Intro Spex uses 2 SM34205D smart motors. 4 where purchased in 2012/12: Model SM34205d, Firmware: 5.0.3.41 1. Grating 2. Rotator The command are different that the previous SMART Motor Generation Here is a summary useful Class 5 commands: Smart motor RS-232 cable is pluged diretly into the PC's serial port. Spex uses a digi to access the smart motor RS-232 over the network. See software/digi_ts4 for cabling notes. Use the digi add overhead to the communicaton, for example and "RPA" can take 0.016 seconds over RS-232, but take about 0.225 sec on a digi TS4 (I have seen network delay greater that 0.5 sec). Initialization commands: For wheels, disables the hardware limits. EIGN(2) ' Disable Left Limit EIGN(3) ' Disable Right Limit Set the Amp limit ( 0 to 1023 ), Velocity and Acceleration/Deceleration. AMPS=200 VT=20000 ADT=100 Put the motor into POSITION mode MP Set Origin or present value. O=0 Intro Moving the motor: MP examples: Absolute position move to 5000. PT=50000 G Relative position move to +5000 steps. PRT=5000 G Jog in the positive direction. MV VT=100000 G Stopping the motor Decelerated stop X Abruptly Stop S Turn Motor Servo off OFF Off with free-wheel spin BRKRLS Homing The /home/s2/src/spex/ldog/sm_wheel_home.sms is downloaded to each spex motor (all wheel). The program was loaded using the SmartMotorInterface program, which is archive in vendor_info/animatics/. The smartmotor for spex are wired up up: Pin IO_inx Function 1 0 Analog output from HE sensor, 0 to 5 v output. 2 1 Comparator +TTL: 0=InHomePosition, 1=Not at home 3 2 Comparator -TTL: not used by the software (no reverse magnet installed). Use this command to find the home switch (closes to GND on input 0.) MV VT=20000 ADT=100 G RUN IO and other setup EIGN(2) ' Disable Left Limit EIGN(3) ' Disable Right Limit EIGN(W,0) ' Set all I/O to be general inputs a = IN(0) ' reading input 0 a = IN(0) Ra ' input input, report value. To read analog voltage: v=INA(A,4) Rv // return AD counts, 0 to 32735 = 0-5v v=INA(V1,4) Rv // returns millivots, ie 3456 is 3.456 VDC Other Commands Report the motor position RPA Report the assigned current RAMPS Turn the motor off OFF Reset errors ZS RSP - report sampiling rate and firware version "12500/5.0.3.41" for spex's 34205D, so 0.000125 or 8000Hz MISC Some SM34205D defaults: KP is 1000 KI is 240 KD is 12000 KL is 32767