Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 139 of 909
MFMUL=formula 'Multiplier applied to follow ratio
MFDIV=formula 'Divisor applied to follow ratio
MFA(distance[,m/s])
Ascend ramp to sync. ratio from ratio of 0
distance Setting from 0 to 2147483647. Set to 0 to disable. By default, it is dis-
abled.
[,m/s] Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
MFD(distance[,m/s])
Descend ramp from ratio to ratio of 0
distance Setting from 0 to 2147483647. Set to 0 (default) to disable.
[,m/s] Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
MFSLEW(distance[,m/s])
Slew at ratio for a fixed distance
distance Setting from -1 to 2147483647. Set to -1 (default) to disable. When dis-
abled, Follow mode runs at ratio continuously.
[,m/s] Is optional and specifies the meaning of distance. Values of [,m/s]: 0 for
designating input units (master units) and 1 for designating distance
traveled (slave units).
CAUTION: The following gearing examples are relative to the motor shaft
position at the time the G command is issued.
All distances are relative.
Follow Internal Clock Source Example
In this example, the motor follows the internal source at a 1:1 ratio and moves at a rate of
8000 counts per second. For a NEMA 23 frame motor, that results in 2 RPS or 120 RPM motion.
NOTE: The trajectory and drive status LEDs will be continuously green. This is
because the motor is constantly calculating a trajectory from the gearing source
signal.
SRC(-2) Results in inverting master signal direction and changing motor direction.
Changing the sign of either MFMUL or MFDIV also inverts direction.
SRC(-1) Inverts the external encoder signal; provides the easiest way to correct
Part 1: Programming: MFA(distance[,m/s])
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