MOOG ANIMATICS Class 6 SmartMotor, Installation & Start?Up Manual

Page: 48 / 58

Checking the Motor Position
Torque slope can range from -1 to 2147483647 (default). At a value of 65536, the processor
changes torque by a value of 1 for each PID sample. The default sample rate is 16000; you
can view the current sample rate with the RSAMP command.
NOTE: If you're moving from a Class 5 to a Class 6 SmartMotor, the faster Class 6
sample rate means the torque slope operates twice as fast in real-world time.
Checking the Motor Position
There are several ways to check the motor position:
l
Report the position using commands from the Terminal window
l
View the position in the Motor View tool
These two methods are described in the following sections. You can also view the position in
the Monitor or Chart View software tools. For details, see SMI Software Features in the
SmartMotor™ Developer's Guide .
This procedure assumes that:
l
The SmartMotor is connected to the computer. For details, see Connecting the System
on page 30.
l
The SmartMotor is connected to a power source. For details, see Understanding the
Power Requirements on page 28 and Connecting the System on page 30.
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The SMI software has been installed and is running on the computer. For details, see
Installing the SMI Software on page 23.
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The SmartMotor has been detected and addressed.
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The overtravel limits and fault bits have been cleared. For details, see Checking and
Clearing the Status Bits on page 43.
Viewing the Motor Position with a Report Command
To report the motor position, in the Terminal window, issue the RPA (Report Position Actual)
command:
RPA
The terminal responds with the current position of the motor:
RPA 3593657
NOTE: The position is reported on the same line as the command; there is no line
feed or carriage return for "report" commands.
The RPA command reports the actual motor position at the time the command was issued.
Therefore, it is just a "snapshot"—if the motor is moving, the reported position is not dynam-
ically updated.
Viewing the Motor Position with the Motor View Tool
The Motor View tool provides another way to view the motor position. The advantage of using
this tool is that the position is dynamically updated when the motor is moving.
Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY
Page 48 of 58