Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 163 of 909
then [,seglen] is required for each data point. It is optional when using a
fixed-length Cam table (specified in the CTA command). [,seglen]
represents the absolute distance of the encoder source beginning from
the start of the table. For reasons similar to pos, [,seglen] should also
be 0 for the first data point specified.
If you wish to use the optional [,user] parameter, then the [,seglen]
parameter must be used (set to the default: 0).
[,user] Optional. Defines Cam user bits and Spline mode override. It is an 8-bit
binary weighted value where:
Bit 0-5: User may apply as desired to Cam status bits 0-5 of Status word
8.
Bit 6: Factory Reserved — leave as 0.
Bit 7: When set to 0, no special override of Spline mode. When set to 1,
the segment between the previous point and this point are forced into
linear interpolation. Bit 7 has no effect when MCE has chosen linear
mode.
When loading Cam tables, it is important to be aware of the table capacity. As mentioned
previously:
l
When a Cam table is stored in user array memory (al[0]-al[50]), 52 points can be
stored as fixed-length segments; 35 points are possible when variable-length segments
are used.
l
When Cam tables are written to EEPROM memory, significantly more data can be
written. For fixed-length segments, there is space for at least 750 points. For variable-
length segments, at least 500 points can be written.
MCE(arg)
Cam table interpolation mode
The MCE(arg) command sets up the Cam function and defines the behavior based on the
following arguments:
0 Force linear motion for all sections
1 Spline mode with non-periodic data at ends of table
2 Spline mode with periodic data wrapped at ends of table
MCW(table,point)
Cam table starting point
The MCW() command determines where to start the Cam function.
table Defines the Cam table number
point Defines the starting point in the table
Part 1: Programming: MCE(arg)
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