Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 132 of 909
MDC
Mode Drive Current
Available only for M-style Class 5 SmartMotors, this sinusoidal (sine) commutation method,
augmented with digital current control, offers the best possible performance without
sacrificing quiet operation.
Status Word 6 contains bits that indicate what commutation mode is currently active. Note
that a command for a mode may not take effect until the angle match is indicated by bit 8 in
status word 6. The angle match may not take effect until the motor rotates past the index
mark of the internal encoder. The following status bits can be used to test for this.
Status Word 6:
l
Bit 0 Trap-Hall mode
l
Bit 1 Trap-Encoder (enhanced) mode
l
Bit 2 Sine Voltage mode
l
Bit 3 Sine Current (vector) mode
MDB
Trajectory Overshoot Braking (TOB) Option
This command should be used after entering MDT or MDE to enable TOB action. This option
reverts to off when one of the previous commutation choices is made. This option is off by
default. Status Word 6, Bit 9 indicates if this mode is active.
MINV(0), MINV(1)
Invert Motion Direction
The MINV(1) command inverts the direction convention of the SmartMotor.
The MINV(0) command restores the default.
Part 1: Programming: MDC

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English