLEW must not be disabled
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts from encoder input
RANGE OF VALUES:
Input:
value: -1 to 2147483647
mode: 0, 1, 2
TYPICAL VALUES:
Input:
value: -1 to 2147483647
mode: 0, 1, 2
DEFAULT VALUE:
-1 (disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFSDC(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFSDC command sets the follow mode stall-dwell-continue, which is used to control the
dwell and repeat of the follow profile. It uses the format:
MFSDC(exp1,exp2)
where:
l
Exp1
Values from 0 to 2147483647 to specify the number of master counts the slave dwells at
zero ratio. Set to -1 (default) to disable. When disabled, Follow Mode will not restart
automatically.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 557 of 890
Part 2: Commands
Mode Follow, Stall-Dwell-Continue
Part 2: Commands: MFSDC(distance,mode)
l
Exp2
Values are: 0 to repeat the gearing profile in the same direction; 1 to repeat the gearing
profile in the opposite direction; 2 for the improved traverse mode that uses absolute
position targets. A setting of 0 is typical for feeding labels in label applications, and a
setting of 1 or 2 is typical for traverse-and-takeup spool winding applications.
In MFR, MSR or MC mode, MFSDC is useful for creating a delay and restarting automatically
after the MFSLEW distance. The master encoder input will continue forward while the motor's
output motion remains stationary. After the specified number of encoder input counts, the
motor will continue motion again.
Part 2: Commands
EXAMPLE: (Cam program example; uses virtual encoder)
CTE(1)
CTA(7,4000)
CTW(0)
CTW(1000)
CTW(3000)
CTW(4000)
CTW(1000)
CTW(-2000)
CTW(0)
SRC(2)
MCE(0)
MCW(1,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
MC
G
END
'Erase all EEPROM tables.
'Create 7-point table at each 4K encoder increment.
'Add 1st point.
'Add 2nd point; go to point 1000 from start.
'Add 3rd point; go to point 3000 from start.
'Add 4th point; go to point 4000 from start.
'Add 5th point; go to point 1000 from start.
'Add 6th point; go to point -2000 from start.
'Add 7th point; return to starting point.
'Table has now been written to EEPROM.
'Use the virtual encoder.
'Force linear interpolation.
'Use table 1 from point 0.
'Simple 1:1 ratio from virtual encoder.
'Simple 1:1 ratio from virtual encoder.
'Disable virtual encoder ramp-up/
'ramp-down sections.
'Table is 6 segments * 4000 encoder
'counts each.
'Specify the second argument as a 1 to
'force this number as the output total of
'the virtual encoder into the cam.
'Disable virtual encoder profile repeat.
'Enter Cam mode.
'Begin move.
RELATED COMMANDS:
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 558 of 890
Part 2: Commands: MFSLEW(distance[,m/s])
MFSLEW(distance[,m/s])
APPLICATION:
Motion control
DESCRIPTION:
Follow mode slew at ratio for a fixed distance
EXECUTION:
Buffered until a G command is issued, or a profiled move
restarts through MFSDC
CONDITIONAL TO:
MFR, MSR or MC modes
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts from encoder input or internal counter (selectable)
RANGE OF VALUES:
Input:
value: -1 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES:
Input:
value: -1 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE:
-1 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFSLEW(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFSLEW command sets the follow mode slew at ratio for a fixed distance. It uses the
format:
MFSLEW(distance[,m/s])
where:
l
l
distance
Specifies counts — valid values from -1 to 2147483647. Set to -1 (default) to disable.
When disabled, Follow mode continuously runs at ratio. A distance of 0 is acceptable. It
produces a motion where only the MFA and MFD ramps form a triangular profile.
m/s
(Optional) Specifies the meaning of exp1. Values are: 0 for designating input units
(master units); 1 for designating distance traveled (slave units).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 559 of 890
Part 2: Commands
Mode Follow Slew
Part 2: Commands: MFSLEW(distance[,m/s])
When operating in MFR or MSR mode, it is possible to create a motion profile where the motor
follows the encoder only for a specified distance — even if the encoder continues on. MFSLEW
specifies this distance in terms of the incoming encoder or the motor's outgoing motion.
In MC mode, this has special importance. It is possible to set the length of MFSLEW equal to
the master length of the Cam table. For example, a cam of 10 points (9 segments) with a
segment length of 100 will have a total length of 900 counts. In this example, by setting
MFSLEW(900,1), exactly one pass through the Cam table can be selected. In combination with
the MFSDC(0,0) command, an automatic repeat is selected. This allows for certain
parameters like MCMUL/MCDIV, MFSLEW and MFMUL/MFDIV to be updated synchronously
with the end of the Cam table.
Part 2: Commands
EXAMPLE: (profile driven by an incoming encoder signal)
MFMUL=300
MFDIV=100
MFA(300,1)
MFD(600,1)
MFSLEW(200,1)
MFR
G
'Slave moves 300 counts over ascend
'Slave moves 600 counts over descend
'Slave maintains sync ratio for 200 counts
RELATED COMMANDS:
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 560 of 890
Part 2: Commands: MINV(arg)
MINV(arg)
APPLICATION:
Motion control
DESCRIPTION:
Inverts (reverses, negates, turns around) the direction convention of the motor
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Do not apply while motor drive is enabled
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input: 0 or 1
TYPICAL VALUES:
0
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MINV(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MINV (Mode Inverse) command inverts the direction convention (orientation) of the
SmartMotor as follows:
l
MINV(0) restores the default direction convention
l
MINV(1) inverts the direction convention
When looking at the end of the motor shaft, the default direction convention of the
SmartMotor is clockwise shaft rotation = positive encoder counts, and counterclockwise shaft
rotation = negative encoder counts. Issuing the MINV(1) command inverts (flips) this
direction convention.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 561 of 890
Part 2: Commands
Mode Inverse (Commutation Inverse)
Part 2: Commands: MINV(arg)
EXAMPLE:
Enter the following commands in the SMI software Terminal window:
ENC0
'Read position from internal encoder
O=1234
'Set origin to 1234
RPA
'Responds with 1234
'Manually rotate the motor shaft a few turns clockwise
RPA
'Responds with a higher count, like 9936
MINV(1) 'Inverts the direction convention
RPA
'Responds with same higher count, like 9936
'Manually rotate the motor shaft a few turns clockwise
RPA
'Responds with a lower count, like 694
MINV(0) 'Restores the default direction convention
'Manually rotate the motor shaft a few turns clockwise
RPA
'Responds with a higher count, like 8723
Part 2: Commands
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
R
PA Position, Actual (see page 599)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 562 of 890
Part 2: Commands: MODE
MODE
APPLICATION:
Motion control
DESCRIPTION:
Get operating mode, specific trajectory
EXECUTION:
Read only
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RMODE
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-5 to 7
TYPICAL VALUES:
-5 to 7
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The MODE command gets (reads) the operating mode as follows:
l
MODE gets the active operating mode
l
MODE(...) gets the active operating mode, specific trajectory
For example x=MODE(1) will report trajectory 1 (MP, MV, MT)
The following table describes the possible meaning for the returned value:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 563 of 890
Part 2: Commands
Mode Operating
Part 2: Commands: MODE
Value from
MODE
or MODE(0)
Trajectory 1
MODE(1)
Trajectory 2
Mode(2)
CANopen Interpolation
7
7
0
Torque (MT)
4
4
0
Velocity (MV)
3
3
0
Position (MP)
1
1
0
Null (move generator inactive)
0
0
0
Quadrature Follow (MFR)
-2
0
-2
Step/Direction Follow (MSR)
-3
0
-3
Cam (MC)
-4
0
-4
Mixed: MP and MFR
-5
1
-2
Mixed: MP and MSR
-5
1
-3
Mixed: MP and MC
-5
1
-4
Mixed: MV and MFR
-5
3
-2
Mixed: MV and MSR
-5
3
-3
Mixed: MV and MC
-5
3
-4
Part 2: Commands
Meaning
EXAMPLE:
In the SMI editor, create the following program, download it to a SmartMotor and then run it.
EIGN(W,0)
ZS
MP
AT=500
VT=1000000
PT=0
O=0
G
END
'Disable hardware limits
'Clear status bits
'Set position mode
'Preset acceleration.
'Preset velocity.
'Zero out position.
'Declare origin
'Servo in place
'Required END of program command
At the SMI software Terminal window, type the following commands:
NOTE: Do not enter the comments — those are for your information and to show
what is returned by the commands.
RMODE
PRINT(MODE,#13)
'Reports 1 for position mode
'Prints 1 for position mode
Edit the program and substitute MV (velocity mode), download it to a SmartMotor and then
run it.
At the SMI software Terminal window, type the following commands:
NOTE: Do not enter the comments — those are for your information and to show
what is returned by the commands.
RMODE
PRINT(MODE,#13)
'Reports 3 for velocity mode
'Prints 3 for velocity mode
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 564 of 890
Part 2: Commands: MODE
RELATED COMMANDS:
Part 2: Commands
MC Mode Cam (Electronic Camming) (see page 513)
MFR Mode Follow Ratio (see page 554)
MP Mode Position (see page 566)
MSR Mode Step Ratio (see page 571)
MT Mode Torque (see page 573)
MV Mode Velocity (see page 577)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 565 of 890
Part 2: Commands: MP
MP
Part 2: Commands
Mode Position
APPLICATION:
Motion control
DESCRIPTION:
Request position mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
This is the default motion mode at power up
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MP:3 or MP(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
Mode Position (MP), or position mode, is the default mode of the motor. If you ever change
modes, you can return to position mode by issuing the MP command. The mode request is
buffered until a G command is issued.
NOTE: For a standard position-mode move, the SmartMotor™ requires, at a
minimum, a position target (PT), nonzero trajectory velocity (VT) and a nonzero
positive acceleration/deceleration (ADT).
MP calculates the trajectory to the target position when the G command is issued. The
preceding PT=formula or PRT=formula determines if the move is to be absolute (destination
target set equal to buffered PT value) or relative (destination target set equal to current
trajectory position plus the buffered PRT offset value).
The PID (servo) will be active. The MP mode calculates a trapezoidal velocity profile as a
function of time. This profile is calculated to accelerate, reach a slew speed, and decelerate in
a way so the speed is exactly 0 at the target position. The PID uses this calculated ideal
position (PC) and compares it to the actual position (PA). The PID will apply torque to the
motor to follow this profile with as little error (EA) as possible. Position error is due to basic
physics of friction, inertia, gravity or any other force on the motor.
The G command may be issued at any time, and it may be repeated (particularly in the case
of relative modes with PRT=offset). When repeating the G command in the middle of a move,
the result will depend on the absolute versus relative mode:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 566 of 890
Part 2: Commands: MP
l
l
Absolute mode (initiated with a PT command) will always target the most recent value
of PT. If the PT value is the same as before, that is acceptable and can be useful for
changing the speed while keeping the target the same. If the application has newer
information about the desired target, the PT value can be different than previous values
in order to correct the target position.
Relative mode (initiated with a PRT command) will always calculate a new ending
position by adding PRT to the current position. This is important to understand because a
G command issued while in motion will not remember the previous relative target. In
indexing applications like rotary tables, this could lead to an offset from the original
indexed locations. Therefore, this mode must be used carefully.
Assuming there are no faults, an MP command immediately followed by a G command turns
on the servo. The servo-off flag (Bo) is set to 0; the trajectory flag (Bt) is set to 1. The motion
is restricted by the current value of EL. The motion is also subject to the currently defined
activity of the limit switches. RMODE responds with a P.
MV
ADT=1000
VT=50000
G
WAIT=6000
MP
ADT=50
VT=40000
PT=1000
G
WAIT=200
VT=45000
PT=0
G
'Velocity mode
'Set accel/decel
'Set velocity
'Start motion
'Wait 6000 samples
'Position mode
'Set accel/decel
'Set velocity
'Set position
'Start (change) motion
'Wait 200 samples
'Change velocity
'Update position
'Start motion
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 567 of 890
Part 2: Commands
EXAMPLE:
Part 2: Commands: MP
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MV Mode Velocity (see page 577)
R PRT=formula Position, Relative Target (see page 636)
PT=formula Position, (Absolute) Target (see page 642)
R
VT=formula Velocity Target (see page 771)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 568 of 890
Part 2: Commands: MS0
MS0
APPLICATION:
Motion control
DESCRIPTION:
Request step-and-direction counter mode; zero the external
counter
EXECUTION:
Immediate; remains in effect until otherwise commanded
CONDITIONAL TO:
Step-and-direction input available
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
Motor default is MS0; however, it is best practice to issue MS0
before beginning program that uses step and direction
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MS0:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MS0 command zeroes the second encoder register (see CTR(enc) on page 367) without
changing the current motion mode of the SmartMotor™.
Following MS0, the A and B pins will be interpreted as a step-and-direction signal. MF0 is the
opposite input mode.
l
l
On the D-style motor, these are inputs 0 and 1.
On the M-style motor, these encoder inputs are differential and are labeled separately
from general I/O signals.
If the Mode Step with Ratio (MSR) or the Cam mode does not meet your requirements, you
can write your own loop and define a unique relationship between the incoming secondary
encoder signal and the motor’s position.
It is not necessary to use the inputs for motion. Any application that needs to count an input
signal can use this feature.
Step-and-direction inputs are most commonly used to emulate a simple stepper motor drive.
In MSR mode, the MFMUL and MFDIV commands can be used to allow a specific travel
distance with each incoming pulse, just as a stepper drive would do.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 569 of 890
Part 2: Commands
Mode Step, Zero External Counter
Part 2: Commands: MS0
NOTE: As with most stepping systems, opto-isolation modules are recommended
to assure robust step-and-direction operation.
EXAMPLE:
MS0
'Reset CTR to zero
'CTR value follows step-and-direction inputs
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
MF0 Mode Follow, Zero External Counter (see page 532)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
Part 2: Commands
MFR Mode Follow Ratio (see page 554)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 570 of 890
Part 2: Commands: MSR
MSR
APPLICATION:
Motion control
DESCRIPTION:
Request step mode with ratio
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MSR:3 or MSR(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MSR command operation is nearly identical to the MFR command. The only difference is
that the encoder input is configured as a step-and-direction signal. For a more detailed
description of how the following ratio is set and how to use the profile commands such as
MFA, MFSLEW, etc., see MFR on page 554. Those commands also apply in the MSR motion.
MSR is typically used in applications where the input signal is from a controller using stepper
motors. The SmartMotor™ can be used in place of a stepper drive and stepper motor. By
carefully applying MFMUL and MFDIV, you can select a wide range of motion per input step.
NOTE: As with most stepping systems, opto-isolation modules are recommended
to assure robust step-and-direction operation.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 571 of 890
Part 2: Commands
Mode Step Ratio
Part 2: Commands: MSR
EXAMPLE:
MS0
MFDIV=-10
MFMUL=21
MSR
MP(1)
PRT=0
G(2)
PRT=500
VT=5000
ADT=100
G(1)
'Reset CTR
'Denominator = -10
'Numerator = 21
'Calculate Ratio, input 21 external counts
'resulting motion -10 counts
'Position mode in trajectory 1 while also
'keeping MSR active
'No phase shift
'Start following
'Implementing phase adjust:
' Set relative position target
' Set velocity target
' Set accel/decel target
' Start phase adjust
RELATED COMMANDS:
Part 2: Commands
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
G Start Motion (GO) (see page 444)
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 572 of 890
Part 2: Commands: MT
MT
APPLICATION:
Motion control
DESCRIPTION:
Request torque mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MT:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MT (Mode Torque) command enables Torque mode. In this mode, the motor is
commanded to develop a specific output effort, set by T=formula.
l
T=32767 results in 100% PWM in the positive direction
l
T=-32767 results in 100% PWM in the negative direction
While in this mode, the encoder still tracks position and can still be read with the PA variable.
However, the PID loop is off, and the motor is not servoing or running a trajectory.
For any given torque and no applied load, there will be a velocity at which the Back EMF
(BEMF) of the motor stops acceleration and holds an almost-constant velocity. Therefore,
under the no-load condition, the T command will control velocity. As the delivered torque
increases, the velocity decreases.
NOTE: MT does not regulate torque in the D-style motor. Instead, it delivers a
fixed amount of voltage (PWM) to the motor coils.
Assuming there are no faults, an MT command followed by a G command immediately
activates the servo. The servo off flag (Bo) is set to 0; the trajectory flag (Bt) will indicate if a
TS ramp has been set. The motion is not restricted by the current EL value. For instance,
issuing EL=0 would have no effect on the current motion. The motion is subject to the
currently defined activity of the limit switches.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 573 of 890
Part 2: Commands
Mode Torque
Part 2: Commands: MT
The ramp-up rate for the T value can be controlled with the TS command. For details, see
TS=formula on page 730.
CAUTION: Do not attempt to regulate speed with Torque mode. It is not
designed for that and will give poor results. Likewise, it is difficult to place a
speed limit on Torque mode. If the load decreases, it causes the motor shaft
speed to increase to a new equilibrium because power must remain constant.
EXAMPLE: (Increases torque, one unit every PID sample period, up to 8000 units)
MT
T=8000
TS=65536
G
'Select torque mode
'Final torque after the TS ramp that we want
'Increase the torque by 1 unit of T per PID sample
'Begin move
Part 2: Commands
RELATED COMMANDS:
R
Bt Bit, Trajectory In Progress (see page 333)
R
T=formula Torque, Open-Loop Commanded (see page 713)
R
TS=formula Torque Slope (see page 730)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 574 of 890
Part 2: Commands: MTB
MTB
Mode Torque Brake
Motion control
DESCRIPTION:
Enables torque brake mode, which dynamically brakes the
motor
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MTB:3
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The MTB (Mode Torque Brake) command places the SmartMotor™ into dynamic brake mode.
In this mode, the motor coils are shorted together. Any motion of the shaft would normally
produce Back EMF (BEMF) that is proportional to speed. However, having the windings shorted
out causes this BEMF to be dissipated immediately. The result is a magnetic-damping
counterforce to any attempted motion of the shaft from an external source.
If MTB is issued while moving at a given speed, the shaft will come to a stop at a rate
proportional to the BEMF that was being generated when the MTB command was issued. The
shaft doesn’t stop at any predetermined or commanded position, and its trajectory is
uncontrolled.
While in MTB, the motor will not produce any external DC-bus voltage rise if the shaft is
rotated because all windings are shorted together. As a result, the DC bus is protected against
bus overvoltage to within the drive stage current limits.
By default, MTB is automatically issued when the motor faults on over-temperature, position
errors or travel limits. For information on changing this action, refer to FSA(cause,action) on
page 438.
Also, MTB automatically engages when the motor is off. The only way to prevent this
automatic action is to issue a BRKRLS command followed by an OFF command. To re-enable
the automatic MTB function, issue an MTB command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 575 of 890
Part 2: Commands: MTB
EXAMPLE: (Fault-handler subroutine, shows use of MTB and US)
C0
MTB:0
US(0):0
US(ADDR):0
'Fault handler
'Motor will turn off
'braking, tell other
'Set User Status Bit
'Word 12 bit zero)
'Set User Status Bit
'(Status Word 12 Bit
with Dynamic
motors to stop.
0 to 1 (Status
"address" to 1
"address")
RETURNI
RELATED COMMANDS:
Part 2: Commands
BRKRLS Brake Release (see page 323)
FSA(cause,action) Fault Stop Action (see page 438)
G Start Motion (GO) (see page 444)
OFF Off (Drive Stage Power) (see page 589)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 576 of 890
Part 2: Commands: MV
MV
APPLICATION:
Motion control
DESCRIPTION:
Request velocity mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MV:3 or MV(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MV (Mode Velocity) command enables velocity mode. In this mode, the value of VT, the
target velocity, can be negative or positive. In contrast, position mode (MP) only uses the
magnitude of the velocity parameter. Acceleration and velocity can be changed at any time,
even during motion. The G command will initiate "on the fly" changes to any of the
parameters.
If the actual velocity is greater that the value defined by VT, then on reception of the next G
command, the motor shaft will decelerate at the rate set by ADT until the excess velocity is
removed. Conversely, if the actual velocity is less than VT when the G command is entered,
then the motor shaft motion will accelerate at the rate set by ADT until the requested velocity
is reached. Similarly, if the actual velocity is in the opposite direction of VT when the G
command is entered, then the motor shaft motion will first decelerate and then accelerate at
the rate set by ADT until the requested velocity is reached.
When the commanded velocity VT is reached, motion continues at that rate (i.e., maintains
uniform velocity until the commanded velocity is changed or the mode is otherwise
terminated). The encoder count may "wrap around" during this mode, but no position error
will be declared during the wrap.
The PID (servo) will be active. The MV mode calculates a ramp up to the specified velocity
based on the specified acceleration (ADT). The profile will stay at the velocity until
commanded to stop with an X command, which will decelerate the motor to a stop. The
velocity mode calculates position as a function of time. This is different than simpler velocity
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 577 of 890
Part 2: Commands
Mode Velocity
Part 2: Commands: MV
controls that do not track position but only track velocity error. The PID uses this ideal
calculated position (PC) and compares it to the actual position (PA). This allows any
accumulated speed errors to be corrected on average with a high degree of accuracy.
Therefore, any loading that slowed the motor will be "caught up". The PID will apply torque to
the motor to follow this profile with minimal actual error (EA). Position error is due to basic
physics of friction, inertia, gravity or any other force on the motor.
A velocity-error based system can be emulated by commanding the motor to ignore position
error limits.
WARNING: This method is not appropriate where a position-error limit fault
is required for safety protection.
Part 2: Commands
Refer to EL=formula on page 408 and the KI=formula on page 489. By disabling these two
features and possibly reducing KP, it is possible to have a "softer" velocity controller that will
not attempt to strictly adhere to a position error of 0.
Assuming there are no faults, an MV command followed by a G command immediately turns
on the servo. The servo-off flag (Bo) is set to 0; the trajectory flag (Bt) is set to 1. The motion
is restricted by the current value of EL. The motion is also subject to the currently defined
activity of the limit switches. RMODE responds with a V.
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
R VT=formula Velocity Target (see page 771)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 578 of 890
Part 2: Commands: NMT
NMT
Send NMT State
Communications control
DESCRIPTION:
Send NMT state (broadcast or to a specific node)
EXECUTION:
Immediate
CONDITIONAL TO:
Enabled through CANCTL(17,value), see CANCTL(function,value) on page 347.
LIMITATIONS:
Does not apply to Class 6 systems.
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x.4.30 or later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The NMT command transmits an NMT message to the network; it can command a specific
slave or all slaves to enter the commanded state. To do this, use:
NMT(slave addr, state)
where:
slave addr is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 2 (a
motor with CAN address 2). Range is 1 to 127; use 0 for a broadcast. If slave
addr is to itself, then internal loopback is used instead.
state
is the desired NMT state from one of the following values:
1
2
128
129
130
Operational state (PDO and SDO communications are functional)
Stopped state (no SDO or PDO communications)
Pre-operational state (SDO communications are allowed; no PDO
communications) DEFAULT state at power up
Reset application (resets the whole motor)
Reset communications (resets the CANopen stack mappings, etc.,
but motor program, variables, etc retains current state)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 579 of 890
Part 2: Commands: NMT
EXAMPLE:
NMT(0,1)
'Tell everyone to go operational.
NMT(2,128) 'Tell motor 2 to go pre-operational.
x=CAN(4)
IF x!=0
' NMT command failed.
ENDIF
RELATED COMMANDS:
R
CAN, CAN(arg) CAN Bus Status (see page 345)
Part 2: Commands
CANCTL(function,value) CAN Control (see page 347)
SDORD(...) SDO Read (see page 673)
SDOWR(...) SDO Write (see page 675)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 580 of 890
Part 2: Commands: O=formula, O(trj#)=formula
O=formula, O
(trj#)=formula
Origin
Motion control
DESCRIPTION:
Set the SmartMotor origin
EXECUTION:
Immediate
CONDITIONAL TO:
Present trajectory position
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
O:3=1234 or O(0):3=1234
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The O (Origin) command allows the current commanded (trajectory) position to be set to any
value. The actual position is also updated by the same difference. However, the position error
remains the same before and after executing this command. You may declare the current
trajectory position as zero by entering O=0 (the capital letter "O" = the number zero).
Similarly, you may declare the current position to be 1234 by entering O=1234.
NOTE: Using the O=formula does not modify previously entered PT or PRT
registers.
Instead, the O(trj#)= form of the command changes the virtual position of trajectory 1 and 2.
There are no actual positions to change in those cases. Positions PA and PC are not affected by
O(1)= or O(2)=.
The O command shifts the position counters as follows:
Command
Trajectory Position
Actual Position
O=formula
PC set to 'formula value'
PA set to PC - EA
O(0)=formula
PC set to 'formula value'
PA set to PC - EA
O(1)=formula
PC(1) set to 'formula value'
N/A
O(2)=formula
PC(2) set to 'formula value'
N/A
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 581 of 890
Part 2: Commands: O=formula, O(trj#)=formula
NOTE: Consider using the OSH command when the amount of position shift is
already known. In other words, if you know that you want to remove 1000 counts
from the present position, then use the command OSH=-1000 instead. For details,
see OSH=formula, OSH(trj#)=formula on page 595.
Part 2: Commands
EXAMPLE: (Reassigning origin does not modify buffered PT and PRT values)
ADT=20
'Set accel/decel target
VT=100000 'Set velocity target
PT=5000
'Set position target
MP
'Set Position mode
O=-1000
'Current position set to negative 10000
GOSUB5
O=12345
'Current position set to 12345
GOSUB5
PRT=5000
O=3000
'Current position set to 3000
GOSUB5
END
C5
PRINT(#13,"Move origin is ",PA)
G
WHILE Bt LOOP
WAIT=4000
PRINT(#13,"Position is ")
RPA
RETURN
Program output is:
Move origin is
Position is
Move origin is
Position is
Move origin is
Position is
-1000
5000
12345
5000
3000
8000
RELATED COMMANDS:
R
EA Error Actual (see page 387)
OSH=formula, OSH(trj#)=formula Origin Shift (see page 595)
R PA Position, Actual (see page 599)
R
PC, PC(axis) Position, Commanded (see page 603)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 582 of 890
Part 2: Commands: OC(...)
OC(...)
APPLICATION:
I/O control
DESCRIPTION:
Read current output driving state of 24 Volt I/O
EXECUTION:
Immediate
CONDITIONAL TO:
Class 5 M-style, or D-style with AD1 option
LIMITATIONS:
N/A
READ/REPORT:
ROC(...)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Output: Depends on command format and motor model (see
details)
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The OC command reads the specified output or a block of outputs. This applies to the 24 volt
sourcing I/O. When the output is set high (24 volts), the value is represented by this command
as a 1. It can be used in the following ways:
l
=OC(IO)
Individual output status of I/O number; result is 1 if output is ON and 0 if it is OFF.
o
o
l
D-style: IO is 16–25
M-style: IO is 0–10
=OC(W,word)
Get output status for a whole word of I/O bits; result is a bitfield (e.g., bits 0–10 are
represented with a range of numbers from 0 to 2047).
o
o
D-style: word is 1; result is 0–1023
M-style: word is 0; result is 0–2047
NOTE: This does not represent the state of the inputs. Only the commanded
outputs are represented.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 583 of 890
Part 2: Commands
Output Condition
Part 2: Commands: OC(...)
Part 2: Commands
EXAMPLE: (Subroutine reports the status of the 24V expansion IO)
'This code reports the status of the 24V expansion IO
a=0
'Set loop start point for first IO
WHILE a<10
'While less than number of IO
b=a+16
'Set b to IO number for 24V expansion
c=OC(b)
'Set c to IO condition status
d=OF(b)
'Set d to IO fault status
PRINT("Output ",b," on pin ",a)
IF d==1
'If d represents overcurrent
PRINT(" is FAULTED overcurrent.",#13)
ELSEIF d==2 'If d represents a possible short
PRINT(" is FAULTED short.",#13)
ELSEIF c
'If c is true
PRINT(" is HIGH.",#13)
ELSE
'If c is not true
PRINT(" is LOW.",#13)
ENDIF
a=a+1
'Increment loop counter
LOOP
Program output is:
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
16
17
18
19
20
21
22
23
24
25
on
on
on
on
on
on
on
on
on
on
pin
pin
pin
pin
pin
pin
pin
pin
pin
pin
0
1
2
3
4
5
6
7
8
9
is
is
is
is
is
is
is
is
is
is
HIGH.
HIGH.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
RELATED COMMANDS:
R
OF(...) Output Fault (see page 587)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 584 of 890
Part 2: Commands: OCHN(...)
OCHN(...)
APPLICATION:
Communications control
DESCRIPTION:
Open a communications channel
EXECUTION:
Immediate
CONDITIONAL TO:
External communication I/O connections
LIMITATIONS:
Hardware capabilities
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See detailed description
TYPICAL VALUES:
See detailed description
DEFAULT VALUE:
D-style: OCHN (RS2, 0, N, 9600, 1, 8, C)
M-style: OCHN (RS4, 0, N, 9600, 1, 8, C)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
CAUTION: The OCHN command will cause the SmartMotor to ignore incoming
commands and can lock you out. Therefore, during development, prevent this
by using the RUN? command at the start of each program.
NOTE: If you get locked out and are unable to communicate with the SmartMotor,
you may be able to recover communications using the SMI software's
Communication Lockup Wizard. For more details, see Communication Lockup
Wizard on page 34.
OCHN(Type,Channel,Parity,Baud,StopBits,DataBits,Mode[,Timeout]) opens a serial channel
with the following specifications:
NOTE: Not all combinations of values are permitted; see the following tables
showing the allowed combinations.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 585 of 890
Part 2: Commands
Open Channel
Part 2: Commands: OCHN(...)
Allowed Values for D-style Motors
Stop
bits
Data
bits
Mode
100, 300, 600, 1200,
2400, 4800, 9600, 19200,
38400, 57600, 115200
1, 2
8
C, D
Relevant in C
(command)
mode
E, O, N
100, 300, 600, 1200,
2400, 4800, 9600, 19200,
38400, 57600, 115200
1, 2
8
C, D
Relevant in C
(command)
mode
1
E, O, N
100, 300, 600, 1200,
2400, 4800, 9600, 19200,
38400, 57600, 115200
1, 2
8
D
N/A
DMX
1
N
2
8
D
N/A
IIC
1
N/A
N/A
N/A
D
N/A
Type
Chnl
Parity
RS2
0
E, O, N
RS4
0, 1
MB4
Baud
250000
60000 to
1000000
Timeout
(optional)
Part 2: Commands
Parity: O=odd, E=even, N=none; Mode: C=command, D=data
NOTE: For the D-style motor, opening channel 0 as an RS-485 port dedicates I/O
pin 6 to the RS-485 control function. This is required for use with Moog Animatics
RS-232 to RS-485 converters like the RS485 and RS485-ISO.
Allowed Values for M-style Motors
Baud
Stop Data
Mode
bits bits
Timeout
(optional)
Type
Chnl
Parity
RS4
0
E, O, N
100, 300, 600, 1200, 2400,
4800, 9600, 19200, 38400,
57600, 115200
1, 2
8
C, D
MB4
0
E, O, N
100, 300, 600, 1200, 2400,
4800, 9600, 19200, 38400,
57600, 115200
1, 2
8
D
N/A
DMX
0
N
2
8
D
N/A
250000
Relevant in C
(command)
mode
Parity: O=odd, E=even, N=none; Mode: C=command, D=data
EXAMPLE: (Shows use of ECHO_OFF1 and OCHN)
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
OCHN(RS4,1,N,9600,1,8,C) 'Open aux communications channel
ECHO_OFF1
'Turn echo off for aux communications channel
END
RELATED COMMANDS:
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
R CHN(channel) Communications Error Flag (see page 354)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 586 of 890
Part 2: Commands: OF(...)
OF(...)
APPLICATION:
I/O control
DESCRIPTION:
Get output faults (24 volt I/O)
EXECUTION:
Immediate
CONDITIONAL TO:
M-style, or D-style with AD1 option
LIMITATIONS:
N/A
READ/REPORT:
ROF(...)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The OF command reads the specified output or a block of outputs. It can be used in the
following ways:
l
=OF(IO)
Returns the current fault state for that I/O number, where the returned value: 0 = no
fault , 1 = overcurrent, 2 = possible shorted
o
o
l
=OF(S,word)
Returns the bit mask of current faulted I/O points, where word is the 16-bit word
number, 0 is Controller I/O Status Word 16.
If any of these bits are set due to a fault, then the I/O fault status flag (Motor Status
Word 3, bit 7) is also set.
o
o
l
D-style: IO is 16–25
M-style: IO is 0–10
D-style: word is 1; result is 0–1023
M-style: word is 0; result is 0–2047
=OF(L,word)
Returns the bit mask of Latched Faulted I/O points, where word is the 16-bit word
number. Reading a 16-bit word will attempt to clear the I/O word latch.
o
o
D-style: word is 1; result is 0–1023
M-style: word is 0; result is 0–2047
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 587 of 890
Part 2: Commands
Output Fault
Part 2: Commands: OF(...)
l
=OF(D,word)
Returns an error code from the controller associated with this I/O word.
o
o
D-style: word is 1
M-style: word is 0
Part 2: Commands
EXAMPLE: (Subroutine reports the status of the 24V expansion IO)
'This code reports the status of the 24V expansion IO
a=0
'Set loop start point for first IO
WHILE a<10
'While less than number of IO
b=a+16
'Set b to IO number for 24V expansion
c=OC(b)
'Set c to IO condition status
d=OF(b)
'Set d to IO fault status
PRINT("Output ",b," on pin ",a)
IF d==1
'If d represents overcurrent
PRINT(" is FAULTED overcurrent.",#13)
ELSEIF d==2
'If d represents a possible short
PRINT(" is FAULTED short.",#13)
ELSEIF c
'If c is true
PRINT(" is HIGH.",#13)
ELSE
'If c is not true
PRINT(" is LOW.",#13)
ENDIF
a=a+1
'Increment loop counter
LOOP
Program output is:
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
16
17
18
19
20
21
22
23
24
25
on
on
on
on
on
on
on
on
on
on
pin
pin
pin
pin
pin
pin
pin
pin
pin
pin
0
1
2
3
4
5
6
7
8
9
is
is
is
is
is
is
is
is
is
is
HIGH.
HIGH.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
LOW.
RELATED COMMANDS:
R
OC(...) Output Condition (see page 583)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 588 of 890
Part 2: Commands: OFF
OFF
APPLICATION:
Motion control
DESCRIPTION:
Turn servo off
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
OFF
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
OFF:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The OFF command turns off the power to the motor coils and terminates the activity of the
current motion mode. The motor off system flag, Bo, will be set to 1. The shaft will be free to
coast to a stop or rotated by other external means. The trajectory in progress system flag, Bt,
will be set to zero.
NOTE: When commanded OFF, the motor will still track any shaft movement and
continue to update the current encoder position.
By default, the motor will activate MTB. To disable this default behavior, issue BRKRLS and
OFF commands. For more details on MTB, see MTB on page 575.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 589 of 890
Part 2: Commands
Off (Drive Stage Power)
Part 2: Commands: OFF
EXAMPLE:
'Set an interrupt on input 6 to freewheel motor
ITR(0,16,6,0,100)
'Setup interrupt 0 to run C100
EITR(0)
'Enable interrupt 0
ITRE
'Global enable interrupts
PAUSE
'Pause program to keep interrupts running
END
'End of program
C100
'Interrupt subroutine
BRKRLS
'Turn off MTB or brake
OFF
'Freewheel the motor
'Remain here while input 6 is low
WHILE IN(6)==0 LOOP
RETURNI
'Return from interrupt
RELATED COMMANDS:
Part 2: Commands
R
B(word,bit) Status Byte (see page 286)
BRKRLS Brake Release (see page 323)
G Start Motion (GO) (see page 444)
MTB Mode Torque Brake (see page 575)
R W(word) Report Specified Status Word (see page 776)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 590 of 890
Part 2: Commands: OR(value)
OR(value)
APPLICATION:
I/O control
DESCRIPTION:
Reset (turn off) the specified output
EXECUTION:
Immediate
CONDITIONAL TO:
I/O available for general output (not assigned to special function)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
OR(0):3 or OR(W,0):3 or OR(W,0,7):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The OR (Output Reset) command resets (turns off) the output specified by value as follows:
l
l
l
OR(IO)
Reset a single output to logic 0 (off).
OR(W,word)
Simultaneously resets all outputs in the specified word.
OR(W,word[,mask])
Reset outputs in the specified word if those bits are also a "1" in the bitmask.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 591 of 890
Part 2: Commands
Output, Reset
Part 2: Commands: OR(value)
Motor
Type
D-style
D-style with AD1
option
M-style
word
Allowed
Values
IO
Allowed
Range
Logic 0
Voltage
Logic 1
Voltage
Bitmask
Range
0
0-6
0
5
0 to 255
7 (virtual only, not
connected)
N/A
N/A
0
0-6
0
5
0
7 (virtual only, not
connected)
N/A
N/A
1
16-25
0
24
0 to 1023
0
0-10
0
24
0 to 2047
Part 2: Commands
EXAMPLE:
WHILE 1
OS(0)
OR(0)
LOOP
'1 is always true
'Set output to 1
'Set output to 0
'Will loop forever
RELATED COMMANDS:
EIGN(...) Enable as Input for General-Use (see page 396)
R IN(...) Specified Input (see page 466)
R
OC(...) Output Condition (see page 583)
R
OF(...) Output Fault (see page 587)
OS(...) Output, Set (see page 593)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 592 of 890
0 to 255
Part 2: Commands: OS(...)
OS(...)
APPLICATION:
I/O control
DESCRIPTION:
Set (turn on) the specified output
EXECUTION:
Immediate
CONDITIONAL TO:
I/O available for general output (not assigned to a special function)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
OS(0):3 or OS(W,0):3 or OS(W,0,7):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The OS (Output Set) command sets (turns on) the output specified by value as follows:
l
l
l
OS(IO)
Sets a single output to logic 1 (on).
OS(W,word)
Simultaneously sets all outputs in the specified word.
OS(W,word[,mask])
Sets outputs in the specified word if those bits are also a "1" in the bitmask.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 593 of 890
Part 2: Commands
Output, Set
Part 2: Commands: OS(...)
Motor
Type
D-style
D-style with AD1
option
M-style
word
Allowed
Values
IO
Allowed
Range
Logic 0
Voltage
Logic 1
Voltage
Bitmask
Range
0
0-6
0
5
0 to 255
7 (virtual only, not
connected)
N/A
N/A
0
0-6
0
5
0
7 (virtual only, not
connected)
N/A
N/A
1
16-25
0
24
0 to 1023
0
0-10
0
24
0 to 2047
0 to 255
Part 2: Commands
EXAMPLE:
WHILE 1
OS(0)
OR(0)
LOOP
'1 is always true
'Set output to 1
'Set output to 0
'Will loop forever
EXAMPLE: (turn on multiple ports)
WHILE a<4
OS(a+4)
a=a+1
LOOP
'turn ON I/O ports 4 thru 7.
EXAMPLE: (set all I/O to 5V)
i=0
WHILE i<=6
OS(i)
i=i+1
LOOP
'Program loops until i = 6
'Each output is enabled (set to 5V) as program loops
'Increment i by 1 to enable the next input on next loop
'Loop back to WHILE
RELATED COMMANDS:
EIGN(...) Enable as Input for General-Use (see page 396)
R IN(...) Specified Input (see page 466)
R
OC(...) Output Condition (see page 583)
R
OF(...) Output Fault (see page 587)
OR(value) Output, Reset (see page 591)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 594 of 890
Part 2: Commands: OSH=formula, OSH(trj#)=formula
OSH=formula, OSH
(trj#)=formula
Origin Shift
Motion control
DESCRIPTION:
Shifts the origin of the position counter during motion
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
OSH:3=1234 or OSH(0):3=1234
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The OSH (origin shift) command allows the current commanded (trajectory) position to be
shifted. The shift is relative, which can be useful in applications where the origin needs to be
shifted during motion without losing any position counts. Additionally, the actual position is
updated by the same difference. However, the position error remains the same before and
after executing this command.
Instead, the OSH(trj#)= form of the command changes the virtual position of trajectory 1 and
2. There are no actual positions to change in those cases. Positions PA and PC are not affected
by OSH(1)=, or OSH(2)=.
The OSH command shifts the position counters as follows:
Command
Trajectory Position
Actual Position
OSH=formula
PC=PC+'formula value'
PA=PA+'formula value'
OSH(0)=formula
PC=PC+'formula value'
PA=PA+'formula value'
OSH(1)=formula
PC(1)=PC(1)+'formula value'
N/A
OSH(2)=formula
PC(2)=PC(2)+'formula value'
N/A
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 595 of 890
Part 2: Commands: OSH=formula, OSH(trj#)=formula
EXAMPLE:
'Patterning a move can be done using the same routine
'by simply shifting the origin between moves.
PT=0
G TWAIT
GOSUB(30)
OSH=40000
PT=0
G TWAIT
GOSUB(30)
OFF
END
'Move to the origin.
'Run a subroutine to perform a set of absolute
'position moves.
'Shift the origin.
'Move to the origin.
'Run the same subroutine with shifted origin.
'Turn off motor.
'End of program.
C30
Part 2: Commands
'Absolute position motion profile.
RETURN
RELATED COMMANDS:
R
EA Error Actual (see page 387)
O=formula, O(trj#)=formula Origin (see page 581)
R PA Position, Actual (see page 599)
R
PC, PC(axis) Position, Commanded (see page 603)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 596 of 890
Part 2: Commands: OUT(...)=formula
OUT(...)=formula
APPLICATION:
I/O control
DESCRIPTION:
Set or reset outputs according to assigned value
EXECUTION:
Immediate
CONDITIONAL TO:
I/O available for general output (not assigned to a special function)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
OUT(0):3=1 or OUT(W,0):3=32 or OUT(W,0,7)=32
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The OUT command activates (turns on) or deactivates (turns off) the output specified by IO. If
the formula least-significant bit = 1, then it's true (on); otherwise, it's false (off).
l
l
l
OUT(IO)=formula
If bit 0 in the formula to the right of "=" is 1, then set I/O ON; otherwise, when it is even
or zero, turn it OFF.
OUT(W,word)=formula
Set the group of bits in the specified I/O word to the bitwise value from the formula.
OUT(W,word[,mask])=formula
Set the group of bits in the specified I/O word to the bitwise value from the formula.
However, leave bits as-is if they are bitwise set to 0 in the bitmask value.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 597 of 890
Part 2: Commands
Output, Activate/Deactivate
Part 2: Commands: OUT(...)=formula
Motor
Type
word
Allowed
Values
IO
Allowed
Range
Logic 0
Voltage
Logic 1
Voltage
Formula
Value
Range
Bitmask
Range
0
0-6
0
5
0 to 255
0 to 255
7 (virtual
only, not connected)
N/A
N/A
0
0-6
0
5
0 to 255
0 to 255
0
7 (virtual
only, not connected)
N/A
N/A
1
16-25
0
24
0 to 1023
0 to 1023
0
0-10
0
24
0 to 2047
0 to 2047
D-style
D-style
with AD1
option
M-style
Part 2: Commands
EXAMPLE: (For pulse width)
. . .
WHILE 1>0
O=0
PT=40000
G
WHILE PA<20000
LOOP
OUT(1)=0
TMR(0,400)
TWAIT WAIT=1000
LOOP
. . .
'Reset origin for move
'Set final position
'Start motion
'Loop while motion continues
'Wait for desired position to pass
'Set output lo
'Use timer 0 for pulse width
'wait 1 second
EXAMPLE: (Set all I/O to outputs, and set their level to the value of x)
x=1
i=0
WHILE i<=6
OUT(i)=x
i=i+1
LOOP
'x can be 1 (ON) or 0 (OFF)
'Loops until i=6
'Set to output and turn on or off based on value of x
'Increment i by 1
'Loop back to WHILE
RELATED COMMANDS:
EIGN(...) Enable as Input for General-Use (see page 396)
R IN(...) Specified Input (see page 466)
R
OC(...) Output Condition (see page 583)
R
OF(...) Output Fault (see page 587)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 598 of 890
Part 2: Commands: PA
PA
APPLICATION:
Motion control
DESCRIPTION:
Actual absolute position
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RPA
WRITE:
Read only
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PA (Position Actual) command is used to access the value of the main axis encoder. This
number may be called the current position or actual position.
The main axis is assigned with the ENC0 or ENC1 command. If the motor shaft moves, the
value of PA will be changed by the net number of encoder counts occurring during the shaft
motion. The primary encoder is tracked at all times — it is independent of the operation mode
of the SmartMotor™ or any error condition.
For details on adjusting the value of PA, see the commands O=formula, O(trj#)=formula on
page 581 and OSH=formula, OSH(trj#)=formula on page 595.
EXAMPLE:
ADT=100
VT=40000
MV
G
WHILE PA<=5000
LOOP
PRINT("Position
'Set buffered accel/decel
'Set buffered velocity
'Set to Mode Velocity
'GO, start motion trajectory
'Wait until real-time position
'Exceeds 5000 counts
is above 5000",#13)
NOTE: PA follows the primary encoder that is used to close the loop. For example,
if you issue ENC1, then it will follow an external encoder. For more details, see
ENC0 on page 414 and ENC1 on page 415.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 599 of 890
Part 2: Commands
Position, Actual
Part 2: Commands: PA
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 367)
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
R PC, PC(axis) Position, Commanded (see page 603)
PMA Position, Modulo Actual (see page 610)
R
PT=formula Position, (Absolute) Target (see page 642)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 600 of 890
Part 2: Commands: PAUSE
PAUSE
APPLICATION:
Program execution and flow control
DESCRIPTION:
Pause program execution; used for interrupts
EXECUTION:
Immediate
CONDITIONAL TO:
User program running
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
PAUSE:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
When executed, the PAUSE command suspends program execution until the RESUME
command is received. It will not affect the current state of the Interrupt Handler (i.e., if the
Interrupt Handler is enabled, it will still be enabled after a PAUSE), and its execution has no
effect on the interrupt/subroutine stack.
