Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 162 of 909
applications (for example, traverse and take-up spooling). The CANopen objects related to
this are: 1005h, 1006h, 2207h, 2208h, 2209h, 220Ah-220Dh. For details on these objects refer
to the SmartMotor CANopen Guide. For a sample user program, see CAN Bus - Time Sync
Follow Encoder on page 844.
NOTE: This capability is currently available on Class 5 SmartMotors only.
Electronic Camming Commands
The following are related commands. For more details on these commands, see Part 2:
SmartMotor Command Reference on page 238.
CTE(table)
Erase tables in EEPROM memory starting at the value specified
To erase all EEPROM tables, choose CTE(1). By choosing a number higher than 1, lower table
numbers can be preserved. If, for example, there were three tables stored, CTE(2) would
erase table 2 and 3, but not table 1. CTE(0) is not defined.
CTA(points,seglen[,location])
Add a Cam table
The CTA command configures a table to use either EEPROM memory (default) or the data
variable space (optional) in preparation for writing the table with the CTW command.
points Specifies the number of points in the table.
seglen Specifies the master encoder distance between each point. If seglen is
set to 0, then the distance is specified per data record through the CTW
command.
[,location] Is optional and specifies if this is a table in user variables or EEPROM.
By default, if [,location] is omitted, then EEPROM is chosen. If
[,location] is 0, then the user array location is chosen (al[0] through al
[50].) Only one table can exist in the user variables. Up to 10 tables
(numbered 1 through 10) can exist in EEPROM location.
CTW(pos[,seglen][,user])
Write a Cam table
The CTW command writes to the table addressed by the most recent CTA command. CTW
writes to either the EEPROM-stored tables or the user-array-stored tables.
NOTE: Typically, the actual Cam table would not be part of the program that
executes the mode. SMI tools are available to facilitate Cam table generation.
pos The position coordinate of the motor for that data point. The first point
in the table should be set to 0 to avoid confusion. When the table is run,
the currently commanded motor position seamlessly becomes the
starting point of the table. By keeping the first point of the table at 0, it
is easier to realize that all of the data points are relative to that starting
point.
[,seglen] If this Cam table was specified as variable length in the CTA command,
Part 1: Programming: Electronic Camming Commands

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English