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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 652 of 909
PRT=formula
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 com-
manding 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
PRT=formula
Sets the relative target position.
l
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).
Part 2: Commands: PRT=formula
