Moog Animatics Class 6 SmartMotor, Manual

Page: 33 / 76

Initiate Mode Torque
Initiate Mode Torque
Commands
Command
Code
Response
Code
Data
Resulting
SmartMotor
Command
0x94 0xA2 3072 (0x0c00) T=3072
RVA (polled motor response)
0x01 0xA2 0x21 MT
RVA (polled motor response)
0x01 0x0C G (begin motion)
PLC Memory
Output to slave motor: Input from slave motor:
3 words out 7 words in
0000 0000 0000 0000 0000 0000 0080 0000 0000 0000
Set torque value, specify the response data
This will command T=3072 and specify the response data to be the current velocity.
Begin to set torque T=3072 by putting x 00 00 0C 00 in output data.
0000 0000 0C00 0000 0000 0000 0080 0000 0000 0000
Insert command code 0x 94 and response code 0x A2 .
94A2 0000 0C00 0000 0000 0000 0080 0000 0000 0000
Wait for acknowledge in input buffer:
94A2 0000 0C00 94A2 0000 0000 0080 0000 0000 0000
Now, T=3072 (0x0c00), and the response data value will be velocity. Clear the command code
output buffer (handshake) to prepare for the next command.
00 A2 0000 0C00 94A2 0000 0000 0080 0000 0000 0000
Wait for acknowledgment of command code clear in input buffer.
00A2 0000 0C00 00 A2 0000 0000 0080 0000 0000 0000
Initiate torque mode, command MT
Insert command 0x21 data to begin torque mode.
00A2 0000 0021 00A2 0000 0000 0080 0000 0000 0000
Moog Animatics Class 6 PROFINET Guide Rev. D
Page 33 of 76