PAUSE is primarily used to put the main part of a program to sleep when a program is 100%
driven by interrupt events. Additionally, PAUSE is very useful for debugging. For instance, you
may wish to pause a program at key locations when trying to isolate a problem:
PRINT("Debug pause, type RESUME",#13)
PAUSE
PRINT("Resumed",#13)
There is a separate stack for PAUSE, which will restore the state of PAUSE (that existed
before a GOSUB from a terminal or an interrupt) after a RETURN or RETURNI. Any RESUME
that occurred during the time the GOSUB or interrupt routine was executing will not impact
the PAUSE in the previous context.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 601 of 890
Part 2: Commands
Pause Program Execution
Part 2: Commands: PAUSE
EXAMPLE:
Part 2: Commands
EIGN(W,0,12)
ZS
ITR(0,0,0,0,0)
'Another way to disable Travel Limits
'Clear faults
'Set Int 0 for: stat word 0, bit 0,
'shift to 0, to call C0
EITR(0)
'Enable Interrupt 0
ITRE
'Global Interrupt Enable
PAUSE
'Pause to prevent "END" from disabling
'Interrupt, no change to stack
'RESUME must be issued externally over communications;
'it is not allowed to be compiled within a program.
END
C0
'Fault handler
MTB:0
'Motor will turn off with Dynamic
'breaking, tell other motors to stop.
US(0):0
'Set User Status Bit 0 to 1 (Status
'Word 12 bit zero)
US(ADDR):0
'Set User Status Bit "address" to 1
'(Status Word 12 Bit "address")
RETURNI
RELATED COMMANDS:
RESUME Resume Program Execution (see page 655)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 602 of 890
Part 2: Commands: PC, PC(axis)
PC, PC(axis)
APPLICATION:
Motion control
DESCRIPTION:
Commanded absolute position
EXECUTION:
Next PID sample
CONDITIONAL TO:
Mode of motion control, or drive OFF status
LIMITATIONS:
N/A
READ/REPORT:
RPC, RPC(axis)
WRITE:
Read only
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PC (Position, Commanded) command gets (reads) the commanded absolute position as
follows:
l
l
l
l
=PC
Commanded position of the motor shaft as a result of motion trajectory generation. This
may include a sum of concurrent moves such as a follow mode move combined with a
position move.
=PC(0)
Equivalent to: a=PC
=PC(1)
Reports the commanded position in the frame of reference for trajectory generator one.
=PC(2)
Reports the commanded position in the frame of reference for trajectory generator two.
The commanded position is the calculated trajectory position. It is the reference position
where the motor would ideally be positioned. However, the motor's actual position (PA) may
vary — it depends on how closely the PID tuning brings the position error (EA) to 0.
NOTE: If the drive is off, then PC and PC(0) simply follow the actual position PA.
PC(1) and PC(2) are more virtually calculated values. They do not have a direct effect on the
commanded position. However, they can be used to individually keep track of the relative
changes in those two calculated trajectories.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 603 of 890
Part 2: Commands
Position, Commanded
Part 2: Commands: PC, PC(axis)
Part 2: Commands
EXAMPLE: (Shows the use of PC, PRA and PRC)
'NOTE: This example requires an external encoder.
EIGN(W,0,12) ZS
'Disable overtravel limits and clear errors
O(0)=0 O(1)=0 O(2)=0 'Zero PC(0),PC(1) and PC(2)
MF0 MFDIV=1 MFMUL=1 'Reset CTR(1) Divisor=1 Multiplier=1
MFR
'Calculate Ratio... 1 count in equals 1 count out
MP(1)
'Mode Position in trajectory 1 while keeping Mode Follow active
PRT=0 G(2) 'Set PRT=0 and start following with phase adjust active
PRINT("Adjust external encoder to ~1000 counts.",#13)
PRINT("Then type GOSUB10",#13)
END
C10
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA will be zero because PRT=0
PRINT("PRC=",PRC,#13) 'PRC will be zero because PRT=0
'Set relative distance, velocity target, and Accel/Decel values
PRT=2000 VT=5000 ADT=100 G(1) TWAIT(1) 'Start Position Relative phase adjust
PRINT("After relative move, the values are...",#13)
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA=PRC-PositionError; note default PID tuning values
PRINT("PRC=",PRC,#13) 'PRC=2000 because PRT=2000
PRINT("Position Error=",EA,#13)
RETURN
Program output is:
RUN
Adjust external encoder to ~1000 counts.
Then type GOSUB10
GOSUB10
The external encoder CTR(1)=1000
PC(0)=1000
PC(1)=0
PC(2)=1000
PRA=0
PRC=0
After relative move, the values are...
The external encoder CTR(1)=1000
PC(0)=3000
PC(1)=2000
PC(2)=1000
PRA=1991
PRC=2000
Position Error=9
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 604 of 890
Part 2: Commands: PC, PC(axis)
RELATED COMMANDS:
PA Position, Actual (see page 599)
R
PT=formula Position, (Absolute) Target (see page 642)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 605 of 890
Part 2: Commands: PI
PI
Part 2: Commands
Pi Constant
APPLICATION:
Math function
DESCRIPTION:
Gets the mathematical value pi
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Accurate to six digits (single-precision float)
READ/REPORT:
RPI
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
3.141592
TYPICAL VALUES:
3.141592
DEFAULT VALUE:
3.141592
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PI (pi constant) command gets the mathematical value of pi (3.141592).
The trigonometric functions SIN, COS and TAN require degrees as input. The functions ASIN,
ACOS and ATAN return values in units of degrees. Therefore, this constant is useful, especially
in cases where you need to convert radians to degrees.
EXAMPLE:
af[7]=ATAN(af[6])*180/PI 'Set af[7] to arctan result converted to radians
RELATED COMMANDS:
R
af[index]=formula Array Float [index] (see page 256)
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
R
COS(value) Cosine (see page 359)
R
SIN(value) Sine (see page 683)
R
TAN(value) Tangent (see page 719)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 606 of 890
Part 2: Commands: PID#
PID#
APPLICATION:
Motion control
DESCRIPTION:
Set PID sample rate to basic rate
EXECUTION:
Next PID update
CONDITIONAL TO:
N/A
LIMITATIONS:
Motor will turn off (freewheel) when this command is issued
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
PID Modulo samples
RANGE OF VALUES:
Valid values: 1, 2 (default), 4 and 8
TYPICAL VALUES:
N/A
DEFAULT VALUE:
PID2
FIRMWARE VERSION:
5.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PID parameter sets the PID sample rate. Valid values are PID1, PID2, PID4 and PID8.
PID2 (8000 samples per second) is the default value. For details on determining the actual
sample rate of your SmartMotor™, see the RSP on page 661.
During each PID sample period, the motor firmware scans and updates the encoder position,
trajectory generator and serial communications ports. It uses position error to perform the
PID calculation to control the servo drive stage. The user program code, if any, is executed
when the microprocessor is not involved in these activities.
Both velocity and acceleration, SRC(2) and SRC(-2), are impacted by the PID setting.
However, there are no effects from the PID setting on CLK and WAIT.
The values of 1, 2, 4 and 8 mean the PID filter will react and update on position error to
correct drive power at different rates (refer to the following table). This does not change how
code is executed, but it does change how much time is given to that execution. As a result, a
program run at PID8 will typically run faster than one run at PID1. However, because the
frequency of PID updates to the drive stage are changed and samples of position error are
done at different intervals, PID8 will result in a more coarse or abrasive motion than PID1.
Therefore, special care should be taken when using the PID command, as improper usage
could result in very sporadic motion.
The current PID rate can be reported through the SAMP command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 607 of 890
Part 2: Commands
Proportional-Integral-Differential Filter Rate
Part 2: Commands: PID#
Command
PID / Trajectory Period SAMP
Update Rate
(µsec) Report
RSP
Report
PID1
16 kHz
62.5
16000 06250/5...
PID2
8 kHz (default)
125
8000 12500/5...
PID4
4 kHz
250
4000 25000/5...
PID8
2 kHz
500
2000 50000/5...
EXAMPLE: (comparison of the different PID values)
Part 2: Commands
'For a 4000 count encoder SmartMotor:
'Using three fixed values under each of the PID settings
v=655360
'use to Set commanded Velocity (4000 count encoder)
a=256
'use to Set commanded Acceleration
w=1000
'use to set Wait time
PID1
WAIT=w
VT=v
ADT=a
'Default PID updates every servo sample
'Wait time
= 1 second
'Velocity
= 2400 RPM
'Accel/Decel
= 250 RPS^2
PID2
WAIT=w
VT=v
ADT=a
'PID updates every 2 servo samples
'Wait time
= 1 second
'Velocity
= 1200 RPM
'Accel/Decel
= 62.5 RPS^2
PID4
WAIT=w
VT=v
ADT=a
'PID updates every 4 servo samples
'Wait time
= 1 second
'Velocity
= 600 RPM
'Accel/Decel
= 15.625 RPS^2
PID8
WAIT=w
VT=v
ADT=a
'PID updates every 8 servo samples
'Wait time
= 1 second
'Velocity
= 300 RPM
'Accel/Decel
= 3.9063 RPS^2
PID2
WAIT=w
'Return to Default PID
'Wait time
= 1 second
END
In the previous example, although the values used for Velocity, Acceleration/Deceleration,
and Wait times remained the same, their effect was changed by the PID setting. As a result,
much care should be taken if changes are made in the middle of a program.
While the motor is motionless, the PID parameter can be changed from PID1 to PID8, to
increase I/O scanning efficiency or other code execution, and then returned to PID1 just
before the next move. This is a technique used to increase response time for input triggers or
mathematical calculations when there is no trajectory in progress.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 608 of 890
Part 2: Commands: PID#
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R AT=formula Acceleration Target (see page 275)
R
DT=formula Deceleration Target (see page 383)
RSP Report Sampling Rate and Firmware Revision (see page 661)
R SAMP Sampling Rate (see page 677)
Part 2: Commands
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
R VT=formula Velocity Target (see page 771)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 609 of 890
Part 2: Commands: PMA
PMA
Part 2: Commands
Position, Modulo Actual
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) the actual position in modulo counts
EXECUTION:
Next PID sample
CONDITIONAL TO:
PML limit
LIMITATIONS:
N/A
READ/REPORT:
RPMA
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
0 to 2147483646
TYPICAL VALUES:
0 to 1000000
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PMA (Position Modulo Actual) command reads the actual motor position in modulo counts.
This counter is affected by the O= and OSH= commands.
NOTE: The value of PMA is always positive.
The PML command is used to configure the modulo-rollover point. When the encoder travels in
a positive direction, the modulo count will increase. When the count equals or exceeds the
value set by PML, then the counter rolls over to 0. If the encoder travels in the negative
direction, the count decreases until it is less than 0. At that point, it will be automatically
rolled to PML-1.
The PML command will reset the PMA counter to 0.
The RPMA (report PMA) command updates according to the active encoder selected by ENC0
or ENC1.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 610 of 890
Part 2: Commands: PMA
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
MP VT=20000 ADT=100 O=0 'Mode Position, velocity, accel/decel, zero enc.
PML=RES
'RES on NEMA 23 is 4000, NEMA 34 is 8000
GOSUB(10)
'Print positions
PT=6000 G TWAIT
'Absolute move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=3000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=1000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
END
C10
'Subroutine 10
PRINT("Actual absolute position: ",PA,#13)
PRINT("Actual modulo position: ",PMA,#13)
RETURN
'Return to command after GOSUB
RELATED COMMANDS:
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
R PML=formula Modulo Position Limit (see page 612)
R
PMT=formula Position, Modulo Target (see page 614)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 611 of 890
Part 2: Commands
EXAMPLE: (Shows the use of the PMA, PML and PMT commands)
Part 2: Commands: PML=formula
PML=formula
Part 2: Commands
Modulo Position Limit
APPLICATION:
Motion control
DESCRIPTION:
Get/set the modulo position limit
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
PML minimum and maximum values are speed dependent (see
details)
READ/REPORT:
RPML
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
0 - 2147483647
PML minimum and maximum values are speed dependent (see
details)
TYPICAL VALUES:
0 - 1000000
PML minimum and maximum values are speed dependent (see
details)
DEFAULT VALUE:
1000
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
PML:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PML command is used to get (read) or set the modulo limit. The modulo counter (PMA)
can have a range of values where the lowest value is 0 and the highest value is PML-1. For
more details, see PMA on page 610.
NOTE: PML resets PMA to 0.
The PML value must be greater than the motor speed in terms of encoder counts per PID
sample. However, the PML value must be smaller than 2147483647 encoder counts per
sample — this prevents overflow.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 612 of 890
Part 2: Commands: PML=formula
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
MP VT=20000 ADT=100 O=0 'Mode Position, velocity, accel/decel, zero enc.
PML=RES
'RES on NEMA 23 is 4000, NEMA 34 is 8000
GOSUB(10)
'Print positions
PT=6000 G TWAIT
'Absolute move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=3000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=1000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
END
C10
'Subroutine 10
PRINT("Actual absolute position: ",PA,#13)
PRINT("Actual modulo position: ",PMA,#13)
RETURN
'Return to command after GOSUB
RELATED COMMANDS:
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
R PMA Position, Modulo Actual (see page 610)
R
PMT=formula Position, Modulo Target (see page 614)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 613 of 890
Part 2: Commands
EXAMPLE: (Shows the use of the PMA, PML and PMT commands)
Part 2: Commands: PMT=formula
PMT=formula
Part 2: Commands
Position, Modulo Target
APPLICATION:
Motion control
DESCRIPTION:
Gets/sets the modulo target
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
PML for allowed range
LIMITATIONS:
N/A
READ/REPORT:
RPMT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
0 to 2147483646
TYPICAL VALUES:
0 to 1000000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
PMT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PMT command is used to get (read) or set the modulo target. When in position mode
(MP), the trajectory will compute the shortest distance to get from the current position to the
requested position with respect to the PML limit. Therefore, the motor may move in either a
clockwise or counterclockwise direction based on the one that produces the shortest motion in
modulo terms.
For example, assume PML=4000 and the current commanded position (PC) is 0. If PMT=3000,
then the motor will actually move counterclockwise by 1000 counts. At the end of this move,
PC will be -1000 and PMA will be 3000.
Because PMA is an actual encoder position and not given in terms of commanded trajectory,
the PMT target will take into account the current position error. This helps to prevent
accumulated error in the target position based on the position error at the time the move is
started. Note that the PT, PRT and PMT targets all act on the ideal currently commanded
position instead of the actual position, which may be subject to position error (EA).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 614 of 890
Part 2: Commands: PMT=formula
EIGN(W,0)
'Make all onboard I/O inputs
ZS
'Clear errors
MP VT=20000 ADT=100 O=0 'Mode Position, velocity, accel/decel, zero enc.
PML=RES
'RES on NEMA 23 is 4000, NEMA 34 is 8000
GOSUB(10)
'Print positions
PT=6000 G TWAIT
'Absolute move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=3000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
PMT=1000 G TWAIT
'Modulo move
WAIT=1000
'Wait 1 second
GOSUB(10)
'Print positions
END
C10
'Subroutine 10
PRINT("Actual absolute position: ",PA,#13)
PRINT("Actual modulo position: ",PMA,#13)
RETURN
'Return to command after GOSUB
RELATED COMMANDS:
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
R PMA Position, Modulo Actual (see page 610)
R
PML=formula Modulo Position Limit (see page 612)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 615 of 890
Part 2: Commands
EXAMPLE: (Shows the use of the PMA, PML and PMT commands)
Part 2: Commands: PRA
PRA
Part 2: Commands
Position, Relative Actual
APPLICATION:
Motion control
DESCRIPTION:
Get actual position relative to move start
EXECUTION:
Next PID sample
CONDITIONAL TO:
MV or MP mode
LIMITATIONS:
Origin change affects the value reported from PRA during the
next move
READ/REPORT:
RPRA
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PRA (Position Relative Actual) command is used to get (read) the actual position relative
to the point where the move started. This includes position error in addition to the
commanded relative move.
NOTE: This command is primarily for use in MP mode but will also work in MV
mode. Other modes of motion do not support this command.
The value reported from PRA is calculated using the value of PC(1) at the time the move
began. Therefore, for accurate PRA calculation, if the origin is changed (i.e., O=0), then also
correct trajectory 1 to the same value at that time: O(1)=0.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 616 of 890
Part 2: Commands: PRA
'NOTE: This example requires an external encoder.
EIGN(W,0,12) ZS
'Disable overtravel limits and clear errors
O(0)=0 O(1)=0 O(2)=0 'Zero PC(0),PC(1) and PC(2)
MF0 MFDIV=1 MFMUL=1 'Reset CTR(1) Divisor=1 Multiplier=1
MFR
'Calculate Ratio... 1 count in equals 1 count out
MP(1)
'Mode Position in trajectory 1 while keeping Mode Follow active
PRT=0 G(2) 'Set PRT=0 and start following with phase adjust active
PRINT("Adjust external encoder to ~1000 counts.",#13)
PRINT("Then type GOSUB10",#13)
END
C10
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA will be zero because PRT=0
PRINT("PRC=",PRC,#13) 'PRC will be zero because PRT=0
'Set relative distance, velocity target, and Accel/Decel values
PRT=2000 VT=5000 ADT=100 G(1) TWAIT(1) 'Start Position Relative phase adjust
PRINT("After relative move, the values are...",#13)
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA=PRC-PositionError; note default PID tuning values
PRINT("PRC=",PRC,#13) 'PRC=2000 because PRT=2000
PRINT("Position Error=",EA,#13)
RETURN
Program output is:
RUN
Adjust external encoder to ~1000 counts.
Then type GOSUB10
GOSUB10
The external encoder CTR(1)=1000
PC(0)=1000
PC(1)=0
PC(2)=1000
PRA=0
PRC=0
After relative move, the values are...
The external encoder CTR(1)=1000
PC(0)=3000
PC(1)=2000
PC(2)=1000
PRA=1991
PRC=2000
Position Error=9
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 617 of 890
Part 2: Commands
EXAMPLE: (Shows the use of PC, PRA and PRC)
Part 2: Commands: PRA
RELATED COMMANDS:
PA Position, Actual (see page 599)
R
PC, PC(axis) Position, Commanded (see page 603)
R
PRC Position, Relative Commanded (see page 619)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 618 of 890
Part 2: Commands: PRC
PRC
APPLICATION:
Motion control
DESCRIPTION:
Get commanded position relative to move start
EXECUTION:
Next PID sample
CONDITIONAL TO:
MV or MP mode
LIMITATIONS:
Origin change affects the value reported from PRA during the
next move
READ/REPORT:
RPRC
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PRC (Position Relative Commanded) command is used to get (read) the commanded
position relative to the point where the move started. This mode does not consider position
error; it only reports the change in the trajectory-calculated position from the start of the
move.
NOTE: This is primarily for use in MP mode but will also work in MV mode. Other
motion modes do not support this command.
The value reported from PRC is calculated using the value of PC(1) at the time the move
began. Therefore, for accurate PRC calculations, if the origin is changed (i.e., O=0), then also
correct trajectory 1 to the same value at that time: O(1)=0.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 619 of 890
Part 2: Commands
Position, Relative Commanded
Part 2: Commands: PRC
Part 2: Commands
EXAMPLE: (Shows the use of PC, PRA and PRC)
'NOTE: This example requires an external encoder.
EIGN(W,0,12) ZS
'Disable overtravel limits and clear errors
O(0)=0 O(1)=0 O(2)=0 'Zero PC(0),PC(1) and PC(2)
MF0 MFDIV=1 MFMUL=1 'Reset CTR(1) Divisor=1 Multiplier=1
MFR
'Calculate Ratio... 1 count in equals 1 count out
MP(1)
'Mode Position in trajectory 1 while keeping Mode Follow active
PRT=0 G(2) 'Set PRT=0 and start following with phase adjust active
PRINT("Adjust external encoder to ~1000 counts.",#13)
PRINT("Then type GOSUB10",#13)
END
C10
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA will be zero because PRT=0
PRINT("PRC=",PRC,#13) 'PRC will be zero because PRT=0
'Set relative distance, velocity target, and Accel/Decel values
PRT=2000 VT=5000 ADT=100 G(1) TWAIT(1) 'Start Position Relative phase adjust
PRINT("After relative move, the values are...",#13)
x=CTR(1) PRINT("The external encoder CTR(1)=",x,#13)
x=PC(0) PRINT("PC(0)=",x,#13)
x=PC(1) PRINT("PC(1)=",x,#13)
x=PC(2) PRINT("PC(2)=",x,#13)
PRINT("PRA=",PRA,#13) 'PRA=PRC-PositionError; note default PID tuning values
PRINT("PRC=",PRC,#13) 'PRC=2000 because PRT=2000
PRINT("Position Error=",EA,#13)
RETURN
Program output is:
RUN
Adjust external encoder to ~1000 counts.
Then type GOSUB10
GOSUB10
The external encoder CTR(1)=1000
PC(0)=1000
PC(1)=0
PC(2)=1000
PRA=0
PRC=0
After relative move, the values are...
The external encoder CTR(1)=1000
PC(0)=3000
PC(1)=2000
PC(2)=1000
PRA=1991
PRC=2000
Position Error=9
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 620 of 890
Part 2: Commands: PRC
RELATED COMMANDS:
PA Position, Actual (see page 599)
R
PC, PC(axis) Position, Commanded (see page 603)
R
PRA Position, Relative Actual (see page 616)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 621 of 890
Part 2: Commands: PRINT(...)
PRINT(...)
Print Data to Communications Port
APPLICATION:
Data conversion
DESCRIPTION:
Serial communications PRINT function
EXECUTION:
Immediate, at current baud rate
CONDITIONAL TO:
Appropriate communications port open (see details)
LIMITATIONS:
Maximum command length: 63 characters (includes the PRINT
statement)
Part 2: Commands
PRINT command not executed until transmit buffer is cleared
from previous PRINT statements
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See details
TYPICAL VALUES:
See details
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
For version 6.0 and later firmware, the PRINT command follows the value of STDOUT, which
is 8 (USB port) by default. For STDOUT details, see STDOUT=formula on page 708.
l
l
To explicitly output to the Class 6 SmartMotor's communication port 0, use the PRINT0
command. For details, see PRINT0(...) on page 626.
To explicitly output to the Class 6 SmartMotor's USB port, use the PRINT8 command.
For details, see PRINT8(...) on page 633.
For version 5.x firmware, the PRINT command outputs only to communications port 0.
One or more items (see the following list) may be transmitted using the PRINT command. The
items are separated with commas. Therefore, the number of arguments to the PRINT
command is flexible.
l
Strings of ASCII text can be specified with quotes: PRINT("Hello world")
l
Variables may be specified: PRINT(a), PRINT(al[0]), PRINT(af[0])
These values will print in decimal form (with ASCII character encoding).
l
System variables may be printed as long as they do not require () parenthesis: PRINT
(VA)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 622 of 890
Part 2: Commands: PRINT(...)
l
l
Literal values for characters may be specified (one 8-bit character at a time): PRINT
(#32)
Binary data may be specified (one 8-bit character at a time): PRINT(#ab[0], #ab[1])
This is useful in data mode when communicating with non-ASCII mode systems.
Combinations of these methods are permitted:
PRINT("The value of a is: ",a,#13)
This prints the text, the actual value of variable "a" (as a decimal value in ASCII
text), and the newline with the #13.
PRINT() commands are typically entered in a user program to send output to a terminal for
display, communicate with third party devices, or send commands to other motors.
Raw ASCII code values are prefixed by the # sign as follows:
Character
#32
tab
#9
carriage return
#13
line feed
#10
CAUTION: Do not use a comment marker (') within PRINT(). It will cause a
compiler error.
PRINT() will wait to begin execution until previous commands have completed transmission
from the transmit buffer.
There is a practical difference between PRINT(a,b,c) and the sequence PRINT(a) PRINT(b)
PRINT(c). Executing from within a program PRINT(a,b,c) will output the values of a, b, and c
without the possibility of another command from the terminal interfering. However, executing
PRINT(a) PRINT(b) PRINT(c) from within a program while the host terminal is transmitting
GOSUB5 to the motor could lead to the GOSUB5 routine executing between the PRINT
commands, which would result in the PRINT sequence not outputting as desired.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 623 of 890
Part 2: Commands
space
Format
Part 2: Commands: PRINT(...)
Part 2: Commands
EXAMPLE:
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1
b=2
PRINT("Demonstration:",#13)
PRINT("a=",a)
PRINT(" and b=",b,#13)
PRINT("a+b=",a+b,#13)
PRINT("Position: ",PA,#13)
WAIT=10
'Allow time for serial buffer processing
PRINT("KP=",KP,#13)
PRINT("Hello World",#13,#13)
PRINT("Run Subroutines",#13)
WAIT=10
PRINT(#128,"GOSUB5 ",#13)
'tell all motors to run subroutine
C5
WAIT=10
PRINT(#129,"GOSUB10",#13) 'Tell Motor-1 to run subroutine
C10
WAIT=10
PRINT(#130,"GOSUB20",#13) 'Tell Motor-2 to run subroutine
C20
WAIT=10
PRINT(#131,"GOSUB30",#13) 'Tell Motor-3 to run subroutine
C30
x=123
PRINT(#132,"GOSUB",x,#13) 'Tell Motor-4 to run subroutine
C123
v=100000
a=100
p=2000
PRINT(#130,"ADT=",a," VT=",v,#13) 'Set speed and accel/decel in motor 2
WAIT=10
PRINT(#130,"MP PT=",p," G",#13)
'Command Motor-2 to position 2000
WAIT=10
PRINT(#13,#13,"End of Demonstration.",#13)
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 624 of 890
Part 2: Commands: PRINT(...)
Program output is:
Demonstration:
a=1 and b=2
a+b=3
Position: 1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
ADT=100 VT=100000
MP PT=2000 G
RELATED COMMANDS:
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
OCHN(...) Open Channel (see page 585)
PRINT1(...) Print Data to Communications Port 1 (see page 630)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 625 of 890
Part 2: Commands
End of Demonstration.
Part 2: Commands: PRINT0(...)
PRINT0(...)
Print Data to Communications Port 0
APPLICATION:
Data conversion
DESCRIPTION:
Serial communications channel 0 PRINT function
EXECUTION:
Immediate, at current baud rate
CONDITIONAL TO:
Channel 0 serial port open
LIMITATIONS:
Maximum command length: 63 characters (includes the PRINT0
statement)
Part 2: Commands
PRINT0 command not executed until transmit buffer is cleared
from previous PRINT statements
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See details
TYPICAL VALUES:
See details
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: For firmware versions earlier than version 6.0, refer to the
PRINT command. For details, see PRINT(...) on page 622.
One or more items (see the following list) may be transmitted from COM 0 using the PRINT0
command. The items are separated with commas. Therefore, the number of arguments to the
PRINT0 command is flexible.
l
Strings of ASCII text can be specified with quotes: PRINT0("Hello world")
l
Variables may be specified: PRINT0(a), PRINT0(al[0]), PRINT0(af[0])
These values will print in decimal form (with ASCII character encoding).
l
l
l
System variables may be printed as long as they do not require () parenthesis: PRINT0
(VA)
Literal values for characters may be specified (one 8-bit character at a time): PRINT0
(#32)
Binary data may be specified (one 8-bit character at a time): PRINT0(#ab[0], #ab[1])
This is useful in data mode when communicating with non-ASCII mode systems.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 626 of 890
Part 2: Commands: PRINT0(...)
Combinations of these methods are permitted:
PRINT0("The value of a is: ",a,#13)
This prints the text, the actual value of variable "a" (as a decimal value in ASCII
text), and the newline with the #13.
PRINT0() commands are typically entered in a user program to send output to a terminal for
display, communicate with third party devices, or send commands to other motors.
Raw ASCII code values are prefixed by the # sign as follows:
Character
space
Format
#32
#9
carriage return
#13
line feed
#10
CAUTION: Do not use a comment marker (') within PRINT0(). It will cause a
compiler error.
PRINT0() will wait to begin execution until previous commands have completed transmission
from the transmit buffer.
There is a practical difference between PRINT0(a,b,c) and the sequence PRINT0(a) PRINT0(b)
PRINT0(c). Executing from within a program PRINT0(a,b,c) will output the values of a, b, and
c without the possibility of another command from the terminal interfering. However,
executing PRINT0(a) PRINT0(b) PRINT0(c) from within a program while the host terminal is
transmitting GOSUB5 to the motor could lead to the GOSUB5 routine executing between the
PRINT0 commands, which would result in the PRINT0 sequence not outputting as desired.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 627 of 890
Part 2: Commands
tab
Part 2: Commands: PRINT0(...)
Part 2: Commands
EXAMPLE:
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1
b=2
PRINT0("Demonstration:",#13)
PRINT0("a=",a)
PRINT0(" and b=",b,#13)
PRINT0("a+b=",a+b,#13)
PRINT0("Position: ",PA,#13)
WAIT=10
'Allow time for serial buffer processing
PRINT0("KP=",KP,#13)
PRINT0("Hello World",#13,#13)
PRINT0("Run Subroutines",#13)
WAIT=10
PRINT0(#128,"GOSUB5 ",#13)
'tell all motors to run subroutine
C5
WAIT=10
PRINT0(#129,"GOSUB10",#13) 'Tell Motor-1 to run subroutine
C10
WAIT=10
PRINT0(#130,"GOSUB20",#13) 'Tell Motor-2 to run subroutine
C20
WAIT=10
PRINT0(#131,"GOSUB30",#13) 'Tell Motor-3 to run subroutine
C30
x=123
PRINT0(#132,"GOSUB",x,#13) 'Tell Motor-4 to run subroutine
C123
v=100000
a=100
p=2000
PRINT0(#130,"ADT=",a," VT=",v,#13) 'Set speed and accel/decel in motor 2
WAIT=10
PRINT0(#130,"MP PT=",p," G",#13)
'Command Motor-2 to position 2000
WAIT=10
PRINT0(#13,#13,"End of Demonstration.",#13)
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 628 of 890
Part 2: Commands: PRINT0(...)
Program output is:
Demonstration:
a=1 and b=2
a+b=3
Position: 1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
ADT=100 VT=100000
MP PT=2000 G
RELATED COMMANDS:
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
OCHN(...) Open Channel (see page 585)
PRINT1(...) Print Data to Communications Port 1 (see page 630)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 629 of 890
Part 2: Commands
End of Demonstration.
Part 2: Commands: PRINT1(...)
PRINT1(...)
Print Data to Communications Port 1
APPLICATION:
Data conversion
DESCRIPTION:
Serial communications channel 1 PRINT function
EXECUTION:
Immediate, at current baud rate
CONDITIONAL TO:
Channel 1 serial port open
LIMITATIONS:
Maximum command length: 63 characters (includes the PRINT1
statement)
Part 2: Commands
PRINT1 command not executed until transmit buffer is cleared
from previous PRINT1 statements
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See details
TYPICAL VALUES:
See details
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only;
Not available on 6.0 or later firmware
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: The PRINT1 command is not available for version 6.0 or later firmware.
The PRINT1( ) command is used to transmit (output) data to serial communications channel 1.
On a D-style motor, I/O pins 4 and 5 are used, which is also known as the secondary serial
channel. This option is not available for the M-style motor.
NOTE: The proper OCHN command is required before using PRINT1().
The only difference between PRINT and PRINT1 is the destination (output): for version 5.x
firmware, PRINT outputs to COM 0, PRINT1 outputs to COM 1. Refer to PRINT(...) on page 622
for more PRINT/PRINT1 details.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 630 of 890
Part 2: Commands: PRINT1(...)
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1
b=2
PRINT1("Demonstration:",#13)
PRINT1("a=",a)
PRINT1(" and b=",b,#13)
PRINT1("a+b=",a+b,#13)
PRINT1("Position: ",PA,#13)
WAIT=10
'Allow time for serial buffer processing
PRINT1("KP=",KP,#13)
PRINT1("Hello World",#13,#13)
PRINT1("Run Subroutines",#13)
WAIT=10
PRINT1(#128,"GOSUB5 ",#13)
'Tell all motors to run subroutine
C5
WAIT=10
PRINT1(#129,"GOSUB10",#13)
'Tell Motor-1 to run subroutine
C10
WAIT=10
PRINT1(#130,"GOSUB20",#13)
'Tell Motor-2 to run subroutine
C20
WAIT=10
PRINT1(#131,"GOSUB30",#13)
'Tell Motor-3 to run subroutine
C30
x=123
PRINT1(#132,"GOSUB",x,#13)
'Tell Motor-4 to run subroutine
C123
v=100000
a=100
p=2000
PRINT1(#130,"ADT=",a," VT=",v,#13) 'Set speed and accel/decel in motor 2
WAIT=10
PRINT1(#130,"MP PT=",p," G",#13) 'Command Motor-2 to position 2000
WAIT=10
PRINT1(#13,#13,"End of Demonstration.",#13)
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 631 of 890
Part 2: Commands
EXAMPLE:
Part 2: Commands: PRINT1(...)
Program output is:
Demonstration:
a=1 and b=2
a+b=3
Position: 1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
ADT=100 VT=100000
MP PT=2000 G
Part 2: Commands
End of Demonstration.
RELATED COMMANDS:
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
OCHN(...) Open Channel (see page 585)
PRINT(...) Print Data to Communications Port (see page 622)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 632 of 890
Part 2: Commands: PRINT8(...)
PRINT8(...)
Print Data to USB Port
APPLICATION:
Data conversion
DESCRIPTION:
USB port PRINT function
EXECUTION:
Immediate, at current baud rate
CONDITIONAL TO:
USB port open
LIMITATIONS:
Maximum command length: 63 characters (includes the PRINT8
statement)
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
See details
TYPICAL VALUES:
See details
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PRINT8( ) command is used to transmit (output) data to the Class 6 SmartMotor's USB
port.
The only difference between PRINT0 and PRINT8 is the destination (output): PRINT0 explicitly
outputs to COM 0, PRINT8 explicitly outputs to the USB port. Refer to PRINT0(...) on page 626
for more PRINT details.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 633 of 890
Part 2: Commands
PRINT8 command not executed until transmit buffer is cleared
from previous PRINT8 statements
Part 2: Commands: PRINT8(...)
Part 2: Commands
EXAMPLE:
OFF
KP=100
'Set Proportional Gain
O=1234
'Set origin to 1234
a=1
b=2
PRINT1("Demonstration:",#13)
PRINT1("a=",a)
PRINT1(" and b=",b,#13)
PRINT1("a+b=",a+b,#13)
PRINT1("Position: ",PA,#13)
WAIT=10
'Allow time for serial buffer processing
PRINT1("KP=",KP,#13)
PRINT1("Hello World",#13,#13)
PRINT1("Run Subroutines",#13)
WAIT=10
PRINT1(#128,"GOSUB5 ",#13)
'Tell all motors to run subroutine
C5
WAIT=10
PRINT1(#129,"GOSUB10",#13)
'Tell Motor-1 to run subroutine
C10
WAIT=10
PRINT1(#130,"GOSUB20",#13)
'Tell Motor-2 to run subroutine
C20
WAIT=10
PRINT1(#131,"GOSUB30",#13)
'Tell Motor-3 to run subroutine
C30
x=123
PRINT1(#132,"GOSUB",x,#13)
'Tell Motor-4 to run subroutine
C123
v=100000
a=100
p=2000
PRINT1(#130,"ADT=",a," VT=",v,#13) 'Set speed and accel/decel in motor 2
WAIT=10
PRINT1(#130,"MP PT=",p," G",#13)
'Command Motor-2 to position 2000
WAIT=10
PRINT1(#13,#13,"End of Demonstration.",#13)
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 634 of 890
Part 2: Commands: PRINT8(...)
Program output is:
Demonstration:
a=1 and b=2
a+b=3
Position: 1234
KP=100
Hello World
Run Subroutines
GOSUB5
GOSUB10
GOSUB20
GOSUB30
GOSUB123
ADT=100 VT=100000
MP PT=2000 G
RELATED COMMANDS:
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
OCHN(...) Open Channel (see page 585)
PRINT(...) Print Data to Communications Port (see page 622)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 635 of 890
Part 2: Commands
End of Demonstration.
Part 2: Commands: PRT=formula
PRT=formula
Part 2: Commands
Position, Relative Target
APPLICATION:
Motion control
DESCRIPTION:
Gets/sets the relative target position
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MP (position mode)
LIMITATIONS:
Wait until previous relative move is complete before commanding G
READ/REPORT:
RPRT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
PRT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PRT command is used to get (read) or set the relative target position. It allows a
relative-distance move to be specified when the motor is in Position mode.
l
l
PRT=formula
Sets the relative target position.
x=PRT
Gets the relative target position and assigns it to the variable x.
The target is in terms of encoder counts to travel in the range -2147483648 to +2147483647.
Either during or after a move, the relative distance will be added to the current trajectory
position and not the actual position. Therefore, if a previous move is still in progress, then the
relative distance will be added to the current trajectory position at the time that G is
commanded.
NOTE: If the total distance traveled needs to directly correspond to the number of
moves made, then make sure a move has finished before commanding G again.
Status word 3, bit 8 reports 1 when acting on a PRT target (relative position).
PRT acts on the ideal currently commanded position and not the actual position, which may be
subject to position error (EA).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 636 of 890
Part 2: Commands: PRT=formula
EXAMPLE: (Dual-trajectory spool winding program)
SRC(2)
MFMUL=100
MFDIV=100
MFA(500,1)
MFD(500,1)
MFR(2)
MFSLEW(8000,1)
MFSDC(100,1)
G(2)
MP(1)
VT=100000
ADT=100
PRT=1000
G(1)
'Set signal source to internal 8K counts/sec
'Default is 1
'Default is 1
'Set ascend ratio distance of 500 slave counts
'Set descend ratio distance of 500 slave counts
'Calculate ratio, set mode for SECOND TRAJECTORY
'Stay at slew ratio for 8000 counts of the slave
'Dwell for 100 counts, auto repeat in reverse direction
'Begin to follow master signal in SECOND trajectory
'Set FIRST TRAJECTORY mode to Position mode
'Set velocity to run over top of gearing
'Set accel/decel to run over gearing
'Set relative move
'Shift all motion 1000 counts in positive direction
ADT=formula Acceleration/Deceleration Target (see page 252)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
R PRA Position, Relative Actual (see page 616)
R
PRC Position, Relative Commanded (see page 619)
R
PT=formula Position, (Absolute) Target (see page 642)
R
VT=formula Velocity Target (see page 771)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 637 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: PRTS(...)
PRTS(...)
Position, Relative Target, Synchronized
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized relative target position
EXECUTION:
Buffered until a GS is issued
CONDITIONAL TO:
Motors in the sync group are positioned at the their target
position: PT=PC
Part 2: Commands
ADTS and VTS commands must be set before issuing this
command
LIMITATIONS:
Up to three axes of motion; must be orthogonal (Cartesian)
coordinates, not radial or polar
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
TYPICAL VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The PRTS command is used to set the synchronized relative target position. It allows you to
identify two or three axis positions (posn) and their associated CAN addresses (axisn) to
cause a synchronized, relative, multi-axis move where the combined path velocity is
controlled as follows:
PRTS(pos1;axis1,pos2;axis2[,pos3;axis3])
NOTE: There is a three-axis limitation for this command.
Additional axes can be synchronized using the PTSS and PRTSS commands.
The synchronized motion is initiated with a GS command. For more details, see Synchronized
Motion on page 170.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 638 of 890
Part 2: Commands: PRTS(...)
Some gantry-type, multiple-axis machines have two motors operating the same axis of
motion. In this instance, an axis address can be repeated as shown in the following example
where the "x" axis is driven by motors 1 and 2.
PRTS(x;1;2,y;3,z;4) 'Set next positions, axes x, x', y & z
In this case, the same position, velocity and acceleration data sent to axis 1 is also sent to
axis 2, with both axes being the basic "x" axis.
EXAMPLE: (Synchronized relative and supplemental synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=10000
'Set target synchronized velocity
PRTS(3000;1,4000;2,1000;3) 'Set synchronized relative
'target positions
PRTSS(2000;4)
'Set supplemental synchronized relative target
GS
'Start synchronized motion
TSWAIT
'Wait for synchronized motions to complete
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 639 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: PRTSS(...)
PRTSS(...)
Position, Relative Target, Synchronized, Supplemental
APPLICATION:
Motion control
DESCRIPTION:
Sets the supplemental synchronized relative-target position
EXECUTION:
Buffered until a GS is issued
CONDITIONAL TO:
Motors in the sync group are positioned at the their target
position: PT=PC
Part 2: Commands
Must be issued after PRTS and before GS
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
TYPICAL VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The PRTSS command allows supplemental axis moves to be added and synchronized with the
previous motion commanded by PTS( ) or PRTS( ). Issue the additional axis commands after a
PTS( ) or PRTS( ) command but before the next GS command.
The PRTSS command allows you to specify an axis position (posn) and its associated CAN
address (axisn):
PRTSS(posn;axisn)
By the time the PRTSS or PTSS command is issued, the move time has already been
determined by the PTS or PRTS command. The command may be issued as many times as
desired. There are no additional resources consumed by adding more axes.
The supplemental axis motions will start with the next GS at exactly the same time as the
main PTS( ) or PRTS( ) motion. Further, they will transition from their accelerations to their
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 640 of 890
Part 2: Commands: PRTSS(...)
slew velocities at exactly the same time, and they will decelerate and stop at exactly the
same time.
It is important to ensure that the target position in each motor is equal to the motor's current
position. The best way to ensure this is to use an absolute position move (using PT=) in all
participating motors before issuing the PTS command.
For more details, see Synchronized Motion on page 170.
EXAMPLE: (Synchronized relative and supplemental synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=10000
'Set target synchronized velocity
PRTS(3000;1,4000;2,1000;3) 'Set synchronized relative
'target positions
PRTSS(2000;4)
'Set supplemental synchronized relative target
GS
'Start synchronized motion
TSWAIT
'Wait for synchronized motions to complete
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
R PRT=formula Position, Relative Target (see page 636)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PTS(...) Position Target, Synchronized (see page 644)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Page 641 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: PT=formula
PT=formula
Part 2: Commands
Position, (Absolute) Target
APPLICATION:
Motion control
DESCRIPTION:
Get/set absolute target position
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MP (position mode)
LIMITATIONS:
N/A
READ/REPORT:
RPT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
PT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PT command is used to get (read) or set absolute target position.
To specify an absolute target position to the SmartMotor’s™ position origin, set PT=target
position (either positive or negative) and then follow with a G command.
PT=formula sets the target position in Position mode.
If the appropriate trajectory parameters ADT and VT are specified, then the motor will move,
when the G command is issued, to the position specified by the last PT value requested.
Status word 3, bit 8 reports 0 when acting on a PT target (absolute position).
RPT will report the actual position. However, if you set a variable equal to PT, such as a=PT,
that variable will be loaded with the last-entered target position rather than the actual
position. If you want to use the actual position in your program, then use a PA variable such
as a=PA.
EXAMPLE: (Shows use of ADT, PT and VT)
MP
ADT=5000
PT=20000
VT=10000
G
END
'Set mode position
'Set target accel/decel
'Set absolute position
'Set velocity
'Start motion
'End program
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Page 642 of 890
Part 2: Commands: PT=formula
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
R PA Position, Actual (see page 599)
R
PRT=formula Position, Relative Target (see page 636)
R
VT=formula Velocity Target (see page 771)
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Page 643 of 890
Part 2: Commands
EXAMPLE: (Routine homes motor against a hard stop)
Part 2: Commands: PTS(...)
PTS(...)
Position Target, Synchronized
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized target position
EXECUTION:
Buffered until a GS is issued
CONDITIONAL TO:
Motors in the sync group are positioned at the their target
position: PT=PC
Part 2: Commands
ADTS and VTS commands must be set before issuing this
command
LIMITATIONS:
Up to three axes of motion; must be orthogonal (Cartesian)
coordinates, not radial or polar.
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
TYPICAL VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The PTS command is used to set the synchronized target position. It allows you to identify two
or three axis positions (posn) and their associated CAN axis addresses (axisn) to cause a
synchronized-relative, multi-axis move. The combined path velocity is controlled as follows:
PTS(pos1;axis1,pos2;axis2[,pos3;axis3])
NOTE: There is a three-axis limitation for this command.
Additional axes can be synchronized using the PTSS and PRTSS commands.
The synchronized motion is initiated with a GS command.
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Page 644 of 890
Part 2: Commands: PTS(...)
It is important to ensure that the target position in each motor is equal to the motor's current
position. The best way to ensure this is to use an absolute position move (using PT=) in all
participating motors before issuing the PTS command.
For more details, see Synchronized Motion on page 170.
Some gantry-type, multiple-axis machines have two motors operating the same axis of
motion. In this instance, an axis address can be repeated as shown in the following example
where the "x" axis is driven by motors 1 and 2.
PTS(x;1;2,y;3,z;4) 'Set next positions, axes x, x', y & z
In this case, the same position, velocity and acceleration data sent to axis 1 is also sent to
axis 2, with both axes being the basic "x" axis.
ADTS=100
'Set target synchronized accel/decel
VTS=100000
'Set target synchronized velocity
x=1000 y=2000 z=3500 a=100 b=200
PTS(x;1,y;2,z;3)
'Set next positions, axes 1, 2 & 3
PTSS(a;4)
'Set supplemental position, axes 4
PTSS(b;5)
'Set supplemental position, axes 5
GS
'Go, starts the synchronized move
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Page 645 of 890
Part 2: Commands
EXAMPLE: (Configures and starts a synchronized move)
Part 2: Commands: PTSD
PTSD
Part 2: Commands
Position Target, Synchronized Distance
APPLICATION:
Motion control
DESCRIPTION:
Gets the synchronized target move linear distance
EXECUTION:
Immediate
CONDITIONAL TO:
PTS or PRTS command
LIMITATIONS:
N/A
READ/REPORT:
RPTSD
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PTSD command reports the linear distance of the synchronized target move. This distance
represents the vector distance of 2- or 3-dimensional moves computed by the PTS() or PRTS()
command.
After a PTS() or PRTS() command, the combined distance is stored in the PTSD variable so
that it may be read by the programmer.
For more details, see Synchronized Motion on page 170.
