Moog SmartMotor, Руководство разработчика

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3: Examples
Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 849 of 909
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.")
Part 3: Examples: CAN Bus - Time Sync Follow Encoder