Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 165 of 909
Cam Example Program
The following chart shows a plot of from the example code that follows. It shows the effects of
certain status bits, I/O points and the resulting motion profile. For additional cam example
programs, see Part 3: Example SmartMotor Programs on page 823.
Sample Plot from Example Program
Note the following:
l
Changes to the SRC sign results in moving the opposite direction through the Cam table.
l
Changes to MFMUL and/or MFDIV result in changes to the frequency or speed at which
the Cam table is processed. 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.
l
Changes to MCMUL and MCDIV affect the amplitude of the wave form.
l
In all cases, updates automatically take effect when passing from the last point of the
Cam table into the first point (or from the first point into the last point, if traveling in the
opposite direction).
ECHO 'ECHO on to allow auto addressing downstream
a=1 'Set default variable for address 1
WAIT=2000 'Wait for boot up time differences
PRINT(#128,"a=a+1",#13) 'each motor prints downstream a=a+1
WAIT=2000 'Wait for response time variations
ADDR=a 'Set motor address
WAIT=2000
EIGN(W,0) ZS
'=========================================================
Part 1: Programming: Cam Example Program
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