EXAMPLE: (Assign a value for a frame of reference)
d=PTSD
'Assign to "d" the vector sum distance in encoder counts
'of a predefined synchronized move
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PTS(...) Position Target, Synchronized (see page 644)
R PTST Position Target, Synchronized Time (see page 649)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Page 646 of 890
Part 2: Commands: PTSS(...)
PTSS(...)
Position Target, Synchronized Supplemental
APPLICATION:
Motion control
DESCRIPTION:
Sets the supplemental synchronized target position
EXECUTION:
Buffered until a GS is issued
CONDITIONAL TO:
Motors in the sync group are positioned at the their target
position: PT=PC
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
Encoder counts
RANGE OF VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
TYPICAL VALUES:
Input:
Position: -2147483648 to 2147483647
Axis: 1-127
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The PTSS command allows supplemental axis moves to be added and synchronized with the
previous PTS( ) or PRTS( ) commanded motion.
Issue the additional axis commands after a PTS( ) or PRTS( ) command but before the next GS
command.
The PTSS command allows you to identify one axis position (posn) and its associated axis CAN
address (axisn):
PTSS(posn;axisn)
By the time the PRTSS or PTSS command is issued, the move time has already been
determined by the PTS or PRTS command. The command may be issued as many times as
desired. There are no additional resources consumed by adding more axes.
The supplemental axis motions will start with the next GS at exactly the same time as the
main PTS( ) or PRTS( ) motion. Further, they will transition from their accelerations to their
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Page 647 of 890
Part 2: Commands
Must be issued after PTS and before GS
Part 2: Commands: PTSS(...)
slew velocities at exactly the same time, and they will decelerate and stop at exactly the
same time.
It is important to ensure that the target position in each motor is equal to the motor's current
position. The best way to ensure this is to use an absolute position move (using PT=) in all
participating motors before issuing the PTS command.
For more details, see Synchronized Motion on page 170.
EXAMPLE: (Configures and starts a synchronized move)
ADTS=100
'Set target synchronized accel/decel
VTS=100000
'Set target synchronized velocity
x=1000 y=2000 z=3500 a=100 b=200
PTS(x;1,y;2,z;3)
'Set next positions, axes 1, 2 & 3
PTSS(a;4)
'Set supplemental position, axes 4
PTSS(b;5)
'Set supplemental position, axes 5
GS
'Go, starts the synchronized move
Part 2: Commands
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Page 648 of 890
Part 2: Commands: PTST
PTST
APPLICATION:
Motion control
DESCRIPTION:
Stores the time for a synchronized move to the target position
EXECUTION:
Immediate
CONDITIONAL TO:
PTS or PRTS command
LIMITATIONS:
N/A
READ/REPORT:
RPTST
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
milliseconds
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-2147483648 to 2147483647
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The PTST command stores the time (in milliseconds) for a synchronized move to the target
position. After a PTS() or PRTS() command, the combined distance is stored in the PTST
variable (in milliseconds) so that it may be used by the programmer.
For more details, see Synchronized Motion on page 170.
EXAMPLE:
t=PTST/2
TMR(0,t)
GS
'Calculate time in milliseconds to complete half of
'a predefined synchronized move.
'Start timer that will timeout halfway through the move.
'Start synchronized move.
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
TSWAIT Trajectory Synchronized Wait (see page 732)
VTS=formula Velocity Target, Synchronized Move (see page 774)
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Page 649 of 890
Part 2: Commands
Position Target, Synchronized Time
Part 2: Commands: RANDOM=formula
RANDOM=formula
Part 2: Commands
Random Number
APPLICATION:
Math function
DESCRIPTION:
Seeds the random number generator; gets (reads) the next
value from the random number generator
EXECUTION:
Immediate
CONDITIONAL TO:
Previous calls to RANDOM
LIMITATIONS:
N/A
READ/REPORT:
RRANDOM
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Output: 0 to 2147483647
Input: -2147483648 to 2147483647
TYPICAL VALUES:
Output: 0 to 2147483647
Input: -2147483648 to 2147483647
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RANDOM command is used to get (read) the next value from the pseudorandom number
generator. RANDOM can also be assigned to seed the random-number generator.
l
l
RANDOM=formula
Sets the random seed value. Any 32-bit value is accepted.
x=RANDOM
Gets the next value from the random number generator and assigns it to the variable x.
The output of the random number generator is an integer (whole number) in the range from 0
to 2147483647.
The number generated is not truly random— it does follow a predictable sequence if the
starting point (seed) and algorithm are known. This allows a test sequence to be repeated and
use the random generator to exercise a wide range of values. However, if this were used in
programs expecting unpredictability (e.g., a game or secret number generator), the results
may be disappointing.
If an unpredictable seed is desired, then a more creative approach must be used to initialize
the value based on events in the real world. For example, you could measure the time
between some real-world inputs that are somewhat random.
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Page 650 of 890
Part 2: Commands: RANDOM=formula
Typically, an application will need this number reduced to a more useful range. The modulo
operator can be used to accomplish this. For instance, if you need numbers in the range from
-100 to +100, then the following formula may be helpful:
a=(RANDOM%201)-100
EXAMPLE:
x=200000
'Max distance (full stroke) of actuator
'in encoder counts.
PT=RANDOM%x 'Use Modulo function and RANDOM function
'to create random position targets within max stroke.
RELATED COMMANDS:
Part 2: Commands
N/A
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Page 651 of 890
Part 2: Commands: RCKS
RCKS
Part 2: Commands
Report Checksum
APPLICATION:
Program access
DESCRIPTION:
Reports the program checksum
EXECUTION:
Immediate
CONDITIONAL TO:
User program downloaded.
LIMITATIONS:
No CKS or x=CKS form of this command
READ/REPORT:
RCKS
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
ASCII alphanumeric string, see description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
000000 0000E1 P ("END" program)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RCKS command reports the program checksum. Typically, this is automatically used by
the SMI software to verify the integrity of the program that is being downloaded. For
example, if the download process is interrupted and only part of the program is loaded, then
the RCKS value will not match the value expected by the host.
When the user program is erased with the "Clear EEPROM" feature of SMI (technically, a
simple program with an END command is loaded), then the returned value from RCKS is:
000000 0000E1 P
The first group of six hex digits are related to program labels. For example, C100 is a target
for GOSUB. The second group of six hex digits are the program itself. The last character is
either P or F, representing pass or fail, respectively.
NOTE: There is no CKS or x=CKS form of the command, as this command is not
meant for use in a user program. Typically, only SMI or other serial hosts would
use this command to verify download of the user program to the motor.
EXAMPLE: (Commanded from the terminal window)
RCKS
The command reports:
000000 0000E1 P
RELATED COMMANDS:
R
Bk Bit, Program EEPROM Data Status (see page 303)
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Page 652 of 890
Part 2: Commands: RES
RES
APPLICATION:
System
DESCRIPTION:
Gets (reads) the encoder resolution
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RRES
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RES command is used to get the resolution of the encoder (for example, a=RES). This
command is the preferred method for obtaining the encoder resolution. It is simple to include
it in user programs, and it takes into account any special scaling or compensation.
NOTE: Any program that requires the encoder resolution should use this command
instead of placing a hard-coded value in the program.
This command can also serve as a check at the beginning of a program to ensure that the
program is running on a motor with the expected encoder type. Refer to the following
example.
EXAMPLE: (Check for proper encoder type)
IF RES!=4000
OFF PRINT("Wrong encoder.",#13) END
ENDIF
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Page 653 of 890
Part 2: Commands
Resolution
Part 2: Commands: RES
EXAMPLE: (Scale Factor Multipliers)
'
'
'
'
'
'
SAMP: motor sample time in samples per second
RES: encoder resolution in counts per rev
65536: internal fractional constant for motor unit calculations
60: conversion between seconds and minutes
*1.0: way to typecast integer values out to full floating-point values
af[2] thru af[7]: 32-bit, floating-point array variables
Part 2: Commands
'These abbreviations are used in the following code:
' NatAD (Native Accel{decel})
' NatVel (Native Velocity)
' RPM (revolutions per minute)
' RPS (revolutions per second)
'Calculating multipliers
af[2]=(((SAMP*1.0)/RES)*60)/65536
af[3]=(((RES*1.0)/SAMP)/60)*65536
af[4]=((SAMP*1.0)/RES)/65536
af[5]=((RES*1.0)/SAMP)*65536
af[6]=af[5]/SAMP
af[7]=af[4]*SAMP
'Input
'NatVel
'RPM
'NatVel
'RPS
'RPS^2
'NatAD
->
->
->
->
->
->
Output
RPM
NatVel
RPS
NatVel
NatAD
RPS^2
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
'Examples
'Suppose you wish to set a Velocity of 3000 RPM:
'(This method simply uses the above multiplier)
VT=3000*af[3]
'3000 RPM desired speed multiplied by af[3]
'(RPM to Native Velocity multiplier)
'Suppose you wish to read real time velocity in units of RPS:
s=VA*af[5]
'Converts native VA (actual velocity) into RPS
'and assigns it to the variable "s"
END
RELATED COMMANDS:
R
FW Firmware Version (see page 442)
R
SAMP Sampling Rate (see page 677)
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Page 654 of 890
Part 2: Commands: RESUME
RESUME
APPLICATION:
Program execution and flow control
DESCRIPTION:
Resume program execution
EXECUTION:
Immediate
CONDITIONAL TO:
A user program started and PAUSEd
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
RESUME:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
When executed, the RESUME command starts program execution from the location following
the PAUSE command (where the user program is currently paused). It is designed to be
issued externally over communications and should not be compiled within a program.
NOTE: RESUME is intended to manually resume a program from a command
terminal for debugging purposes — the program must be at a PAUSE and not
executing an interrupt or subroutine.
The RESUME command only operates on PAUSE in the current context of the program.
Examples of different contexts are the main program versus a subroutine or interrupt routine.
PAUSE used outside the context of the currently executed command will continue to PAUSE
(e.g., if there is a PAUSE in the main program and a PAUSE in an interrupt, then the PAUSE
that is active at the time will be resumed). If a main program is at a PAUSE but other
commands are executing in the interrupt, then a RESUME at that time will not affect the
PAUSE in the main program— it will remain paused.
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Part 2: Commands
Resume Program Execution
Part 2: Commands: RESUME
EXAMPLE:
Part 2: Commands
EIGN(W,0,12)
ZS
ITR(0,0,0,0,0)
'Another way to disable travel limits.
'Clear faults.
'Set Int 0 for: stat word 0, bit 0,
'shift to 0, to call C0.
EITR(0)
'Enable Interrupt 0.
ITRE
'Global Interrupt Enable.
PAUSE
'Pause to prevent "END" from disabling
'Interrupt, no change to stack.
'RESUME must be issued externally over communications;
'it is not allowed to be compiled within a program.
END
C0
'Fault handler.
MTB:0
'Motor will turn off with Dynamic
'breaking, tell other motors to stop.
US(0):0
'Set User Status Bit 0 to 1 (Status
'Word 12 bit zero).
US(ADDR):0
'Set User Status Bit "address" to 1
'(Status Word 12 Bit "address").
RETURNI
RELATED COMMANDS:
PAUSE Pause Program Execution (see page 601)
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Page 656 of 890
Part 2: Commands: RETURN
RETURN
Return From Subroutine
Program execution and flow control
DESCRIPTION:
Return program execution to next statement following current
subroutine call
EXECUTION:
Immediate
CONDITIONAL TO:
A previous GOSUBn program statement was performed
LIMITATIONS:
Up to nine nested GOSUB or interrupt subroutines may occur at
one time
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The RETURN command is used to terminate a subroutine within a user program.
NOTE: Subroutines present a great opportunity to partition and organize your code.
When the RETURN command is invoked, program execution continues immediately after the
GOSUB that initiated the subroutine call. RETURN is normally executed from within a
program, but with care, the HOST terminal may also be used to issue a RETURN instruction.
In order to execute the RETURN program statement, the processor needs to be able to recall
(from the stack) the program address point where it should return. The "stack" is a memory
region where these addresses are stored. A maximum of nine address locations can be stored
within the stack. Therefore, do not use more than nine nested subroutines; otherwise, it may
cause a stack overflow and crash the program.
NOTE: RETURNI must be used to return from interrupt subroutines; RETURN must
always be used to return from GOSUB subroutines.
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Page 657 of 890
Part 2: Commands: RETURN
EXAMPLE:
PRINT("WAIT FOR HOST TERMINAL COMMANDS",#13)
GOSUB10
'Start of subroutine 10.
PRINT("PROGRAM RECEIVED EXTERNAL RETURN")
END
C10
'Start of subroutine 10.
WHILE 1
'Wait for terminal commands.
WAIT=100
'Report terminal errors.
IF Bs
PRINT(#13,"SCAN ERROR",#13)
Zs
ENDIF
LOOP
RETURN
'Return to line just below GOSUB10 command.
Part 2: Commands
RELATED COMMANDS:
C{number} Command Label (see page 341)
END End Program Code Execution (see page 420)
GOSUB(label) Subroutine Call (see page 451)
RETURNI Return Interrupt (see page 659)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
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Page 658 of 890
Part 2: Commands: RETURNI
RETURNI
Return Interrupt
Program execution and flow control
DESCRIPTION:
Return program execution to next statement following current
interrupt subroutine call
EXECUTION:
Immediate
CONDITIONAL TO:
Interrupts configured and have caused an interrupt subroutine
to execute
LIMITATIONS:
Up to nine nested GOSUB or interrupt subroutines may occur at
one time
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The RETURNI command is used to terminate an interrupt subroutine within a user program.
This is different than terminating a subroutine with the RETURN command. For details, see
RETURN on page 657.
NOTE: Subroutines present a great opportunity to partition and organize your code.
Interrupt subroutines end with the RETURNI command to distinguish them from ordinary
subroutines. After the interrupt code execution reaches the RETURNI command, it will return
to the program at exactly the point where it was interrupted. An interrupt subroutine must not
be called directly with a GOSUB command.
NOTE: RETURNI must be used to return from interrupt subroutines; RETURN must
always be used to return from GOSUB subroutines.
For more details, see Interrupt Programming on page 186.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 659 of 890
Part 2: Commands: RETURNI
EXAMPLE:
Part 2: Commands
EIGN(W,0,12)
ZS
ITR(0,0,0,0,0)
'Another way to disable travel limits.
'Clear faults.
'Set interrupt 0 for Status Word 0, Bit 0,
'Shift to 0, to call C0.
EITR(0)
'Enable interrupt 0.
ITRE
'Global interrupt enable.
PAUSE
'Pause to prevent "END" from disabling
'interrupt; no change to stack.
'RESUME must be issued externally over communications;
'it is not allowed to be compiled within a program.
END
C0
'Fault handler.
MTB:0
'Motor will turn off with dynamic
'braking; tell other motors to stop.
US(0):0
'Set User Status Bit 0 to 1 (Status
'Word 12 bit zero).
US(ADDR):0
'Set User Status Bit "address" to 1
'(Status Word 12 Bit "address").
RETURNI
RELATED COMMANDS:
C{number} Command Label (see page 341)
DITR(int) Disable Interrupts (see page 381)
EITR(int) Enable Interrupts (see page 406)
END End Program Code Execution (see page 420)
GOSUB(label) Subroutine Call (see page 451)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
RETURN Return From Subroutine (see page 657)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
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Page 660 of 890
Part 2: Commands: RSP
RSP
APPLICATION:
System
DESCRIPTION:
Report PID sample period and firmware revision
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
No SP or x=SP form of this command
READ/REPORT:
RSP
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
See details
RANGE OF VALUES:
ASCII alphanumeric string, see description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RSP report command returns a five-digit value of the PID sample period followed by an
ASCII string code representing the firmware version.
NOTE: There is no SP or x=SP form of the command, as this command is not
meant for use in a user program.
The following table shows PID rates and RSP responses.
Command
PID / Trajectory Period SAMP
Update Rate
(µsec) Report
RSP
Report
PID1
16 kHz
62.5
16000 06250/5...
PID2
8 kHz (default)
125
8000 12500/5...
PID4
4 kHz
250
4000 25000/5...
PID8
2 kHz
500
2000 50000/5...
The PID sample period, in microseconds, is the five-digit number reported/100.
The sample period is followed by a "/" character and the firmware version string.
EXAMPLE: (Terminal command sent to an SM23165D SmartMotor with 5.0.3.44 firmware)
RSP
The command reports:
12500/5.0.3.44
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Page 661 of 890
Part 2: Commands
Report Sampling Rate and Firmware Revision
Part 2: Commands: RSP
RELATED COMMANDS:
Part 2: Commands
PID# Proportional-Integral-Differential Filter Rate (see page 607)
RSP1 Report Firmware Compile Date (see page 663)
R SAMP Sampling Rate (see page 677)
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Page 662 of 890
Part 2: Commands: RSP1
RSP1
APPLICATION:
System
DESCRIPTION:
Report the firmware compile date and time
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
No SP1 or x=SP1 form of this command
READ/REPORT:
RSP1
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
See description
RANGE OF VALUES:
ASCII alphanumeric string, see description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RSP1 report command returns the date and time that the motor firmware was compiled.
NOTE: There is no SP1 or x=SP1 form of the command, as this command is not
meant for use in a user program.
All version 5.xx series motors respond in the form of:
Month Day, Year HH:MM:SS
EXAMPLE: (Terminal command sent to an SM23165D SmartMotor with 5.0.3.44 firmware)
RSP1
The command reports:
Dec 20 2012 13:08:28
RELATED COMMANDS:
R
FW Firmware Version (see page 442)
RSP Report Sampling Rate and Firmware Revision (see page 661)
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Page 663 of 890
Part 2: Commands
Report Firmware Compile Date
Part 2: Commands: RSP5
RSP5
Part 2: Commands
Report Network Card Firmware Version
APPLICATION:
System
DESCRIPTION:
Reports network interface card firmware version
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
No SP5 or x=SP5 form of this command
READ/REPORT:
RSP5
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
See description
RANGE OF VALUES:
ASCII alphanumeric string, see description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The RSP5 command reports the network interface card firmware version.
NOTE: There is no SP5 or x=SP5 form of the command, as this command is not
meant for use in a user program.
All version 6.x series SmartMotors respond in the form of:
n.n.n.n
Refer to the following example.
EXAMPLE: (Terminal command sent to a SmartMotor)
RSP5
The command reports the motor's firmware version, for example:
2.5.28.0
RELATED COMMANDS:
R
FW Firmware Version (see page 442)
RSP Report Sampling Rate and Firmware Revision (see page 661)
RSP1 Report Firmware Compile Date (see page 663)
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Page 664 of 890
Part 2: Commands: RUN
RUN
APPLICATION:
Program execution and flow control
DESCRIPTION:
Execute user EEPROM program beginning at initial command
EXECUTION:
Immediate
CONDITIONAL TO:
No effect if no EEPROM program exists
LIMITATIONS:
Valid EEPROM stored program commands
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
RUN at power recycle or software reset
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
RUN:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The RUN command starts a stored (downloaded) user EEPROM program. Issuing a RUN
command does not reset any motion, variable or I/O state. However, it does reset the
program-execution pointer (stack pointer) to zero, and resets the internal GOSUB stack.
NOTE: To test your program with a truly fresh start, use the Z command to
completely reset the motor as if it were just powered up. For details, see Z on page
789.
If a program exists within the SmartMotor™ user EEPROM, it will automatically run every time
the motor is turned on. To prevent this, make RUN? the first command of your user program.
Or, if you wish, place a RUN? command further down in your program. At power up, the
program will automatically execute only down to the RUN? statement. The program execution
will stop at that point.
NOTE: Programs that are deliberately started with the RUN command (usually
from the serial terminal), will start from the top of the program and skip over the
RUN? command.
Because user programs start automatically, it is possible to write a program that prevents
SMI communications with the motor. For instance, a Z (reset) or CCHN command at the
beginning of the program can make it difficult to connect to the motor.
NOTE: If you get locked out and are unable to communicate with the SmartMotor,
you may be able to recover communications using the SMI software's
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 665 of 890
Part 2: Commands
Run Program
Part 2: Commands: RUN
Communication Lockup Wizard. For more details, see Communication Lockup
Wizard on page 34.
EXAMPLE: (user program with possible halt)
In Class 5, issuing the RUN command causes top-down execution through the entire program
no matter where the RUN? command is placed.
Part 2: Commands
PRINT(" Enter RUN to start",#13)
'Prompt user for RUN
RUN?
'Run command requested; stop program
'execution until "RUN" command is received
PRINT(" LOADING TRAJECTORY",#13)
ADT=100
'Set target accel/decel
VT=1000000
'Set target velocity
PT=1000000
'Set target position
MP
'Mode Position
PRINT(" EXECUTING TRAJECTORY",#13)
G
'Begin motion.
END
'Required END
Program output is:
Enter RUN to start
LOADING TRAJECTORY
EXECUTING TRAJECTORY
RELATED COMMANDS:
END End Program Code Execution (see page 420)
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
LOAD Download Compiled User Program to Motor (see page 506)
LOCKP Lock Program (see page 509)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RUN? Halt Program Execution Until RUN Received (see page 667)
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
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Page 666 of 890
Part 2: Commands: RUN?
RUN?
APPLICATION:
Program execution and flow control
DESCRIPTION:
Halt execution of user program started without RUN
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
If a program exists within the SmartMotor™ user EEPROM, it will automatically run every time
the motor is turned on. To prevent this, make RUN? the first command of your user program.
Or, if you wish, place a RUN? command further down in your program. At power up, the
program will automatically execute only down to the RUN? statement. The program execution
will stop at that point.
NOTE: Programs that are deliberately started with the RUN command (usually
from the serial terminal), will start from the top of the program and skip over the
RUN? command.
RUN? does not terminate the current motion mode or trajectory, change motion parameters
such as EL, ADT, VT or KP, or alter the current value of the user variables.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 667 of 890
Part 2: Commands
Halt Program Execution Until RUN Received
Part 2: Commands: RUN?
EXAMPLE: (user program with possible halt)
In Class 5, issuing the RUN command causes top-down execution through the entire program
no matter where the RUN? command is placed.
PRINT(" Enter RUN to start",#13)
'Prompt user for RUN
RUN?
'Run command requested; stop program
'execution until "RUN" command is received
PRINT(" LOADING TRAJECTORY",#13)
ADT=100
'Set target accel/decel
VT=1000000
'Set target velocity
PT=1000000
'Set target position
MP
'Mode Position
PRINT(" EXECUTING TRAJECTORY",#13)
G
'Begin motion.
END
'Required END
Part 2: Commands
Program output is:
Enter RUN to start
LOADING TRAJECTORY
EXECUTING TRAJECTORY
RELATED COMMANDS:
END End Program Code Execution (see page 420)
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
LOAD Download Compiled User Program to Motor (see page 506)
LOCKP Lock Program (see page 509)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RUN? Halt Program Execution Until RUN Received (see page 667)
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
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Page 668 of 890
Part 2: Commands: S (as command)
S (as command)
Stop Motion
Motion control
DESCRIPTION:
Abruptly stop motor motion
EXECUTION:
Immediate
CONDITIONAL TO:
EL value
LIMITATIONS:
If position error exceeds EL, motor will shut off and coast to a
stop
REPORT VALUE:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
S:3 or S(0):3
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
CAUTION: Careful use of the S command is vital! It causes an emergency
stop, and the resulting motion is very abrupt.
The S command causes an emergency stop. It does not turn the motor off; it sets the target
position to the current position. The resulting commanded motion is very abrupt. In some
cases, it will be so abrupt that the amplifier can overcurrent or the servo error can exceed the
maximum error set by the EL command. This will, in turn, cause the motor to turn off and
coast. Consequently, careful use of the S command is vital.
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Page 669 of 890
Part 2: Commands: S (as command)
EXAMPLE:
EIGN(W,0)
ZS
ADT=100
VT=1000000
PT=5000000
G
WHILE Bt
'While trajectory is active
IF PA>80000
'Set a position to look for
S
'Stop abruptly
PRINT("Emergency Stop")
ENDIF
LOOP
Program output is:
Part 2: Commands
Emergency Stop
EXAMPLE: (Routine homes motor against a hard stop)
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 252)
R EL=formula Error Limit (see page 408)
G Start Motion (GO) (see page 444)
MP Mode Position (see page 566)
MV Mode Velocity (see page 577)
R PRT=formula Position, Relative Target (see page 636)
R
PT=formula Position, (Absolute) Target (see page 642)
X Decelerate to Stop (see page 787)
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Page 670 of 890
Part 2: Commands: SADDR#
SADDR#
APPLICATION:
Communications control
DESCRIPTION:
Set motor address
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing through ADDR
UNITS:
Number
RANGE OF VALUES:
1 to 120
TYPICAL VALUES:
1 to 4
DEFAULT VALUE:
0= global address
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SADDR{value} command is used to set the unit address of a SmartMotor™, where "value"
is an integer between 0 and 120. Separate addresses allow multiple SmartMotors to share a
common communication channel and still differentiate themselves.
The SADDR command is typically one of the first commands in a downloaded program. In an
RS-485 network, where all communications go over the same two parallel wires, the SADDR
command must be in the program. Whereas, in an RS-232 network, where communications
travel from one motor to the next, addressing can be accomplished from a host or master
motor.
The address can be from 0 to 120. Address 0 is the global address (the motor has no unique
address); it is used to talk to all motors on a network at once.
EXAMPLE:
SADDR1
'Set address to 1
When given a nonzero address, a SmartMotor begins to listen to commands after it receives
its own unique address or the global address byte from the network. There is no need to
repeat the address byte with subsequent commands intended for the same motor. The
particular SmartMotor will continue to listen to commands until it receives a different address
byte, after which commands are ignored. The echo function of the SmartMotor is not affected
by the addressed state. That is, if told to echo, then a SmartMotor will echo regardless of
whether it is listening to commands or not.
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Page 671 of 890
Part 2: Commands
Set Address
Part 2: Commands: SADDR#
Part 2: Commands
EXAMPLE:
'Example auto-addressing for four SmartMotors with SADDR command
'on an RS-232 daisy chain.
'This program code would be run at the same time
'in all motors on the chain at power-up.
ECHO
'Enable ECHO mode.
a=1
'User variable "a" to set address.
WAIT=2000
'Wait about 1/2 second to allow
'power-up to each motor.
PRINT(#128,"a=a+1 ",#13)
'Print downstream to each motor.
WAIT=2000
'Wait about 1/2 second for each
'motor to ECHO through the same
'string to the next motor.
'NOTE: At this point, each motor will have run the exact same code
'causing successive motors downstream to receive the same command
'string from the number of motors upstream.
SWITCH a
'Check the value of "a"
CASE 1
SADDR1
'Set address to 1
GOSUB10
BREAK
CASE 2
SADDR2
'Set address to 2
GOSUB20
BREAK
CASE 3
SADDR3
'Set address to 3
GOSUB30
BREAK
CASE 4
SADDR4
'Set address to 4
GOSUB40
BREAK
ENDS
END
C10
'MOTOR 1 CODE
RETURN
C20
'MOTOR 2 CODE
RETURN
C30
'MOTOR 3 CODE
RETURN
C40
'MOTOR 4 CODE
RETURN
RELATED COMMANDS:
R
ADDR=formula Address (for RS-232 and RS-485) (see page 250)
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Page 672 of 890
Part 2: Commands: SDORD(...)
SDORD(...)
SDO Read
Communications control
DESCRIPTION:
Reads the value from SDO; assigns value read to a variable
EXECUTION:
Immediate
CONDITIONAL TO:
Enabled through CANCTL(17,value), see CANCTL(function,value) on page 347.
LIMITATIONS:
Does not apply to Class 6 systems.
READ/REPORT:
RSDORD
WRITE:
Read only
LANGUAGE ACCESS:
Communications control
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x.4.30 or later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The SDORD command gets (reads) the value from the specified SDO on a specified device. It
can assign that value to a variable. To do this, use:
x=SDORD(slave addr, index, sub-index, length)
where:
slave addr is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 2 (a
motor with CAN address 2). The valid range is from 1 to 127. SDO’s cannot
be broadcast. If slave addr is to itself, then internal loopback is used instead.
index
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 24640
(for object 6040hex).
sub-index
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 0 (for
sub-index 0).
length
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 4. This is
the number of bytes in the data; 1, 2, and 4 are the only valid values.
RSDORD(slave addr, index, sub-index, length) is the report version of the command. See
above for a description of the parameters.
The function will pause (not proceed) a user program until a confirmation is received or a
timeout occurs. In the event of a timeout, the value 0 is returned and an error code will be
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Page 673 of 890
Part 2: Commands: SDORD(...)
indicated. The program is also responsible for checking the error status. Refer to the following
section on error handling.
The value returned will be interpreted as a signed value. In other words, if the length is 1 or 2
and if reporting or assigning it to a longer data type such as variable x, then the data is signextended.
Note that user interrupt events, ITR(…), can occur when waiting for an SDO operation to
complete. However, do not call an SDO operation from multiple interrupt levels concurrently.
For example, if an SDORD command is called in the main loop of a program, then do not call
an SDORD or SDOWR in an interrupt routine.
ERROR HANDLING:
Errors are handled as follows:
l
Part 2: Commands
l
l
l
Errors during a read or write to CANopen objects through SDO may not specifically
cause a CAN error bit in status word 2. RCAN(4) command should always be inspected
to verify success of the SDORD, SDOWR, and NMT commands.
After each SDO read or write or NMT the specific code returned from the device will be
readable using command RCAN(4)
In the case of successful SDO read or write or NMT command, then the RCAN(4) shall
report 0 immediately after such command. The user should always inspect for value 0
to know that an operation was successful.
The user program is responsible for implementing any strategy for retry and/or giving
up after a certain number of tries. The firmware simply reports the status of each
attempt and will not automatically retry.
EXAMPLE: Read an SDO
x=SDORD(1, 24592,0,2)
e=CAN(4)
y=SDORD(1, 24608,0,2)
ee=CAN(4)
' Read 2 bytes from address 1,
' object 0x6010, sub-index 0.
' Get any error information
' Read 2 bytes from address 1,
' object 0x6020, sub-index 0.
' Get any error information
IF (e|ee)==0
' Confirm the status of both SDO operations.
' Success
b=x
' Set some example variable according
c=y
' to the data received.
GOSUB(3) ' Some routine to take action when this data is valid.
ELSE
GOSUB(8) ' Go do something to deal with error when read fails.
ENDIF
RELATED COMMANDS:
R
CAN, CAN(arg) CAN Bus Status (see page 345)
CANCTL(function,value) CAN Control (see page 347)
NMT Send NMT State (see page 579)
SDOWR(...) SDO Write (see page 675)
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Page 674 of 890
Part 2: Commands: SDOWR(...)
SDOWR(...)
SDO Write
Communications control
DESCRIPTION:
Writes a value to the specified SDO on a specified device
EXECUTION:
Immediate
CONDITIONAL TO:
Enabled through CANCTL(17,value), see CANCTL(function,value) on page 347.
LIMITATIONS:
Does not apply to Class 6 systems.
READ/REPORT:
Use SDORD and RSDORD
WRITE:
Write only
LANGUAGE ACCESS:
Communications control
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x.4.30 or later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The SDOWR command writes a value to the specified SDO on a specified device. To do this,
use:
SDOWR(slave addr, index, sub-index, length, value)
where:
slave addr is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 2 (a
motor with CAN address 2). The valid range is from 1 to 127. SDO’s cannot
be broadcast. If slave addr is to itself, then internal loopback is used instead.
index
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 24640
(for object 6040hex).
sub-index
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 0 (for
sub-index 0).
length
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 4. This is
the number of bytes in the data; 1, 2, and 4 are the only valid values.
value
is a variable such as: x, ab[x], aw[x], al[x], or a constant such as: 1234
(max 32-bits of data). If the length is shorter than the variable or constant
given, then the value is truncated regardless of sign.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 675 of 890
Part 2: Commands: SDOWR(...)
The function will pause (not proceed) a user program until a confirmation is received or a
timeout occurs. Refer to the following section on error handling.
Note that user interrupt events, ITR(…), can occur when waiting for an SDO operation to
complete. However, do not call an SDO operation from multiple interrupt levels concurrently.
For example, if an SDOWR command is called in the main loop of a program, then do not call
an SDORD or SDOWR in an interrupt routine.
ERROR HANDLING:
Errors are handled as follows:
l
l
Part 2: Commands
l
l
Errors during a read or write to CANopen objects through SDO may not specifically
cause a CAN error bit in status word 2. RCAN(4) command should always be inspected
to verify success of the SDORD, SDOWR, and NMT commands.
After each SDO read or write or NMT the specific code returned from the device will be
readable using command RCAN(4)
In the case of successful SDO read or write or NMT command, then the RCAN(4) shall
report 0 immediately after such command. The user should always inspect for value 0
to know that an operation was successful.
The user program is responsible for implementing any strategy for retry and/or giving
up after a certain number of tries. The firmware simply reports the status of each
attempt and will not automatically retry.
EXAMPLE: Write an SDO
a=1234
SDOWR(1,9029,0,4,a) ' Write 4 bytes to address 1,
IF CAN(4)==0
' Confirm the status of the most recent SDO operation.
' Success
GOSUB(4) ' Some routine to take action when the write succeeds.
ELSE
GOSUB(9) ' Go do something to deal with error when write fails.
ENDIF
RELATED COMMANDS:
R
CAN, CAN(arg) CAN Bus Status (see page 345)
CANCTL(function,value) CAN Control (see page 347)
NMT Send NMT State (see page 579)
SDORD(...) SDO Read (see page 673)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 676 of 890
Part 2: Commands: SAMP
SAMP
Sampling Rate
System
DESCRIPTION:
Gets (reads) the sample rate in Hertz (Hz)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RSAMP
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Hz
RANGE OF VALUES:
2000 to 16000
TYPICAL VALUES:
2000 to 16000
DEFAULT VALUE:
8000
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The SAMP command is used to get (read) the sample rate in Hertz (Hz). You can issue SAMP
to read sample rate at any time. This represents the update rate of the motion trajectory and
PID loop. Therefore, knowing this rate can aid the choice of PID tuning parameters, or
acceleration and velocity values.
This command is the preferred method for obtaining the sample rate. It is simple to include it
in user programs.
NOTE: Instead of placing a hard-coded value in the program, any program that
requires the sample rate should use this command.
The following table shows the possible SAMP report values.
Command
PID / Trajectory Period SAMP
Update Rate
(µsec) Report
RSP
Report
PID1
16 kHz
62.5
16000 06250/5...
PID2
8 kHz (default)
125
8000 12500/5...
PID4
4 kHz
250
4000 25000/5...
PID8
2 kHz
500
2000 50000/5...
EXAMPLE:
a=SAMP 'Assign sample rate to variable a.
PRINT("The current sample rate is: ",a) 'Print info to terminal.
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 677 of 890
Part 2: Commands: SAMP
Program output is:
The current sample rate is: 8000
EXAMPLE: (Scale Factor Multipliers)
'
'
'
'
'
'
SAMP: motor sample time in samples per second
RES: encoder resolution in counts per rev
65536: internal fractional constant for motor unit calculations
60: conversion between seconds and minutes
*1.0: way to typecast integer values out to full floating-point values
af[2] thru af[7]: 32-bit, floating-point array variables
Part 2: Commands
'These abbreviations are used in the following code:
' NatAD (Native Accel{decel})
' NatVel (Native Velocity)
' RPM (revolutions per minute)
' RPS (revolutions per second)
'Calculating multipliers
af[2]=(((SAMP*1.0)/RES)*60)/65536
af[3]=(((RES*1.0)/SAMP)/60)*65536
af[4]=((SAMP*1.0)/RES)/65536
af[5]=((RES*1.0)/SAMP)*65536
af[6]=af[5]/SAMP
af[7]=af[4]*SAMP
'Input
'NatVel
'RPM
'NatVel
'RPS
'RPS^2
'NatAD
->
->
->
->
->
->
Output
RPM
NatVel
RPS
NatVel
NatAD
RPS^2
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
Multiplier
'Examples
'Suppose you wish to set a Velocity of 3000 RPM:
'(This method simply uses the above multiplier)
VT=3000*af[3]
'3000 RPM desired speed multiplied by af[3]
'(RPM to Native Velocity multiplier)
'Suppose you wish to read real time velocity in units of RPS:
s=VA*af[5]
'Converts native VA (actual velocity) into RPS
'and assigns it to the variable "s"
END
RELATED COMMANDS:
R
FW Firmware Version (see page 442)
R
RES Resolution (see page 653)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 678 of 890
Part 2: Commands: SILENT
SILENT
APPLICATION:
Communications control
DESCRIPTION:
Motor prevented from printing to channel 0
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK state
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SILENT command causes the SmartMotor™ to suppress all PRINT messages from being
transmitted on channel 0. Report commands originating from a user program are also
suppressed if they are configured to transmit from COM channel 0 (see STDOUT=formula on
page 708).
This command is typically used when a program has PRINT statements that may be
interfering with debugging efforts. For instance, when opening a polling window or issuing
serial commands during debugging, it may become necessary to suppress PRINT statements
in a program.
The SILENT command does not prevent the SmartMotor from sending messages in response
to incoming serial report commands from the host. Also, it does not interfere with ECHOing
received serial communication over channel 0.
The TALK command negates the effect of SILENT and restores the motor's COM 0 port to its
default operating state. For details, see TALK on page 715.
SILENT may be issued from the terminal or within a user program. However, the command is
typically sent from a host.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 679 of 890
Part 2: Commands
Silence Outgoing Communications on
Communications Port 0
Part 2: Commands: SILENT
EXAMPLE: (Shows the use of SILENT and TALK)
RUN?
WHILE 1
IF a==1 TALK ENDIF
IF a==0 SILENT ENDIF
PRINT("Position=",PA,#13)
WAIT=3000
LOOP
END
'Wait here for the RUN command.
'Set a=1 in the Terminal window to
'allow print statements.
'Endless loop
'If variable a is set to 1, allow
'PRINT statements on channel 0.
'If variable a is set to 0, suppress
'PRINT statements on channel 0.
'Print the Actual Position.
'Wait 3 seconds.
'Loop back to WHILE 1 command.
Part 2: Commands
RELATED COMMANDS:
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
PRINT(...) Print Data to Communications Port (see page 622)
STDOUT=formula Set Device Output (see page 708)
SILENT1 Silence Outgoing Communications on Communications Port 1 (see page 681)
TALK Talk on Communications Port 0 (see page 715)
TALK1 Talk on Communications Port 1 (see page 717)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 680 of 890
Part 2: Commands: SILENT1
SILENT1
APPLICATION:
Communications control
DESCRIPTION:
Motor prevented from printing to channel 1
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK1 state
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SILENT1 command causes the SmartMotor™ to suppress all PRINT1 messages from being
transmitted on channel 1. Report commands originating from a user program are also
suppressed if they are configured to transmit from COM channel 1 (see STDOUT=formula on
page 708).
This command is typically used when a program has PRINT1 statements that may be
interfering with debugging efforts. For instance, when opening a polling window or issuing
serial commands during debugging, it may become necessary to suppress PRINT1 statements
in a program.
The SILENT1 command does not prevent the SmartMotor from sending messages in response
to incoming serial report commands from the host. Also, it does not interfere with ECHOing
received serial communication over channel 1.
The TALK1 command negates the effect of SILENT1 and restores the motor's COM 1 port to its
default operating state.
NOTE: These commands are typically sent from a host rather than existing within a
program.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 681 of 890
Part 2: Commands
Silence Outgoing Communications on
Communications Port 1
Part 2: Commands: SILENT1
EXAMPLE: (Shows use of SILENT1 and TALK1)
RUN?
'Wait here for the RUN command.
'Set a=1 in the Terminal window to
OCHN(RS4,1,N,9600,1,8,C)
'Open ports 4 and
WHILE 1
'Endless loop.
IF a==1 TALK1 ENDIF
'If variable a is
'PRINT statements
IF a==0 SILENT1 ENDIF
'If variable a is
'PRINT statements
PRINT1("Position=",PA,#13) 'Print the actual
WAIT=3000 'Wait 3 seconds.
LOOP
'Loop back to WHILE 1 command.
END
allow print statements.
5 as RS-485 channel 1.
set to 1, allow
on channel 1.
set to 0, suppress
on channel 1.
position.
Part 2: Commands
RELATED COMMANDS:
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
PRINT1(...) Print Data to Communications Port 1 (see page 630)
STDOUT=formula Set Device Output (see page 708)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
TALK Talk on Communications Port 0 (see page 715)
TALK1 Talk on Communications Port 1 (see page 717)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 682 of 890
Part 2: Commands: SIN(value)
SIN(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the sine of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RSIN(value)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees input
RANGE OF VALUES:
Input in degrees (floating-point): 0.0 to 360.0 (larger values
can be used, but it is not recommended; user should keep
range within modulo 360)
Output (floating-point): ±1.0
TYPICAL VALUES:
Input in degrees (floating-point): 0.0 to 360.0 (larger values
can be used, but it is not recommended; user should keep
range within modulo 360)
Output (floating-point): ±1.0
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SIN command takes an input angle in degrees and returns a floating-point sine:
af[1]=SIN(arg)
where arg is in degrees, and may be an integer (i.e., a, aw[0]) or floating-point variable (i.e.,
af[0]). Integer or floating-point constants may also be used (i.e., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 683 of 890
Part 2: Commands
Sine
Part 2: Commands: SIN(value)
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
EXAMPLE:
af[0]=SIN(57.3)
Raf[0]
RSIN(57.3)
af[1]=42.3
af[0]=SIN(af[1])
Raf[0]
END
'Set array variable = SIN(57.3)
'Report value of af[0] variable
'Report SIN(57.3)
'42.3 degrees
'Variables may be put in the parenthesis
Program output is:
Part 2: Commands
0.841510772
0.841510772
0.673012495
RELATED COMMANDS:
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
R
COS(value) Cosine (see page 359)
R
TAN(value) Tangent (see page 719)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 684 of 890
Part 2: Commands: SLD
SLD
APPLICATION:
Motion control
DESCRIPTION:
Disables the software limits
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
By default, software limits are disabled
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
SLD:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLD command is used to disable the software limits. The limits are enabled using the SLE
command.
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 198.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 685 of 890
Part 2: Commands
Software Limits, Disable
Part 2: Commands: SLD
EXAMPLE: (Shows use of SLD, SLE, SLM, SLN and SLP)
Part 2: Commands
EIGN(W,0)
ZS
SLD
O=0
SLM(1)
'Make all onboard I/O inputs
'Clear errors
'Disable software limits
'Zero the encoder position CTR(0)
'SLM(1) will make a soft limit trigger the flag AND
'cause a fault
'SLM(0) will make a soft limit trigger the flag AND
'will NOT cause a fault
SLN=-8000
'Set the negative software limit to -8000 encoder counts
SLP=8000
'Set the positive software limit to 8000 encoder counts
SLE
'Enable software limits
MP
'Set the SmartMotor to position mode
ADT=100
'Set a value for accel/decel
VT=20000
'Set a value for velocity target
PT=7000 G TWAIT
'Move to absolute position 7000 (no fault)
PT=-7000 G TWAIT
'Move to absolute position -7000 (no fault)
PT=9000 G TWAIT
'Move to absolute position 9000
'The motor will fault at position 8000 and set
'the following bits
'Bo(Motor is off) in Status Word 0
'Brs(Historical positive S/W limit) in Status Word 1
WAIT=2000
'Wait two seconds
ZS
'Clear errors
PT=0 G TWAIT 'Move to absolute position 0 (no fault)
END
RELATED COMMANDS:
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
SLP=formula Software Limit, Positive (see page 697)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 686 of 890
Part 2: Commands: SLE
SLE
APPLICATION:
Motion control
DESCRIPTION:
Enables the software limits
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
By default, software limits are disabled (SLD)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
SLE:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLE command is used to enable the software limits. The software limits are disabled using
the SLD command. For details, see SLD on page 685.
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 198.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 687 of 890
Part 2: Commands
Software Limits, Enable
Part 2: Commands: SLE
EXAMPLE: (Shows use of SLD, SLE, SLM, SLN and SLP)
Part 2: Commands
EIGN(W,0)
ZS
SLD
O=0
SLM(1)
'Make all onboard I/O inputs
'Clear errors
'Disable software limits
'Zero the encoder position CTR(0)
'SLM(1) will make a soft limit trigger the flag AND
'cause a fault
'SLM(0) will make a soft limit trigger the flag AND
'will NOT cause a fault
SLN=-8000
'Set the negative software limit to -8000 encoder counts
SLP=8000
'Set the positive software limit to 8000 encoder counts
SLE
'Enable software limits
MP
'Set the SmartMotor to position mode
ADT=100
'Set a value for accel/decel
VT=20000
'Set a value for velocity target
PT=7000 G TWAIT
'Move to absolute position 7000 (no fault)
PT=-7000 G TWAIT
'Move to absolute position -7000 (no fault)
PT=9000 G TWAIT
'Move to absolute position 9000
'The motor will fault at position 8000 and set
'the following bits
'Bo(Motor is off) in Status Word 0
'Brs(Historical positive S/W limit) in Status Word 1
WAIT=2000
'Wait two seconds
ZS
'Clear errors
PT=0 G TWAIT 'Move to absolute position 0 (no fault)
END
RELATED COMMANDS:
SLD Software Limits, Disable (see page 685)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
SLP=formula Software Limit, Positive (see page 697)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 688 of 890
Part 2: Commands: SLEEP
SLEEP
APPLICATION:
Communications control
DESCRIPTION:
Prevents motor from executing channel 0 commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE state
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SLEEP command is used to put a SmartMotor™ into sleep mode with respect to channel 0
serial commands. While in sleep mode, a SmartMotor will continue to echo (if in ECHO mode)
all characters received over the network, but it will ignore all commands other than a WAKE
command.
The most common use of the SLEEP command is to keep daisy-chained SmartMotors from
responding to commands in a program that is being downloaded to another SmartMotor in the
same chain.
If a program is running when a SmartMotor receives the SLEEP command, that program will
continue to run. Messages originating from within the running program of a sleeping
SmartMotor will be transmitted unless the motor is also in SILENT mode. For details, see
SILENT on page 679.
