Gilderfluke&Co BR-SmartMedia - Manual (Page 81)

legs of the motion base. No translation is needed by the PC under the mo-
tion base.
If the Moog motion base is in the wrong mode (Length or DOF), the BR-
SmartMedia will send the commands to put it into the appropriate mode.
In all cases the analog axis are addressed starting at ‘00’. Following the
analog data is a digital byte which contains several commands that the
Moog Motion Bases will respond to. For the three possible resolutions, the
following addresses must be used:
Eight Bit Resolution: Analogs at 0, 1, 2, 3, 4, 5. Digital control word at 6
Twelve Bit Resolution: Analogs at 1, 2, 4, 5, 7, 8. Digital control word at 9
Sixteen Bit Resolution: Analogs at 0, 2, 4, 6, 8, 10. Digital control word at 12
In Sixteen bit mode, a 2000 series Moog Motion Base will only follow res-
olutions to fifteen bits. For this reason, the BR-SmartMedia code has been
written to divide the sixteen bit values in half before they are sent to the
motion base. In all resolutions, the AutoDownload file should be saved start-
ing with address ‘00’, and the ‘First Address in Eprom’ should be set to ‘00’.
You must use the connect through the edge connector to the card
cage to connect to the serial port of a Moog motion base. The connections
are used as follows:
BR-SM BR-SM Moog Moog Moog
RJ-12 Card Cage Signal DE-9 Female Signal Signal from/to BR-SM
1 white 11 brown ground 5 ground ground
2 black 15 green Tx + 2 Rx - - Serial data out from BR-SM
3 red 14 yellow Tx - 1 Rx + + Serial data out from BR-SM
4 green 12 red Rx - 3 Tx - - Serial data in to BR-SM
5 yellow 13 orange Rx + 4 Tx + + Serial data in to BR-SM
6 blue 16 blue Config. n/c n/a ground
The bits within the Moog Control Word are used as follows:
Bit 0 = E-Stop: When this bit is active, it forces the Moog Motion Base
into the E-Stop condition. As this is pretty drastic for a Moog
Motion Base (it requires the PC under it to be rebooted), the use
of this bit should be strictly limited. It is valid in all motion base
states except ‘disabled’, when the motion base stops listening to
the serial port altogether.
Bit 1 = Park: This command is valid only when the Moog Motion Base
is in either Engaged or Standby modes. When this bit goes active,
the motion base will return to the ‘parked’ position and enter ‘Idle’
mode. This command is usually programmed into the end of a
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