Sample Code

Sample projects for specific use cases can be found on our GitHub repository

V3 SPT Samples

V4 SPT Samples

SPT VM Axis: Displays how an axis in one EM can be coupled to an axis in another EM.

SPT AX5000 SoE Reset: A sample for replacing the default reset behavior (CoE) with a SoE reset for the AX5000 servo drive.

SPT Alarms: Various configurations of alarms and how to configure the state machine responses and recovery.

SPT AxisHoming: A sample for the various types of homing routines available from the SPT Motion Control library.

SPT Camming: A sample demonstrating the use of camming in the SPT framework. It includes two cam tables, and shows how to modify the running table for the next cycle of the master axis.

SPT ControlledStop: When a Component has an error the EM can notify the MM and bring the entire machine to a controlled stop.

SPT ExternalSequence: A sample for using the I_MotionSequence interface to provide the FB_ComponentBasicAxis with a custom move sequence. The example specifically uses a reversing sequence.

SPT External Setpoint Generator: A sample including both a standard implementation of the External Setpoint Generator for both Velocity and Position, and a SPT specific implementation for using the External Setpoint Generator as an External Sequence.

SPT MultiMaster: A sample to display the various gearing and camming options available for a single or multi-master system.

SPT Simple Machine: A sample demonstrating a basic machine setup using the SPT framework. This is the smallest possible implementation of the SPT Framework.

V4 Only Samples:

SPT Mode Manager: A sample for creating custom modes.

SPT Dynamic Axis Assignment: A sample for dynamically assigning axes to an EM at runtime.