SLEEP may be issued from the terminal or within a user program. SLEEP mode is terminated
by the WAKE command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 689 of 890
Part 2: Commands
Ignore Incoming Commands on Communications Port 0
Part 2: Commands: SLEEP
Part 2: Commands
EXAMPLE: (Shows use of SLEEP, SLEEP1, WAKE and WAKE1)
'The following commands can be sent from the SMI software Terminal
'window to address three SmartMotors:
'0SADDR1
'1ECHO
'1SLEEP
'0SADDR2
'2ECHO
'2SLEEP
'0SADDR3
'3ECHO
'0WAKE
'A host program other than SMI can send the same commands, but the
'prefixed addressing is different. The 0, 1, 2 and 3 are actually
'0x80, 0x81, 0x82 and 0x83, respectively.
'The decimal equivalent of the hex values are 128, 129, 130 and 131.
'The following commands can be sent from a program in motor 1 to
'Motor 2:
PRINT(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
'through channel 0 (RS-232).
PRINT(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE
'through channel 0 (RS-232).
'Assuming channel 1 (RS-485) is open on all motors with the
'OCHN command, the same commands can be sent with the PRINT1
'command:
OCHN(RS4,1,N,9600,1,8,C) 'Open ports 4 and 5 as RS-485 channel 1.
PRINT1(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT1(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT1(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
PRINT1(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE.
END
RELATED COMMANDS:
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
SLEEP1 Ignore Incoming Commands on Communications Port 1 (see page 691)
WAKE Wake Communications Port 0 (see page 780)
WAKE1 Wake Communications Port 1 (see page 782)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 690 of 890
Part 2: Commands: SLEEP1
SLEEP1
APPLICATION:
Communications control
DESCRIPTION:
Prevents motor from executing channel 1 commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE1 state
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SLEEP1 command is used to put a SmartMotor™ into sleep mode with respect to channel 1
serial commands. While in sleep mode, a SmartMotor will continue to echo (if in ECHO mode)
all characters received over the network, but it will ignore all commands other than a WAKE1
command.
The most common use of the SLEEP1 command is to keep daisy-chained SmartMotors from
responding to commands in a program that is being downloaded to another SmartMotor in the
same chain.
If a program is running when a SmartMotor receives the SLEEP1 command, that program will
continue to run. Messages originating from within the running program of a sleeping
SmartMotor will be transmitted unless the motor is also in SILENT1 mode. For details, see
SILENT1 on page 681.
SLEEP1 may be issued from the terminal or within a user program. SLEEP1 mode is
terminated by the WAKE1 command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 691 of 890
Part 2: Commands
Ignore Incoming Commands on Communications Port 1
Part 2: Commands: SLEEP1
Part 2: Commands
EXAMPLE: (Shows use of SLEEP, SLEEP1, WAKE and WAKE1)
'The following commands can be sent from the SMI software Terminal
'window to address three SmartMotors:
'0SADDR1
'1ECHO
'1SLEEP
'0SADDR2
'2ECHO
'2SLEEP
'0SADDR3
'3ECHO
'0WAKE
'A host program other than SMI can send the same commands, but the
'prefixed addressing is different. The 0, 1, 2 and 3 are actually
'0x80, 0x81, 0x82 and 0x83, respectively.
'The decimal equivalent of the hex values are 128, 129, 130 and 131.
'The following commands can be sent from a program in motor 1 to
'Motor 2:
PRINT(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
'through channel 0 (RS-232).
PRINT(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE
'through channel 0 (RS-232).
'Assuming channel 1 (RS-485) is open on all motors with the
'OCHN command, the same commands can be sent with the PRINT1
'command:
OCHN(RS4,1,N,9600,1,8,C) 'Open ports 4 and 5 as RS-485 channel 1.
PRINT1(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT1(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT1(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
PRINT1(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE.
END
RELATED COMMANDS:
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
WAKE Wake Communications Port 0 (see page 780)
WAKE1 Wake Communications Port 1 (see page 782)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 692 of 890
Part 2: Commands: SLM(mode)
SLM(mode)
APPLICATION:
Motion control
DESCRIPTION:
Gets or sets the soft limit mode
EXECUTION:
Immediate
CONDITIONAL TO:
Software limits enabled (SLE)
LIMITATIONS:
N/A
READ/REPORT:
RSLM
WRITE:
Read/write
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
0 or 1
TYPICAL VALUES:
0 or 1
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
SLM(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLM command gets (reads) or sets the soft limit mode as follows:
l
l
SLM
Get soft limit mode (e.g., a=SLM)
SLM(...)
Set soft limit mode
When setting the soft limit, it can be made to trigger a flag only (not cause a fault) or to
trigger the flag and cause a fault as follows:
l
l
SLM (0)
Make a soft limit trigger the flag only; will not cause a fault
SLM (1)
Make a soft limit trigger the flag and cause a fault (default mode)
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 198.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 693 of 890
Part 2: Commands
Software Limit Mode
Part 2: Commands: SLM(mode)
EXAMPLE: (Shows use of SLD, SLE, SLM, SLN and SLP)
Part 2: Commands
EIGN(W,0)
ZS
SLD
O=0
SLM(1)
'Make all onboard I/O inputs
'Clear errors
'Disable software limits
'Zero the encoder position CTR(0)
'SLM(1) will make a soft limit trigger the flag AND
'cause a fault
'SLM(0) will make a soft limit trigger the flag AND
'will NOT cause a fault
SLN=-8000
'Set the negative software limit to -8000 encoder counts
SLP=8000
'Set the positive software limit to 8000 encoder counts
SLE
'Enable software limits
MP
'Set the SmartMotor to position mode
ADT=100
'Set a value for accel/decel
VT=20000
'Set a value for velocity target
PT=7000 G TWAIT
'Move to absolute position 7000 (no fault)
PT=-7000 G TWAIT
'Move to absolute position -7000 (no fault)
PT=9000 G TWAIT
'Move to absolute position 9000
'The motor will fault at position 8000 and set
'the following bits
'Bo(Motor is off) in Status Word 0
'Brs(Historical positive S/W limit) in Status Word 1
WAIT=2000
'Wait two seconds
ZS
'Clear errors
PT=0 G TWAIT 'Move to absolute position 0 (no fault)
END
RELATED COMMANDS:
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
SLP=formula Software Limit, Positive (see page 697)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 694 of 890
Part 2: Commands: SLN=formula
SLN=formula
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) or sets the left/negative software limit
EXECUTION:
Immediate
CONDITIONAL TO:
Software limits enabled (SLE)
LIMITATIONS:
N/A
READ/REPORT:
RSLN
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts
RANGE OF VALUES:
-2147483648 to 2147483647
NOTE: values at this extreme range may not trigger because
they are at the wrap point (see details)
TYPICAL VALUES:
-1000000 to 0
DEFAULT VALUE:
-2147483648 (effectively disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
SLN:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLN command is used to get (read) or set the left/negative software limit as follows:
l
l
SLN
Get left/negative software limit
SLN=...
Set left/negative software limit
The range of allowed values is from -2147483648 to 2147483647. However, this extreme
range should not be used because the soft limits may not trigger at the wrap point due to the
mathematical sign change. Further, it is not recommended to operate absolute-position
applications near the wrap point. This limitation is partly related to speed (encoder counts per
PID sample).
Therefore, as a rough estimate, the range from -2147400000 to 2147400000 is more realistic.
NOTE: SLP should typically be set to a higher value than SLN.
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 695 of 890
Part 2: Commands
Software Limit, Negative
Part 2: Commands: SLN=formula
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 198.
EXAMPLE: (Shows use of SLD, SLE, SLM, SLN and SLP)
Part 2: Commands
EIGN(W,0)
ZS
SLD
O=0
SLM(1)
'Make all onboard I/O inputs
'Clear errors
'Disable software limits
'Zero the encoder position CTR(0)
'SLM(1) will make a soft limit trigger the flag AND
'cause a fault
'SLM(0) will make a soft limit trigger the flag AND
'will NOT cause a fault
SLN=-8000
'Set the negative software limit to -8000 encoder counts
SLP=8000
'Set the positive software limit to 8000 encoder counts
SLE
'Enable software limits
MP
'Set the SmartMotor to position mode
ADT=100
'Set a value for accel/decel
VT=20000
'Set a value for velocity target
PT=7000 G TWAIT
'Move to absolute position 7000 (no fault)
PT=-7000 G TWAIT
'Move to absolute position -7000 (no fault)
PT=9000 G TWAIT
'Move to absolute position 9000
'The motor will fault at position 8000 and set
'the following bits
'Bo(Motor is off) in Status Word 0
'Brs(Historical positive S/W limit) in Status Word 1
WAIT=2000
'Wait two seconds
ZS
'Clear errors
PT=0 G TWAIT 'Move to absolute position 0 (no fault)
END
RELATED COMMANDS:
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLP=formula Software Limit, Positive (see page 697)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 696 of 890
Part 2: Commands: SLP=formula
SLP=formula
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) or sets the right/positive software limit
EXECUTION:
Immediate
CONDITIONAL TO:
Software limits enabled (SLE)
LIMITATIONS:
N/A
READ/REPORT:
RSLP
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Encoder counts.
RANGE OF VALUES:
-2147483648 to 2147483647
NOTE: values at this extreme range may not trigger because
they are at the wrap point. See details.
TYPICAL VALUES:
0 to 1000000
DEFAULT VALUE:
2147483647 (effectively disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
SLP:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLP command is used to get (read) or set the right/positive software limit as follows:
l
l
SLP
Get right/positive software limit
SLP=...
Set right/positive software limit
The range of allowed values is -2147483648 to 2147483647. However, this extreme range
should not be used because the soft limits may not trigger at the wrap point due to the
mathematical sign change. It is not recommended to operate absolute position applications
near the wrap point. This limitation is partly related to speed (encoder counts per PID
sample). Therefore, as a rough estimate, the range -2147400000 to 2147400000 is more
realistic.
NOTE: SLP should typically be set to a higher value than SLN.
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 697 of 890
Part 2: Commands
Software Limit, Positive
Part 2: Commands: SLP=formula
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 198.
EXAMPLE: (Shows use of SLD, SLE, SLM, SLN and SLP)
Part 2: Commands
EIGN(W,0)
ZS
SLD
O=0
SLM(1)
'Make all onboard I/O inputs
'Clear errors
'Disable software limits
'Zero the encoder position CTR(0)
'SLM(1) will make a soft limit trigger the flag AND
'cause a fault
'SLM(0) will make a soft limit trigger the flag AND
'will NOT cause a fault
SLN=-8000
'Set the negative software limit to -8000 encoder counts
SLP=8000
'Set the positive software limit to 8000 encoder counts
SLE
'Enable software limits
MP
'Set the SmartMotor to position mode
ADT=100
'Set a value for accel/decel
VT=20000
'Set a value for velocity target
PT=7000 G TWAIT
'Move to absolute position 7000 (no fault)
PT=-7000 G TWAIT
'Move to absolute position -7000 (no fault)
PT=9000 G TWAIT
'Move to absolute position 9000
'The motor will fault at position 8000 and set
'the following bits
'Bo(Motor is off) in Status Word 0
'Brs(Historical positive S/W limit) in Status Word 1
WAIT=2000
'Wait two seconds
ZS
'Clear errors
PT=0 G TWAIT 'Move to absolute position 0 (no fault)
END
RELATED COMMANDS:
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 698 of 890
Part 2: Commands: SNAME("string")
SNAME("string")
Set PROFINET Station Name
APPLICATION:
Communications control
DESCRIPTION:
Sets the PROFINET station name
EXECUTION:
Immediate
CONDITIONAL TO:
PROFINET versions of motors only.
LIMITATIONS:
SmartMotor command length limit restricts the SNAME to 54
characters.
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
String
RANGE OF VALUES:
Characters: 0 through 9, lowercase a through z; period (".")
and hyphen ("-") with restrictions. See the Class 6
SmartMotor™ PROFINET Guide.
TYPICAL VALUES:
axis1
DEFAULT VALUE:
smc6dev01
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SNAME command sets a unique PROFINET station name. For proper PROFINET operation,
each SmartMotor must have a unique station name set with the SNAME instruction.
The command setting is nonvolatile. Therefore, it will be remembered between power cycles.
There are specific limitations to the SNAME conventions imposed by PROFINET standards.
For more details, see the Class 6 SmartMotor™ PROFINET Guide.
EXAMPLE: (Change the nonvolatile station name for PROFINET within a user program)
...
SNAME("mymotor1")
a=ETH(0)
IF(a&2)
Z
'Execute reset if Station Name changed
ENDIF
...
RELATED COMMANDS:
ETHCTL(function,value) Control Industrial Ethernet Network Features (see page 433)
IPCTL(function,"string") Set IP Address, Subnet Mask or Gateway (see page 472)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 699 of 890
Part 2: Commands
There are several important limitations imposed per PROFINET
standards, see below.
Part 2: Commands: SP2
SP2
Part 2: Commands
Bootloader Revision
APPLICATION:
System
DESCRIPTION:
The bootloader revision
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RSP2
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-1, 0-127
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SP2 command returns a single value of the bootloader revision. This number can be used
in a program to inspect the firmware version. For example:
x=SP2
assigns the value of the bootloader revision to the variable x.
EXAMPLE:
RSP2
5
RELATED COMMANDS:
R
FW Firmware Version (see page 442)
RSP Report Sampling Rate and Firmware Revision (see page 661)
RSP1 Report Firmware Compile Date (see page 663)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 700 of 890
Part 2: Commands: SQRT(value)
SQRT(value)
APPLICATION:
Math function
DESCRIPTION:
Gets (reads) the integer square root
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RSQRT(value)
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
Positive integer
RANGE OF VALUES:
Input: Positive integer 0 - 2147483647
Output: Positive integer 0 - 46340
TYPICAL VALUES:
Input: Positive integer 0 - 2147483647
Output: Positive integer 0 - 46340
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: For a floating-point version, see FSQRT(value) on page 440.
The SQRT command gets (reads) the integer square root of a variable or value as follows:
=SQRT(x)
where x = any positive integer ≥0.
The integer square root of x is the greatest integer ≤ the square root of x. For example, if x is
6, the integer square root is 2 because 2 is the greatest integer ≤ the square root of 6.
Therefore, all inputs for x from 4 through 8 will give the result 2; when x is 9 through 15, the
result changes to 3.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 701 of 890
Part 2: Commands
Integer Square Root
Part 2: Commands: SQRT(value)
EXAMPLE:
a=9
'Set variable a = 9
r=SQRT(4)
'Set variable r = SQRT(4)
RSQRT(4)
s=SQRT(6)
'Set variable s = SQRT(6)
RSQRT(6)
t=SQRT(8)
'Set variable t = SQRT(8)
RSQRT(8)
u=SQRT(a)
'Set variable u = SQRT(a)
RSQRT(a)
PRINT(r,", ",s,", ",t,", ",u,#13) 'Print value of each variable
END
Part 2: Commands
Program output is:
2
2
2
3
2, 2, 2, 3
RELATED COMMANDS:
R
FSQRT(value) Floating-Point Square Root (see page 440)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 702 of 890
Part 2: Commands: SRC(enc_src)
SRC(enc_src)
Source, Follow and/or Cam Encoder
Motion control
DESCRIPTION:
Set the input source for Follow and Cam modes
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
-2,-1,0,1,2
TYPICAL VALUES:
-2,-1,0,1,2
DEFAULT VALUE:
1
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The SRC(enc_src) command is used to select the input source used in Follow and Cam modes.
The SRC command allows the SmartMotor to use the many advanced following and camming
functions even without an external encoder input. For example, through the use of the SRC
command either the external encoder or a fixed-rate "virtual encoder" can be used as the
input source to the cam. This fixed-rate encoder also works through the Follow mode, so the
actual rate into the cam can be set. For more details, see Follow Mode with Ratio (Electronic
Gearing) on page 139.
Refer to the following table for valid enc_src values.
Value of
enc_src
Result
-2
-1 * internal time base at PID rate
-1
-1 * external encoder: MF0 or MS0
0
Null (no counts, standstill)
1
External encoder: MF0 or MS0
2
Internal time base at PID rate
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 703 of 890
Part 2: Commands: SRC(enc_src)
EXAMPLE: (Cam program example; uses virtual encoder)
CTE(1)
CTA(7,4000)
CTW(0)
CTW(1000)
CTW(3000)
CTW(4000)
CTW(1000)
CTW(-2000)
CTW(0)
Part 2: Commands
SRC(2)
MCE(0)
MCW(1,0)
MFMUL=1
MFDIV=1
MFA(0) MFD(0)
MFSLEW(24000,1)
MFSDC(-1,0)
MC
G
END
'Erase all EEPROM tables.
'Create 7-point table at each 4K encoder increment.
'Add 1st point.
'Add 2nd point; go to point 1000 from start.
'Add 3rd point; go to point 3000 from start.
'Add 4th point; go to point 4000 from start.
'Add 5th point; go to point 1000 from start.
'Add 6th point; go to point -2000 from start.
'Add 7th point; return to starting point.
'Table has now been written to EEPROM.
'Use the virtual encoder.
'Force linear interpolation.
'Use table 1 from point 0.
'Simple 1:1 ratio from virtual encoder.
'Simple 1:1 ratio from virtual encoder.
'Disable virtual encoder ramp-up/
'ramp-down sections.
'Table is 6 segments * 4000 encoder
'counts each.
'Specify the second argument as a 1 to
'force this number as the output total of
'the virtual encoder into the cam.
'Disable virtual encoder profile repeat.
'Enter Cam mode.
'Begin move.
RELATED COMMANDS:
G Start Motion (GO) (see page 444)
MFR Mode Follow Ratio (see page 554)
R MFDIV=formula Mode Follow Divisor (see page 542)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MSR Mode Step Ratio (see page 571)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 704 of 890
Part 2: Commands: STACK
STACK
APPLICATION:
Program execution and flow control
DESCRIPTION:
Reset user program subroutine return stack
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The STACK command empties the queue of pending (GOSUB) RETURN addresses, resets any
pending interrupts, and resets any PAUSE statements.
In order to execute the RETURN program statement, the processor needs to be able to recall
the program address point where it should return. The "stack" is a region where these
addresses are stored.
A maximum of nine address locations can be stored within the stack. This means that if a
tenth GOSUB is called before any intervening RETURN statements, the stack will overflow and
the program execution may fail. The stack region is managed using a pointer to the currently
effective return address storage location. The STACK command directly resets this pointer to
its initial (starting) condition. By doing this, the STACK command clears all RETURN addresses
in the stack queue.
NOTE: Care should be taken when the STACK command is used. Issuing STACK will
cause any following RETURN command to be ignored. Therefore, proper program
flow, with GOTO commands or otherwise, should be used to prevent a memory
mapping error.
Because the GOSUB command may be issued serially to the SmartMotor, it may be possible to
overflow the stack regardless of the downloaded program code. The STACK command could
also be issued through serial communications to clear the stack and prevent overflow.
However, that method is not recommended because it would be difficult to know what line of
code the motor may be running at that time.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 705 of 890
Part 2: Commands
Stack Pointer Register, Clear
Part 2: Commands: STACK
Part 2: Commands
EXAMPLE:
x=0
'Set variable x equal to zero
GOTO0 'Go directly to the C0 label
C10
PRINT(#13, "NO PROGRAM CRASH")
RETURN
END
'The following commands intentionally call subroutines without RETURN commands
C0 x=x+1 PRINT("x=",x,#13) GOSUB1 'First GOSUB without return.
C1 x=x+1 PRINT("x=",x,#13) GOSUB2 'Second GOSUB without return.
C2 x=x+1 PRINT("x=",x,#13) GOSUB3 'Third GOSUB without return.
C3 x=x+1 PRINT("x=",x,#13) GOSUB4 'Fourth GOSUB without return.
C4 x=x+1 PRINT("x=",x,#13) GOSUB5 'Fifth GOSUB without return.
C5 x=x+1 PRINT("x=",x,#13) GOSUB6 'Sixth GOSUB without return.
C6 x=x+1 PRINT("x=",x,#13) GOSUB7 'Seventh GOSUB without return.
C7 x=x+1 PRINT("x=",x,#13) GOSUB8 'Eighth GOSUB without return.
C8 x=x+1 PRINT("x=",x,#13) GOSUB9 'Ninth GOSUB without return.
C9 x=x+1 PRINT("x=",x,#13) 'GOSUB10 'if this GOSUB is called,
'the program WILL crash!
STACK
'Reset internal stack, which
GOSUB10 'allows this GOSUB to execute without crashing the program.
PRINT(#13,"RETURN FROM GOSUB10 OK",#13)
END
Program output is:
x=1
x=2
x=3
x=4
x=5
x=6
x=7
x=8
x=9
x=10
NO PROGRAM CRASH
RETURN FROM GOSUB10 OK
The previous example does not show the preferred way to write code. It is provided to show
where the STACK command would be used to prevent program crashes.
Often, the STACK command is used after an error or motor-protection fault is detected. Then,
immediately after the STACK command, a RUN, END or GOTO command (located near the top
of the program) is issued to recover.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 706 of 890
Part 2: Commands: STACK
RELATED COMMANDS:
Part 2: Commands
END End Program Code Execution (see page 420)
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
PAUSE Pause Program Execution (see page 601)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 707 of 890
Part 2: Commands: STDOUT=formula
STDOUT=formula
Part 2: Commands
Set Device Output
APPLICATION:
Communications control
DESCRIPTION:
Specify where report commands are printed
EXECUTION:
Immediate
CONDITIONAL TO:
D-style motor, where two serial ports are available;
Class 6 motor, where a serial port and USB port are available
LIMITATIONS:
For D-style motors, does not redirect PRINT, only reports;
for Class 6 motors, the PRINT command is redirected; refer to
the details section
READ/REPORT:
N/A
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
Port number
RANGE OF VALUES:
0, 1 (D-style motor)
0, 8 (Class 6 motor)
TYPICAL VALUES:
0, 1 (D-style motor)
0, 8 (for Class 6 motor)
DEFAULT VALUE:
0 (D-style motor)
8 (Class 6 motor)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The STDOUT command is used to select the motor output channel for report commands as
follows.
For D-style motors with firmware version 5.x only:
l
l
STDOUT=0
Sets internal report commands to communications channel COM 0 (default).
STDOUT=1
Sets internal report commands to communications channel COM 1.
For Class 6 motors with firmware version 6.0 and later only:
l
l
STDOUT=0
Sets internal report commands to communications channel COM 0.
STDOUT=8 (default)
Sets internal report commands to USB port.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 708 of 890
Part 2: Commands: STDOUT=formula
EXAMPLE:
OCHN(RS4,1,N,9600,1,8,C) 'Open ports 4 and 5 as RS-485 channel 1.
STDOUT=0 'Channel 0 is selected for output of report commands.
RPA
'The Absolute Position will be sent out channel 0 (RS-232).
STDOUT=1 'Channel 1 is selected for output of report commands.
RPA
'The Absolute Position will be sent out channel 1 (RS-485).
END
RELATED COMMANDS:
Part 2: Commands
(none)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 709 of 890
Part 2: Commands: SWITCH formula
SWITCH formula
Part 2: Commands
Switch, Program Flow Control
APPLICATION:
Program execution and flow control
DESCRIPTION:
Multiple choice branch for program execution
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Can only be executed from within user program
REPORT VALUE:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The SWITCH command allows program flow control based on specific integer values of a
formula, a specific parameter or a variable.
The execution time is similar to the equivalent IF formula control block. Therefore, placing the
most likely CASE values at the top of the CASE list will yield faster program execution times.
At execution time, the program interpreter evaluates the SWITCH formula value and then
tests the CASE numbers for an equal value in the programmed order.
l
l
l
l
If the SWITCH formula value does equal the CASE number, then program execution
continues with the command immediately after.
If the SWITCH formula value does not equal the CASE number, then the next CASE
statement is evaluated.
If the SWITCH formula value does not equal any CASE number, then the DEFAULT entry
point is used.
If the SWITCH formula value does not equal any CASE number and there is no DEFAULT
case, then program execution passes through the SWITCH to the ENDS without
performing any commands.
If a BREAK is encountered, then program execution branches to the instruction or label
following the ENDS of the SWITCH control block. BREAK can be used to isolate CASEs. Without
BREAK, the CASE number syntax is transparent and program execution continues at the next
instruction. That is, you will run into the next CASE number code sequence.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 710 of 890
Part 2: Commands: SWITCH formula
Each SWITCH control block must have at least one CASE number defined plus one, and only
one, ENDS statement. SWITCH is not a valid terminal command — it is only valid within a user
program.
EXAMPLE:
Consider the following code fragment:
1 ",#13)
2 ",#13)
-23 ",#13)
NOT 1, 2 OR -23",#13)
The first line, SWITCH v, lets the SmartMotor™ know that it is checking the value of the
variable v. Each following CASE begins the section of code that tells the SmartMotor what to
do if v is equal to that case.
EXAMPLE:
a=-3
'Assign a value
WHILE a<4
PRINT(#13,"a=",a," ")
SWITCH a
'Test the value
CASE 3
PRINT("MAX VALUE",#13)
BREAK
CASE -1
'Negative test values are valid
CASE -2
'Note no BREAK here
CASE -3
PRINT("NEGATIVE")
BREAK
'Note use of BREAK
CASE 0
'Zero test value is valid
PRINT("ZERO")
'Note order is random
DEFAULT
'The default case
PRINT("NO MATCH VALUE")
BREAK
ENDS
'Need not be numerical
a=a+1
LOOP
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 711 of 890
Part 2: Commands
SWITCH v
CASE 1
PRINT(" v =
BREAK
CASE 2
PRINT(" v =
BREAK
CASE 3
PRINT(" v =
BREAK
DEFAULT
PRINT("v IS
BREAK
ENDS
Part 2: Commands: SWITCH formula
Program output is:
a=-3 NEGATIVE
a=-2 NEGATIVE
a=-1 NEGATIVE
a=0 ZERO
a=1 NO MATCH VALUE
a=2 NO MATCH VALUE
a=3 MAX VALUE
RELATED COMMANDS:
Part 2: Commands
BREAK Break from CASE or WHILE Loop (see page 319)
CASE formula Case Label for SWITCH Block (see page 348)
DEFAULT Default Case for SWITCH Structure (see page 375)
ENDS End SWITCH Structure (see page 424)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 712 of 890
Part 2: Commands: T=formula
T=formula
APPLICATION:
Motion control
DESCRIPTION:
Torque value for Torque mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
Torque mode (MT)
LIMITATIONS:
N/A
REPORT VALUE:
RT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Fraction of available torque
RANGE OF VALUES:
-32767 to 32767
TYPICAL VALUES:
-10000 and 10000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
T:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MT command enables Torque mode. In this mode, the motor is commanded to develop a
specific output effort, which is set by T=formula. Where the values are from -32767 to 32767,
T=-32767 results in full torque in the negative direction. The encoder still tracks position and
can still be read with the PA variable, but the PID loop is off and the motor does not servo or
run a trajectory.
In voltage commutation modes (MDT, MDE and MDS), MT sets the PWM signal to the drive at a
fixed percentage. For any given setting of T and no applied load, there will be a velocity at
which the Back EMF (BEMF) of the motor causes the acceleration to stop and the velocity to
hold nearly constant. Under the no load or static load conditions, the T command will control
velocity. As the load increases, the velocity decreases.
In current-control commutation, MDC, T= sets a request for current, which is proportional to
torque.
CAUTION: There is no inherent speed-limiting behavior when using MDC
mode.
Any previous faults must be cleared before issuing the G command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 713 of 890
Part 2: Commands
Torque, Open-Loop Commanded
Part 2: Commands: T=formula
When setting larger values of T, the effect can be an abrupt current spike. This is a result of
the motor requiring more current as it moves from a standstill and accelerates to speed. To
reduce the impact, the TS= command can be used to gently apply the current.
EXAMPLE: (Increases torque, one unit every PID sample period, up to 8000 units)
MT
T=8000
TS=65536
G
'Select torque mode
'Final torque after the TS ramp that we want
'Increase the torque by 1 unit of T per PID sample
'Begin move
RELATED COMMANDS:
Part 2: Commands
MT Mode Torque (see page 573)
R TS=formula Torque Slope (see page 730)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 714 of 890
Part 2: Commands: TALK
TALK
APPLICATION:
Communications control
DESCRIPTION:
Motor restored to print on channel 0
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK state
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command is typically sent from a host rather than existing within a
SmartMotor program.
The TALK command restores the motor’s ability to print messages to the serial communication
channel 0 if that ability was previously suppressed with the SILENT command. This command
is typically used following the download a user program to a SmartMotor™ within a daisy
chain. It could also be used to "un-silence" a debug routine.
TALK may be issued from the terminal or within a user program. However, the command is
typically sent from a host.
EXAMPLE: (Shows the use of SILENT and TALK)
RUN?
WHILE 1
IF a==1 TALK ENDIF
IF a==0 SILENT ENDIF
PRINT("Position=",PA,#13)
WAIT=3000
LOOP
END
'Wait here for the RUN command.
'Set a=1 in the Terminal window to
'allow print statements.
'Endless loop
'If variable a is set to 1, allow
'PRINT statements on channel 0.
'If variable a is set to 0, suppress
'PRINT statements on channel 0.
'Print the Actual Position.
'Wait 3 seconds.
'Loop back to WHILE 1 command.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 715 of 890
Part 2: Commands
Talk on Communications Port 0
Part 2: Commands: TALK
RELATED COMMANDS:
Part 2: Commands
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
PRINT(...) Print Data to Communications Port (see page 622)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
SILENT1 Silence Outgoing Communications on Communications Port 1 (see page 681)
STDOUT=formula Set Device Output (see page 708)
TALK1 Talk on Communications Port 1 (see page 717)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 716 of 890
Part 2: Commands: TALK1
TALK1
APPLICATION:
Communications control
DESCRIPTION:
Motor restored to print on channel 0
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
TALK1 state
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command is typically sent from a host rather than existing within a
SmartMotor program.
The TALK1 command restores the motor’s ability to print messages to the serial
communication channel 1 if that ability was previously suppressed with the SILENT1
command. This command is typically used following the download of a user program to a
SmartMotor™ within a daisy chain. It could also be used to "un-silence" a debug routine.
TALK1 may be issued from the terminal or within a user program. However, the command is
typically sent from a host.
EXAMPLE: (Shows use of SILENT1 and TALK1)
RUN?
'Wait here for the RUN command.
'Set a=1 in the Terminal window to
OCHN(RS4,1,N,9600,1,8,C)
'Open ports 4 and
WHILE 1
'Endless loop.
IF a==1 TALK1 ENDIF
'If variable a is
'PRINT statements
IF a==0 SILENT1 ENDIF
'If variable a is
'PRINT statements
PRINT1("Position=",PA,#13) 'Print the actual
WAIT=3000 'Wait 3 seconds.
LOOP
'Loop back to WHILE 1 command.
END
allow print statements.
5 as RS-485 channel 1.
set to 1, allow
on channel 1.
set to 0, suppress
on channel 1.
position.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 717 of 890
Part 2: Commands
Talk on Communications Port 1
Part 2: Commands: TALK1
RELATED COMMANDS:
Part 2: Commands
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
PRINT(...) Print Data to Communications Port (see page 622)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
SILENT1 Silence Outgoing Communications on Communications Port 1 (see page 681)
STDOUT=formula Set Device Output (see page 708)
TALK Talk on Communications Port 0 (see page 715)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 718 of 890
Part 2: Commands: TAN(value)
TAN(value)
APPLICATION:
Math function
DESCRIPTION:
Gets the tangent of the input value
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RTAN(value)
WRITE:
N/A
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
Degrees input
RANGE OF VALUES:
Input in degrees (floating-point): -90.0 to 90.0 (a larger value
can be used, but it is not recommended)
Output (floating-point): TAN theoretically approaches ±infinity
at ±90 degrees
TYPICAL VALUES:
Input in degrees (floating-point): -90.0 to 90.0 (a larger value
can be used, but it is not recommended)
Output (floating-point): TAN theoretically approaches ±infinity
at ±90 degrees
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The TAN command takes an input angle in degrees and returns a floating-point tangent:
af[1]=TAN(arg)
where arg is in degrees, and may be an integer (i.e., a, aw[0]) or floating-point variable (i.e.,
af[0]). Integer or floating-point constants may also be used (i.e., 23 or 23.7, respectively).
This command cannot have within the parenthesis: math operators, other parenthetical
functions, or a Combitronic request from another motor. For example, x=FABS(PA) is
allowed, but x=FABS(PA:3) is not allowed.
The result of this function is a floating-point type. If used in an equation, the operations in the
equation that are processed after this function are automatically promoted to a float. This is
dependent on the mathematical order of operations in the equation. As with other equations
(e.g., x=a+b), the variable to the left of "=" may be an integer variable to accept the result.
However, the value will be truncated to fit to that integer type. For example, the assignment
"aw[0]=" will drop any fractional amount and truncate the result to the range -32768 to 32767
(aw[0]=100.5 will report as 100, and aw[0]=40000.0 will report as -25536).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 719 of 890
Part 2: Commands
Tangent
Part 2: Commands: TAN(value)
Although the floating-point variables and their standard binary operations conform to
IEEE-754 double precision, the floating-point square root and trigonometric functions only
produce IEEE-754 single-precision results. For more details, see Variables and Math on page
189.
EXAMPLE:
af[0]=TAN(45.7)
Raf[0]
RTAN(45.7)
af[1]=78.3
af[0]=TAN(af[1])
Raf[0]
END
'Set array variable = TAN(45.7)
'Report value of af[0] variable
'Report TAN(45.7)
'78.3 degrees
'Variables may be put in the parenthesis
Program output is:
Part 2: Commands
1.024738192
1.024738192
4.828816413
RELATED COMMANDS:
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
R
COS(value) Cosine (see page 359)
R
SIN(value) Sine (see page 683)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 720 of 890
Part 2: Commands: TEMP
TEMP
APPLICATION:
System
DESCRIPTION:
Read motor temperature
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RTEMP, RTEMP(arg)
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
Degrees Celsius
RANGE OF VALUES:
-40 to 100 (approximately)
TYPICAL VALUES:
20 to 60
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
Temperature, Motor
DETAILED DESCRIPTION:
The TEMP command reads the motor temperature measured on the main drive board close to
the motor. The current temperature of the motor can be determined by assigning TEMP to a
user variable. The units are in degrees Celsius.
Some motors are equipped with thermistors inside the motor windings. These additional
sensors can be read using RTEMP(1), RTEMP(2) and RTEMP(3)
Report
Command
Assignment
to Integer
Assignment
to Floata
Meaning
RTEMP, or RTEMP(0) t=TEMP or t=TEMP
(0)
af[0]=TEMP or af[0]=TEMP Sensor on drive
(0)
board
RTEMP(1)
t=TEMP(1)
af[0]=TEMP(1)
Sensor in winding
RTEMP(2)
t=TEMP(2)
af[0]=TEMP(2)
Sensor in winding
RTEMP(3)
t=TEMP(3)
af[0]=TEMP(3)
Sensor in winding
a) When the value is assigned to a floating-point variable, resolution improves to 0.1
degrees C.
EXAMPLE:
t=TEMP
Rt
PRINT(TEMP)
'response 30
'response 31 - the motor is warming up
You can set the overheat temperature trip point with the command:
TH=formula
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 721 of 890
Part 2: Commands: TEMP
NOTE: A motor in the overheat condition will not turn on the servo even if
commanded to do so.
Part 2: Commands
If the motor were operating in Torque mode at TEMP>TH, the motor would shut off. It would
not restart until both the condition TH-TEMP>5 was true and the ZS command (or Zh) was
reissued.
a=-5
WHILE a<=10
TH=TEMP+a
WAIT=4000
G
WAIT=4000
IF Bt
BREAK
ENDIF
a=a+1
LOOP
PRINT("MOTOR RESTARTED WHEN TH-TEMP=",a)
END
Program output is:
Restart announced at TH - TEMP = 6.
RELATED COMMANDS:
R
Bh Bit, Overheat (see page 294)
R
TH=formula Temperature, High Limit (see page 723)
Zh Reset Temperature Fault (see page 795)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 722 of 890
Part 2: Commands: TH=formula
TH=formula
APPLICATION:
System
DESCRIPTION:
Set maximum allowable temperature (high limit)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RTH
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Degrees Celsius
RANGE OF VALUES:
0 to 85
TYPICAL VALUES:
40 to 85
DEFAULT VALUE:
85
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
TH:3=60
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
TH=formula sets the maximum allowable temperature (high limit) at which the SmartMotor™
is permitted to continually servo. If the temperature goes above the TH value, the amplifier
will turn off, Bh will be set to 1, the motor off bit (Bo) will be set to 1, and the trajectory bit
will be cleared to 0.
NOTE: The SmartMotor will reject any command to clear the Bh fault or start
motion until the temperature has fallen by 5 degrees Celsius.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 723 of 890
Part 2: Commands
Temperature, High Limit
Part 2: Commands: TH=formula
EXAMPLE: (Demonstrates relationship between TEMP, TH, and Bh)
GOSUB10
'Report TEMP, TH, and Bh
a=5
b=TEMP
WHILE a>-5
'Vary TH about the current TEMP
TH=b-a
WAIT=2000
GOSUB10
'Observe Bh flag change from 0 to 1
a=a-1
'as TH is reduced to TEMP value and less
LOOP
END
C10
PRINT(#13,"Read the temperature ",b)
PRINT(#13,"Read TH overheat value ",TH)
PRINT(#13,"Read Bh overheat flag ",Bh)
RETURN
Part 2: Commands
Program output is:
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
Read
the temperature 0
TH overheat value 85
Bh overheat flag 0
the temperature 29
TH overheat value 24
Bh overheat flag 1
the temperature 29
TH overheat value 25
Bh overheat flag 1
the temperature 29
TH overheat value 26
Bh overheat flag 1
the temperature 29
TH overheat value 27
Bh overheat flag 1
the temperature 29
TH overheat value 28
Bh overheat flag 1
the temperature 29
TH overheat value 29
Bh overheat flag 1
the temperature 29
TH overheat value 30
Bh overheat flag 1
the temperature 29
TH overheat value 31
Bh overheat flag 1
the temperature 29
TH overheat value 32
Bh overheat flag 1
the temperature 29
TH overheat value 33
Bh overheat flag 1
RELATED COMMANDS:
R
Bh Bit, Overheat (see page 294)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 724 of 890
Part 2: Commands: TH=formula
TEMP Temperature, Motor (see page 721)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 725 of 890
Part 2: Commands: TMR(x,t)
TMR(x,t)
Part 2: Commands
Timer
APPLICATION:
Program execution and flow control
DESCRIPTION:
Gets (reads) or sets one of the timers
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
four unique timers available
READ/REPORT:
RTMR(tmr)
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
Milliseconds
RANGE OF VALUES:
0 to 2147483647 milliseconds (negative values not recommended)
TYPICAL VALUES:
0 to 2147483647 milliseconds (negative values not recommended)
DEFAULT VALUE:
0 milliseconds
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
TMR(0,1000):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The TMR command gets (reads) or sets the timer as follows:
l
l
=TMR(ID#)
Get a specific timer value, e.g., a=TMR(0) gets the time value from timer #0.
TMR(#ID,time) as a command
Set a timer ID# to a specific time value, e.g., TMR(0,1000) sets timer #0 to 1000
milliseconds.
The range of ID# is from 0 to 3.
The range of time is from 0 to 2147483647. Negative number can be set; however, it is not
recommended.
The TMR command allows a count-down timer to be enabled. This is useful for triggering
interrupt routines. When a timer is running, the corresponding status bit in Status Word 4 will
be set to the value 1. When it reaches zero, the status bit will revert to 0. This bit change can
be used to trigger a subroutine through the ITR() function. For more details on ITR(), see ITR
(Int#,StatusWord,Bit#,BitState,Label#) on page 474.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 726 of 890
Part 2: Commands: TMR(x,t)
EIGN(2)
EIGN(3)
ZS
MP
VT=500000
AT=300
DT=100
TMR(0,1000)
ITR(0,4,0,0,20)
EITR(0)
ITRE
p=0
O=0
C10
IF PA>47000
DITR(0)
TWAIT
p=0
PT=p
G
TWAIT
EITR(0)
TMR(0,1000)
ENDIF GOTO10
END
C20
TMR(0,1000)
p=p+4000
PT=p
G
RETURNI
'Disable Left Limit
'Disable Right Limit
'Clear faults
'Set Position Mode
'Set Target Velocity.
'Set Target Acceleration.
'Set Target Deceleration.
'Set Timer 0 to 1s
'Set Interrupt
'Enable Interrupt
'Enable all Interrupts
'Initialize variable p
'Set commanded and actual pos. to zero
'Place a label
'Just before 12 moves
'Disable Interrupt
'Wait till reaches 48000
'Reset variable p
'Set Target Position
'Start motion
'Wait for move to complete
'Re-enable Interrupt
'Re-start timer
'Go back to label
'End (never reached)
'Interrupt Subroutine Label
'Re-start timer
'Increment variable p
'Set Target Position
'Start Motion
'Return to main loop
EXAMPLE: (for pulse width)
. . .
WHILE 1>0
O=0
PT=40000
G
WHILE PA<20000
LOOP
OUT(1)=0
TMR(0,400)
TWAIT WAIT=1000
LOOP
. . .
'Reset origin for move
'Set final position
'Start motion
'Loop while motion continues
'Wait for desired position to pass
'Set output lo
'Use timer 0 for pulse width
'wait 1 second
RELATED COMMANDS:
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 727 of 890
Part 2: Commands
EXAMPLE:
Part 2: Commands: TRQ
TRQ
Part 2: Commands
Torque, Real-Time
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) the real-time torque of the motor
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RTRQ
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
-32767 to 32767
TYPICAL VALUES:
-32767 to 32767
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The TRQ command is used to get (read) the real-time torque demand of the PID or MT mode
of the motor. In MT mode, the value reported will reflect any applied TS ramp.
NOTE: The value returned by TRQ (and RTRQ) will typically be one less than the T
(torque) value because zero is counted as the minimum amount of commanded
torque. TRQ is always % PWM commanded to the motor at any time and in any
mode of operation. It can be used to transfer across modes without a causing a
ripple or bump in force to the load.
In other modes where the servo is enabled, the value of TRQ reports the demand of the PID
loop.
EXAMPLE:
At the SMI terminal prompt, type the following commands:
MT
T=3000
G
NOTE: In Torque mode, the new torque value does not take effect until a G
command is issued.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 728 of 890
Part 2: Commands: TRQ
Now use the TRQ command to read the real-time torque:
PRINT(TRQ)
Program output is:
2999
RELATED COMMANDS:
MT Mode Torque (see page 573)
R T=formula Torque, Open-Loop Commanded (see page 713)
TS=formula Torque Slope (see page 730)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 729 of 890
Part 2: Commands: TS=formula
TS=formula
Part 2: Commands
Torque Slope
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) or sets the torque slope
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
MT mode
LIMITATIONS:
N/A
READ/REPORT:
RTS
WRITE:
Read only
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
((Units of T=) per sample)*65536
RANGE OF VALUES:
-1 to 2147483647
TYPICAL VALUES:
-1 (disable), or from 65536 to 1000000
DEFAULT VALUE:
-1 (disabled)
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
TS:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The TS command is used to get (read) or set the torque slope as follows:
l
l
=TS
Get torque slope setting
TS=formula
Set torque slope
In Torque mode (MT), the TS= command allows new torque settings to be reached gradually
rather than instantly. Values may be from -1 to +2147483647. A value of -1 disables the slope
feature and causes new torque values to be reached immediately. A TS setting of 65536 will
increase the output torque by one unit per PID sample period.
EXAMPLE:
MT
T=8000
TS=65536
G
'Select torque mode.
'Final torque after the TS ramp that we want.
'Increase the torque by 1 unit of T per PID sample.
'Begin move
NOTE: In Torque mode, the new torque value does not take effect until a G
command is issued.
After executing the above code, in the SMI software Terminal window, use the PRINT
(TS) command to get the current torque slope value:
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 730 of 890
Part 2: Commands: TS=formula
PRINT(TS)
65536
RELATED COMMANDS:
Part 2: Commands
MT Mode Torque (see page 573)
R T=formula Torque, Open-Loop Commanded (see page 713)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 731 of 890
Part 2: Commands: TSWAIT
TSWAIT
Part 2: Commands
Trajectory Synchronized Wait
APPLICATION:
Program execution and flow control
DESCRIPTION:
Suspends program execution during a synchronized move
EXECUTION:
Immediate
CONDITIONAL TO:
PTS or PRTS commands
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The TSWAIT command pauses synchronized program execution. After a GS command has
been issued to start a synchronized move, the TSWAIT command can be used to pause
program execution until the move has been completed.
Note that a standard TWAIT command would not work in cases where the motor issuing the
PTS( ) and GS commands had a zero-length contribution to the total move. The TSWAIT
command was designed to handle this situation. For more details, see Synchronized Motion on
page 170.
EXAMPLE:
The following example is a synchronized move in its simplest form. The code could be
downloaded to either motor 1 or 2, and it would work the same.
ADTS=100
VTS=10000
PTS(3000;1,4000;2)
GS
TSWAIT
'Set target synchronized accel/decel
'Set target synchronized velocity
'Set synchronized target positions
'Start synchronized motion
'Wait for synchronized motion to complete
RELATED COMMANDS:
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PTS(...) Position Target, Synchronized (see page 644)
TWAIT(gen#) Trajectory Wait (see page 733)
WAIT=formula Wait for Specified Time (see page 778)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 732 of 890
Part 2: Commands: TWAIT(gen#)
TWAIT(gen#)
APPLICATION:
Program execution and flow control
DESCRIPTION:
Suspend command execution while in trajectory
EXECUTION:
Immediate
CONDITIONAL TO:
Position mode (MP) or torque ramp (MT, TS)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The TWAIT command pauses program execution until the Busy Trajectory (Bt) status bit
clears. Normally, program execution and trajectory generation are completely independent.
Regardless of what the motion is doing, the processor executes code from the top down.
