Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 144 of 909
Auto-Traversing Spool Winding Mechanism
The MFSDC command is used to initiate the dwell and reverse direction (traverse) needed to
perform spooling/winding operations.
MFSDC(distance,mode)
Dwell at 0 ratio for input distance
distance Set from 0 to 2147483647 through a variable or hard-coded value to
specify the number of master counts the slave dwells at zero ratio. Set
to -1 (default) to disable (see the first row of the following table). When
disabled, Follow mode runs at ratio continuously.
mode Specifies the gearing profile application in firmware, as shown in the
following table. These follow a predefined trapezoidal profile (see the
following figure).
For example, a setting of 0 for mode is typical for feeding labels in label
applications; a setting of 1 is typical for traverse-and-takeup spool
winding applications.
dist mode Motion Repeat Run state; Initiated by
-1 0 relative one cycle, no repeat once; a G or G(2) command
x 0 relative repeat, one direction continuous; after initial G or G(2)
x 1 relative traverse back/forth continuous; after initial G or G(2)
x 2 absolute traverse back/forth continuous; after initial G or G(2)
CAUTION: Any value other than -1 for the MFSDC distance command causes
the motion profile to continuously dwell and repeat. Reissue the command with
distance equal to -1 to stop the repetitive motion.
NOTE: The MFMUL and MFDIV commands do not have an effect on dwell time or
distance. Dwell is strictly based on raw master encoder counts selected by the SRC
() command specifying internal virtual or external master count source.
Part 1: Programming: MFSDC(distance,mode)
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