Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 142 of 909
For labeling applications, it may be beneficial to feed out over a preset distance profile, also
known as a "one-shot" gearing trapezoidal profile. This is where the MFSLEW() command
comes in, as shown in the code and figures.
Each parameter distance is subject to slave counts, not master counts.
The total distance traveled by the slave will be MFA distance + MFD distance + MFSLEW
distance. In this case, 300+600+600 or 1500 total slave counts moved.
Electronic Line Shaft
NOTE: This section only applies to M-style motors.
For some applications, it is useful to create a master/slave motor relationship known as an
"electronic line shaft" (see the following figure). This setup is used for machines such as
printing presses, where everything must run at proportional speeds to the main (master) axis.
Electronic Line Shaft Diagram
On the M-style SmartMotors, there is a bidirectional Encoder Bus port. Using this port, along
with Moog Animatics encoder bus cables, you can daisy chain a series of M-style motors:
l
One motor will have ENCD(1) issued; this will be the master.
l
All other motors will have ENCD(0) (default) issued; these will be the slaves.
ENCD(in_out)
Sets the Encoder Bus port as an input or an output — only applies to motors with
Encoder Bus connecters, such as M-style SmartMotors.
The ENCD() command allows the M-style SmartMotor to use the Encoder Bus port as either an
input or an output. This allows the motor to operate as a master (output) or slave (input)
when daisy chained to other M-series motors through the Encoder Bus ports. The value for
in_out can be hard-coded or a variable:
0 (Default) Encoder Bus port is an input.
1 Encoder Bus port is an output.
Part 1: Programming: Electronic Line Shaft
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