For example, if there were three consecutive motion commands, they would all execute
sequentially. Therefore, before the motor could even start to move, the last motion command
would dominate. However, using the TWAIT command allows each move command to occur
and complete.
An alternative to TWAIT is:
WHILE Bt . . . LOOP
The TWAIT command and WHILE Bt construction terminate when the trajectory ends.
Depending on the application, you may wish to perform error checking to ensure that the
move was properly completed within a position-error range.
When in MT mode, the TWAIT command (and Bt bit) will also wait while a TS ramp is in
progress.
The TWAIT command will wait for all trajectories to complete. Be aware that dual-trajectory
operation may not give the expected result. To access the specific trajectory (1 or 2), use the
command form TWAIT(1) or TWAIT(2). Also, note there are associated status bits in status
word 7 (bits 0 and 8).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 733 of 890
Part 2: Commands
Trajectory Wait
Part 2: Commands: TWAIT(gen#)
EXAMPLE: (Subroutine shows use of DITR, EITR, TMR and TWAIT)
C10
IF PA>47000
DITR(0)
TWAIT
p=0
PT=p
G
TWAIT
EITR(0)
TMR(0,1000)
ENDIF
GOTO10
'Place a label
'Just before 12 moves
'Disable interrupt
'Wait till reaches 48000
'Reset variable p
'Set target position
'Start motion
'Wait for move to complete
'Re-enable interrupt
'Restart timer
'Go back to label
RELATED COMMANDS:
Part 2: Commands
R
Bt Bit, Trajectory In Progress (see page 333)
TSWAIT Trajectory Synchronized Wait (see page 732)
WAIT=formula Wait for Specified Time (see page 778)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 734 of 890
Part 2: Commands: UIA
UIA
APPLICATION:
System
DESCRIPTION:
Gets (reads) the motor current applied to the windings
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RUIA
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
milliamperes (mA)
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 20000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The UIA command gets (reads) the motor current applied to the windings. The value is
returned in milliamperes. Therefore, divide by 1000 to convert it to amperes.
The value returned is a measure of current in the motor for thermal limiting. It should not be
assumed it is directly related to torque. This current is not a measurement of current from the
supply lines; it is measured in the drive bridge. Because the drive is a power-conversion
device, the current from the supply is not the same amount of current supplied to the motor
windings.
EXAMPLE:
i=400
'Motor current to check for
WHILE 1
'While forever
IF UIA>i
'If motor current in mAmps is > "i"
GOSUB(100)
WHILE UIA>i LOOP
'Prevent double trigger
ENDIF
LOOP
C100
IF UIA>(i*2)
'If current is twice as much
GOTO200
'bypass PRINT line below
ENDIF
PRINT("Current is above ",i,"mAmps",#13)
C200
PRINT("Current twice as high as it should be!",#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 735 of 890
Part 2: Commands
Motor Current
Part 2: Commands: UIA
RELATED COMMANDS:
Bh Bit, Overheat (see page 294)
R
TEMP Temperature, Motor (see page 721)
R
TH=formula Temperature, High Limit (see page 723)
R
UJA Bus Voltage (see page 737)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 736 of 890
Part 2: Commands: UJA
UJA
APPLICATION:
System
DESCRIPTION:
Gets (reads) the bus voltage applied to the motor's drive bridge
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Class 5 hardware can measure up to 100 volts; the voltage supply should not exceed 48 volts
READ/REPORT:
RUJA
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
millivolts (mV)
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 48000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The UJA command gets (reads) the bus voltage. The value returned is in millivolts. Therefore,
divide the value by 1000 to convert it to volts. For example, 24000 equals 24 volts.
The voltage is measured at the motor's drive bridge; it is not the "control" power supplied for
the CPU and electronics. If a DE motor is used, then this is an important difference. If a nonDE motor is used, then both voltage supplies are effectively the same.
EXAMPLE:
VT=100000
PT=1000000
MP
G
WHILE Bt
IF UJA<18500
OFF
ENDIF
LOOP
END
'Set maximum velocity
'Set final position
'Set Position Mode
'Start motion
'Loop while motion continues
'If voltage is below 18.5 Volts
'Turn motor off
'Loop back to WHILE
'Required END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 737 of 890
Part 2: Commands
Bus Voltage
Part 2: Commands: UJA
RELATED COMMANDS:
Bh Bit, Overheat (see page 294)
R
TEMP Temperature, Motor (see page 721)
R
TH=formula Temperature, High Limit (see page 723)
R
UIA Motor Current (see page 735)
Part 2: Commands
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 738 of 890
Part 2: Commands: UO(...)=formula
UO(...)=formula
APPLICATION:
System
DESCRIPTION:
Sets one or more user status bits to specified values
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
UO(0):3=1, UO(W,0):3=22 or UO(W,0,15):3=22,
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The UO command sets one or more user status bits to the specified values. These bits are
visible in motor status words 12 and 13, which means they can also be used to trigger user
program interrupts.
The UO command sets or clears the bit specified by bit#. If the formula's least-significant bit
= 1, then it's true (1); otherwise, it's false (0).
l
l
l
UO(bit#)=formula
If bit 0 in the formula to the right of "=" is 1, then set bit# to a 1; otherwise, when it is
even or zero, clear the bit to 0.
UO(W,word)=formula
Set the group of bits in the specified user word to the bitwise value from the formula.
UO(W,word[,mask])=formula
Set the group of bits in the specified user word to the bitwise value from the formula.
However, leave the bits as is if they are bitwise set to 0 in the bitmask value.
User Word
Associated
Status Word
User Bits
(individually addressed)
0, e.g., UO(W,0)=x
12, e.g., RW(12) or RB(12,x)
0-15, e.g., UO(15)=0
1, e.g., UO(W,1)=x
13, e.g., RW(13) or RB(13,x)
16-31, e.g., UO(31)=0
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 739 of 890
Part 2: Commands
User Status Bits
Part 2: Commands: UO(...)=formula
User bits allow the programmer to keep track of events or status within an application
program. Their functions are defined by the application program in the SmartMotor. User bits
are individually addressed starting at 0 (zero based). Likewise, the user-bit words are
addressed starting at 0 (zero based).
A powerful feature of user bits is their ability to be addressed over networks such as
Combitronic or CANopen. This allows a hosting application to run an interrupt routine in the
SmartMotor.
User bits can also be addressed as words, with or without a mask, to define the affected bits.
For more details, see User Status Bits on page 207.
EXAMPLE:
UO(0)=a&b
'Sets user bit to 1 if the bit-wise operation
'result is odd, else sets it to 0.
UO(W,1,7)=a
'Sets user bits 16, 17 and 18 to the value of
'the lower three bits in a.
Part 2: Commands
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
UR(...) User Bits, Reset (see page 745)
US(...) User Bits, Set (see page 747)
R W(word) Report Specified Status Word (see page 776)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 740 of 890
Part 2: Commands: UP
UP
Upload Compiled Program and Header
Program access
DESCRIPTION:
Upload user EEPROM program with header and raw address
information through serial communications.
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The UP command causes a compiled program (runtime code) to be sent out through the serial
port where it was requested. The output from the UP command includes a header containing
binary information. It also contains special codes created by the compiler to handle program
flow statements like GOTO or WHILE LOOP, which are interspersed with the program text. In
contrast, the UPLOAD command returns the user program in readable text. For details, see
UPLOAD on page 743.
CAUTION: The UP command is not permitted within a user program.
Unexpected behavior may result.
Procedure for using this command:
1.
2.
3.
4.
5.
6.
7.
Issue the UP command.
IF ECHO is enabled, UP and a hex 20 will be returned.
8 bytes of program data will be returned.
issue the hex 06 character to request more data.
The hex 06 character will be ECHOed if ECHO is enabled.
8 bytes of program data will be returned.
Repeat step 5. If less than 8 bytes (including 0 bytes) of program data is remaining,
then the end of program was found. The program is ended with a hex character FF. If
this character is seen, no further program data will follow.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 741 of 890
Part 2: Commands: UP
The UP or UPLOAD command does not terminate the current motion mode or trajectory,
change motion parameters such as EL, ADT, VT or KP, or alter the current value of the user
variables.
The user program may continue running. However, it is recommended to END the program
before uploading to avoid communications conflicts with any report or PRINT statements.
The comments in the original source code do not appear when you UP or UPLOAD a program.
Comments are removed by the SMI software compiler, which is normal for any compiled
computer program.
When uploading a program from a SmartMotor in a daisy chain, use the SILENT and SLEEP
commands to prevent the other SmartMotors in the chain from issuing unexpected characters.
After the upload is complete, re-enable normal communications to those motors with the
WAKE and TALK commands.
Part 2: Commands
RELATED COMMANDS:
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
TALK Talk on Communications Port 0 (see page 715)
UPLOAD Upload Standard User Program (see page 743)
WAKE Wake Communications Port 0 (see page 780)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 742 of 890
Part 2: Commands: UPLOAD
UPLOAD
APPLICATION:
Program access
DESCRIPTION:
Upload user EEPROM through serial communications
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The UPLOAD command uploads only the text portion of the SmartMotor’s™ program as it is
shown in the original source file. The program is uploaded to the serial port where it was
requested. All comments and blank spaces are removed. In contrast, the UP command
uploads the text along with all of the binary information created by the compiler. For details,
see UP on page 741.
CAUTION: The UPLOAD command is not permitted within a user program.
Unexpected behavior may result.
Procedure for using this command:
1.
2.
3.
4.
5.
6.
7.
Issue the UPLOAD command.
IF ECHO is enabled, UPLOAD and a hex 20 will be returned.
8 bytes of program data will be returned.
issue the hex 06 character to request more data.
The hex 06 character will be ECHOed if ECHO is enabled.
8 bytes of program data will be returned.
Repeat step 5. If less than 8 bytes (including 0 bytes) of program data is remaining,
then the end of program was found. The program is ended with a hex character FF. If
this character is seen, no further program data will follow.
The UP or UPLOAD command does not terminate the current motion mode or trajectory,
change motion parameters such as EL, ADT, VT or KP, or alter the current value of the user
variables.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 743 of 890
Part 2: Commands
Upload Standard User Program
Part 2: Commands: UPLOAD
The user program may continue running. However, it is recommended to END the program
before uploading to avoid communications conflicts with any report or PRINT statements.
The comments in the original source code do not appear when you UP or UPLOAD a program.
Comments are removed by the SMI software compiler, which is normal for any compiled
computer program.
When uploading a program from a SmartMotor in a daisy chain, use the SILENT and SLEEP
commands to prevent the other SmartMotors in the chain from issuing unexpected characters.
After the upload is complete, re-enable normal communications to those motors with the
WAKE and TALK commands.
RELATED COMMANDS:
Part 2: Commands
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
TALK Talk on Communications Port 0 (see page 715)
UP Upload Compiled Program and Header (see page 741)
WAKE Wake Communications Port 0 (see page 780)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 744 of 890
Part 2: Commands: UR(...)
UR(...)
APPLICATION:
System
DESCRIPTION:
Sets one or more user status bits to 0
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
UR(0):3 or UR(W,0):3 or UR(W,0,15):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The UR command sets one or more user status bits to 0. These bits are visible in motor status
words 12 and 13, which means they can also be used to trigger user program interrupts.
The UR command sets or clears the bit specified by bit#. If the expression least-significant bit
= 1, then it's true (1); otherwise, it's false (0).
l
l
l
UR(bit#)
Clear bit to a 0.
UR(W,word)
Clear all bits in the specified word.
UR(W,word[,mask])
Clear all bits in the specified word. However, leave bits as is if they are bitwise set to 0
in the bitmask value.
User Word
Associated
Status Word
User Bits
(individually
addressed)
0, e.g., UR(W,0)
12, e.g., RW(12) or RB(12,x)
0-15, e.g., UR(15)
1, e.g., UR(W,1)
13, e.g., RW(13) or RB(13,x)
16-31, e.g., UR(31)
User bits allow the programmer to keep track of events or status within an application
program. Their functions are defined by the application program in the SmartMotor. User bits
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 745 of 890
Part 2: Commands
User Bits, Reset
Part 2: Commands: UR(...)
are individually addressed starting at 0 (zero based). Likewise, the user-bit words are
addressed starting at 0 (zero based).
A powerful feature of user bits is their ability to be addressed over networks such as
Combitronic or CANopen. This allows a hosting application to run an interrupt routine in the
SmartMotor.
User bits can also be addressed as words, with or without a mask, to define the affected bits.
For more details, see User Status Bits on page 207.
EXAMPLE:
UR(19)
'RESET User Bit 3 in second User Bit Status Word
UR(W,0)
'RESET all User Bits in first User Status Word
UR(W,1,7) 'RESET User bits 16, 17 and 18
RELATED COMMANDS:
Part 2: Commands
R
B(word,bit) Status Byte (see page 286)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
UO(...)=formula User Status Bits (see page 739)
US(...) User Bits, Set (see page 747)
R W(word) Report Specified Status Word (see page 776)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 746 of 890
Part 2: Commands: US(...)
US(...)
APPLICATION:
System
DESCRIPTION:
Sets one or more user status bits to 1
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Depends on command format and motor model (see details)
TYPICAL VALUES:
Depends on command format and motor model (see details)
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
US(0):3 or US(W,0):3 or US(W,0,15):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The US command sets one or more user status bits to 1. These bits are visible in motor status
words 12 and 13, which means they can also be used to trigger user program interrupts.
The US command sets or clears the bit specified by bit#. If the expression least-significant bit
= 1, then it's true (1); otherwise, it's false (0).
l
l
l
US(bit#)
Set bit to a 1.
US(W,word)
Set all bits in the specified word.
US(W,word[,mask])
Set all bits in the specified word. However, leave bits as is if they are bitwise set to 0 in
the bitmask value.
User Word
Associated
Status Word
User Bits
(individually
addressed)
0, e.g., US(W,0)
12, e.g., RW(12) or RB(12,x)
0-15, e.g., US(15)
1, e.g., US(W,1)
13, e.g., RW(13) or RB(13,x)
16-31, e.g., US(31)
User bits allow the programmer to keep track of events or status within an application
program. Their functions are defined by the application program in the SmartMotor. User bits
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 747 of 890
Part 2: Commands
User Bits, Set
Part 2: Commands: US(...)
are individually addressed starting at 0 (zero based). Likewise, the user-bit words are
addressed starting at 0 (zero based).
A powerful feature of user bits is their ability to be addressed over networks such as
Combitronic or CANopen. This allows a hosting application to run an interrupt routine in the
SmartMotor.
User bits can also be addressed as words, with or without a mask, to define the affected bits.
For more details, see User Status Bits on page 207.
EXAMPLE:
US(0)
'SET User Bit 0
US(W,0,a)
'SET first three User Bits when a=7
EXAMPLE: (Fault-handler subroutine, shows use of MTB and US)
C0
Part 2: Commands
MTB:0
US(0):0
US(ADDR):0
'Fault handler
'Motor will turn off
'braking, tell other
'Set User Status Bit
'Word 12 bit zero)
'Set User Status Bit
'(Status Word 12 Bit
with Dynamic
motors to stop.
0 to 1 (Status
"address" to 1
"address")
RETURNI
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
UO(...)=formula User Status Bits (see page 739)
UR(...) User Bits, Reset (see page 745)
R W(word) Report Specified Status Word (see page 776)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 748 of 890
Part 2: Commands: USB(arg)
USB(arg)
USB Status Word
Communications control
DESCRIPTION:
Report the value of USB status word or assign it to a variable
(see details)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
No USB= form of this command
READ/REPORT:
RUSB
WRITE:
Read only
LANGUAGE ACCESS:
N/A
UNITS:
See description
RANGE OF VALUES:
See description
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
6.0 and later
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The USB command is used to report the value of the specified USB status word or assign it to
a variable as follows:
l
l
x=USB(arg)
Assigns the value of the specified USB status word (specified by arg) to the variable x
RUSB(arg)
Reports the value of the specified USB status word (specified by arg)
RUSB and x=USB are also permitted. In these cases, the value of arg is 0. Therefore, status
word 0 is reported or assigned to a variable.
Arg
0
Requested
Information
Report connection state
Result Value
Range
0-32
Meaning
0: Detached state
1: Attached state
2: Powered state
4: Default state
8: Address-pending state
16: Address state
32: Configured state
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 749 of 890
Part 2: Commands: USB(arg)
EXAMPLE:
x=USB(0)
'Read the status of USB connection.
RELATED COMMANDS:
Part 2: Commands
N/A
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 750 of 890
Part 2: Commands: VA
VA
APPLICATION:
Motion control
DESCRIPTION:
Gets (reads) the actual (filtered) velocity
EXECUTION:
Next PID sample
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
REPORT VALUE:
RVA
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
Scaled encoder counts/sample
RANGE OF VALUES:
-2147483648 to 2147483647
TYPICAL VALUES:
-3200000 to 3200000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The VA command gets (reads) the commanded velocity as follows:
l
=VA
Reads the actual velocity measured by the selected encoder. When ENC1 mode is
chosen, the external encoder is used.
The SmartMotor can be given a variety of motion commands. Under all types of motion, the
actual velocity (rotational) can be reported. This also applies to a back-driven motor when the
drive is off.
The value reported is measured from the encoder, so it is based on real-world data rather
than an internal calculation. In order to filter the noise from this data, an infinite impulse
response (IIR) digital filter is applied. An IIR filter is similar to a moving average but includes
all previous data points. The significance of the previous points is diminished while new data
points are added. The coefficient of this filter can be adjusted with the VAC command for a
longer or shorter time constant. There is a trade-off between quick responsiveness and
resolution. The default value for the filter constant should work well for most applications.
Equations for Real-World Units:
Because the encoder resolution and sample rate can vary, the following general equations can
be applied to converting the value of VA to various units of velocity. These equations force
floating-point calculations to avoid overflow and maintain resolution. They can be placed in a
user program, or they can be precalculated if the values of SAMP and RES are known (SAMP
and RES can be reported from the terminal using the RSAMP and RRES commands,
respectively). SAMP can change if the PID command is used. The value of RES can differ
between motor models.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 751 of 890
Part 2: Commands
Velocity Actual
Part 2: Commands: VA
Output
Equation
Radians/Sec
=VA*PI*2*((SAMP/65536.0)/RES)
Encoder Counts/Sec
=VA*(SAMP/65536.0)
Rev/Sec
=VA*((SAMP/65536.0)/RES)
RPM
=VA*60.0*((SAMP/65536.0)/RES)
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
Part 2: Commands
EXAMPLE: (monitor acceleration ramp)
O=0
EL=4000
ADT=10
v=1000000
VT=v
MV
G
WHILE VA-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1023
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End program
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 772 of 890
Part 2: Commands: VT=formula
RELATED COMMANDS:
R
RES Resolution (see page 653)
R
SAMP Sampling Rate (see page 677)
VA Velocity Actual (see page 751)
VAC(arg) Velocity Actual (filter) Control (see page 754)
R VC Velocity Commanded (see page 759)
R
VL=formula Velocity Limit (see page 761)
Part 2: Commands
VTS=formula Velocity Target, Synchronized Move (see page 774)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 773 of 890
Part 2: Commands: VTS=formula
VTS=formula
Part 2: Commands
Velocity Target, Synchronized Move
APPLICATION:
Motion control
DESCRIPTION:
Sets the synchronized (path) velocity target
EXECUTION:
Must be set before issuing PTS or PRTS; will not be effective
after that point
CONDITIONAL TO:
PIDn
LIMITATIONS:
Must not be negative; 0 is not valid
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
Assignment
UNITS:
(encoder counts / sample) * 65536 in 2D or 3D space
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
100000 to 3200000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x series only; not available in version 5.32.x.x
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The VTS command sets the maximum velocity target for synchronized moves. The motion
along a synchronized move is defined along the path in 2D or 3D space depending on the
number of axes defined by PTS or PRTS.
The VTS command is specific to defining the combined velocity of all contributing axes. For
example, if the move were to occur in an X-Y plane, the velocity set by VTS would not pertain
to the just the X- or Y-axis. Rather, it applies to their combined motion in the direction of
motion.
The value of VTS defaults to zero. Therefore, it must be given a value before any motion can
take place.
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 653 and SAMP on page 677.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 774 of 890
Part 2: Commands: VTS=formula
EXAMPLE: (Shows use of ATS, DTS and VTS)
EIGN(W,0)
'Set all I/O as general inputs.
ZS
'Clear errors.
ATS=100
'Set synchronized acceleration target.
DTS=500
'Set synchronized deceleration target.
VTS=100000000
'Set synchronized target velocity.
PTS(500;1,1000;2,10000;3) 'Set synchronized target position
'on motor 1, 2 and 3.
GS
'Initiate synchronized move.
TSWAIT
'Wait until synchronized move ends.
END
'Required END.
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
PTS(...) Position Target, Synchronized (see page 644)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 775 of 890
Part 2: Commands
RELATED COMMANDS:
Part 2: Commands: W(word)
W(word)
Part 2: Commands
Report Specified Status Word
APPLICATION:
System
DESCRIPTION:
Reports a specified status word
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RW(value)
WRITE:
Read only
LANGUAGE ACCESS:
Formulas and conditional testing
UNITS:
N/A
RANGE OF VALUES:
Input: 0-17
Output: 0-65535
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The W(word) command reports the specified 16-bit status word. Refer to the following table.
Also, see Status Words on page 857.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 776 of 890
Part 2: Commands: W(word)
Purpose
0
Drive state and hardware limits
1
Index capture and software limits
2
Programs and communications
3
PID and motion
4
Timers
5
Interrupts
6
Commutation and bus
7
Trajectory details
8
Cam and interpolation user bits
9-11
Reserved
12
User-controlled bits, word 0
(also used when DMX is active)
13
User-controlled bits, word 1
14-15
Reserved
16
I/O state, word 0
17
I/O state, word 1 (D-style with AD1 option only)
EXAMPLE:
ab[10]=W(16)
'Read the status of on-board I/O via
'controller's status word.
EXAMPLE:
IF (W(0)& 49152)==49152
'Look at both limits, bits 14 & 15,
'with bit mask 49152 = 32768 + 16384.
GOSUB100
'Execute subroutine.
ENDIF
C100
RETURN
'Subroutine code here.
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
Z Total CPU Reset (see page 789)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 777 of 890
Part 2: Commands
Status
Word
Part 2: Commands: WAIT=formula
WAIT=formula
Part 2: Commands
Wait for Specified Time
APPLICATION:
Program execution and flow control
DESCRIPTION:
Suspends user program execution for specified amount of time
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
milliseconds
RANGE OF VALUES:
0 to 2147483647
TYPICAL VALUES:
0 to 4000
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
WAIT=formula pauses program execution for a specified amount of time. Time is measured in
milliseconds (e.g., WAIT=1000 is one second).
EXAMPLE: (Dynamically change from Velocity mode to Torque mode)
MV
VT=100000
ADT=1000
G
WAIT=2000
T=TRQ
MT G
WAIT=2000
OFF
'Set motor to Velocity mode
'Set velocity to 100000
'Set accel/decel to 1000
'Go (Start moving)
'Wait about 2 seconds
'Set torque to the value the PID filter
'was commanding in MV
'Set motor to Torque mode
'Wait about 2 seconds
'Turn the motor off
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 778 of 890
Part 2: Commands: WAIT=formula
EXAMPLE: (Change commanded speed and acceleration)
O=0
MP
VT=100000
ADT=1000
PT=1000000
G
WAIT=8000
VT=800000
ADT=500
G
'Set current position to zero
'Set to position mode (required if currently
'in another mode)
'Set velocity to 100000
'Set accel/decel to 1000
'Set commanded absolute position to 1000000
'Go (Start moving)
'Wait about 8 seconds
'Set new velocity of 800000
'Set new accel/decel of 500
'Initiate change in speed and acceleration
RELATED COMMANDS:
R
CLK=formula Millisecond Clock (see page 356)
R
TMR(x,t) Timer (see page 726)
Part 2: Commands
TWAIT(gen#) Trajectory Wait (see page 733)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 779 of 890
Part 2: Commands: WAKE
WAKE
Part 2: Commands
Wake Communications Port 0
APPLICATION:
Communications control
DESCRIPTION:
Motor to execute all channel 0 communications commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE state
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
WAKE clears the SLEEP condition of a SmartMotor™. Except for the WAKE command, a
SmartMotor that has been put to SLEEP rejects all other commands received through the
primary port (communications channel 0).
WAKE is typically used by a host communicating over the serial channel to isolate individual
motors. This may be required when a program is being downloaded or motors are being
assigned addresses. The WAKE command can also be used in a program; however, this must
be done with caution.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 780 of 890
Part 2: Commands: WAKE
'The following commands can be sent from the SMI software Terminal
'window to address three SmartMotors:
'0SADDR1
'1ECHO
'1SLEEP
'0SADDR2
'2ECHO
'2SLEEP
'0SADDR3
'3ECHO
'0WAKE
'A host program other than SMI can send the same commands, but the
'prefixed addressing is different. The 0, 1, 2 and 3 are actually
'0x80, 0x81, 0x82 and 0x83, respectively.
'The decimal equivalent of the hex values are 128, 129, 130 and 131.
'The following commands can be sent from a program in motor 1 to
'Motor 2:
PRINT(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
'through channel 0 (RS-232).
PRINT(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE
'through channel 0 (RS-232).
'Assuming channel 1 (RS-485) is open on all motors with the
'OCHN command, the same commands can be sent with the PRINT1
'command:
OCHN(RS4,1,N,9600,1,8,C) 'Open ports 4 and 5 as RS-485 channel 1.
PRINT1(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT1(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT1(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
PRINT1(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE.
END
RELATED COMMANDS:
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
SLEEP1 Ignore Incoming Commands on Communications Port 1 (see page 691)
WAKE1 Wake Communications Port 1 (see page 782)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 781 of 890
Part 2: Commands
EXAMPLE: (Shows use of SLEEP, SLEEP1, WAKE and WAKE1)
Part 2: Commands: WAKE1
WAKE1
Part 2: Commands
Wake Communications Port 1
APPLICATION:
Communications control
DESCRIPTION:
Motor to execute all channel 1 communications commands
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
WAKE1 state
FIRMWARE VERSION:
5.0.x, 5.16.x or 5.32.x series only
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
WAKE1 clears the SLEEP1 condition of a SmartMotor™. Except for the WAKE1 command, a
SmartMotor that has been put to SLEEP1 rejects all other commands received through the
channel 1 serial port.
WAKE1 is typically used by a host communicating over the serial channel to isolate individual
motors. This may be required when a program is being downloaded or motors are being
assigned addresses. The WAKE1 command can also be used in a program; however, this must
be done with caution.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 782 of 890
Part 2: Commands: WAKE1
'The following commands can be sent from the SMI software Terminal
'window to address three SmartMotors:
'0SADDR1
'1ECHO
'1SLEEP
'0SADDR2
'2ECHO
'2SLEEP
'0SADDR3
'3ECHO
'0WAKE
'A host program other than SMI can send the same commands, but the
'prefixed addressing is different. The 0, 1, 2 and 3 are actually
'0x80, 0x81, 0x82 and 0x83, respectively.
'The decimal equivalent of the hex values are 128, 129, 130 and 131.
'The following commands can be sent from a program in motor 1 to
'Motor 2:
PRINT(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
'through channel 0 (RS-232).
PRINT(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE
'through channel 0 (RS-232).
'Assuming channel 1 (RS-485) is open on all motors with the
'OCHN command, the same commands can be sent with the PRINT1
'command:
OCHN(RS4,1,N,9600,1,8,C) 'Open ports 4 and 5 as RS-485 channel 1.
PRINT1(#130,"SLEEP",#13) 'Cause channel 0 (RS-232) of motor 2 to SLEEP.
PRINT1(#130,"WAKE",#13)
'Cause channel 0 (RS-232) of motor 2 to WAKE.
PRINT1(#130,"SLEEP1",#13) 'Cause channel 1 (RS-485) of motor 2 to SLEEP.
PRINT1(#130,"WAKE1",#13) 'Cause channel 1 (RS-485) of motor 2 to WAKE.
END
RELATED COMMANDS:
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
SLEEP1 Ignore Incoming Commands on Communications Port 1 (see page 691)
WAKE Wake Communications Port 0 (see page 780)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 783 of 890
Part 2: Commands
EXAMPLE: (Shows use of SLEEP, SLEEP1, WAKE and WAKE1)
Part 2: Commands: WHILE formula
WHILE formula
Part 2: Commands
While Condition Program Flow Control
APPLICATION:
Program execution and flow control
DESCRIPTION:
Defines block of code that repeats while formula is true
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Formula that evaluates true or false
TYPICAL VALUES:
Formula that evaluates true or false
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The WHILE command defines the start of a program loop that repeatedly executes as long as
the evaluated condition is true (not equal to zero). Each WHILE formula control block must be
terminated with a corresponding LOOP exit statement (see LOOP on page 511). WHILE control
blocks may be nested (see the second example).
NOTE: WHILE is not a valid terminal command; it is only valid within a user
program.
The WHILE...LOOP control block looks like this:
WHILE {formula is true}
execute program command here
LOOP
The "formula" is evaluated the first time WHILE is encountered:
l
l
If true (not zero), program execution is sent back to the WHILE by the corresponding
LOOP command, and the formula is evaluated again.
If false (zero), program execution redirects to the code just below the LOOP command.
Any valid standard formula can be used. In particular, WHILE 1...LOOP is a standard "loop
forever" control block.
The formula may be similar to that used when assigning a value to a variable. However, it is
strongly recommended to always use a comparison operator such as:
==
!=
<
>
<=
>=
(for more information, see Math Operators on page 851).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 784 of 890
Part 2: Commands: WHILE formula
For example, the formula a=(b+2)*3 would be applied to a WHILE as:
WHILE ((b+2)*3)!=0
LOOP
This is preferred to merely writing "WHILE (b+2)*3". The logical condition being tested is
more obvious when the comparison operators are used. It is also possible to combine multiple
logical tests when the comparison operators are used:
WHILE (a>(b+1))&(c!=d)
LOOP
This statement loops as long as "c" does not equal "d" and "a" is greater than "b+1".
If a BREAK command is encountered while executing a WHILE control block, program
execution unconditionally redirects to the program code following the LOOP statement. For
details, see BREAK on page 319.
EIGN(W,0)
ZS
MDS
ADT=100
VT=100000
PT=1000000
MP
G
WHILE Bt
IF UJA<18500
OFF
ENDIF
LOOP
END
'Disable hardware limits
'Clear faults
'Sine mode commutation
'Set maximum accel/decel
'Set maximum velocity
'Set final position
'Set Position mode
'Start motion
'Loop while motion continues
'If voltage is below 18.5 volts
'Turn motor off
'Loop back to WHILE
'Required END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 785 of 890
Part 2: Commands
EXAMPLE: (Routine stops motion if voltage drops)
Part 2: Commands: WHILE formula
Part 2: Commands
EXAMPLE: (Routine pulses output on a given position)
EIGN(W,0)
'Disable limits
ZS
'Clear faults
ITR(0,4,0,0,1)
'ITR(int#,sw,bit,state,lbl)
ITRE
'Enable all interrupts
EITR(0)
'Enable interrupt 0
OUT(1)=1
'Set I(0)/O B to output, high
ADT=100
'Set maximum accel/decel
VT=100000
'Set maximum velocity
MP
'Set Position mode
'****Main Program Body****
WHILE 1>0
O=0
'Reset origin for move
PT=40000
'Set final position
G
'Start motion
WHILE PA<20000
'Loop while motion continues
LOOP
'Wait for desired position to pass
OUT(1)=0
'Set output low
TMR(0,400)
'Use timer 0 for pulse width
TWAIT
WAIT=1000
'Wait 1 second
LOOP
END
'****Interrupt Subroutine****
C1
OUT(1)=1
'Set output high again
RETURNI
RELATED COMMANDS:
BREAK Break from CASE or WHILE Loop (see page 319)
IF formula Conditional Program Code Execution (see page 463)
LOOP Loop Back to WHILE Formula (see page 511)
SWITCH formula Switch, Program Flow Control (see page 710)
WHILE formula While Condition Program Flow Control (see page 784)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 786 of 890
Part 2: Commands: X
X
Decelerate to Stop
Motion control
DESCRIPTION:
Slow motor motion to stop
EXECUTION:
Immediate
CONDITIONAL TO:
Mode dependent—the appropriate deceleration or ramp-down
parameter must be set (see details)
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
X:3 or X(0):3
where ":3" is the motor address — use the actual address or a
variable
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The X command immediately abandons the current trajectory mode and causes the motor to
slow to a stop using the current deceleration value DT (in a servo mode) or TS (in torque
mode).
NOTE: This is different from the S command, which does not consider the DT or TS
value.
The X command leaves the motor in its current motion mode. Refer to the following table for
the motion modes and appropriate parameters to set.
Motion
Mode
Appropriate
Parameter
to Set
MV
DT or ADT
MP
DT or ADT
MFR
MFD()
MSR
MFD()
MC
MFD()
MT
TS
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 787 of 890
Part 2: Commands: X
EXAMPLE:
EIGN(W,0)
ZS
ADT=100
VT=1000000
PT=5000000
G
'Start motion
WHILE Bt
'While trajectory is active
IF PA>80000 'Set a position to look for
X
'Decelerate to a stop
PRINT("Motion Stopped")
ENDIF
LOOP
END
'Required END
Program output is:
Part 2: Commands
Motion Stopped
RELATED COMMANDS:
G Start Motion (GO) (see page 444)
S (as command) Stop Motion (see page 669)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 788 of 890
Part 2: Commands: Z
Z
APPLICATION:
Reset
DESCRIPTION:
Reset the motor to power-up condition
EXECUTION:
Immediate
CONDITIONAL TO:
Serial character transmit completion
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Z:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Z command will totally reset the SmartMotor™ as if power were removed and then
restored. Consequently, if there is a stored program, it will be run from the beginning. All
modes of operation, variables and status bits will be restored back to their defaults.
Subsequent to a power up or reset, the SmartMotor will:
1. Initialize the motion mode, status bits and variables.
2. Hold the serial port closed for approximately ¼ second.
3. Open and initialize the serial port.
4. Delay for ½ second. At the end of this time, the SmartMotor will examine the
communications buffer. The stored program will be aborted only if the specific
characters "EE" are found.
5. Run the stored program (unless aborted as previously described ).
After a program downloads, using the Z command is a good way to evaluate how your
SmartMotor will operate when powered on. The RUN command will execute the stored
program, but it will not clear the motor to its default condition. Therefore, the operation
following the RUN command will not necessarily mimic what would happen at power up. Using
the Z command resets the motor to its power-on state.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 789 of 890
Part 2: Commands
Total CPU Reset
Part 2: Commands: Z
CAUTION: The Z command should not be used at or near the top of a user
program. Doing so may cause a continuous and repetitive resetting of the CPU
and lock out the motor.
NOTE: If you get locked out and are unable to communicate with the SmartMotor,
you may be able to recover communications using the SMI software's
Communication Lockup Wizard. For more details, see Communication Lockup
Wizard on page 34.
EXAMPLE:
Z
'Warning issuing this command will cause CPU reset immediately
RELATED COMMANDS:
Part 2: Commands
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 790 of 890
Part 2: Commands: Z(word,bit)
Z(word,bit)
APPLICATION:
Reset
DESCRIPTION:
Resets the specified status bit
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
Not all status bits are resettable — will return error if not resettable with Z( )
READ/REPORT:
None
WRITE:
Write only
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
Input:
word: 0-8
bit: 0-15
TYPICAL VALUES:
Input:
word: 0-6
bit: 0-15
DEFAULT VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
Z(2,4):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The Z(word,bit) command resets the specified status bit as follows:
l
Z(word,bit)
Clears specific status bit in the specific status word.
Refer to the following table, which shows the bits that can be reset with Z(word,bit).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 791 of 890
Part 2: Commands
Reset Specified Status Bit
Part 2: Commands: Z(word,bit)
Reset bit with Z(word,bit)?
Bit
Status
word 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15
0
y
1
y
2
y
3
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
4
5
6
y
y
7
8
Part 2: Commands
9-11
N/A
12-13
Use commands: UR, US, UO
14-15
N/A
16-17
Use I/O commands: OR, OS, OUT
EXAMPLE: (Subroutine prints and resets channel 0 errors)
C9
IF CHN(0)
'If CHN0 != 0
IF CHN(0)&1
PRINT("BUFFER OVERFLOW")
ENDIF
IF CHN(0)&2
PRINT("FRAMING ERROR")
ENDIF
IF CHN(0)&4
PRINT("COMMAND SCAN ERROR")
ENDIF
IF CHN(0)&8
PRINT("PARITY ERROR")
ENDIF
Z(2,0)
'Reset CHN0 errors
ENDIF
RETURN
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 286)
Z Total CPU Reset (see page 789)
ZS Global Reset System State Flag (see page 801)
R W(word) Report Specified Status Word (see page 776)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 792 of 890
y
Part 2: Commands: Za
Za
APPLICATION:
Reset
DESCRIPTION:
Resets the overcurrent flag (Ba)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBa
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Za resets the overcurrent error flag, Ba, to zero. If the current violation still exists, Ba will
again be set to 1.
If the Ba flag is repeatedly set, there may be a problem such as incorrect motor size.
Therefore, verify the correct motor has been selected for the current task. For details on
motor sizing, see the Moog Animatics Product Catalog.
EXAMPLE:
IF Ba
'Test flag
PRINT("OVER CURRENT")
Za
'Reset flag
ENDIF
WAIT=4000
IF Ba
'Retest flag
PRINT("OVER CURRENT STILL IN EFFECT")
ENDIF
RELATED COMMANDS:
R
Ba Bit, Peak Overcurrent (see page 288)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 793 of 890
Part 2: Commands
Reset Overcurrent Flag
Part 2: Commands: Ze
Ze
Part 2: Commands
Reset Position Error Flag
APPLICATION:
Reset
DESCRIPTION:
Resets the position error status bit (Be)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBe
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Ze resets the following error (position error) flag, Be, to zero.
EXAMPLE:
IF Be
'Test flag
PRINT("Following Error")
Ze
'Reset flag
ENDIF
RELATED COMMANDS:
R
Be Bit, Following Error Limit (see page 292)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 794 of 890
Part 2: Commands: Zh
Zh
Reset Temperature Fault
Reset
DESCRIPTION:
Resets an excessive temperature fault
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBh
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0
FIRMWARE VERSION:
N/A
COMBITRONIC:
N/A
Part 2: Commands
APPLICATION:
DETAILED DESCRIPTION:
The Zh command is used to reset an excessive temperature fault. The motor's present
temperature must be at least 5 degrees below the fault threshold (set by TH=, reported by
RTH) for this command to take effect.
EXAMPLE:
Zh
'Resetting Thermal Fault status bit
RELATED COMMANDS:
R
Be Bit, Following Error Limit (see page 292)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 795 of 890
Part 2: Commands: Zl
Zl
Part 2: Commands
Reset Historical Left Limit Flag
APPLICATION:
Reset
DESCRIPTION:
Resets the historical left-limit latch (Bl)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBl
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Zl resets the historical left-limit flag, Bl, to zero. If you use Bl to detect the activation of the
left limit, be sure to reset it with Zl before rescanning for the bit.
EXAMPLE:
IF Bl
'Test flag
PRINT("Left Limit Latched")
Zl
'Reset flag
ENDIF
RELATED COMMANDS:
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 796 of 890
Part 2: Commands: Zls
Zls
APPLICATION:
Reset
DESCRIPTION:
Reset historical left/negative software limit latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBls
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Zls command resets the left (negative) software limit latch, Bls, to zero. If you use Bls to
detect the activation of the left software limit, be sure to reset it with Zls before rescanning
for the bit.
EXAMPLE:
IF Bls
'Test flag
PRINT("Left Software Limit Latched")
Zls 'Reset flag
ENDIF
RELATED COMMANDS:
R
Bls Bit, Left Software Limit, Historical (see page 306)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 797 of 890
Part 2: Commands
Reset Left Software Limit Flag, Historical
Part 2: Commands: Zr
Zr
Part 2: Commands
Reset Right Limit Flag, Historical
APPLICATION:
Reset
DESCRIPTION:
Resets the historical right-limit latch (Br)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBr
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Zr resets the historical right-limit flag, Br, to zero. If you use Br to detect the activation of the
right limit, be sure to reset it with Zr before rescanning for the bit.
EXAMPLE:
IF Br
'Test flag
PRINT("Right Limit Latched")
Zr
'Reset flag
ENDIF
RELATED COMMANDS:
R
Br Bit, Right Hardware Limit, Historical (see page 317)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 798 of 890
Part 2: Commands: Zrs
Zrs
APPLICATION:
Reset
DESCRIPTION:
Resets the historical right (positive) software limit latch (Brs)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBrs
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Zrs command resets the right (positive) software limit latch, Brs, to zero. If you use Brs
to detect the activation of the right software limit, be sure to reset it with Zrs before
rescanning for the bit.
EXAMPLE:
IF Brs
'Test flag
PRINT("Right Software Limit Latched")
Zrs 'Reset flag
ENDIF
RELATED COMMANDS:
R
Brs Bit, Right Software Limit, Historical (see page 329)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 799 of 890
Part 2: Commands
Reset Right Software Limit Flag, Historical
Part 2: Commands: Zs
Zs
Part 2: Commands
Reset Command Syntax Error Flag
APPLICATION:
Reset
DESCRIPTION:
Reset command scan error latch
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBs
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Zs resets the command error latch flag, Bs, to zero. The Zs command can be used with the
RBs report command to verify that the current firmware version recognizes what appears to
be a valid command and data packet.
EXAMPLE:
IF Bs
'Test flag
PRINT("Syntax Error")
Zs 'Reset flag
ENDIF
RELATED COMMANDS:
R
Bs Bit, Syntax Error (see page 331)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 800 of 890
Part 2: Commands: ZS
ZS
APPLICATION:
Reset
DESCRIPTION:
Reset software system latches to power up state
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
None
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
N/A
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
ZS:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
Almost any event that occurs within a SmartMotor™ gets recorded in system flags. These
flags can be read as part of a program or a host inquiry. After a flag is read, it must be reset
so it can record the next event. ZS resets all of the latched bits in the S status byte, the W
status word, and the status bits such as Ba, Be, Bh, Bi, etc.
ZS performs the flag resets shown in the following table.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 801 of 890
Part 2: Commands
Global Reset System State Flag
Part 2: Commands: ZS
Part 2: Commands
Z letter
command
Status word
and bits
Description
Za
Word 0, bit 4
Reset hardware current limit error/fault
Ze
Word 0, bit 6
Reset position fault
Zh
Word 0, bit 5
Reset temperature fault
Zl
Word 0, bit 13
Reset historical left limit fault
Zr
Word 0, bit 12
Reset historical right limit fault
Zls
Word 1, bit 13
Reset historical left software limit fault
Zrs
Word 1, bit 12
Reset historical right software limit fault
Zv
Word 0, bit 7
Reset velocity fault
Zs
Word 2, bit 14
Reset user command syntax error
Zw
Word 3, bit 3
Reset wraparound
-
Word 0, bit 9
Reset dE/dt limit fault
-
Word 0, bit 3
Reset bus voltage fault
-
Word 1, bit 2
Reset rising edge capture on internal encoder
-
Word 1, bit 3
Reset falling edge capture on internal encoder
-
Word 1, bit 6
Reset rising edge capture on external encoder
-
Word 1, bit 7
Reset falling edge capture on external encoder
-
Word 2, bit 0
Reset COM 0 errors and bits in RCHN(0)
-
Word 2, bit 1
Reset COM 1 errors and bits in RCHN(1)
Word 2, bit 4
Reset CAN errors and associated error bits in RCAN
-
Word 6, bit 14
Reset high bus flag
-
Word 6, bit 13
Reset low bus flag
-
Word 3, bit 11
Reset modulo rollover flag
-
Word 6, bit 7
Reset drive enable fault
EXAMPLE:
ZS
'Reset error and limit flag latches
RELATED COMMANDS:
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Za Reset Overcurrent Flag (see page 793)
Ze Reset Position Error Flag (see page 794)
Zh Reset Temperature Fault (see page 795)
Zl Reset Historical Left Limit Flag (see page 796)
Zls Reset Left Software Limit Flag, Historical (see page 797)
Zr Reset Right Limit Flag, Historical (see page 798)
Zrs Reset Right Software Limit Flag, Historical (see page 799)
Zs Reset Command Syntax Error Flag (see page 800)
Zv Reset Velocity Limit Fault (see page 803)
Zw Reset Encoder Wrap Status Flag (see page 804)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 802 of 890
Part 2: Commands: Zv
Zv
APPLICATION:
Reset
DESCRIPTION:
Resets a velocity error fault
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBv
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
The Zv command is used to reset a velocity error fault.
EXAMPLE:
Zv
'Reset Velocity Fault status bit
RELATED COMMANDS:
R
Bv Bit, Velocity Limit (see page 335)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 803 of 890
Part 2: Commands
Reset Velocity Limit Fault
Part 2: Commands: Zw
Zw
Part 2: Commands
Reset Encoder Wrap Status Flag
APPLICATION:
Reset
DESCRIPTION:
Resets the encoder wraparound event latch (Bw)
EXECUTION:
Immediate
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
RBw
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
RESET VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
N/A
DETAILED DESCRIPTION:
Zw resets the encoder wraparound status flag, Bw, to zero. The SmartMotor™ tracks its
position as 32-bit data, so a valid position is from -2147483648 to +2147483647. If the motor
moves out of this range, the position will overflow or "wraparound".
This is provided for information purposes. Applications with continuous rotation (Velocity
mode, Torque mode, Relative Position mode, Cam mode, Follow mode) may experience
wraparound. The motor will continue to operate, but the user application may need to know
this event occurred.
