Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 155 of 909
incoming master counts. Through the use of the SRC command, either the external encoder or
a fixed-rate "virtual encoder" can be used as the input source to the cam. This fixed-rate
(virtual) encoder also works through Follow mode, so the actual rate into the cam can be set.
The speed of the virtual encoder is equivalent to the PID rate. In other words, for a Class 5
motor at its default PID rate of 8000 Hz, the virtual encoder sees 8000 encoder counts per
second.
One example of this is a complex "chevron" pattern winding application where camming
(high-frequency oscillation) occurs on top of gearing (low-frequency traverse). This is used to
spool material in a way that prevents it from getting pinched or trapped in the underlying
layers. For more details, see Chevron Wrap Example on page 150.
Part 1: Programming: CamMode (Electronic Camming)
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