Moog SmartMotor User Manual

Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 12 of 909
I/O Ports 2 and 3 – Travel Limit Inputs 227
I/O Port 5 – Encoder Index Capture Input 227
I/O Port 6 – Go Command 228
Class 6 M-Style Motors: Special Functions of I/O Ports 229
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 229
I/O Ports 2 and 3 – Travel Limit Inputs 229
I/O Port 4 and 5 – Encoder Index Capture Input 229
I/O Port 6 – Go Command 230
I/O Brake Output Commands 230
I²C Expansion (D-Style Motors) 230
Tuning and PIDControl 231
Introduction 232
Understanding the PID Control 232
Tuning the PID Control 233
Using F 233
Setting KP 234
Setting KD 234
Setting KI and KL 234
Setting EL=formula 235
Other PID Tuning Parameters 235
KG=formula 235
KV=formula 235
KA=formula 236
Current Limit Control 237
AMPS=formula 237
Part 2: SmartMotor Command Reference 238
(Single Space Character) 240
a...z 241
aa...zz 241
aaa...zzz 241
Ra...Rz 241
Raa...Rzz 241
Raaa...Rzzz 241
ab[index]=formula 245
Rab[index] 245
ABS(value) 248

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English