EXAMPLE: (Test for wraparound and then reset flag)
IF Bw
'Test flag
PRINT("Wraparound Occurred")
Zw 'Reset flag
ENDIF
RELATED COMMANDS:
R
Bw Bit, Wrapped Encoder Position (see page 337)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
ZS Global Reset System State Flag (see page 801)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 804 of 890
Part 3: Example SmartMotor Programs
Part 3: Example SmartMotor
Programs
Move Back and Forth
806
Move Back and Forth with Watch
806
Home Against a Hard Stop (Basic)
807
Home Against a Hard Stop (Advanced)
807
Home Against a Hard Stop (Two Motors)
808
Home to Index Using Different Modes
810
Maintain Velocity During Analog Drift
811
Long-Term Storage of Variables
812
Find Errors and Print Them
812
Change Speed on Digital Input
813
Pulse Output on a Given Position
813
Stop Motion if Voltage Drops
814
Chevron Traverse & Takeup
815
CAN Bus - Timed SDO Poll
817
CAN Bus - I/O Block with PDO Poll
818
CAN Bus - Time Sync Follow Encoder
821
Text Replacement in an SMI Program
829
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 805 of 890
Part 3: Examples
Part 3 of this guide provides examples of SmartMotor programs that can be used as reference
material for application development. The code examples can be copied and pasted into the
SMI program editor.
Part 3: Examples: Move Back and Forth
Move Back and Forth
This is a simple program used to set tuning parameters and create an infinite loop, which
causes the motor to move back and forth. Note the TWAIT commands that are used to pause
program execution during the moves.
EIGN(W,0)
ZS
ADT=100
VT=1000000
MP
C10
PT=100000
G
TWAIT
PT=0
G
TWAIT
GOTO(10)
END
'Disable hardware limits
'Clear faults
'Set maximum accel/decel
'Set maximum velocity
'Set Position mode
'Place a label
'Set position
'Start motion
'Wait for move to complete
'Set position
'Start motion
'Wait for move to complete
'Loop back to label 10
'Obligatory END (never reached)
Part 3: Examples
Move Back and Forth with Watch
The following example is identical to the previous, except that instead of pausing program
execution during the move with the TWAIT, a subroutine is used to monitor for excessive load
during the moves. This is an important distinction — most SmartMotor programs should have
the ability to react to events during motion.
EIGN(W,0)
'Disable hardware limits
ZS
'Clear faults
ADT=100
'Set maximum accel/decel
VT=100000
'Set maximum velocity
MP
'Set Position mode
C1
'Place a label
PT=100000
'Set position
G
'Start motion
GOSUB(10)
'Call wait subroutine
PT=0
'Set position
G
'Start motion
GOSUB(10)
'Call wait subroutine
GOTO(1)
'Loop back to label 10
END
'Obligatory END (never reached)
' ****Subroutine****
C10
WHILE Bt
'Loop while trajectory in progress
IF ABS(EA)>100
'Test for excessive load
PRINT("Excessive Load",#13)
'Print warning
ENDIF 'End test
LOOP
'Loop back to While during motion
RETURN
'Return from subroutine
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 806 of 890
Part 3: Examples: Home Against a Hard Stop (Basic)
Home Against a Hard Stop (Basic)
Because the SmartMotor has the capability of lowering its own power level and reading its
position error, it can be programmed to gently feel for the end of travel. This provides a
means to develop a consistent home position subsequent to each power-up.
Machine reliability requires the elimination of potential failure sources. Eliminating a home
switch and its associated cable leverages SmartMotor benefits and improves machine
reliability.
MDS
KP=3200
KD=10200
F
AMPS=100
VT=-10000
ADT=100
MV
G
WHILE EA>-100
LOOP
O=-100
S
MP
VT=20000
PT=0
G
TWAIT
AMPS=1000
END
'Using Sine mode commutation
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Lower current limit to 10%
'Set maximum velocity
'Set maximum accel/decel
'Set Velocity mode
'Start motion
'Loop while position error is small
'Loop back to WHILE
'While pressed, declare home offset
'Abruptly stop trajectory
'Switch to Position mode
'Set higher maximum velocity
'Set target position to be home
'Start motion
'Wait for motion to complete
'Restore current limit to maximum
'End Program
Home Against a Hard Stop (Advanced)
Because the SmartMotor has the capability of lowering its own power level and reading its
position error, it can be programmed to gently feel for the end of travel. This provides a
means to develop a consistent home position subsequent to each power-up.
Machine reliability requires the elimination of potential failure sources. Eliminating a home
switch and its associated cable leverages SmartMotor benefits and improves machine
reliability.
Similar to the previous example, the following program lowers the current limit, moves
against a limit, looks for resistance and then declares and moves to a home position just one
encoder revolution from the hard stop. However, this example provides a more sophisticated
version of the previous method.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 807 of 890
Part 3: Examples
The following program lowers the current limit, moves against a limit, looks for resistance
and then declares and moves to a home position located 100 counts from the hard stop.
Part 3: Examples
Part 3: Examples: Home Against a Hard Stop (Two Motors)
'===========================================================================
'Class 5 Home To Hard Stop Example
EIGN(2) EIGN(3) ZS 'Bypass Overtravel Limits
'===========================================================================
'Set up parameters
rr=-1
'Home Direction
vv=100000
'Home Speed
aa=1000
'Home Accel
ee=100
'Home Error Limit
tt=1500
'Home Torque Limit
hh=4000
'Home Offset
SILENT 'Remove or issue TALK to enable PRINT commands
GOSUB5 'RUN HOME ROUTINE
END
'===========================================================================
'Home routine (Home to Hard Stop)
C5
PRINT("HOME MOTOR",#13)
VT=vv*rr
'Set Home Velocity
ADT=aa
'Set Home Accel/Decel
MV
'Set to Velocity mode
ZS
'Clear any prior Errors
T=tt*rr
'Preset Torque Values
G
'Begin move towards Hard Stop
MT
WHILE ABS(EA)ee MTB:2
e=e|1 ENDIF
'STOP slave
IF ABS(EA)>ee MTB
e=e|2 ENDIF
'stop master
ddd=PA-PA:2
IF ABS(ddd)>ll
'If racking limit exceeded
MTB:0
'Stop all motion
zzz=-1
'Set racking limit variable
RETURN
'Return out of there
ENDIF
'Stop the other to prevent racking
LOOP
T:0=tt*rr
'Preset Torque Values
MT:0
'Switch to Torque mode (hold against stop)
WAIT=50
'Wait 50 milliseconds
o=hh*rr
'Calculate home position
O:0=o
'Set Origin to home offset
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 809 of 890
Part 3: Examples
Part 3: Examples: Home Against a Hard Stop (Two Motors)
Part 3: Examples: Home to Index Using Different Modes
AMPS:0=1023
MP:0
PT:0=0
G:0
WHILE B(0,2):2==1 LOOP
TWAIT
RETURN
'Set AMPS back to default
'Set to Position mode
'Set Target to Zero
'tell both to go to zero
'Wait for X SLAVE move to complete
'Wait for master to get there
Home to Index Using Different Modes
Each SmartMotor has an encoder with an index marker at one angle. This marker is useful for
establishing a repeatable start-up (home) position.
The following example uses two different modes to home the motor:
l
Part 3: Examples
l
The first method (C1) does this by slowly moving the motor shaft past the index marker
and decelerating to a stop, and then moving it back to align with the index marker.
The second method (C2) does this by abruptly stopping and holding at the index marker.
EIGN(W,0,12)
'Assign Travel Limits as General Use Inputs
ZS
'Clear Any Status Bits
END
'==============================================================
C1
'Home to index, Relative Position Mode
'Note: This method will go past and move back to index
MP
'Set to Position mode
Ai(0)
'Arm Index Capture Register
ADT=3000
'Set Accel/Decel
VT=200000
'Set Velocity
PRT=RES+100
'Set Relative Distance to just past one rev
G TWAIT
'Go, wait until move is complete
PT=I(0)
'Set Target Position to index location
G TWAIT
'Go, wait until move is complete
O=0
'Set Position to Zero
RETURN
'==============================================================
C2
'Home to index, Velocity Mode to find it
'Note: This method does an abrupt stop and holds at index.
MV
'Set to Velocity mode
Ai(0)
'Arm Index Capture Register
ADT=3000
'Set Accel/Decel
VT=200000
'Set Velocity
G
'Go
WHILE Bi(0)==0 LOOP
'Wait to see index
X
PT=I(0)
'Set Target Position to index location
MP
'Switch to Position mode to hold at index mark
G TWAIT
'Go, wait until move is complete
O=0
'Set Position to Zero
RETURN
'==============================================================
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 810 of 890
Part 3: Examples: Maintain Velocity During Analog Drift
Maintain Velocity During Analog Drift
EIGN(W,0)
KP=3020
KD=10010
F
ADT=100
MV
d=10
o=2500
m=40
w=10
b=0
C10
a=INA(V1,3)-o
x=a-b
IF x>d
VT=b*m
G
ELSEIF x<-d
VT=b*m
G
ENDIF
b=a
WAIT=w
GOTO10
END
'Disable hardware limits
'Increase stiffness from default
'Increase damping from default
'Activate new tuning parameters
'Set maximum accel/decel
'Set to Velocity mode
'Analog dead band, 5000 = full scale
'Offset to allow negative swings
'Multiplier for speed
'Time delay between reads
'Seed b
'Label to create infinite loop
'Take analog 5 Volt FS reading
'Set x to determine change in input
'Check if change beyond dead band
'Multiplier for appropriate speed
'Initiate new velocity
'Check if change beyond dead band
'Multiplier for appropriate speed
'Initiate new velocity
'End IF statement
'Update b for prevention of hunting
'Pause before next read
'Loop back to label
'Obligatory END (never reached)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 811 of 890
Part 3: Examples
This example causes the SmartMotor's velocity to track an analog input. Analog signals drift
and dither, so a dead-band feature has been added to maintain a stable velocity when the
operator is not changing the signal. There is also a wait feature to slow the speed of the loop.
Part 3: Examples: Long-Term Storage of Variables
Long-Term Storage of Variables
Each SmartMotor is equipped with a kind of solid-state disk drive, called EEPROM, reserved
just for long term data storage and retrieval. Data stored in the EEPROM will remain even
after power cycling, just like the SmartMotor's program itself. However, the EEPROM has
limitations. It cannot be written to more than about one million times without being damaged.
That may seem like a lot, but if a write command (VST) is used in a fast loop, this number can
be exceeded in a short time. Therefore, it is the responsibility of the programmer to see that
the memory limitations are considered.
The following example is a subroutine to be called whenever a motion limit is reached. It
assumes that the memory locations were pre-seeded with zeros.
Part 3: Examples
NOTE: This example is a subroutine. It would be called with the command
GOSUB10.
C10
EPTR=100
VLD (aa,2)
IF Br
aa=aa+1
Zr
ENDIF
IF Bl
bb=bb+1
Zl
ENDIF
EPTR=100
VST(aa,2)
RETURN
'Subroutine label
'Set EEPROM pointer in memory
'Load 2 long variables from EEPROM
'If right limit, then...
'Increment variable aa
'Reset right limit state flag
'If left limit, then...
'Increment variable bb
'Reset left limit state flag
'Reset EEPROM pointer in memory
'Store variables aa and bb
'Return to subroutine call
Find Errors and Print Them
This code example looks at different error status bits and prints the appropriate error
information to the RS-232 channel.
NOTE: This example is a subroutine. It would be called with the command
GOSUB10.
C10
'Subroutine label
IF Be
'Check for position error
PRINT("Position Error",#13)
ENDIF
IF Bh
'Check for over temp error
PRINT("Over Temp Error",#13)
ENDIF
IF Ba
'Check for over current error
PRINT("Over Current Error",#13)
ENDIF
RETURN
'Return to subroutine call
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 812 of 890
Part 3: Examples: Change Speed on Digital Input
Change Speed on Digital Input
SmartMotors have digital I/O that can be used for many purposes. In this example, a position
move is started, and the speed is increased by 50% if input A goes low.
EIGN(W,0)
KD=10010
F
O=0
ADT=100
VT=10000
PT=40000
MP
G
WHILE Bt
IF IN(0)==0
IF VT==10000
VT=12000
G
ENDIF
ENDIF
LOOP
END
'Disable hardware limit IO
'Changing KD value in tuning
'Accept new KD value
'Reset origin
'Set maximum accel/decel
'Set maximum velocity
'Set final position
'Set Position mode
'Start motion
'Loop while motion continues
'If input is low
'Check VT so change happens once
'Set new velocity
'Initiate new velocity
'Loop back to WHILE
It is often necessary to fire an output when a certain position is reached. There are many
ways to do this with a SmartMotor.
This example sets I/O B as an output and makes sure that it comes up to 1 by presetting the
output value. After that, the program monitors the encoder position until it exceeds 20000. It
pulses the output and then continues monitoring the position.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 813 of 890
Part 3: Examples
Pulse Output on a Given Position
Part 3: Examples: Stop Motion if Voltage Drops
Part 3: Examples
EIGN(W,0)
'Disable limits
ZS
ITR(0,4,0,0,1)
'ITR(int#,sw,bit,state,lbl)
ITRE
EITR(0)
OUT(1)=1
'Set I(0)/O B to output, high
ADT=100
'Set maximum accel/decel
VT=100000
'Set maximum velocity
MP
'Set Position mode
'****Main Program Body****
WHILE 1>0
O=0
'Reset origin for move
PT=40000
'Set final position
G
'Start motion
WHILE PA<20000
'Loop while motion continues
LOOP
'Wait for desired position to pass
OUT(1)=0
'Set output low
TMR(0,400)
'Use timer 0 for pulse width
TWAIT
WAIT=1000
'Wait 1 second
LOOP
END
'****Interrupt Subroutine****
C1
OUT(1)=1
'Set output high again
RETURNI
Stop Motion if Voltage Drops
The voltage, current and temperature of a SmartMotor are always known. These values can
be used within a program to react to changes.
In this example, the SmartMotor begins a move and then stops motion if the voltage falls
below 18.5 volts.
EIGN(W,0)
ZS
MDS
ADT=100
VT=100000
PT=1000000
MP
G
WHILE Bt
IF UJA<18500
OFF
ENDIF
LOOP
END
'Disable hardware limits
'Clear faults
'Sine mode commutation
'Set maximum accel/decel
'Set maximum velocity
'Set final position
'Set Position mode
'Start motion
'Loop while motion continues
'If voltage is below 18.5 volts
'Turn motor off
'Loop back to WHILE
'Obligatory END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 814 of 890
Part 3: Examples: Chevron Traverse & Takeup
Chevron Traverse & Takeup
This program uses four parameters to create a "Chevron" type wrap. For more information on
this type of wrap, see Chevron Wrap Example on page 152.
'Traverse & Takeup Chevron Winding Pattern
' This sample program will perform a traverse & takeup operation to produce
' a "chevron" winding pattern. By winding in a chevron pattern, each layer
' crosses diagonally over the previous layer's position. The purpose of this
' pattern is to prevent the wound material from getting caught in the cracks
' of the previous layer.
EIGN(W,0)
ZS
'System parameters:
'!!! NOTE: w/c should evenly divide with no remainder!
c=8000
'Master (External) Encoder resolution (counts per 360 deg
' turn of spool).
w=10000 'Spool width distance in encoder counts of traversing slave motor.
'Prevent overshoot at high end of the spool.
IF nn>n
s=(w-(nn-n))/n*c
ELSE
s=(w/n)*c
ENDIF
cc=c/2 'Calculate 180 deg turn of master spool.
END
C123
'Set up and run cam table.
MC
MFSDC(cc,1)
CTA(3,0,0)
CTW(0,0)
CTW(nn,cc)
CTW(n,c)
MCW(0,0)
MCE(0)
'MCE(1)
'MCE(2)
'
'
'
'
3-point table, segment base defined with the following points:
Master == 0
Master == 4000
Master == 8000
' Linear cam interpolation (straight lines like true chevron).
' Spline cam interpolation (most likely never needed).
' Spline cam interpolation periodic (sine wave, arc motion).
'Angle of the winding pattern is determined by the cam table points,
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 815 of 890
Part 3: Examples
'Chevron shape (pitch and amplitude)
n=1000
'Slave counts per full (360 deg) turn of master spool (pitch).
nn=1000 'Slave counts per half (180 deg) turn of master spool (amplitude).
Part 3: Examples: Chevron Traverse & Takeup
' not MFMUL and MFDIV.
MFMUL=1
MFDIV=1
'MCMUL and MCDIV affect cam table. Changing this will change angle of
' winding and chevron shape.
MCMUL=1
MCDIV=1
SRC(2)
'This is for demo. Change to SRC(1) for external encoder
' from master spool.
MFA(0,1)
'No ascend into motion.
MFD(0,1)
'No descend out of motion.
MFSLEW(s,1) 'Slew distance is width of spool in slave motor counts.
G
'Start moving.
Part 3: Examples
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 816 of 890
Part 3: Examples: CAN Bus - Timed SDO Poll
CAN Bus - Timed SDO Poll
This program makes use of one-shot SDO commands to get data while using SmartMotor
timer interrupts to poll continuously. This method is used where high-speed polling is not
required.
NOTE: For high-speed polling, a PDO is used to do this automatically. For details,
see CAN Bus - I/O Block with PDO Poll on page 818.
'Using SmartMotor interrupts and timers to poll via SDO.
'Note PDO mapping is also available; this is just a simplified code example.
CANCTL(17,3)
ITR (3,4,3,0,300)
EITR(3)
ITRE
'ENABLE MASTER COMMANDS
'WATCHDOG TIMER INTERRUPT (for polling CAN bus device)
'ENABLE IND INT ZERO
'ENABLE ALL INTERRUPTS
TMR(3,30)
'Start timer 3 for 30 milliseconds
PAUSE
END
'============================================================================
y=SDORD(1, 24608,0,2)
ee=CAN(4)
x and y.
'Read 2 bytes from address 1,
'object 24608 (0x6020 hex)
'object 0x6020, sub-index 0.
'Trap error codes if any.
IF (e|ee)==0
'Confirm the status of both SDO operations.
'Success if they are zero.
'The variables "x" and "y" now contain values from the CAN bus device.
ELSE
'Place error handling code here.
ENDIF
TMR(3,30)
'Start timer 3 again for 30 milliseconds.
'This means the data will be polled every 30 milliseconds.
RETURNI
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 817 of 890
Part 3: Examples
C300 'CAN bus device has two data packets that will be loaded into
x=SDORD(1, 24592,0,2)
'Read 2 bytes from address 1,
'object 24592 (0x6179 hex)
'object 0x6010, sub-index 0.
e=CAN(4)
'Trap error codes if any.
Part 3: Examples: CAN Bus - I/O Block with PDO Poll
CAN Bus - I/O Block with PDO Poll
This program communicates with a Softlink model RT133-3HF00-CAN I/O block. It uses highspeed PDO polling following the default mapping found in the .eds file. Also, the slave detects
the baud rate.
NOTE: This example uses high-speed PDO polling. For applications that do not
require high-speed polling, see CAN Bus - Timed SDO Poll on page 817.
' NOTES:
'
- Using Softlink RT133-3HF00-CAN
'
- Using the default PDO mapping found in .eds file
'
- Master address is 1, slave address is 15, slave detects baud rate
ADDR=1
CADDR=1
CBAUD=125000
'RUN?
EIGN(W,0) ZS
SILENT
' Enable master
CANCTL(17,3)
Part 3: Examples
' Make sure in pre-op (not operational)
NMT(0,128)
' Change analog output from +/-10V voltage(4) to 4-20mA(5)
SDOWR(15,8192,13,1,5)
' Disable transmit and receive PDO for master to allow changing
' Set bit 31
a=-2147483648
' 0x80000000
SDOWR(1,5120,1,4,a)
' 0x1400 rx
SDOWR(1,6144,1,4,a)
' 0x1800 tx
SDOWR(1,5121,1,4,a)
' 0x1401 rx
SDOWR(1,6145,1,4,a)
' OX1801 tx
' Set mapping number of
ab[0]=0
SDOWR(1,5632,0,1,ab[0])
SDOWR(1,6656,0,1,ab[0])
SDOWR(1,5633,0,1,ab[0])
SDOWR(1,6657,0,1,ab[0])
' Set mapping objects
' ab[2] 0x2220 03 08
a=572523272
SDOWR(1,5632,1,4,a)
' ab[3] 0x2220 04 08
a=572523528
SDOWR(1,6656,1,4,a)
' aw[32] 0x2221 01 10
entries to 0
'
'
'
'
0x1600
0x1a00
0x1601
0x1a01
rx
tx
rx
tx
' 0x1600 rx
' 0x1a00 tx
' aw[32] is 1st analog voltage input
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 818 of 890
Part 3: Examples: CAN Bus - I/O Block with PDO Poll
a=572588304
SDOWR(1,5633,1,4,a)
' aw[33] 0x2221 02 10
a=572588560
SDOWR(1,6657,1,4,a)
' 0x1601 rx
' aw[33] is 1st 4-20mA analog output
' 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
SDOWR(1,6144,1,4,a)
' 0x0000020f (f = address 15)
' 0x1800 tx mapped to slave rx
a=655
SDOWR(1,5121,1,4,a)
' 0x0000028f (f = address 15)
' 0x1401 rx mapped to slave tx
a=783
SDOWR(1,6145,1,4,a)
' 0x0000030f (f = address 15)
' 0x1801 tx mapped to slave rx
Part 3: Examples
' Tell everyone to go operational
NMT(0,1)
b=1
WHILE 1
IF B(10,1)==1
Z(10,1) ' Clear event
PRINT("Rx PDO 1",#13)
ENDIF
IF B(10,2)==1
Z(10,2) ' Clear event
PRINT("Rx PDO 2",#13)
ENDIF
IF B(10,3)==1
Z(10,3) ' Clear event
PRINT("Rx PDO 3",#13)
ENDIF
IF B(10,4)==1
Z(10,4) ' Clear event
PRINT("Rx PDO 4",#13)
ENDIF
IF B(10,5)==1
flag
flag
flag
flag
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 819 of 890
Part 3: Examples: CAN Bus - I/O Block with PDO Poll
Z(10,5) ' Clear event flag
PRINT("Rx PDO 5",#13)
Part 3: Examples
ENDIF
' Set the User Bits in Status Word 12 to reflect the status of the 8 inputs
UO(W,0)=ab[2]&255
' Turn on outputs (continuous count up)
ab[3]=ab[3]+(1*b)
' Set the User Bits in Status Word 13 to reflect the status of the 8 outputs
UO(W,1)=ab[3]&254
WAIT=100
LOOP
END
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 820 of 890
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
CAN Bus - Time Sync Follow Encoder
This program makes use of CANopen objects to provide following of a CANopen encoder on a
CANopen network. For the purposes of an example, one SmartMotor acts as a "master", and a
second SmartMotor can act as the encoder if a CANopen encoder is not available.
Demo with one motors following a CANopen encoder on CANopen network.
Motor 1 is a master as far as NMT and SDOs, but will follow data from
encoder. Motor 2 will act as an encoder, (the PDO mapping to position actual
instead of an encoder's position object.
Load this program into both motors.
'++++ HEX Coded
#define x1000
#define x1005
#define x1006
#define x1400
#define x1600
#define x1800
#define x1801
#define x1A00
#define x1A01
#define x2204
#define x2207
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
x2208
x2209
x220A
x220B
x220C
x220D
x2304
x6002
x6040
x6060
x6064
x606C
x608F
x60F4
Objects
4096 '
4101 '
4102 '
5120 '
5632 '
6144 '
6145 '
6656 '
6657 '
8708 '
8711 '
'
8712 '
8713 '
8714 '
8715 '
8716 '
8717 '
8964 '
24578 '
24640 '
24672 '
24676 '
24684 '
24719 '
24820 '
for CAN +++++
Object 1000h:
Object 1005h:
Object 1006h:
Object 1400h:
Object 1600h:
Object 1800h:
Object 1801h:
Object 1A00h:
Object 1A01h:
Object 2204h:
Object 2207h:
encoder rolls
Object 2208h:
Object 2209h:
Object 220Ah:
Object 220Bh:
Object 220Ch:
Object 220Dh:
Object 2304h:
Object 6002h:
Object 6040h:
Object 6060h:
Object 6064h:
Object 606Ch:
Object 608Fh:
Object 60F4h:
Device Type
COB-ID Sync
Communication Cycle Period
Receive PDO Communication Parameter
Receive PDO Mapping Parameter 1
Transmit PDO communicating parameter 1
Transmit PDO communicating parameter 2
Transmit PDO Mapping Parameter 1
Transmit PDO Mapping Parameter 2
Mappable Variables aaa...ddd)
External encoder follow max value (where
over) i.e., 10-bit encoder would be 1023
External encoder follow input value
External encoder follow control
External encoder follow MFMUL
External encoder follow MFDIV
External encoder follow MFA
External encoder follow MFD
Motor Status
(encoder profile) Total measuring range
Control word
Trajectory Mode
Position actual value (RPA)
Velocity actual value (RVA)
Position encoder resolution
Following Error actual value (REA)
' misc values:
#define xffffffff -1
OFF
ADDR=CADDR
ECHO
mmm=1
fff=mmm
'
'
'
'
Set serial channel address so you don't have to readdress/detect motors.
Enable serial channel echo so you don't have to readdress/detect motors.
' network master's address
' following motor's address.
In this demo, it is the network
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 821 of 890
Part 3: Examples
'
'
'
'
'
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
eee=2
EIGN(W,0)
ZS
O=0
WAIT=100
a=ADDR+128
PRINT(#a)
' master. But you can make it a 3rd-party
' encoders address
' Turn off hardware limits!!!!!
' Clear faults.
' Send our own address char to make sure downstream motors
' don't interpret program output as commands.
IF CADDR==mmm
' We are the master, take over the show.
Part 3: Examples
CANCTL(17,3)
' Enable SDO and NMT commands.
PRINT("Checking for encoder ready: ",#13)
t=0
WHILE 1
vvv=SDORD(eee,x1000,0,4)
' Read device type from encoder.
IF CAN(4)==0 ' Check error for a successful read. A timeout is very
' likely until remote device is ready.
IF (vvv&65535)==406 ' Check lower 16-bits for profile type of device.
PRINT("Found encoder",#13)
SWITCH vvv/65536 ' We want to look at the upper 16-bits.
CASE 1
PRINT("Single-turn absolute rotary encoder.",#13)
t=1
BREAK
CASE 2
PRINT("Multi-turn absolute rotary encoder.",#13)
t=1
BREAK
CASE 3
PRINT("Single-turn absolute rotary encoder ")
PRINT("with electronic turn-count.",#13)
t=1
BREAK
CASE 4
PRINT("Incremental rotary encoder.",#13)
t=1
BREAK
CASE 5
PRINT("Incremental rotary encoder with electronic counting.",#13)
t=1
BREAK
CASE 6
PRINT("Incremental linear encoder.",#13)
t=1
BREAK
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 822 of 890
CASE 7
PRINT("Incremental linear encoder with electronic counting.",#13)
t=1
BREAK
CASE 8
PRINT("Absolute linear encoder.",#13)
t=1
BREAK
CASE 9
PRINT("Absolute linear encoder with cyclic coding.",#13)
t=1
BREAK
CASE 10
PRINT("Multi-sensor encoder interface.",#13)
t=0 ' not supported here at this time.
BREAK
DEFAULT
PRINT("Unknown type of encoder",#13)
BREAK
ENDS
BREAK ' Remote device has booted to the point of responding.
ENDIF
IF (vvv&65535)==402 ' Check lower 16-bits for profile type of device.
PRINT("Motor ",eee," acting as an encoder.",#13)
' A motor acting as an encoder.
t=2
BREAK
ENDIF
ENDIF
WAIT=500
' Wait 1/2 second.
PRINT(".")
LOOP
PRINT(#13)
rrr=0 ' Resolution
IF t==1
rrr=SDORD(eee,x6002,0,4) GOSUB10
rrr=rrr-1 ' We want the max value, not the number of steps.
IF CAN(4)!=0
PRINT("Failed to read encoder range.",#13)
OFF END
ENDIF
ENDIF
IF t==2
rrr=-1 ' Smartmotor, which is the range 0x00000000 to 0xffffffff.
ENDIF
IF t==0
PRINT("This type not supported, ending now.",#13)
OFF
END
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 823 of 890
Part 3: Examples
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
NMT(0,128)
GOSUB10 ' Network broadcast to go pre-operational state.
' Setup the sync producer/consumers and set timebase. Provides time sync so
' motor clocks keep in step, and data is transmitted/accepted on sync also.
SDOWR(mmm,x1006,0,4,10000) GOSUB10 ' define Cycle period object 0x1006:0,
' size 4, 10ms
SDOWR(eee,x1006,0,4,10000) GOSUB10 ' define Cycle period object 0x1006:0,
' size 4, 10ms
IF mmm!=fff
' If follow motor is not the master.
SDOWR(fff,x1006,0,4,10000)
GOSUB10 ' define Cycle period object
' 0x1006:0, size 4, 10ms
ENDIF
SDOWR(mmm,x1005,0,4,128)
GOSUB10 ' define Cycle ID x0000 0080 (required
' to avoid error in next line.)
SDOWR(mmm,x1005,0,4,1073741952) GOSUB10
' define Cycle ID, producer
' x4000 0080
SDOWR(eee,x1005,0,4,128)
GOSUB10 ' define Cycle ID, consumer x0000 0080
IF mmm!=fff
' If follow motor is not the master.
SDOWR(fff,x1005,0,4,128) GOSUB10 ' define Cycle ID, consumer x0000 0080
ENDIF
Part 3: Examples
' Time sync
' Setup PDO mapping so that master transmits 32-bit actual position
' (0x6064), and follow motor receives as 32-bit encoder data (0x2208:3)
IF t==2
' We need to map a motor completely to get the position data.
SDOWR(eee,x1800,1,4,-1073741439) GOSUB10 ' set Transmit Com Parameter
' START xC000 0181
SDOWR(eee,x1800,2,1,1)
GOSUB10 ' set Transmit Com Parameter
' on every Sync x000 0001
SDOWR(eee,x1A00,0,1,0)
GOSUB10 ' set Transmit map number of
' entries x00
SDOWR(eee,x1A00,1,4,1617166368)
GOSUB10 ' set Transmit map x6064 00 20
SDOWR(eee,x1A00,0,1,1)
GOSUB10 ' set Transmit map number of
' entries x01
SDOWR(eee,x1800,1,4,1073742209)
GOSUB10 ' set Transmit Com Parameter
' COB-ID x4000 0181
ELSEIF t==1
' Using an encoder. An encoder should have these mappings already.
' Comment these out if the encoder has read-only PDO parameters/mappings.
' Note PDO2 is used; it is default sync type in the encoder 406 profile.
SDOWR(eee,x1801,1,4,-1073741439) GOSUB10 ' set Transmit Com Parameter
' START xC000 0181
SDOWR(eee,x1801,2,1,1)
GOSUB10 ' set Transmit Com Parameter
' on every Synch x000 0001
SDOWR(eee,x1A01,0,1,0)
GOSUB10 ' set Transmit map number of
' entries x00
SDOWR(eee,x1A01,1,4,1617166368)
GOSUB10 ' set Transmit map x6064 00 20
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 824 of 890
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
SDOWR(eee,x1A01,0,1,1)
GOSUB10
SDOWR(eee,x1801,1,4,1073742209)
GOSUB10
ENDIF
SDOWR(fff,x1400,1,4,-2147483263)
GOSUB10
SDOWR(fff,x1600,0,1,0)
GOSUB10
SDOWR(fff,x1600,1,4,570950432)
SDOWR(fff,x1600,0,1,1)
GOSUB10
GOSUB10
SDOWR(fff,x1400,1,4,385)
GOSUB10
'
'
'
'
'
'
'
'
'
'
'
'
'
set Transmit map number of
entries x01
set Transmit Com Parameter
COB-ID x4000 0181
set Receive Com Parameter start
x8000 0181
set Receive Map number of
entries x00
set Receive Map x2208 03 20
set Receive Map number of
entries x01
set Receive Com Parameter
COB-ID x0000 0181
' Mapping complete.
NMT(0,1)
GOSUB10
' Broadcast to whole network to go
' to operational state.
SDOWR(fff,x6060,0,1,-11)
SDOWR(fff,x6040,0,2,6)
SDOWR(fff,x6040,0,2,7)
SDOWR(fff,x6040,0,2,15)
PRINT("Setup complete",#13)
GOSUB10
GOSUB10
GOSUB10
GOSUB10
'
'
'
'
set
set
set
set
Trajectory Mode
Control word in
Control word in
Control word in
to Mixed FOLLOW
Motor 2
Motor 2
Motor 2
IF CADDR==fff
' If the network master happens to be the follow motor (which is expected
' in this demo by default).
WAIT=3000
PRINT("Follow motor: stopping X.",#13)
X(2) ' Stop following
WAIT=1000
PRINT("Follow motor: re-starting X.",#13)
G(2) ' Restart following
ELSE
' Some other motor is the follow motor.
' ...
ENDIF
ELSEIF CADDR==eee
' We are a motor pretending to be the encoder.
WAIT=500
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 825 of 890
Part 3: Examples
' Set other objects in follow motor relating to follow mode.
SDOWR(fff,x2207,0,4,rrr)
GOSUB10 ' set encoder modulo limit
SDOWR(fff,x2209,0,2,0)
GOSUB10 ' set follow control to nominal state.
SDOWR(fff,x220A,0,2,100)
GOSUB10 ' set MFMUL
SDOWR(fff,x220B,0,2,100)
GOSUB10 ' set MFDIV
SDOWR(fff,x220C,0,4,20000)
GOSUB10 ' set MFA control word x2209
' determines if master or slave units.
SDOWR(fff,x220D,0,4,10000)
GOSUB10 ' set MFD control word x2209
' determines if master or slave units.
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
Part 3: Examples
PRINT("SmartMotor acting as encoder: starting motion.",#13)
MV VT=100000 ADT=50 G ' A simple constant motion.
' Follow motor is already started and will follow exactly.
PRINT("SmartMotor acting as encoder: ") PRINT("running for 10 seconds.",#13)
WAIT=10000
PRINT("SmartMotor acting as encoder: freewheel.",#13)
BRKRLS OFF
ENDIF
END
C10 ' Check for CAN error and display
e=CAN(4)
IF e!=0
PRINT(#13,"Communication Error: ")
ELSE
' PRINT("ok",#13) ' For debugging, to see what commands passed and failed.
RETURN
ENDIF
SWITCH e
' NOTE: Any error number < 0 is Animatics specific to the SDORD, SDOWR,
' and NMT commands.
CASE -1
PRINT(" Timeout, no response from remote device.")
BREAK
CASE -2
PRINT(" Multiple SDO commands simultaneously.")
BREAK
CASE -3
PRINT(" Master mode not enabled, see CANCTL command.")
BREAK
CASE -4
PRINT(" Protocol not supported.")
BREAK
CASE -5
PRINT(" Transmission failure, check cable, Baud rate.")
BREAK
CASE -6
PRINT(" Data size returned not expected size.")
BREAK
CASE -20
PRINT(" Invalid destination address.")
BREAK
CASE -21
PRINT(" Data size not supported.")
BREAK
CASE -22
PRINT(" Invalid object index.")
BREAK
CASE -23
PRINT(" Invalid object sub-index.")
BREAK
CASE -24
PRINT(" Invalid NMT command value.")
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 826 of 890
BREAK
' NOTE: any error number > 0 is specific to CANopen's specific list of
' errors per 301 specification.
CASE 84082688
PRINT(" Toggle bit not alternated.")
BREAK
CASE 84148224
PRINT(" SDO protocol timed out.")
BREAK
CASE 84148225
PRINT(" Client/server command specifier not valid or unknown.")
BREAK
CASE 84148226
PRINT(" Invalid block size (block mode only).")
BREAK
CASE 84148227
PRINT(" Invalid sequence number (block mode only).")
BREAK
CASE 84148228
PRINT(" CRC error (block mode only).")
BREAK
CASE 84148229
PRINT(" Out of memory.")
BREAK
CASE 100728832
PRINT(" Unsupported access to an object.")
BREAK
CASE 100728833
PRINT(" Attempt to read a write only object.")
BREAK
CASE 100728834
PRINT(" Attempt to write a read only object.")
BREAK
CASE 100794368
PRINT(" Object does not exist in the object dictionary.")
BREAK
CASE 100925505
PRINT(" Object cannot be mapped to the PDO.")
BREAK
CASE 100925506
PRINT(" Exceeds PDO length.")
BREAK
CASE 100925507
PRINT(" General parameter incompatibility reason.")
BREAK
CASE 100925511
PRINT(" General internal incompatibility in the device.")
BREAK
CASE 101056512
PRINT(" Access failed due to an hardware error.")
BREAK
CASE 101122064
PRINT(" Data type mismatch, length of service parameter.")
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 827 of 890
Part 3: Examples
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
Part 3: Examples
Part 3: Examples: CAN Bus - Time Sync Follow Encoder
BREAK
CASE 101122066
PRINT(" Data type mismatch, length of service parameter, high.")
BREAK
CASE 101122067
PRINT(" Data type mismatch, length of service parameter, low.")
BREAK
CASE 101253137
PRINT(" Sub-index does not exist.")
BREAK
CASE 101253168
PRINT(" Value range of parameter exceeded (write access).")
BREAK
CASE 101253169
PRINT(" Value of parameter written too high.")
BREAK
CASE 101253170
PRINT(" Value of parameter written too low.")
BREAK
CASE 101253174
PRINT(" Maximum value is less than minimum value.")
BREAK
CASE 134217728
PRINT(" General error. (CANopen)")
BREAK
CASE 134217760
PRINT(" Data can't be sent to the application.")
BREAK
CASE 134217761
PRINT(" Data can't be sent to the application, local control.")
BREAK
CASE 134217762
PRINT(" Data can't be sent to the application, device state.")
BREAK
CASE 134217763
PRINT(" Object dictionary dynamic generation fails."
BREAK
DEFAULT
PRINT(" Unknown error.")
IF e>0
' One of the CANopen errors
PRINT(" Consult CANopen error list.")
'
ELSE
' One of our error, but not included in the list above.
ENDIF
BREAK
ENDS
PRINT(#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 828 of 890
Part 3: Examples: Text Replacement in an SMI Program
Text Replacement in an SMI Program
The following shows possible uses of the #define command. That command is used by SMI to
simply replace characters of code with an associated named value.
NOTE: #define is not an executable command; it is used for compile-time
translation from SMI.
NOTE: Uploads of programs with define statements will show the alternate or
replaced text only.
'Examples of using #define for text replacement in a program.
'NOTE: #define is used by SMI to replace characters of code with an
'associated named value.
#define DisableTravelLimits EIGN(W,12)
'Assign inputs 2 and 3
'as general inputs.
#define ClearFaultBits
ZS
'Issue ZS command.
#define GoInput
1-IN(6)
'Invert input 6.
#define 4BitBinaryInputs
15-(IN(W,0)&15) 'Binary mask inputs 0
'through 3.
#define FindHome
GOSUB(100)
#define GearOutputPosition
RES*40.0
'Suppose 40:1 gear reducer.
#define NormalSpeed
500000
#define JogSpeed
10000
#define FollwingError
B(0,3)
'Following Error Status Bit.
DisableTravelLimits
ClearFaultBits
IF GoInput
'Disable travel limits.
'Issue ZS command.
'If Input 6 goes low - note that it was
'defined as 1-IN(6).
PRINT("Go Recieved",#13)
x=4BitBinaryInputs
'Returns value from 0 to 15 for inputs
'0, 1, 2 and 3.
GOSUB(x)
ENDIF
FindHome
'Run the home routine.
VT=NormalSpeed
'Set the speed to 500000.
PRT=22.5*GearOutputPosition 'Results in 22.5 rotations of gear head
'output shaft.
VT=JogSpeed
'Set the speed to 10000.
END
C100
'Place the home routine code here
PRINT("Home Routine Called",#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 829 of 890
Part 3: Examples
'The following code shows examples of using the above "define"
'variables.
Part 3: Examples: Text Replacement in an SMI Program
Part 3: Examples
C0
C1
C2
C3
C4
C5
C6
C7
C8
C9
C10
C11
C12
C13
C14
C15
PRINT("Subroutine",x," called",#13)
RETURN
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 830 of 890
Appendix
Appendix
This appendix provides related information for use with the SmartMotor. With the exception of
the Motion Command Quick Reference on page 834, all other topics are listed in alphabetical
order.
Motion Command Quick Reference
834
Array Variable Memory Map
836
ASCII Character Set
838
Binary Data
839
Command Error Codes
842
Decoding the Error
842
Finding the Error Source
843
Glossary
844
Math Operators
851
Moment of Inertia
852
Matching Motor to Load
852
Improving the Moment of Inertia Ratio
852
RCAN, RCHN and RMODE Status
853
RCAN Status Decoder
853
RCHN Status Decoder
853
854
RMODE Status Decoder
854
Mode Status Example
854
Scale Factor Calculation
855
Sample Rates
855
PID Sample Rate Command
855
Encoder Resolution and the RES Parameter
855
Native Velocity and Acceleration Units
856
Velocity Calculations
856
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 831 of 890
Appendix
Clearing Serial Port Errors
Appendix
Acceleration Calculations
856
Status Words
857
Status Word: 0 Primary Fault/Status Indicator
858
Status Word: 1 Index Registration and Software Travel Limits
859
Status Word: 2 Communications, Program and Memory
859
Status Word: 3 PID State, Brake, Move Generation Indicators
860
Status Word: 4 Interrupt Timers
860
Status Word: 5 Interrupt Status Indicators
861
Status Word: 6 Drive Modes
861
Status Word 7: Multiple Trajectory Support
862
Status Word 8: Cam Support
863
Status Word 10: RxPDO Arrival Notification
863
Status Word 12: User Bits Word 0
864
Status Word 13: User Bits Word 1
864
Status Word: 16 On Board Local I/O Status: D-Style Motor
865
Status Word: 16 On Board Local I/O Status: M-Style Motor
865
Status Word: 17 Expanded I/O Status: D-Style AD1 Motor
866
Torque Curves
867
Appendix
Understanding Torque Curves
867
Peak Torque
867
Continuous Torque
867
Ambient Temperature Effects on Torque Curves and Motor Response:
868
Supply Voltage Effects on Torque Curves and Motor Response:
868
Example 1: Rotary Application
869
Example 2: Linear Application
869
Dyno Test Data vs. the Derated Torque Curve
869
Proper Sizing and Loading of the SmartMotor
870
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 832 of 890
Appendix: Motion Command Quick Reference
Motion Command Quick Reference
The following table provides a quick reference for the primary Class 5 motion commands. For
the complete list of motion control commands and links to their descriptions, see Motion
Control on page 883.
Absolute
Position
Relative
Velocity
Position
Accel
DE/Dt
Over
and
Following Derivitive
Accel Decel
Speed
Decel
Error
Error
Limit
Together
Limit
Report
Actual
RPA
RPRA
RVA
N/A
Report
End Target
RPT
RPRT
RVT
RAT
N/A
Report Commanded
RPC
RPRC
RVC
RAC
Assign
End Target
PT=
PRT=
VT=
ADT=
AT=
DT=
Assign
Command
N/A
N/A
N/A
N/A
N/A
N/A
RAT
RDT
REA
RDEA
REL
RDEL
RVL
EL=
DEL=
VL=
RAC
In the chart above, you will notice Actual, End Target, and Commanded:
l
l
l
Actual: The value of the parameter as the processor sees it in real time at the shaft,
regardless of anything commanded by the trajectory generator
Target: The requested trajectory target to reach and/or maintain at any given time
Commanded: The compensated value of the trajectory generator at any time in its
attempt to reach the target
For example, in terms of the position commands:
l
l
l
Position Target (PT): The desired target position you are shooting for; what you have
specified as a target position value
Position Actual (PA): The current position in real time (right now), regardless of target
or where it is being told to go
Position Commanded (PC): The position the controller processor is actually commanding
it to go to at the time
NOTE: Any difference between Position Commanded (PC) and Position Actual (PA)
is due to following error.
Appendix
There are two position types:
l
Absolute: The finite position value in reference to position zero
l
Relative: A relative distance from the present position at the time
All commands shown above are associated with both Mode Position (MP) and Mode Velocity
(MV). They may also be used in dual trajectory mode when running either of those modes on
top of gearing or camming.
All distance parameters are in encoder counts. Encoder resolution may be obtained and used
in a program through the RES command. The RRES command will report encoder resolution.
You can also use the RES command directly in math formulas.
EXAMPLE:
If you want it the axis to move to location 1234, then you would issue:
PT=1234
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 834 of 890
Appendix: Motion Command Quick Reference
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.
Appendix
After the move has completed, RBt would report a 0 (to indicate the trajectory is no longer
active).
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 835 of 890
Appendix: Array Variable Memory Map
Array Variable Memory Map
Integer Array Memory:
NOTE: Overlapping memory aw[0] is the least significant word of al[0]; likewise,
ab[0] is the least significant byte of aw[0] and al[0].
