Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 133 of 909
Modes of Operation
SmartMotors can be operated in several different modes. You can switch to and from almost
any mode freely at any time.The following sections provide details on each operation mode.
NOTE: For details on any command, see Part 2: SmartMotor Command Reference
on page 238.
Torque Mode
NOTE: Torque mode is an immediate response mode.
In Torque mode, also referred to as Mode Torque (MT),the SmartMotor shaft applies a torque
independent of position. The internal encoder tracking still takes place, and can be read by a
host or in a program. However, the value is ignored for motion because the PID loop is
inactive. A torque-mode move does not mean the motor applies a constant torque regardless
of speed; rather, the motor is powered at a fixed duty cycle of PWMto the motor windings in a
manner similar to increasing and decreasing voltage to a traditional DCmotor. To specify the
value of the torque move, use the T= command, followed by a number between -32767 and
32767. Keep in mind:
l
Positive numbers apply a clockwise torque
l
Negative numbers apply a counter-clockwise torque
l
The default value for T is zero
l
Speed is proportional to counter-torque or load on the shaft when in torque mode
l
The larger the load, the slower the motor turns for a given torque value
The following list details the minimum requirements for a move to occur in Torque mode:
l
Initiate the mode with the MT command
l
Issue G
Torque Mode Example
The following example shows a basic torque move. Note that T is set before MT and G, which
provides a known commanded torque before issuing an MT or G command.
T=2000 ' set torque to 2000
MT ' set motor to Torque mode
G ' start moving, open loop
Dynamically Change from Velocity Mode to Torque Mode
The following example dynamically changes from Velocity mode to Torque mode through
torque transfer (TRQ command). In the example, about two seconds after going into Velocity
mode, the motor is switched to Torque mode. Then, two seconds later, the motor is turned
off.
Part 1: Programming: Modes of Operation
To Next Page
Loading...
Need help?
General
