Moog SmartMotor, Руководство разработчика

Страница: 636 / 909

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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 636 of 909
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
Part 2: Commands: PRC