Long (32-bit signed)
Appendix
al[n] where n is:
Word (16-bit signed)
aw[n] where n is:
Bytes (8-bit signed)
ab[n] where n is:
LSb
MSb
LSb
middle bytes
MSb
0
0
1
0
1
2
3
1
2
3
4
5
6
7
2
4
5
8
9
10
11
3
6
7
12
13
14
15
4
8
9
16
17
18
19
5
10
11
20
21
22
23
6
12
13
24
25
26
27
7
14
15
28
29
30
31
8
16
17
32
33
34
35
9
18
19
36
37
38
39
10
20
21
40
41
42
43
11
22
23
44
45
46
47
12
24
25
48
49
50
51
13
26
27
52
53
54
55
14
28
29
56
57
58
59
15
30
31
60
61
62
63
16
32
33
64
65
66
67
17
34
35
68
69
70
71
18
36
37
72
73
74
75
19
38
39
76
77
78
79
20
40
41
80
81
82
83
21
42
43
84
85
86
87
22
44
45
88
89
90
91
23
46
47
92
93
94
95
24
48
49
96
97
98
99
25
50
51
100
101
102
103
26
52
53
104
105
106
107
27
54
55
108
109
110
111
28
56
57
112
113
114
115
29
58
59
116
117
118
119
30
60
61
120
121
122
123
31
62
63
124
125
126
127
32
64
65
128
129
130
131
33
66
67
132
133
134
135
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 836 of 890
Appendix: Array Variable Memory Map
Long (32-bit signed)
Word (16-bit signed)
Bytes (8-bit signed)
aw[n] where n is:
al[n] where n is:
ab[n] where n is:
LSb
MSb
LSb
middle bytes
MSb
34
68
69
136
137
138
139
35
70
71
140
141
142
143
36
72
73
144
145
146
147
37
74
75
148
149
150
151
38
76
77
152
153
154
155
39
78
79
156
157
158
159
40
80
81
160
161
162
163
41
82
83
164
165
166
167
42
84
85
168
169
170
171
43
86
87
172
173
174
175
44
88
89
176
177
178
179
45
90
91
180
181
182
183
46
92
93
184
185
186
187
47
94
95
188
189
190
191
48
96
97
192
193
194
195
49
98
99
196
197
198
199
50
100
101
200
201
202
203
Overlapping is "little endian" for byte and word order
Integer Variable Memory Non-Overlapping:
Name
Quantity
Type
a-z
26
32-bit signed
aa-zz
26
32-bit signed
26
32-bit signed
aaa-zzz
78 total letter variables
Float Variable Memory:
Name
Quantity
Type
af[0]-af[7]
8
64 bit IEEE-754
Appendix
8 total floating-point variables
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 837 of 890
Appendix: ASCII Character Set
ASCII Character Set
ASCII is an acronym for American Standard Code for Information Interchange. It refers to the
convention established to relate characters, symbols and functions to binary data. If a
SmartMotor is asked its position over the RS-232 connection, and it is at position 1, it will not
return a byte of value one, but instead will return the ASCII code for 1 which is binary value
49. That is why it appears on a Terminal window as the numeral 1.
Appendix
The ASCII character set is as follows:
0
NUL
35
#
70
F
105
i
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
SOH
STX
ETX
EOT
ENQ
ACK
BEL
BS
HT
LF
VT
FF
CR
SO
SI
DLE
DC1
DC2
DC3
DC4
NAK
SYN
ETB
CAN
EM
SUB
ESC
FC
GS
RS
US
SP
!
"
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
$
%
&
'
(
)
*
+
,
.
/
0
1
2
3
4
5
6
7
8
9
:
;
<
=
>
?
@
A
B
C
D
E
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
G
H
I
J
K
L
M
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
[
\
]
^
_
’
a
b
c
d
e
f
g
h
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
j
k
l
m
n
o
p
q
r
s
t
u
v
w
x
y
z
{
|
}
~
Del
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 838 of 890
Appendix: Binary Data
Binary Data
The SmartMotor language allows the programmer to access data at the binary level.
Understanding binary data is useful when programming the SmartMotor or any electronic
device. The following is an explanation of how binary data works.
All digital computer data is stored as binary information. A binary element is one that has only
two states, commonly described as "on" and "off" or "one" and "zero." A light switch is a
binary element. It can either be "on" or "off." A computer’s memory is nothing but a vast
array of binary switches called "bits".
The power of a computer comes from the speed and sophistication with which it manipulates
these bits to accomplish higher tasks. The first step towards these higher goals is to organize
these bits in such a way that they can describe things more complicated than "off" or "on."
Different quantities of bits are used to make up the building blocks of data. They are most
commonly described as follows:
Four bits
=
Nibble
Eight bits
=
Byte
Sixteen bits
=
Word
Thirty two bits =
Long
One bit has two possible states, on or off. Every time a bit is added, the possible number of
states is doubled. Two bits have four possible states. They are as follows:
00
off-off
01
off-on
10
on-off
11
on-on
A nibble has 16 possible states. A byte has 256, a word has 65536 and a long has billions of
possible combinations.
Because a byte of information has 256 possible states, it can reflect a number from zero to
255. This is done by assigning each bit a value of twice the one before it, starting with one.
Each bit value becomes as follows:
0
1
1
2
2
4
3
8
4
16
5
32
6
64
7
128
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 839 of 890
Appendix
Bit Value
Appendix: Binary Data
If all their values are added together the result is 255. By leaving particular bits out, any sum
between zero and 255 can be created. Look at the following example bytes and their decimal
values:
Byte
Value
0 0 0 0
0 0 0 0
0
0
0
0
0
0
1
1
1
0
0
0
0
1
1
0
1
1
0
0
0
0
0
0
0
0
1
0
0
0
0
0
1
0
0
1
0
0
0
1
1
1
0
1
1
0
0
0
0
1
1
0
1
1
0
1
1
0
1
0
0
0
1
1
0
1
0
0
0
0
1
1
0
1
2
3
16
30
60
128
157
255
To make use of the limited memory available with micro controllers that can fit into a
SmartMotor, there are occasions where every bit is used. One example is Status Word 0. A
single value can be uploaded from a SmartMotor and be binary coded with eight, sixteen or
thirty-two independent bits of information. The following is the Status Word 0 and its 16 bits of
coded information:
Name
Description
Drive ready
Bit
0
Value
1
Bo
Bt
Motor OFF
Trajectory in progress
Bus voltage fault
Over current
Excessive temperature fault
Excessive position error fault
Velocity limit fault
Real-time temperature limit
Derivative of position error limit
Hardware right (+) limit enabled
Hardware left (-) limit enabled
Historical right (+) limit fault
Historical left (-) limit fault
Real time right (+) limit
Real time left (-) limit
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
Appendix
Ba
Bh
Be
Bv
Br
Bl
Bp
Bm
There are three useful mathematical operators that work on binary data:
l
l
l
& (bit-wise and) compares the two operands (bytes, words or longs) and looks for what
they have in common. The resulting data has ones only where there were ones in both
operands.
| (bit-wise or) results in a one for each bit corresponding to a one in either operand.
!| (bit-wise exclusive or) results in a one for each bit corresponding to a one in either
operand. It produces a one for each bit when the corresponding bits in the two operands
are different and a zero when they are the same.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 840 of 890
Appendix: Binary Data
These operations are illustrated in the following examples:
A
0
0
1
1
B
0
1
0
1
A&B
0
0
0
1
A|B
0
1
1
1
A!|B
0
1
1
0
Knowing how the binary data works will allow you to write shorter and faster code. The
following are two code examples written to check if both limit inputs are high. One does this
without taking advantage of a binary operator, while the second shows how using a binary
operator makes the code shorter and faster.
Example 1:
IF Bm
IF Bp
GOSUB100
ENDIF
ENDIF
'Look for - limit high
'Look for + limit high
'Execute subroutine
Example 2:
IF (W(0)&49152)==49152
GOSUB100
ENDIF
'Look at both limits, bits 14 & 15,
'w/bit mask 49152 = 32768 + 16384
'Execute subroutine
Both examples will execute subroutine 100 if both limit inputs are high. Example 2 uses less
code than Example 1 and will run faster as a part of a larger program loop.
The next two examples show how the use of an I/O word and mask can improve program size
and execution speed:
Example 3:
'Look for input 0
'Execute subroutine
'look for input 1
'Execute subroutine
Example 4:
IF IN(W,0,3)
GOSUB200
ENDIF
'Look at both inputs 0 and 1
'Execute subroutine
Both examples 3 and 4 accomplish the same task with different levels of efficiency.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 841 of 890
Appendix
IF IN(0)
GOSUB200
ENDIF
IF IN(1)
GOSUB200
ENDIF
Appendix: Command Error Codes
Command Error Codes
When a command results in error, the Command error bit (Status Word 2, bit 14) will be
tripped. It is up to the user to catch this and read the error code.
NOTE: If multiple command managers are executing commands at the same time,
it is possible for one to overwrite the other.
Decoding the Error
The RERRC or =ERRC commands reply with a numeric value describing the most recent error.
To decode the error, refer to the following table.
Code Description
Appendix
0
1
2
3
4
5
6
7
8
9
NO_ERROR
BAD_LENGTH
BAD_ARGUMENT
BAD_PACKET
BAD_OPERATION
MISSING_ARGUMENT
NOT USED
ERROR_PARENTHESIS
NOT USED
LENGTH_VIOLATION
10
11
12
BAD_ARRAY_ADDR
DIVIDE_BY_ZERO
STACK_OVERFLOW
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
STACK_UNDERFLOW
BAD_LABEL
NESTED_SWITCH
BAD_FORMULA
BAD_WRITE_LENGTH
NOT_USED
BAD_BIT
INVALID_INTERRUPT
NO_PERMISSION
OPERATION_FAILED
MATH_OVERFLOW
CMD_TIMEOUT
IO_NOT_PRESENT
NO_CROSS_AXIS_SUPPORT
BAD_MOTOR_STATE
BAD_CROSS_AXIS_ID
BAD_COMBITRONIC_FCODE
BAD_COMBITRONIC_SFCODE
EE_WRITE_QUEUE_FULL
CAM_FULL
Notes
Only used for CAN when the command is too long
Embedded address was not found within the 64-character buffer for
IF, SWITCH, GOTO, etc. (should never happen)
Array index outside the defined range
Attempt to divide by 0
No room on stack for another 10 GOSUB and INTERRUPTS use the
same stack
RETURN or RETURNI with no place to return
Label does not exist for GOSUB or GOTO
Too many nested SWITCH (> 4)
VST command amount written too long
Z{letter} command issued for a bit that cannot be reset
EITR command for interrupt not defined)
Operation or memory range is not user-accessible
General error
Combitronics timeout
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 842 of 890
Appendix: Finding the Error Source
Finding the Error Source
The RERRW or =ERRW commands reply with a numeric code describing the source of the
error. To decode the error source, refer to the following table.
Code Description
CMD_COMM0
CMD_COMM1
CMD_PROG
CMD_CAN
CMD_MB0
CMD_MB1
Notes
RS-232 for D-style, RS-485 for M-style
RS-485 for D-style only
From downloaded program
CAN port (CANopen, DeviceNet , Combitronic) or PROFIBUS
N/A
N/A
Appendix
0
1
2
3
4
5
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 843 of 890
Appendix: Glossary
Glossary
The following list provides a glossary of industrial motion terms.
Acceleration
A change in velocity as a function of time. Acceleration usually refers to increasing velocity,
and deceleration to decreasing velocity.
Accuracy
A measure of the difference between expected position and actual position of a motor or
mechanical system. Motor accuracy is usually specified as an angle representing the
maximum deviation from expected position.
Address
A unique identifier assigned to a network device that differentiates it from other devices
operating on the same network.
Ambient Temperature
The temperature of the cooling medium, usually air, immediately surrounding the motor or
another device.
Angular Accuracy
The measure of shaft positioning accuracy on a servo or stepping motor.
Back EMF (BEMF)
The voltage generated when a permanent magnet motor is rotated. This voltage is
proportional to motor speed and is present regardless of whether the motor winding(s) are
energized or unenergized.
Breakaway Torque
Appendix
The torque required to start a machine in motion. Almost always greater than the running
torque.
Brushless Motor
Class of motors that operate using electronic commutation of phase currents rather than
electromechanical (brush-type) commutation. Brushless motors typically have a permanent
magnet rotor and a wound stator.
Closed Loop
A broadly-applied term relating to any system in which the output is measured and compared
to the input. The output is then adjusted to reach the desired condition. In motion control, the
term typically describes a system utilizing a velocity and/or position transducer to generate
correction signals in relation to desired parameters.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 844 of 890
Appendix: Glossary
Cogging (Cogging Torque)
A term used to describe nonuniform angular velocity. Cogging appears as jerkiness,
especially at low speeds.
Commutation
A term which refers to the action of steering currents or voltages to the proper motor phases
so as to produce optimum motor torque. Proper commutation means the relationship of the
Rotor to the Stator must be known at all times.
l
l
In brush-type motors, commutation is done electromechanically through the brushes
and commutator.
In brushless motors, commutation is done by the switching electronics using rotor
position information obtained by Hall sensors, single turn absolute encoder or a
resolver.
Controller
A term describing a functional block containing an amplifier, power supplies and possibly
position-control electronics for operating a servomotor or step motor.
Current at Peak Torque (IPK) (Amperes)
The amount of input current required to develop peak torque. This is often outside the linear
torque/current relationship.
Current, Rated
The maximum allowable continuous current a motor can handle without exceeding motor
temperature limits.
Detent Torque
The maximum torque that can be applied to an unenergized step motor without causing
continuous rotating motion.
Duty Cycle
Duty cycle (%) = [On time / (On time + Off time)] x 100%
Dynamic Braking
A passive technique for stopping a permanent magnet brush or brushless motor. The motor
windings are shorted together through a resistor which results in motor braking with an
exponential decrease in speed.
Efficiency
The ratio of power output to power input.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 845 of 890
Appendix
For a repetitive cycle, the ratio of on time to total cycle time.
Appendix: Glossary
Electrical Time Constant (te) (Seconds)
The time required for current to reach 63.2% of its final value for a fixed voltage level. It can
be calculated from the relationship
te=L/R
Where L is inductance (henries) and R is resistance (ohms).
Encoder
A feedback device that converts mechanical motion into electronic signals. The most
commonly used rotary encoders output digital pulses corresponding to incremental angular
motion. For example, a 1000-line encoder produces 1000 pulses every mechanical revolution.
The encoder consists of a glass or metal wheel with alternating transparent and opaque
stripes, detected by optical sensors to produce the digital outputs.
Feedback
A signal which is transferred from the output back to the input for use in a closed loop system.
Form Factor
The ratio of RMS current to average current. This number is a measure of the current ripple in
a SCR or other switch-mode type of drive. Because motor heating is a function of RMS current
while motor torque is a function of average current, a form factor greater than 1.00 means
some fraction of motor current is producing heat but not torque.
Four Quadrant
Refers to a motion system which can operate in all four quadrants, i.e., velocity in either
direction and torque in either direction. This means that the motor can accelerate, run and
decelerate in either direction.
Friction
A resistance to motion caused by contact with a surface. Friction can be constant with varying
speed (Coulomb friction) or proportional to speed (viscous friction).
Appendix
Hall Sensor
A feedback device which is used in a brushless servo system to provide information for the
amplifier to electronically commutate the motor. The device uses a magnetized wheel and
Hall effect sensors to generate the commutation signals.
Holding Torque
Holding torque (sometimes called static torque) specifies the maximum external torque that
can be applied to a stopped, energized motor without causing the rotor to move. Typically
used as a feature specification when comparing motors.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 846 of 890
Appendix: Glossary
Horsepower
A unit of measure of power. One horsepower is equal to 746 watts. The measurement of
rotary power must take speed and torque into account. Horsepower is a measure of a motor’s
torque and speed capability. The formula is:
HP = Torque (lb-in.) x Speed (RPM)/63,025
HP = Torque (lb-ft.) x Speed (RPM)/5,252
HP = Volts x Amps x Efficiency/746
Inductance (L) (mH - millihenries line-to-line)
The property of a circuit that has a tendency to resist current flow when no current is flowing,
and when current is flowing has a tendency to maintain that current flow. It is the electrical
equivalent to mechanical inertia.
Inductance (mutual)
Mutual inductance is the property that exists between two current-carrying conductors (or
coils) when a change in current in one induces a voltage in the other.
Inertia
The property of an object to resist change in velocity unless acted on by an outside force.
Higher-inertia objects require larger torques to accelerate and decelerate. Inertia is
dependent on the mass and shape of the object.
Inertial Match
The reflected inertia of the load is equal to the rotor inertia of the motor. For most efficient
operation, a system coupling ratio should be selected that provides this condition.
Open-loop
A system in which there is no feedback. Motor motion is expected to faithfully follow the input
command. Stepping motor systems are an example of open-loop control.
The ability of a drive to withstand currents above its continuous rating. It is defined by NEMA
(National Electrical Manufacturers Association) as 150% of the rated full-load current for
"standard industrial DC motors" for one minute.
Peak torque (Tpk) (lb-in.)
The maximum torque a brushless motor can deliver for short periods of time. Operating
permanent-magnet motors above the maximum torque value can cause demagnetization of
the rare-earth magnets. This is an irreversible effect that will alter the motor characteristics
and degrade performance. It is also known as peak current. This should not be confused with
system peak torque, which is often determined by amplifier peak-current limitations, where
peak current is typically two times continuous current.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 847 of 890
Appendix
Overload Capacity
Appendix: Glossary
Poles
Refers to the number of magnetic poles arranged on the rotor of the brushless motor. Unlike
an AC motor, the number of poles has no direct relationship to the base speed of the motor.
Power
The rate at which work is done. In motion control, power is equal to torque multiplied by
speed.
Power (watts) = force x distance/time
Power = voltage x current
Power Factor
Ratio of true power (kW) to apparent power (kVA).
Pulse Rate
The frequency of the step pulses applied to a step motor driver. The pulse rate, multiplied by
the resolution of the motor/driver combination (in steps per revolution), yields the rotational
speed in revolutions per second.
Pulse Width Modulation (PWM)
Describes a switch-mode (as opposed to linear) control technique used in amplifiers and
drivers to control motor voltage and current.
Read / Read-Write
Read (or read-only): the system can read data from a file or device but not write data to the
file or device.
Read-Write: the system can read data from or write data to a file or device.
Regeneration
The action during motor braking, in which the motor acts as a generator and takes kinetic
energy from the load, converts it to electrical energy and returns it to the amplifier.
Appendix
Repeatability
The degree to which a parameter such as position or velocity can be duplicated.
Resolution
The smallest increment into which a parameter can be broken down. For example, a 1000-line
encoder has a resolution of 1/1000 of a revolution.
Resonance
Oscillatory behavior caused by mechanical or electromechanical harmonics and limitations.
Ringing
Oscillation of a system following a sudden change in state.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 848 of 890
Appendix: Glossary
RMS Current - Root Mean Square Current
In an intermittent duty-cycle application, the RMS current is equal to the value of steady state
current that would produce the equivalent motor heating over a period of time.
RMS Torque - Root Mean Square Torque
In an intermittent duty-cycle application, the RMS torque is equal to the value of steady state
torque that would produce the equivalent motor heating over a period of time.
Rotor
The moving part of the motor, consisting of the shaft and magnets. These magnets are
analogous to the field winding of a brush-type DC motor.
Settling Time
The time required for a parameter to stop oscillating or ringing and reach its final value.
Speed
Describes the linear or rotational velocity of a motor or other object in motion.
Stall Torque
The amount of torque developed with voltage applied and the shaft locked or not rotating. Also
known as locked-rotor torque.
Stator
The nonmoving part of the motor. Specifically, it is the iron core with the wire winding in it
that is pressed into the frame shell. The winding pattern determines the voltage constant of
the motor.
Stiffness
Torque
A measure of angular force which produces rotational motion. This force is defined by a linear
force multiplied by a radius, e.g., lb-in. The formula is:
Torque (lb-ft.) = 5,250 x HP/RPM
Torque Constant (KT = lb-ft./A)
An expression of the relationship between input current and output torque. For each ampere
of current, a fixed amount of torque is produced.
NOTE: Torque constants are not linear over the operating range of a motor. They
apply best at approximately 75% of no-load maximum speed or where the peak
and continuous torque curves meet.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 849 of 890
Appendix
The ability to resist movement induced by an applied torque. Stiffness is often specified as a
torque displacement curve, indicating the amount a motor shaft will rotate upon application of
a known external force when stopped.
Appendix: Glossary
Torque-to-Inertia Ratio
Defined as the motor’s holding torque divided by the inertia of its rotor. The higher the ratio,
the higher a motor’s maximum acceleration capability will be.
Velocity
The change in position as a function of time. Velocity has both a magnitude and sign.
Voltage Constant (KE) (V/kRPM peak, line-to-line)
Appendix
May also be termed Back-EMF constant. When a motor is operated, it generates a voltage
proportional to speed but opposing the applied voltage. The shape of the voltage waveform
depends on the specific motor design. For example, in a brushless motor, the wave shape
may be trapezoidal or sinusoidal.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 850 of 890
Appendix: Math Operators
Math Operators
The following table shows the math operators that are available for the SmartMotor.
Operator
Description
Basic operations:
+
Add
*
Subtract
Multiply
/
Divide
Logical operations:
Greater than
>
<
Less than
==
<=
Equal to
Less than or equal to
>=
Greater than or equal to
Integer operations:
^
Power limited to 4th power and below, integers only
&
|
Bitwise AND
Bitwise inclusive OR
!|
Bitwise exclusive OR
!=
Not equal to
%
Modulo (remainder) division
SQRT(value)
ABS(value)
Integer square root
Integer absolute value
Floating-point functions:
FSQRT(value) Floating-point square root
Floating-point absolute value
SIN(value)
Floating-point sine
COS(value)
Floating-point cosine
TAN(value)
Floating-point tangent
ASIN(value)
Floating-point arcsine
ACOS(value)
Floating-point arccosine
ATAN(value)
Floating-point arctangent
PI
Floating-point representation of pi
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 851 of 890
Appendix
FABS(value)
Appendix: Moment of Inertia
Moment of Inertia
A basic understanding of Moment of Inertia serves well in ensuring proper SmartMotor™
sizing. It is one thing to look at static points on torque curves, but it is altogether different
when considering the dynamic aspects of loads being accelerated at high rates.
l
l
l
The inertial mass of an object is a measure of its resistance to a change in its velocity.
The Moment of Inertia of an object is at a point of reference of rotation, which is at the
pivot point or axis of rotation.
The Moment of Inertia can, therefore, be thought of as a measure of the resistance to
any change in rotational speed.
For linear systems, the rate of change of speed (acceleration) is proportional to the force
applied. Double the mass requires double the force to achieve the same acceleration.
Similarly, for rotational systems, the angular acceleration of the load is proportional to the
torque applied. Double the Moment of Inertia and the torque needs to be doubled for the same
angular acceleration. Moment of Inertia is, therefore, a measure of a load’s resistance to
angular speed change, or how much effort (torque) is required to cause acceleration or
deceleration.
Matching Motor to Load
A common rule of thumb for SmartMotor sizing is that the load should have no more than ten
times the Moment of Inertia of the motor rotor that is driving it. This provides a good starting
point and typically allows for safe sizing over a wide range of applications.
A rotating load wants to maintain the same velocity. Therefore, when a motor attempts to
accelerate the load, it must overcome the Moment of Inertia of that load by applying
additional torque to increase the speed. As a result, it takes more torque to change speed than
it does to maintain a given speed.
In the same manner, for the motor to decelerate the load, the load’s Moment of Inertia wants
to keep the motor going the same speed and will, in effect, back-drive the motor, which turns
it into a generator.
Appendix
CAUTION: In extreme cases, back-drive can result in overvoltage damage to
the motor's drive stage.
Improving the Moment of Inertia Ratio
Adding gear reduction to a motor gives it more leverage to prevent back-driving and also
provides an advantage in accelerating a load up to speed.
Any given change in gear reduction results in a proportional change in speed and static torque,
but results in a squared change in acceleration and dynamic rate of change of torque. The
result is that by adding gear ratio you gain a squared decrease in the ratio of Moment of
Inertia between motor and load.
Therefore, through gear reduction, the motor has a greater advantage in both accelerating
and decelerating the load. Gear reduction adds protection against damage to the overall
system.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 852 of 890
Appendix: RCAN, RCHN and RMODE Status
RCAN, RCHN and RMODE Status
This section provides the information for decoding the RCAN status, RCHN status and
RMODE status.
RCAN Status Decoder
The following table provides a "decoder" for the RCAN (CAN port) status. When a general CAN
port error is flagged, you can use the information in the table to decode the RCAN command
result or the {variable}=CAN result in a program.
Description
Value Bit
CAN Power Okay
1
0
DeviceNet Com fault occurred
2
1
DeviceNet Power ignore option enabled
4
2
Reserved
8
3
User attempted to do Combitronics read from broadcast address
16
4
Combitronics debug, internal issue
32
5
Timeout (Combitronics Client)
64
6
Combitronics server ran out of buffer slots
128
7
Errors reached warning level
256
8
Receive Errors reached warning level
512
9
Transmit Errors reached warning level
1024 10
Receive Passive Error
2048 11
Transmit Passive Error (cable issue)
4096 12
Bus Off Error
8192 13
RX buffer 1 overflowed
16384 14
RX buffer 0 overflowed
32768 15
RCHN Status Decoder
The following table provides a "decoder" for the RCHN (serial port) status. Like the RCAN
(CAN port) status, you can use this information to decode general RS-232 or RS-485 serial
port status information. Note the following:
l
RCHN(n) or =CHN(n) where n is the id of the serial port.
l
Returns an integer. Only the lower four bits indicate the state of the error
Value Bit
1
0
Framing Error
2
1
N/A
4
2
Parity Error
8
3
16
4
Timeout
Appendix
Description
Buffer Overflow Error
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 853 of 890
Appendix: Clearing Serial Port Errors
Clearing Serial Port Errors
It is up to the user to read which port caused the error using RCHN(n).
l
Use Z(2,0) to clear communication errors on port 0
l
Use Z(2,1) to clear communication errors on port 1
The Status Word 2 "Error channel 0" and "Error channel 1" bits will indicate if any error has
occurred on that port. Those status bits will be cleared when the communications error is
cleared using one of the commands listed above.
RMODE Status Decoder
The following table provides a "decoder" for the RMODE, RMODE(1) and RMODE(2) status. The
MODE command contains integer values for the current operating mode. Issuing RMODE or
{variable}=MODE will return a value according to the present drive mode status.
NOTE: When running dual trajectory generators, RMODE(1) applies to Trajectory
Generator 1, and RMODE(2) applies to trajectory Generator 2. RMODE, RMODE(1)
and RMODE(2) all use the same values for mode descriptions where they apply.
Value
Mode
Mixed Mode
Description
-5
Mixed Mode
Electronic Camming
-4
Cam Mode
Step and Direction Mode
-3
STEPDIR
Electronic Gearing
-2
FOLLOW
Future Use
-1
N/A
N/A
0
NOMODE
(MP command, default on startup)
1
POSITION
Future Use
2
N/A
(MV command)
3
VELOCITY
(MT command)
4
TORQUE
Future Use
5
N/A
Future Use
6
HOMING
(Profiling via CANopen only, at this point)
7
INTPOSITION
Future Use
8
N/A
Future Use
9
N/A
Mode Status Example
Appendix
The following are some examples of capturing the current value of MODE:
x=MODE
'Sets the variable x equal to the value of the current mode.
IF MODE==1
'Executes the IF structure when mode equals the specified value.
WHILE MODE==4 'Executes the WHILE loop when the mode equals the specified
value.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 854 of 890
Appendix: Scale Factor Calculation
Scale Factor Calculation
This section provides information on using Sample Rates and Encoder Resolution to calculate
scale factors.
Sample Rates
NOTE: For Class 6 SmartMotors, the sample rate is fixed at 16,000 Hz (16 kHz).
Native units for all SmartMotors are in Encoder Counts per sample. A "sample" is considered
the time period during which encoder position data is collected. The following are related
commands:
l
SAMP is a read-only command that returns the value of the sample rate in cycles per
second and is affected by the PID command. For example:
x=SAMP
'Set x equal to the sample rate
NOTE: There is no SAMP= command.
l
RSAMP reports the sample rate in values of samples per second to the SMI terminal
window or other user interface. For example:
RSAMP
'Report the sample rate to the user's screen.
For example, if you issues RSAMP and it returns 8000, then the motor collects position
samples 8000 times per second. The default sample rate is 8000 samples per second, but it
can be adjusted, as described in the next section.
PID Sample Rate Command
NOTE: This feature is not available for Class 6 SmartMotors.
The SmartMotor controllers default to 8000 samples per second, but it is adjustable by use of
the PID command. The command PID2 is the default. However, the commands PID1, PID4,
and PID8 are also available.
PID
Command
Samples
per Second
Value
SAMP
RSAMP
Returns:
PID8
2000
2000
2000
PID4
4000
4000
4000
PID2
8000
8000
8000
PID1
16000
16000
16000
Encoder Resolution and the RES Parameter
The following commands are used to report encoder resolution:
l
RES is a read-only command that reports the encoder resolution that will be
experienced by the user (i.e., the change in RPA as the motor makes one shaft
revolution). The values stored in the EEPROM fields for encoder resolution may not be a
reliable source of information due to pre-scaling in the encoder firmware. For example:
x=RES
'Set x equal to the encoder resolution.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 855 of 890
Appendix
The following is a list of sample rates for each of the PID commands:
Appendix: Native Velocity and Acceleration Units
NOTE: There is no RES= command.
l
RRES reports encoder resolution to the SMI terminal window or other user interface.
This value is set at the factory and cannot be changed. For example:
RRES
'Report encoder resolution to the user's screen.
NOTE: The typical resolution is 4000 for SmartMotors with a NEMA 23 or smaller
frame size; it is 8000 for the larger SmartMotors. However, depending on purchase
options, this may not always be the case. Therefore, always issue the RRES
command to verify the resolution.
Native Velocity and Acceleration Units
The following table shows the units for native Velocity Target (VT) and native Acceleration
Target (AT).
Native Velocity Target units (VT)
are: (Encoder Counts/sample) * 65536
Native Acceleration Target units (AT)
are: (Encoder Counts/sample/sample ) * 65536
Velocity Calculations
If you know the desired revolutions per second (RPS) and want to set Velocity Target (VT),
use the following equation:
If you wish to calculate velocity in real world units from native units:
NOTE: The system value is Actual Velocity (VA). You can issue RVA to report actual
velocity of the system in real time, but it will return native units.
The previous equation may be used with either VT or VA.
Acceleration Calculations
Appendix
If you know your desired Revolutions per second per second (RPSS) and want to set Accel
Target (AT):
NOTE: The same calculation works for acceleration or deceleration, so it may be
applied to AT, DT, and combined ADT parameters.
If you wish to calculate Acceleration in real world units from native units:
NOTE: At this time, there is no method for reporting actual real-time acceleration
in Class 5 SmartMotors.
The previous equation may be used with either AT or DT.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 856 of 890
Appendix: Status Words
Status Words
This section provides the descriptions for the status words.
To use the status words:
l
l
l
The RB(sw,b) command will report the status bit "b" from status word "sw".
The RW(x) command will report the 16-bit value of Status Word x. For example, RW(0)
will report the 16-bit value of Status Word 0, RW(1) will report the 16-bit value of Status
Word 1, and so on.
You can assign the 16-bit result to a variable: a=W(x).
For example, the following code prints the status "Drive ready and OFF." if the "value" (from
the Value column) is equal to "3" (value 1, Drive Ready + value 2, Bo: Motor is off). See the
following table (Status Word: 0) for these values.
Appendix
IF W(0)&3
PRINT ("Drive ready and OFF.")
ENDIF
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 857 of 890
Appendix: Status Word: 0 Primary Fault/Status Indicator
Status Word: 0 Primary Fault/Status Indicator
Description
Bit
To Clear
Drive Ready
Bit
To read
Assign
1
0
RB(0,0)
=B(0,0)
Related
Commands
Bo: Motor is off
(indicator)
Bo
2
1
RB(0,1)
=B(0,1)
OFF
Bt: Trajectory in
progress (indicator)
Bt
4
2
RB(0,2)
=B(0,2)
G, TWAIT,
GS, TSWAIT
ZS
8
3
RB(0,3)
=B(0,3)
Servo Bus Voltage
Fault
Peak Over Current
occurred
Ba
Za, ZS
16
4
RB(0,4)
=B(0,4)
Excessive Temperature Real Time
Bh
ZS
32
5
RB(0,5)
=B(0,5)
TH={temp
in degrees
C} (85 Deg.
Default)
Excessive Position
Error Fault
Be
Ze, ZS
64
6
RB(0,6)
=B(0,6)
EA, REA, EL,
EL={value
in encoder
counts}
Velocity Limit Fault
Bv
Zv
128
7
RB(0,7)
=B(0,7)
VL={value
in RPM},
RVL
256
8
RB(0,8)
=B(0,8)
512
9
RB(0,9)
=B(0,9)
RDEL, DEL=
{value in
velocity
units}
=B(0,10)
EILP(2),
EIGN(2),
EIGN(W,2),
FSA()
=B(0,11)
EILN(3),
EIGN(3),
EIGN(W,3),
FSA()
=B(0,12)
EILP(2),
EIGN(2),
EIGN(W,2),
FSA()
Real-time temperature limit
Derivative Error
Limit (dE/dt) Fault
ZS
Hardware Limit Positive Enabled
1024
Hardware Limit Negative Enabled
Historical Right
Limit (+ or Positive)
Appendix
Value
2048
Br
Zr, ZS
4096
10
11
12
RB(0,10)
RB(0,11)
RB(0,12)
Historical Left Limit
(- or Negative)
Bl
Zl, ZS
8192
13
RB(0,13)
=B(0,13)
EILN(3),
EIGN(3),
EIGN(W,3),
FSA()
Right ( + or Positive) Limit Asserted
Bp
Za, ZS
16384
14
RB(0,14)
=B(0,14)
RIN(2)
ZS
32768
15
RB(0,15)
=B(0,15)
RIN(3)
Left Limit ( - or NegBm
ative) Asserted
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 858 of 890
Appendix: Status Word: 1 Index Registration and Software Travel Limits
Status Word: 1 Index Registration and Software Travel
Limits
Description
Bit
To
Clear
Value Bit To read Assign
Related
Commands
Rise Capture Encoder(0) Armed
1
0 RB(1,0) =B(1,0) Ai(0)
Fall Capture Encoder(0) Armed
2
1 RB(1,1) =B(1,1) Aj(0)
Rising edge captured ENC(0) (historical bit)
Bi(0)
ZS
4
2 RB(1,2) =B(1,2)
Falling edge captured ENC(0) (historical bit)
Bj(0)
ZS
8
3 RB(1,3) =B(1,3)
Rise Capture Encoder(1) Armed
16
4 RB(1,4) =B(1,4) Ai(1)
Fall Capture Encoder(1) Armed
32
5 RB(1,5) =B(1,5) Aj(1)
Rising edge captured ENC(1) (historical bit)
Bi(1)
64
6 RB(1,6) =B(1,6)
Falling edge captured ENC(1) (historical bit)
Bj(1)
128
7 RB(1,7) =B(1,7)
Capture input state 0 (indicator)
Bx
(0)
ZS
256
8 RB(1,8) =B(1,8)
Capture input state 1 (indicator)
Bx
(1)
ZS
512
9 RB(1,9) =B(1,9)
Software Travel Limits Enabled
1024 10
RB
(1,10)
=B
SLE, SLD, SLM
(1,10) (mode)
Soft limit mode (indicator): 0-Don’t Stop. 1-Cause Fault. Default
is 1
2048 11
RB
(1,11)
=B
SLM(mode)
(1,11)
Historical positive software over travel limit
Brs
Zrs
4096 12
RB
(1,12)
=B
SLP=formula, RSLP
(1,12)
Historical negative software over travel limit
Bls
Zls
8192 13
RB
(1,13)
=B
SLN=formula, RSLN
(1,13)
Real time positive soft limit (indicator)
Bps
16384 14
RB
(1,14)
=B
RBps
(1,14)
Real time negative soft limit (indicator)
Bms
32768 15
RB
(1,15)
=B
RBms
(1,15)
Status Word: 2 Communications, Program and Memory
Bit
To
Clear
Value Bit
To
read
Assign
Related Commands
Error on Communications Channel 0
1
0 RB(2,0) =B(2,0) RCHN(0), OCHN( ), CCHN( ), BAUD(0)=
Error on Communications Channel 1
2
1 RB(2,1) =B(2,1) RCHN(1), OCHN( ), CCHN( ),, BAUD(1)=
USB Error
4
2 RB(2,2) =B(2,2)
Reserved 3
8
3 RB(2,3) =B(2,3)
CAN Port Error
16
4 RB(2,4) =B(2,4) RCAN, CBAUD, CADDR
Reserved 5
32
5 RB(2,5) =B(2,5)
Ethernet Error
64
6 RB(2,6) =B(2,6)
I²C Running
128
7 RB(2,7) =B(2,7)
Watchdog Event
256
8 RB(2,8) =B(2,8)
ADB Bad Checksum
512
9 RB(2,9) =B(2,9)
PRINT1( ), GETCHR1,
OCHN( ), CCHN( )
Program Running
1024 10
RB
(2,10)
=B
RUN, RUN?, PAUSE, RESUME, END, GOTO, GOSUB,
(2,10) RETURN, Z
Trace in Progress
2048 11
RB
(2,11)
=B
(2,11)
EE Write Buffer Overflow
4096 12
RB
(2,12)
=B
EPTR=, VST( ), VLD( )
(2,12)
EE Busy
8192 13
RB
(2,13)
=B
EPTR=, VST( ), VLD( )
(2,13)
Command Syntax Error
Bs
ZS
16384 14
RB
(2,14)
=B
RERRC, =ERRC, REERW, =EERW
(2,14)
Program Checksum Error
Bk
ZS
32768 15
RB
(2,15)
=B
(2,15)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 859 of 890
Appendix
Description
Appendix: Status Word: 3 PID State, Brake, Move Generation Indicators
Status Word: 3 PID State, Brake, Move Generation Indicators
Description
Bit To Clear Value Bit To read Assign
Related Commands
Reserved 0
1
0
RB(3,0) =B(3,0)
Torque Saturation
2
1
RB(3,1) =B(3,1)
Voltage Saturation
4
2
RB(3,2) =B(3,2)
Wraparound Occurred
8
3
RB(3,3) =B(3,3)
KG Enabled
16
4
RB(3,4) =B(3,4) KG=
Velocity Direction
32
5
RB(3,5) =B(3,5) VT=
Torque Direction
64
6
RB(3,6) =B(3,6)
I/O Fault Latch
128
7
RB(3,7) =B(3,7)
Relative Position Mode
256
8
RB(3,8) =B(3,8)
Reserved 9
512
9
RB(3,9) =B(3,9) X, X(1), X(2), MFSDC( )
Peak Current Saturation
1024 10 RB(3,10) =B(3,10)
Modulo Rollover
2048 11 RB(3,11) =B(3,11) PML, PMA
Brake Asserted
4096 12 RB(3,12) =B(3,12) BRKSRV, BRKTRJ, BRKENG, BRKDIS, EOBK( )
Brake OK
8192 13 RB(3,13) =B(3,13)
External Go Enabled
16384 14 RB(3,14) =B(3,14) EISM(6)
Velocity Target Reached
32768 15 RB(3,15) =B(3,15) VT=
Status Word: 4 Interrupt Timers
Description Bit To Clear Value Bit To read Assign Related Commands
Timer 0
1
0
RB(4,0) =B(4,0) TMR(0,#)
Timer 1
2
1
RB(4,1) =B(4,1) TMR(1,#)
Timer 2
4
2
RB(4,2) =B(4,2) TMR(2,#)
Timer 3
8
3
RB(4,3) =B(4,3) TMR(3,#)
Reserved
16
4
RB(4,4) =B(4,4)
Reserved
32
5
RB(4,5) =B(4,5)
Reserved
64
6
RB(4,6) =B(4,6)
Reserved
128
7
RB(4,7) =B(4,7)
Reserved
256
8
RB(4,8) =B(4,8)
Reserved
512
9
RB(4,9) =B(4,9)
Reserved
1024 10 RB(4,10) =B(4,10)
Reserved
2048 11 RB(4,11) =B(4,11)
Reserved
4096 12 RB(4,12) =B(4,12)
8192 13 RB(4,13) =B(4,13)
Reserved
16384 14 RB(4,14) =B(4,14)
Reserved
32768 15 RB(4,15) =B(4,15)
Appendix
Reserved
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 860 of 890
Appendix: Status Word: 5 Interrupt Status Indicators
Status Word: 5 Interrupt Status Indicators
Description
Bit To Clear Value Bit To read Assign
Related Commands
Interrupt 0 enabled
1
0
RB(5,0) =B(5,0) ITR( ), EITR( ), ITRE, ITRD
Interrupt 1 enabled
2
1
RB(5,1) =B(5,1) ITR( ), EITR( ), ITRE, ITRD
Interrupt 2 enabled
4
2
RB(5,2) =B(5,2) ITR( ), EITR( ), ITRE, ITRD
Interrupt 3 enabled
8
3
RB(5,3) =B(5,3) ITR( ), EITR( ), ITRE, ITRD
Interrupt 4 enabled
16
4
RB(5,4) =B(5,4) ITR( ), EITR( ), ITRE, ITRD
Interrupt 5 enabled
32
5
RB(5,5) =B(5,5) ITR( ), EITR( ), ITRE, ITRD
Interrupt 6 enabled
64
6
RB(5,6) =B(5,6) ITR( ), EITR( ), ITRE, ITRD
Interrupt 7 enabled
128
7
RB(5,7) =B(5,7) ITR( ), EITR( ), ITRE, ITRD
Reserved
256
8
RB(5,8) =B(5,8)
Reserved
512
9
RB(5,9) =B(5,9)
Reserved
1024 10 RB(5,10) =B(5,10)
Reserved
2048 11 RB(5,11) =B(5,11)
Reserved
4096 12 RB(5,12) =B(5,12)
Reserved
8192 13 RB(5,13) =B(5,13)
Reserved
16384 14 RB(5,14) =B(5,14)
Interrupts Enabled
32768 15 RB(5,15) =B(5,15) ITRE, ITRD
Status Word: 6 Drive Modes
Description
Bit To Clear Value Bit To read Assign Related Commands
Trap Mode
1
0
RB(6,0) =B(6,0) MDT
Enhanced Trap Mode
2
1
RB(6,1) =B(6,1) MDE
Sine Mode
4
2
RB(6,2) =B(6,2) MDS
Vector Control
8
3
RB(6,3) =B(6,3)
Reserved 4
16
4
RB(6,4) =B(6,4)
Feedback Fault
32
5
RB(6,5) =B(6,5)
MDH mode active
64
6
RB(6,6) =B(6,6)
Drive Enable Fault
128
7
RB(6,7) =B(6,7)
Angle Match
256
8
RB(6,8) =B(6,8)
TOB Enabled
512
9
RB(6,9) =B(6,9) MDE, MDB
Inverted
1024 10 RB(6,10) =B(6,10) MINV( )
MTB Active
2048 11 RB(6,11) =B(6,11) MTB, FSA( )
ABS Battery Fault
4096 12 RB(6,12) =B(6,12)
8192 13 RB(6,13) =B(6,13)
High Bus Voltage
16384 14 RB(6,14) =B(6,14)
Regen Active
32768 15 RB(6,15) =B(6,15)
Appendix
Low Bus Voltage
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 861 of 890
Appendix: Status Word 7: Multiple Trajectory Support
Status Word 7: Multiple Trajectory Support
Description
Bit
To
To
Value Bit
Clear
read
Assign
Related Commands
TG1 In Progress
1
0 RB(7,0) =B(7,0) G(1), X(1), MP(1), MV(1)
TG1 Accel/Ascend
2
1 RB(7,1) =B(7,1) G(1), X(1), MP(1), MV(1)
TG1 Slewing
4
2 RB(7,2) =B(7,2) G(1), X(1), MP(1), MV(1)
TG1 Decel/Descend
8
3 RB(7,3) =B(7,3) G(1), X(1), MP(1), MV(1)
TG1 Reserved/Dwell
16
4 RB(7,4) =B(7,4)
Reserved 5
32
5 RB(7,5) =B(7,5)
Reserved 6
64
6 RB(7,6) =B(7,6)
Reserved 7
128
7 RB(7,7) =B(7,7)
TG2 In Progress
256
8 RB(7,8) =B(7,8) G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )
TG2 Accel/Ascend
512
9 RB(7,9) =B(7,9) G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )
1024 10
RB
(7,10)
=B
G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )
(7,10)
TG2 Decel/Descend
2048 11
RB
(7,11)
=B
G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( )
(7,11)
TG2 Dwell (or higher Dwell in progress)
4096 12
RB
(7,12)
=B
G(2), X(2), MFR(2), MC(2), MFSDC( ), MFSLEW( ), MFH,
(7,12) MFHTP
Traverse Direction, 0:Fwd, 1:Rev
8192 13
RB
(7,13)
=B
MFCTP()
(7,13)
Traverse Lower Dwell in Progress
16384 14
RB
(7,14)
=B
MFSCD(), MFL, MFLTP
(7,14)
TS WAIT
32768 15
RB
(7,15)
=B
PTS( ), PRTS( ), GS, X, TSWAIT
(7,15)
Appendix
TG2 Slewing
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 862 of 890
Appendix: Status Word 8: Cam Support
Status Word 8: Cam Support
Description
Bit To Clear Value Bit To read Assign Related Commands
Cam User Bit 0
1
0
RB(8,0) =B(8,0) CTW( )
Cam User Bit 1
2
1
RB(8,1) =B(8,1) CTW( )
Cam User Bit 2
4
2
RB(8,2) =B(8,2) CTW( )
Cam User Bit 3
8
3
RB(8,3) =B(8,3) CTW( )
Cam User Bit 4
16
4
RB(8,4) =B(8,4) CTW( )
Cam User Bit 5
32
5
RB(8,5) =B(8,5) CTW( )
Cam Mode 0
64
6
RB(8,6) =B(8,6) MCE( )
Cam Mode 1
128
7
RB(8,7) =B(8,7) MCE( )
IP User Bit 0
256
8
RB(8,8) =B(8,8)
IP User Bit 1
512
9
RB(8,9) =B(8,9)
IP User Bit 2
1024 10 RB(8,10) =B(8,10)
IP User Bit 3
2048 11 RB(8,11) =B(8,11)
IP User Bit 4
4096 12 RB(8,12) =B(8,12)
IP User Bit 5
8192 13 RB(8,13) =B(8,13)
IP Mode 0
16384 14 RB(8,14) =B(8,14)
IP Mode 1
32768 15 RB(8,15) =B(8,15)
Status Word 10: RxPDO Arrival Notification
Bit
To Clear
Master enabled
Value
Bit
To read
Assign
1
0
RB(10,0) =B(10,0)
RxPDO 1 arrived
Z(10,1)
2
1
RB(10,1) =B(10,1)
RxPDO 2 arrived
Z(10,2)
4
2
RB(10,2) =B(10,2)
RxPDO 3 arrived
Z(10,3)
8
3
RB(10,3) =B(10,3)
RxPDO 4 arrived
Z(10,4)
16
4
RB(10,4) =B(10,4)
RxPDO 5 arrived
Z(10,5)
32
5
RB(10,5) =B(10,5)
Reserved
64
6
RB(10,6) =B(10,6)
Reserved
128
7
RB(10,7) =B(10,7)
Reserved
256
8
RB(10,8) =B(10,8)
Reserved
512
9
RB(10,9) =B(10,9)
Reserved
1024
10
RB
(10,10)
=B
(10,10)
Reserved
2048
11
RB
(10,11)
=B
(10,11)
Reserved
4096
12
RB
(10,12)
=B
(10,12)
Reserved
8192
13
RB
(10,13)
=B
(10,13)
Reserved
16384
14
RB
(10,14)
=B
(10,14)
Reserved
32768
15
RB
(10,15)
=B
(10,15)
Related
Commands
The user program should clear these status bits with a Z(10,bit) command, where bit is values 1–5, after the event hander part of the user program is executed. Bit 0 cannot be
cleared—it is an indication of the master status.
