Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 154 of 909
The following describes the available storage locations:
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RAM storage: 1 Cam table
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52 fixed length data points, 35 variable length data points
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Flash storage: 9 Cam tables
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750 fixed length data points, 500 variable length data points
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EEPROM: Up to 8000 points total may be stored and moved to flash or RAM
Cam table data may be directly imported from a tab delimited text file or spreadsheet.
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Data imported to the SMI software can be written into a program, copied to the
clipboard or written directly (live) into a motor
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Import function allows for optimizing data points for cubic spline interpolation
The motor position is interpolated between each data point. This interpolation can be specified
as linear, spline that is not periodic and spline that is periodic. Spline mode allows motion
paths to be created from a reduced number of points. For example, the following figure shows
an X-Y plot of Cam tables running on two motors. While the original data contained over 700
data points, Spline mode reduced the data set to approximately 30 points in each motor.
Example of Spline Mode Points and Motion Path
Cam mode has the ability to apply sophisticated shaping and selection of the encoder input
source using Follow mode. Cam mode uses MFMUL and MFDIV to set the follow ratio for
Part 1: Programming: CamMode (Electronic Camming)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English