NOTE: The ZS command will have no effect on these bits.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 863 of 890
Appendix
Description
Appendix: Status Word 12: User Bits Word 0
Status Word 12: User Bits Word 0
Description Bit To Clear Value Bit To read
Assign
Related Commands
User Bit 0
1
0
RB(12,0) =B(12,0) US(0), UR(0)
User Bit 1
2
1
RB(12,1) =B(12,1) US(1), UR(1)
User Bit 2
4
2
RB(12,2) =B(12,2) US(2), UR(2)
User Bit 3
8
3
RB(12,3) =B(12,3) US(3), UR(3)
User Bit 4
16
4
RB(12,4) =B(12,4) US(4), UR(4)
User Bit 5
32
5
RB(12,5) =B(12,5) US(5), UR(5)
User Bit 6
64
6
RB(12,6) =B(12,6) US(6), UR(6)
User Bit 7
128
7
RB(12,7) =B(12,7) US(7), UR(7)
User Bit 8
256
8
RB(12,8) =B(12,8) US(8), UR(8)
User Bit 9
512
9
RB(12,9) =B(12,9) US(9), UR(9)
User Bit 10
1024 10 RB(12,10) =B(12,10) US(10), UR(10)
User Bit 11
2048 11 RB(12,11) =B(12,11) US(11), UR(11)
User Bit 12
4096 12 RB(12,12) =B(12,12) US(12), UR(12)
User Bit 13
8192 13 RB(12,13) =B(12,13) US(13), UR(13)
User Bit 14
16384 14 RB(12,14) =B(12,14) US(14), UR(14)
User Bit 15
32768 15 RB(12,15) =B(12,15) US(15), UR(15)
Status Word 13: User Bits Word 1
Description Bit To Clear Value Bit To read
Assign
Related Commands
User Bit 16
1
0
RB(13,0) =B(13,0) US(16), UR(16)
User Bit 17
2
1
RB(13,1) =B(13,1) US(17), UR(17)
User Bit 18
4
2
RB(13,2) =B(13,2) US(18), UR(18)
User Bit 19
8
3
RB(13,3) =B(13,3) US(19), UR(19)
User Bit 20
16
4
RB(13,4) =B(13,4) US(20), UR(20)
User Bit 21
32
5
RB(13,5) =B(13,5) US(21), UR(21)
User Bit 22
64
6
RB(13,6) =B(13,6) US(22), UR(22)
User Bit 23
128
7
RB(13,7) =B(13,7) US(23), UR(23)
User Bit 24
256
8
RB(13,8) =B(13,8) US(24), UR(24)
User Bit 25
512
9
RB(13,9) =B(13,9) US(25), UR(25)
User Bit 26
1024 10 RB(13,10) =B(13,10) US(26), UR(26)
User Bit 27
2048 11 RB(13,11) =B(13,11) US(27), UR(27)
User Bit 28
4096 12 RB(13,12) =B(13,12) US(28), UR(28)
8192 13 RB(13,13) =B(13,13) US(29), UR(29)
User Bit 30
16384 14 RB(13,14) =B(13,14) US(30), UR(30)
User Bit 31
32768 15 RB(13,15) =B(13,15) US(31), UR(31)
Appendix
User Bit 29
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 864 of 890
Appendix: Status Word: 16 On Board Local I/O Status: D-Style Motor
Status Word: 16 On Board Local I/O Status: D-Style Motor
Description Bit To Clear Value Bit To read
Assign
Related Commands
On Board I/O 0
1
0
RB(16,0) =B(16,0) OS(0), OR(0), OUT(0)=
On Board I/O 1
2
1
RB(16,1) =B(16,1) OS(1), OR(1), OUT(1)=
On Board I/O 2
4
2
RB(16,2) =B(16,2) OS(2), OR(2), OUT(2)=
On Board I/O 3
8
3
RB(16,3) =B(16,3) OS(3), OR(3), OUT(3)=
On Board I/O 4
16
4
RB(16,4) =B(16,4) OS(4), OR(4), OUT(4)=
On Board I/O 5
32
5
RB(16,5) =B(16,5) OS(5), OR(5), OUT(5)=
On Board I/O 6
64
6
RB(16,6) =B(16,6) OS(6), OR(6), OUT(6)=
Reserved 7
128
7
RB(16,7) =B(16,7)
Reserved 8
256
8
RB(16,8) =B(16,8)
Reserved 9
512
9
RB(16,9) =B(16,9)
Reserved 10
1024 10 RB(16,10) =B(16,10)
Reserved 11
2048 11 RB(16,11) =B(16,11)
Reserved 12
4096 12 RB(16,12) =B(16,12)
Reserved 13
8192 13 RB(16,13) =B(16,13)
Reserved 14
16384 14 RB(16,14) =B(16,14)
Reserved 15
32768 15 RB(16,15) =B(16,15)
Status Word: 16 On Board Local I/O Status: M-Style Motor
Description
Bit To Clear Value Bit To read
Assign
Related Commands
On Board I/O 0
1
0
RB(16,0) =B(16,0) OS(0), OR(0), OUT(0)=
On Board I/O 1
2
1
RB(16,1) =B(16,1) OS(1), OR(1), OUT(1)=
On Board I/O 2
4
2
RB(16,2) =B(16,2) OS(2), OR(2), OUT(2)=
On Board I/O 3
8
3
RB(16,3) =B(16,3) OS(3), OR(3), OUT(3)=
On Board I/O 4
16
4
RB(16,4) =B(16,4) OS(4), OR(4), OUT(4)=
On Board I/O 5
32
5
RB(16,5) =B(16,5) OS(5), OR(5), OUT(5)=
On Board I/O 6
64
6
RB(16,6) =B(16,6) OS(6), OR(6), OUT(6)=
On Board I/O 7
128
7
RB(16,7) =B(16,7) OS(7), OR(7), OUT(7)=
On Board I/O 8
256
8
RB(16,8) =B(16,8) OS(8), OR(8), OUT(8)=
On Board I/O 9
512
9
RB(16,9) =B(16,9) OS(9), OR(9), OUT(9)=
On Board I/O 10
1024 10 RB(16,10) =B(16,10) OS(10), OR(10), OUT(10)=
Not Fault Output
2048 11 RB(16,11) =B(16,11)
Drive Enable Input
4096 12 RB(16,12) =B(16,12)
8192 13 RB(16,13) =B(16,13)
Reserved 14
16384 14 RB(16,14) =B(16,14)
Reserved 15
32768 15 RB(16,15) =B(16,15)
Appendix
Reserved 13
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 865 of 890
Appendix: Status Word: 17 Expanded I/O Status: D-Style AD1 Motor
Status Word: 17 Expanded I/O Status: D-Style AD1 Motor
Description Bit To Clear Value Bit To read
Assign
Related Commands
Exp I/O 16
1
0
RB(17,0) =B(17,0) OS(16), OR(16), OUT(16)=
Exp I/O 17
2
1
RB(17,1) =B(17,1) OS(17), OR(17), OUT(17)=
Exp I/O 18
4
2
RB(17,2) =B(17,2) OS(18), OR(18), OUT(18)=
Exp I/O 19
8
3
RB(17,3) =B(17,3) OS(19), OR(19), OUT(19)=
Exp I/O 20
16
4
RB(17,4) =B(17,4) OS(20), OR(20), OUT(20)=
Exp I/O 21
32
5
RB(17,5) =B(17,5) OS(21), OR(21), OUT(21)=
Exp I/O 22
64
6
RB(17,6) =B(17,6) OS(22), OR(22), OUT(22)=
Exp I/O 23
128
7
RB(17,7) =B(17,7) OS(23), OR(23), OUT(23)=
Exp I/O 24
256
8
RB(17,8) =B(17,8) OS(24), OR(24), OUT(24)=
Exp I/O 25
512
9
RB(17,9) =B(17,9) OS(25), OR(25), OUT(25)=
Reserved 10
1024 10 RB(17,10) =B(17,10)
Reserved 11
2048 11 RB(17,11) =B(17,11)
Reserved 12
4096 12 RB(17,12) =B(17,12)
8192 13 RB(17,13) =B(17,13)
Reserved 14
16384 14 RB(17,14) =B(17,14)
Reserved 15
32768 15 RB(17,15) =B(17,15)
Appendix
Reserved 13
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 866 of 890
Appendix: Torque Curves
Torque Curves
Understanding Torque Curves
Each set of torque curves depicts the limits of both continuous and peak torque for a given
SmartMotor™ over the full range of speed.
Peak Torque
The peak torque curve is derived from dyno (dynamometer) testing. It is the point at which
peak current limit hardware settings of the drive prevent further torque in an effort to protect
the drive-stage components.
Continuous Torque
The continuous torque curve is also derived from dyno testing. It is the point at which the
temperature rises from an ambient of 25ºC to the designed thermal limit.
For example, the motor will be placed on the dyno tester and set to operate at 1000 RPM
continuously with the load slowly increased until the controller reaches its maximum
sustained thermal limit. This limit is either 70ºC or 85ºC depending on the model number. All
Class 5 SmartMotor servos are set to 85ºC.
Peak Torque Curve
(fit to curve)
Motor Torque
Peak Torque Range
Thermally Limited
Continuous
Torque Curve
(fit to curve)
No-Load
Maximum Speed
Voltage Limited
Speed (RPM)
Torque Curve
The lower-right side of the curve is limited by supply voltage. This is the point at which Back
EMF suppresses any further speed increase. Higher supply voltages will shift the zero torque
point of the curve further to the right.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 867 of 890
Appendix
Continuous Torque Range
Appendix: Ambient Temperature Effects on Torque Curves and Motor Response:
Ambient Temperature Effects on Torque Curves and Motor Response:
If the motor is operated in an environment warmer than 25ºC, it will reach its thermal limit
faster for a given load and further limit continuous torque. Therefore, any given motor torque
curve must be linearly derated for a given ambient temperature from 25ºC to 85ºC for all
Class 5 SmartMotor servos.
Supply Voltage Effects on Torque Curves and Motor Response:
Higher voltages have a two-fold effect on torque curves. As mentioned previously, raising the
voltage shifts the curve to the right; it also allows higher current into the drive. However,
torque curves depict maximum allowable torque at a given velocity.
If you double the supply voltage, the motor can sustain twice the original velocity.
Acceleration is also increased due to an increase in the peak torque curve. This may
potentially be a significant reduction of time to complete moves due to the a*t2 term in
kinematic equations. This is useful for high-speed indexing and fast start/stop motion.
NOTE: All torque curves shown in the Moog Animatics Product Catalog also show
the shaft output power curves.
Power can be calculated with the following equation:
Power (W*) = Torque (N.m) x Speed (RPM) / 9.5488
*In some versions of Moog Animatics literature, this was incorrectly shown as "kW".
For any given mechanical system being moved by a SmartMotor, it is ideal to ensure the
motor is running within its optimum performance range (see the following figure). Through
proper mechanical system design, this can be achieved by adjusting one or more of the
following items:
l
Gear reduction
l
Belt reduction
l
Lead screw pitch
l
Pinion gear diameter
Peak Torque
Ideal Operating
Bandwith
Power
Torque
Appendix
Peak Power
Continuous Torque
Co
inu
nt
ou
s
w
Po
er
Velocity
Ideal Operating Bandwidth
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 868 of 890
Appendix: Example 1: Rotary Application
Example 1: Rotary Application
Suppose you have a load that requires 300 RPM at the output of a gear head, and the optimum
speed range for the motor is 2100 RPM.
Divide the optimum operating speed by the load speed to get the ideal gear reduction. In this
case: 2100 RPM / 300 RPM = 7. So a 7:1 gear reduction would allow the motor to operate in its
most efficient range.
Example 2: Linear Application
Suppose you need to run at 100 mm/sec using a ball screw, and the motor has an ideal range
of 3000 RPM. 3000 RPM / 60 = 50 rotations per second (RPS). 100 mm/sec divided by 50 RPS
is 2 mm per rotation. Therefore, an ideal pitch would be 2 mm.
Dyno Test Data vs. the Derated Torque Curve
NOTE: For any given product model number, there may be variations of as much
as ±10%.
The following diagram depicts data points collected from dyno testing of a given SmartMotor
model. A best-fit torque curve is created from these data points and is then derated to at least
5% below the worst case data points. The derated curve is shown in the Moog Animatics
Product Catalog. This means that within any given model number, every motor sold will
perform at or higher than the advertised torque. Theoretically, all motors should be no less
than 5% higher than advertised and may be more than 20% higher.
3
Da
ta
4
Po
int
s
1
m
Der
ate
da
dve
rtis
ed
tor
qu
e
Dy
no
T
g
tin
es
Motor Torque
2
fro
c
Motor Loading Areas
The diagram shows motor loading in four areas:
1. This is ideal and depicts a load within the normal operating range of the motor. The
motor should operate well and have no problems for many years.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 869 of 890
Appendix
ve
ur
Motor Shaft Speed (RPM)
Appendix: Proper Sizing and Loading of the SmartMotor
2. The load is very close to the operating limit. The motor will run quite warm as compared
to Point 1.
3. The load exceeds the advertised level and exceeds +10% expected range of possible
torque capabilities. In this case, the motor will most likely either overheat quickly and
fault out or immediately generate a position error because it simply does not have
enough power to support the load demand.
WARNING: Using an undersized motor can cause unpredictable machine
performance and is a potential safety hazard (see Motor Sizing on page 35).
4. The load exceeds the advertised operating limit of the motor. However, due to data
scatter and derating, there may be some motors that will work and others that do not.
This is because it falls within the range of ±10% variation for motors for a given size.
This can result in major problems for the machine builder.
For example, imagine designing a machine that operates in this range. Then you
replicate that machine with many of them running on a production floor. One day, a
motor at the lower end of the ±10% expected variation is placed on a new machine and
that motor generates spurious drive faults. It appears as though the motor is
malfunctioning because "all the other motors work just fine." This is unfortunate
because, in reality, all motors were undersized in the machine design and are now
operating outside of their advertised limits.
That is why it is important to properly calculate load torque to ensure the correct motor is
designed into the application (refer to the next section). Never assume that testing of one
motor means all motors of that size will work — it is simply not the case. You should never
proceed without performing proper load calculation and motor sizing. The goal is to have all
motors operating below the advertised limits, which will ensure reliable operation and long
motor life.
Proper Sizing and Loading of the SmartMotor
Appendix
It is important to properly calculate load torque to ensure the correct SmartMotor is selected
and designed into the application. Consider the following sample figure. If properly
sized/loaded, the motor can run at or under the Continuous Torque limit continuously,
assuming 25°C ambient temperature. Further, the motor can tolerate intermittent operation
above the Continuous Torque limit up to the Peak Torque limit for brief periods. However, that
additional capacity may reduce as a function of time when operating above the Continuous
Torque limit.
In order to protect the motor, Moog Animatics has designed in safeguards to limit current that
may engage when the motor is operated for a sustained or accumulated brief periods above
the continuous ratings (i.e., operating above capacity for torque/time). This could lead to
position error or position error faults.
NOTE: These safeguards DO NOT indicate a defective motor. Rather, they are an
indication that the motor may not be properly sized for the intended application, or
that other design or environmental factors are affecting motor performance, such
as unintended axial or radial forces acting on the load, elevated ambient air
temperature, improper mounting that prevents adequate heat sinking, etc.
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 870 of 890
Appendix: Proper Sizing and Loading of the SmartMotor
Sample Power Chart
To ensure that your SmartMotor successfully performs as intended:
n
Select the proper power supply
n
Use the proper electrical interface
n
Properly size the motor for the intended application
n
Consider the thermal environment
n
Follow the proper mechanical and environmental implementation
For more details on these items, see the SmartMotor Success Checklist in the Moog Animatics
Product Catalog.
Also, refer to the following topics in this section:
Understanding Torque Curves on page 867
l
Dyno Test Data vs. the Derated Torque Curve on page 869
Appendix
l
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 871 of 890
Command Lists: Commands Listed Alphabetically
Commands Listed Alphabetically
The following list shows an alphabetical listing of all available commands and their
descriptions.
NOTE: A superscript "R" character preceding the command indicates there is a
corresponding "report" version of that command.
(Single Space Character) Single Space Delimiter and String Terminator (see page 235)
R a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
ab[index]=formula Array Byte [index] (see page 240)
R
ABS(value) Absolute Value of () (see page 243)
R
AC Acceleration Commanded (see page 245)
R
ACOS(value) Arccosine (see page 248)
R
ADDR=formula Address (for RS-232 and RS-485) (see page 250)
ADT=formula Acceleration/Deceleration Target (see page 252)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
R af[index]=formula Array Float [index] (see page 256)
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
R al[index]=formula Array Long [index] (see page 267)
R
AMPS=formula Amps, PWM Limit (see page 270)
R
ASIN(value) Arcsine (see page 273)
R
AT=formula Acceleration Target (see page 275)
R
ATAN(value) Arctangent (see page 277)
R
ATOF(index) ASCII to Float (see page 279)
R
B(word,bit) Status Byte (see page 286)
R
Ba Bit, Peak Overcurrent (see page 288)
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
R
Be Bit, Following Error Limit (see page 292)
R
Bh Bit, Overheat (see page 294)
R
Bi(enc) Bit, Index Capture, Rising (see page 297)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 873 of 890
Command List
ATS=formula Acceleration Target, Synchronized (see page 281)
R aw[index]=formula Array Word [index] (see page 283)
Command Lists: Commands Listed Alphabetically
R
Bj(enc) Bit, Index Capture, Falling (see page 300)
R
Bk Bit, Program EEPROM Data Status (see page 303)
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
R
Bls Bit, Left Software Limit, Historical (see page 306)
R
Bm Bit, Left Hardware Limit, Real-Time (see page 308)
R
Bms Bit, Left Software Limit, Real-Time (see page 310)
R
Bo Bit, Motor OFF (see page 312)
R
Bp Bit, Right Hardware Limit, Real-Time (see page 313)
R
Bps Bit, Right Software Limit, Real-Time (see page 315)
R
Br Bit, Right Hardware Limit, Historical (see page 317)
BREAK Break from CASE or WHILE Loop (see page 319)
BRKENG Brake Engage (see page 321)
BRKRLS Brake Release (see page 323)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
R Brs Bit, Right Software Limit, Historical (see page 329)
R
Bs Bit, Syntax Error (see page 331)
R
Bt Bit, Trajectory In Progress (see page 333)
R
Bv Bit, Velocity Limit (see page 335)
R
Bw Bit, Wrapped Encoder Position (see page 337)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
C{number} Command Label (see page 341)
R CADDR=formula CAN Address (see page 343)
R
CAN, CAN(arg) CAN Bus Status (see page 345)
CANCTL(function,value) CAN Control (see page 347)
CASE formula Case Label for SWITCH Block (see page 348)
R CBAUD=formula CAN Baud Rate (see page 351)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
R CHN(channel) Communications Error Flag (see page 354)
R
CLK=formula Millisecond Clock (see page 356)
COMCTL(function,value) Serial Communications Control (see page 357)
R COS(value) Cosine (see page 359)
R
CP Cam Pointer for Cam Table (see page 361)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
R CTR(enc) Counter, Encoder, Step and Direction (see page 367)
Command List
R
CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
R DEA Derivative Error, Actual (see page 373)
DEFAULT Default Case for SWITCH Structure (see page 375)
R DEL=formula Derivative Error Limit (see page 377)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 874 of 890
Command Lists: Commands Listed Alphabetically
DELM(arg) Derivative Error Limit Mode (see page 379)
R DFS(value) Dump Float, Single (see page 380)
DITR(int) Disable Interrupts (see page 381)
R DT=formula Deceleration Target (see page 383)
DTS=formula Deceleration Target, Synchronized (see page 385)
R EA Error Actual (see page 387)
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
ECS(counts) Encoder Count Shift (see page 394)
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
EILP Enable Input as Limit Positive (see page 401)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
EISM(6) E-Configure Input as Sync Master (see page 405)
EITR(int) Enable Interrupts (see page 406)
R EL=formula Error Limit (see page 408)
ELSE IF-Structure Command Flow Element (see page 410)
ELSEIF formula IF-Structure Command Flow Element (see page 412)
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
ENCCTL(function,value) Encoder Control (see page 417)
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 419)
END End Program Code Execution (see page 420)
ENDIF End IF Statement (see page 422)
ENDS End SWITCH Structure (see page 424)
EOBK(IO) Enable Output, Brake Control (see page 426)
R EPTR=formula EEPROM Pointer (see page 428)
R
ERRC Error Code, Command (see page 429)
R
ERRW Communication Channel of Most Recent Command Error (see page 431)
R
ETH(arg) Get Ethernet Status and Errors (see page 432)
ETHCTL(function,value) Control Industrial Ethernet Network Features (see page 433)
F Force Into PID Filter (see page 434)
R FABS(value) Floating-Point Absolute Value of ( ) (see page 436)
FSA(cause,action) Fault Stop Action (see page 438)
R FSQRT(value) Floating-Point Square Root (see page 440)
FW Firmware Version (see page 442)
G Start Motion (GO) (see page 444)
R GETCHR Next Character from Communications Port 0 (see page 447)
R
GETCHR1 Next Character from Communications Port 1 (see page 449)
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 875 of 890
Command List
R
Command Lists: Commands Listed Alphabetically
GS Start Synchronized Motion (GO Synchronized) (see page 455)
R HEX(index) Decimal Value of a Hex String (see page 457)
R
I(enc) Index, Rising-Edge Position (see page 459)
R
IDENT=formula Set Identification Value (see page 461)
IF formula Conditional Program Code Execution (see page 463)
R IN(...) Specified Input (see page 466)
R
INA(...) Specified Input, Analog (see page 469)
IPCTL(function,"string") Set IP Address, Subnet Mask or Gateway (see page 472)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
R J(enc) Index, Falling-Edge Position (see page 481)
R
KA=formula Constant, Acceleration Feed Forward (see page 483)
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KII=formula Current Control Loop: Integrator (see page 491)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KPI=formula Current Control Loop: Proportional (see page 496)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
R
LEN Length of Character Count in Communications Port 0 (see page 501)
R
LEN1 Length of Character Count in Communications Port 1 (see page 502)
R
LFS(value) Load Float Single (see page 504)
LOAD Download Compiled User Program to Motor (see page 506)
LOCKP Lock Program (see page 509)
LOOP Loop Back to WHILE Formula (see page 511)
MC Mode Cam (Electronic Camming) (see page 513)
R MCDIV=formula Mode Cam Divisor (see page 515)
Command List
MCE(arg) Mode Cam Enable ( ) (see page 516)
R MCMUL=formula Mode Cam Multiplier (see page 518)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
MDB Enable TOB Feature (Commutation Mode) (see page 522)
MDC Mode Current (Commutation Mode) (see page 524)
MDE Mode Enhanced (Commutation Mode) (see page 526)
MDS Mode Sine (Commutation Mode) (see page 528)
MDT Mode Trap (Commutation Mode) (see page 530)
MF0 Mode Follow, Zero External Counter (see page 532)
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 876 of 890
Command Lists: Commands Listed Alphabetically
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MINV(arg) Mode Inverse (Commutation Inverse) (see page 561)
R MODE Mode Operating (see page 563)
MP Mode Position (see page 566)
MS0 Mode Step, Zero External Counter (see page 569)
MSR Mode Step Ratio (see page 571)
MT Mode Torque (see page 573)
MTB Mode Torque Brake (see page 575)
MV Mode Velocity (see page 577)
NMT Send NMT State (see page 579)
O=formula, O(trj#)=formula Origin (see page 581)
R OC(...) Output Condition (see page 583)
OCHN(...) Open Channel (see page 585)
R OF(...) Output Fault (see page 587)
OFF Off (Drive Stage Power) (see page 589)
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
OSH=formula, OSH(trj#)=formula Origin Shift (see page 595)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
R PA Position, Actual (see page 599)
PAUSE Pause Program Execution (see page 601)
R PC, PC(axis) Position, Commanded (see page 603)
R
PI Pi Constant (see page 606)
R
PML=formula Modulo Position Limit (see page 612)
R
PMT=formula Position, Modulo Target (see page 614)
R
PRA Position, Relative Actual (see page 616)
R
PRC Position, Relative Commanded (see page 619)
PRINT(...) Print Data to Communications Port (see page 622)
PRINT0(...) Print Data to Communications Port 0 (see page 626)
PRINT1(...) Print Data to Communications Port 1 (see page 630)
PRINT8(...) Print Data to USB Port (see page 633)
R PRT=formula Position, Relative Target (see page 636)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
R PT=formula Position, (Absolute) Target (see page 642)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 877 of 890
Command List
PID# Proportional-Integral-Differential Filter Rate (see page 607)
R PMA Position, Modulo Actual (see page 610)
Command Lists: Commands Listed Alphabetically
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
R PTST Position Target, Synchronized Time (see page 649)
R
RANDOM=formula Random Number (see page 650)
RCKS Report Checksum (see page 652)
R RES Resolution (see page 653)
RESUME Resume Program Execution (see page 655)
RETURN Return From Subroutine (see page 657)
RETURNI Return Interrupt (see page 659)
RSP Report Sampling Rate and Firmware Revision (see page 661)
RSP1 Report Firmware Compile Date (see page 663)
RSP5 Report Network Card Firmware Version (see page 664)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
S (as command) Stop Motion (see page 669)
SADDR# Set Address (see page 671)
R SAMP Sampling Rate (see page 677)
SDORD(...) SDO Read (see page 673)
SDOWR(...) SDO Write (see page 675)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
SILENT1 Silence Outgoing Communications on Communications Port 1 (see page 681)
R SIN(value) Sine (see page 683)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
SLEEP1 Ignore Incoming Commands on Communications Port 1 (see page 691)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
SLP=formula Software Limit, Positive (see page 697)
SNAME("string") Set PROFINET Station Name (see page 699)
R SP2 Bootloader Revision (see page 700)
R
SQRT(value) Integer Square Root (see page 701)
Command List
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
STACK Stack Pointer Register, Clear (see page 705)
STDOUT=formula Set Device Output (see page 708)
SWITCH formula Switch, Program Flow Control (see page 710)
R T=formula Torque, Open-Loop Commanded (see page 713)
TALK Talk on Communications Port 0 (see page 715)
TALK1 Talk on Communications Port 1 (see page 717)
R TAN(value) Tangent (see page 719)
R
TEMP Temperature, Motor (see page 721)
R
TH=formula Temperature, High Limit (see page 723)
R
TMR(x,t) Timer (see page 726)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 878 of 890
Command Lists: Commands Listed Alphabetically
R
TRQ Torque, Real-Time (see page 728)
R
TS=formula Torque Slope (see page 730)
TSWAIT Trajectory Synchronized Wait (see page 732)
TWAIT(gen#) Trajectory Wait (see page 733)
R UIA Motor Current (see page 735)
R
UJA Bus Voltage (see page 737)
UO(...)=formula User Status Bits (see page 739)
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
UR(...) User Bits, Reset (see page 745)
US(...) User Bits, Set (see page 747)
R USB(arg) USB Status Word (see page 749)
VA Velocity Actual (see page 751)
VAC(arg) Velocity Actual (filter) Control (see page 754)
R VC Velocity Commanded (see page 759)
R
VL=formula Velocity Limit (see page 761)
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
R VT=formula Velocity Target (see page 771)
VTS=formula Velocity Target, Synchronized Move (see page 774)
R W(word) Report Specified Status Word (see page 776)
Command List
WAIT=formula Wait for Specified Time (see page 778)
WAKE Wake Communications Port 0 (see page 780)
WAKE1 Wake Communications Port 1 (see page 782)
WHILE formula While Condition Program Flow Control (see page 784)
X Decelerate to Stop (see page 787)
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Za Reset Overcurrent Flag (see page 793)
Ze Reset Position Error Flag (see page 794)
Zh Reset Temperature Fault (see page 795)
Zl Reset Historical Left Limit Flag (see page 796)
Zls Reset Left Software Limit Flag, Historical (see page 797)
Zr Reset Right Limit Flag, Historical (see page 798)
Zrs Reset Right Software Limit Flag, Historical (see page 799)
Zs Reset Command Syntax Error Flag (see page 800)
ZS Global Reset System State Flag (see page 801)
Zv Reset Velocity Limit Fault (see page 803)
Zw Reset Encoder Wrap Status Flag (see page 804)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 879 of 890
Command Lists: Commands Listed by Function
Commands Listed by Function
The following shows a functional listing of all available commands and their descriptions.
NOTE: A superscript "R" character preceding the command indicates there is a
corresponding "report" version of that command.
881
Data Conversion
881
EEPROM (Nonvolatile Memory)
882
I/O Control
882
Math Function
882
Motion Control
883
Program Access
885
Program Execution and Flow Control
886
Reset Commands
886
System
887
Variables
888
Command List
Communications Control
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 880 of 890
Command Lists: Commands Listed by Function
Communications Control
R
ADDR=formula Address (for RS-232 and RS-485) (see page 250)
R
BAUD(x)=formula Set BAUD Rate (RS-232 and RS-485) (see page 290)
R
CADDR=formula CAN Address (see page 343)
R
CAN, CAN(arg) CAN Bus Status (see page 345)
CANCTL(function,value) CAN Control (see page 347)
R CBAUD=formula CAN Baud Rate (see page 351)
CCHN(type,channel) Close Communications Channel (RS-232 or RS-485) (see page 353)
R CHN(channel) Communications Error Flag (see page 354)
COMCTL(function,value) Serial Communications Control (see page 357)
ECHO Echo Incoming Data on Communications Port 0 (see page 389)
ECHO1 Echo Incoming Data on Communications Port 1 (see page 391)
ECHO_OFF Turn Off Echo on Communications Port 0 (see page 392)
ECHO_OFF1 Turn Off Echo on Communications Port 1 (see page 393)
R ETH(arg) Get Ethernet Status and Errors (see page 432)
ETHCTL(function,value) Control Industrial Ethernet Network Features (see page 433)
R GETCHR Next Character from Communications Port 0 (see page 447)
R
GETCHR1 Next Character from Communications Port 1 (see page 449)
IPCTL(function,"string") Set IP Address, Subnet Mask or Gateway (see page 472)
R LEN Length of Character Count in Communications Port 0 (see page 501)
R
LEN1 Length of Character Count in Communications Port 1 (see page 502)
NMT Send NMT State (see page 579)
OCHN(...) Open Channel (see page 585)
SADDR# Set Address (see page 671)
SDORD(...) SDO Read (see page 673)
SDOWR(...) SDO Write (see page 675)
SILENT Silence Outgoing Communications on Communications Port 0 (see page 679)
SILENT1 Silence Outgoing Communications on Communications Port 1 (see page 681)
SLEEP Ignore Incoming Commands on Communications Port 0 (see page 689)
SLEEP1 Ignore Incoming Commands on Communications Port 1 (see page 691)
SNAME("string") Set PROFINET Station Name (see page 699)
STDOUT=formula Set Device Output (see page 708)
TALK Talk on Communications Port 0 (see page 715)
TALK1 Talk on Communications Port 1 (see page 717)
R USB(arg) USB Status Word (see page 749)
Data Conversion
R
ATOF(index) ASCII to Float (see page 279)
R
DFS(value) Dump Float, Single (see page 380)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 881 of 890
Command List
WAKE Wake Communications Port 0 (see page 780)
WAKE1 Wake Communications Port 1 (see page 782)
Command Lists: Commands Listed by Function
R
HEX(index) Decimal Value of a Hex String (see page 457)
R
LFS(value) Load Float Single (see page 504)
PRINT(...) Print Data to Communications Port (see page 622)
PRINT0(...) Print Data to Communications Port 0 (see page 626)
PRINT1(...) Print Data to Communications Port 1 (see page 630)
PRINT8(...) Print Data to USB Port (see page 633)
EEPROM (Nonvolatile Memory)
R
EPTR=formula EEPROM Pointer (see page 428)
R
IDENT=formula Set Identification Value (see page 461)
VLD(variable,number) Variable Load (see page 763)
VST(variable,number) Variable Save (see page 767)
I/O Control
Ai(arg) Arm Index Rising Edge (see page 259)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 261)
Aj(arg) Arm Index Falling Edge (see page 263)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 265)
EIGN(...) Enable as Input for General-Use (see page 396)
EILN Enable Input as Limit Negative (see page 399)
EILP Enable Input as Limit Positive (see page 401)
EIRE Enable Index Register, External-Input Capture (see page 403)
EIRI Enable Index Register, Internal-Input Capture (see page 404)
EISM(6) E-Configure Input as Sync Master (see page 405)
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 419)
EOBK(IO) Enable Output, Brake Control (see page 426)
R I(enc) Index, Rising-Edge Position (see page 459)
R
IN(...) Specified Input (see page 466)
R
INA(...) Specified Input, Analog (see page 469)
R
J(enc) Index, Falling-Edge Position (see page 481)
R
OC(...) Output Condition (see page 583)
R
OF(...) Output Fault (see page 587)
Command List
OR(value) Output, Reset (see page 591)
OS(...) Output, Set (see page 593)
OUT(...)=formula Output, Activate/Deactivate (see page 597)
Math Function
R
ABS(value) Absolute Value of () (see page 243)
R
ACOS(value) Arccosine (see page 248)
R
ASIN(value) Arcsine (see page 273)
R
ATAN(value) Arctangent (see page 277)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 882 of 890
Command Lists: Commands Listed by Function
R
COS(value) Cosine (see page 359)
R
FABS(value) Floating-Point Absolute Value of ( ) (see page 436)
R
FSQRT(value) Floating-Point Square Root (see page 440)
R
PI Pi Constant (see page 606)
R
RANDOM=formula Random Number (see page 650)
R
SIN(value) Sine (see page 683)
R
SQRT(value) Integer Square Root (see page 701)
R
TAN(value) Tangent (see page 719)
Motion Control
R
AC Acceleration Commanded (see page 245)
ADT=formula Acceleration/Deceleration Target (see page 252)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 254)
R AMPS=formula Amps, PWM Limit (see page 270)
R
AT=formula Acceleration Target (see page 275)
ATS=formula Acceleration Target, Synchronized (see page 281)
BRKENG Brake Engage (see page 321)
BRKRLS Brake Release (see page 323)
BRKSRV Brake Servo, Engage When Not Servoing (see page 325)
BRKTRJ Brake Trajectory, Engage When No Active Trajectory (see page 327)
R CP Cam Pointer for Cam Table (see page 361)
CTA(points,seglen[,location]) Cam Table Attribute (see page 363)
CTE(table) Cam Table Erase (see page 365)
R CTR(enc) Counter, Encoder, Step and Direction (see page 367)
R
CTT Cam Table Total in EEPROM (see page 369)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 370)
R DEA Derivative Error, Actual (see page 373)
R
DEL=formula Derivative Error Limit (see page 377)
DELM(arg) Derivative Error Limit Mode (see page 379)
R DT=formula Deceleration Target (see page 383)
DTS=formula Deceleration Target, Synchronized (see page 385)
R EA Error Actual (see page 387)
ENC0 Encoder Zero (Close Loop on Internal Encoder) (see page 414)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 415)
ENCCTL(function,value) Encoder Control (see page 417)
F Force Into PID Filter (see page 434)
FSA(cause,action) Fault Stop Action (see page 438)
G Start Motion (GO) (see page 444)
GS Start Synchronized Motion (GO Synchronized) (see page 455)
R KA=formula Constant, Acceleration Feed Forward (see page 483)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 883 of 890
Command List
ECS(counts) Encoder Count Shift (see page 394)
R EL=formula Error Limit (see page 408)
Command Lists: Commands Listed by Function
R
KD=formula Constant, Derivative Coefficient (see page 485)
R
KG=formula Constant, Gravitational Offset (see page 487)
R
KI=formula Constant, Integral Coefficient (see page 489)
R
KII=formula Current Control Loop: Integrator (see page 491)
R
KL=formula Constant, Integral Limit (see page 492)
R
KP=formula Constant, Proportional Coefficient (see page 494)
R
KPI=formula Current Control Loop: Proportional (see page 496)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 497)
R
KV=formula Constant, Velocity Feed Forward (see page 499)
MC Mode Cam (Electronic Camming) (see page 513)
R MCDIV=formula Mode Cam Divisor (see page 515)
MCE(arg) Mode Cam Enable ( ) (see page 516)
R MCMUL=formula Mode Cam Multiplier (see page 518)
MCW(table,point) Mode Cam Where (Start Point) (see page 520)
MDB Enable TOB Feature (Commutation Mode) (see page 522)
MDC Mode Current (Commutation Mode) (see page 524)
MDE Mode Enhanced (Commutation Mode) (see page 526)
MDS Mode Sine (Commutation Mode) (see page 528)
MDT Mode Trap (Commutation Mode) (see page 530)
MF0 Mode Follow, Zero External Counter (see page 532)
MFA(distance[,m/s]) Mode Follow Ascend (see page 534)
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 537)
MFD(distance[,m/s]) Mode Follow Descend (see page 539)
R MFDIV=formula Mode Follow Divisor (see page 542)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 544)
R MFHTP=formula Mode Follow, High Traverse Point (see page 546)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 548)
R MFLTP=formula Mode Follow, Low Traverse Point (see page 550)
R
MFMUL=formula Mode Follow Multiplier (see page 552)
Command List
MFR Mode Follow Ratio (see page 554)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 557)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 559)
MINV(arg) Mode Inverse (Commutation Inverse) (see page 561)
R MODE Mode Operating (see page 563)
MP Mode Position (see page 566)
MS0 Mode Step, Zero External Counter (see page 569)
MSR Mode Step Ratio (see page 571)
MT Mode Torque (see page 573)
MTB Mode Torque Brake (see page 575)
MV Mode Velocity (see page 577)
O=formula, O(trj#)=formula Origin (see page 581)
OFF Off (Drive Stage Power) (see page 589)
OSH=formula, OSH(trj#)=formula Origin Shift (see page 595)
R PA Position, Actual (see page 599)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 884 of 890
Command Lists: Commands Listed by Function
R
PC, PC(axis) Position, Commanded (see page 603)
PID# Proportional-Integral-Differential Filter Rate (see page 607)
R PMA Position, Modulo Actual (see page 610)
R
PML=formula Modulo Position Limit (see page 612)
R
PMT=formula Position, Modulo Target (see page 614)
R
PRA Position, Relative Actual (see page 616)
R
PRC Position, Relative Commanded (see page 619)
R
PRT=formula Position, Relative Target (see page 636)
PRTS(...) Position, Relative Target, Synchronized (see page 638)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 640)
R PT=formula Position, (Absolute) Target (see page 642)
PTS(...) Position Target, Synchronized (see page 644)
R PTSD Position Target, Synchronized Distance (see page 646)
PTSS(...) Position Target, Synchronized Supplemental (see page 647)
R PTST Position Target, Synchronized Time (see page 649)
S (as command) Stop Motion (see page 669)
SLD Software Limits, Disable (see page 685)
SLE Software Limits, Enable (see page 687)
R SLM(mode) Software Limit Mode (see page 693)
R
SLN=formula Software Limit, Negative (see page 695)
R
SLP=formula Software Limit, Positive (see page 697)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 703)
R T=formula Torque, Open-Loop Commanded (see page 713)
R
TRQ Torque, Real-Time (see page 728)
R
TS=formula Torque Slope (see page 730)
VA Velocity Actual (see page 751)
VAC(arg) Velocity Actual (filter) Control (see page 754)
R VC Velocity Commanded (see page 759)
R
VL=formula Velocity Limit (see page 761)
R
VT=formula Velocity Target (see page 771)
VTS=formula Velocity Target, Synchronized Move (see page 774)
X Decelerate to Stop (see page 787)
LOAD Download Compiled User Program to Motor (see page 506)
LOCKP Lock Program (see page 509)
RCKS Report Checksum (see page 652)
UP Upload Compiled Program and Header (see page 741)
UPLOAD Upload Standard User Program (see page 743)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 885 of 890
Command List
Program Access
Command Lists: Commands Listed by Function
Program Execution and Flow Control
(Single Space Character) Single Space Delimiter and String Terminator (see page 235)
BREAK Break from CASE or WHILE Loop (see page 319)
C{number} Command Label (see page 341)
CASE formula Case Label for SWITCH Block (see page 348)
DEFAULT Default Case for SWITCH Structure (see page 375)
DITR(int) Disable Interrupts (see page 381)
EITR(int) Enable Interrupts (see page 406)
ELSE IF-Structure Command Flow Element (see page 410)
ELSEIF formula IF-Structure Command Flow Element (see page 412)
END End Program Code Execution (see page 420)
ENDIF End IF Statement (see page 422)
ENDS End SWITCH Structure (see page 424)
GOSUB(label) Subroutine Call (see page 451)
GOTO(label) Branch Program Flow to a Label (see page 453)
IF formula Conditional Program Code Execution (see page 463)
ITR(Int#,StatusWord,Bit#,BitState,Label#) Interrupt Setup (see page 474)
ITRD Interrupt Disable, Global (see page 477)
ITRE Enable Interrupts, Global (see page 479)
LOOP Loop Back to WHILE Formula (see page 511)
PAUSE Pause Program Execution (see page 601)
RESUME Resume Program Execution (see page 655)
RETURN Return From Subroutine (see page 657)
RETURNI Return Interrupt (see page 659)
RUN Run Program (see page 665)
RUN? Halt Program Execution Until RUN Received (see page 667)
STACK Stack Pointer Register, Clear (see page 705)
SWITCH formula Switch, Program Flow Control (see page 710)
R TMR(x,t) Timer (see page 726)
TSWAIT Trajectory Synchronized Wait (see page 732)
TWAIT(gen#) Trajectory Wait (see page 733)
WAIT=formula Wait for Specified Time (see page 778)
WHILE formula While Condition Program Flow Control (see page 784)
Command List
Reset Commands
Z Total CPU Reset (see page 789)
Z(word,bit) Reset Specified Status Bit (see page 791)
Za Reset Overcurrent Flag (see page 793)
Ze Reset Position Error Flag (see page 794)
Zh Reset Temperature Fault (see page 795)
Zl Reset Historical Left Limit Flag (see page 796)
Zls Reset Left Software Limit Flag, Historical (see page 797)
Zr Reset Right Limit Flag, Historical (see page 798)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 886 of 890
Command Lists: Commands Listed by Function
Zrs Reset Right Software Limit Flag, Historical (see page 799)
Zs Reset Command Syntax Error Flag (see page 800)
ZS Global Reset System State Flag (see page 801)
Zv Reset Velocity Limit Fault (see page 803)
Zw Reset Encoder Wrap Status Flag (see page 804)
R
B(word,bit) Status Byte (see page 286)
R
Ba Bit, Peak Overcurrent (see page 288)
R
Be Bit, Following Error Limit (see page 292)
R
Bh Bit, Overheat (see page 294)
R
Bi(enc) Bit, Index Capture, Rising (see page 297)
R
Bj(enc) Bit, Index Capture, Falling (see page 300)
R
Bk Bit, Program EEPROM Data Status (see page 303)
R
Bl Bit, Left Hardware Limit, Historical (see page 304)
R
Bls Bit, Left Software Limit, Historical (see page 306)
R
Bm Bit, Left Hardware Limit, Real-Time (see page 308)
R
Bms Bit, Left Software Limit, Real-Time (see page 310)
R
Bo Bit, Motor OFF (see page 312)
R
Bp Bit, Right Hardware Limit, Real-Time (see page 313)
R
Bps Bit, Right Software Limit, Real-Time (see page 315)
R
Br Bit, Right Hardware Limit, Historical (see page 317)
R
Brs Bit, Right Software Limit, Historical (see page 329)
R
Bs Bit, Syntax Error (see page 331)
R
Bt Bit, Trajectory In Progress (see page 333)
R
Bv Bit, Velocity Limit (see page 335)
R
Bw Bit, Wrapped Encoder Position (see page 337)
R
Bx(enc) Bit, Index Input, Real-Time (see page 339)
R
CLK=formula Millisecond Clock (see page 356)
R
ERRC Error Code, Command (see page 429)
R
ERRW Communication Channel of Most Recent Command Error (see page 431)
R
FW Firmware Version (see page 442)
R
RES Resolution (see page 653)
RSP Report Sampling Rate and Firmware Revision (see page 661)
RSP1 Report Firmware Compile Date (see page 663)
RSP5 Report Network Card Firmware Version (see page 664)
R SAMP Sampling Rate (see page 677)
R
SP2 Bootloader Revision (see page 700)
R
TEMP Temperature, Motor (see page 721)
R
TH=formula Temperature, High Limit (see page 723)
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 887 of 890
Command List
System
Command Lists: Commands Listed by Function
R
UIA Motor Current (see page 735)
R
UJA Bus Voltage (see page 737)
UO(...)=formula User Status Bits (see page 739)
UR(...) User Bits, Reset (see page 745)
US(...) User Bits, Set (see page 747)
R W(word) Report Specified Status Word (see page 776)
Variables
a...z 32-Bit Variables (see page 236)
R
aa...zz 32-Bit Variables (see page 236)
R
aaa...zzz 32-Bit Variables (see page 236)
R
ab[index]=formula Array Byte [index] (see page 240)
R
af[index]=formula Array Float [index] (see page 256)
R
al[index]=formula Array Long [index] (see page 267)
R
aw[index]=formula Array Word [index] (see page 283)
Command List
R
Moog Animatics SmartMotor™ Developer's Guide, Rev. F
Page 888 of 890
PN: SC80100003-002
Rev. F
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