Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 166 of 909
'Set up parameters
rr=-1 'Home direction
vv=100000 'Home speed
aa=1000 'Home accel
ee=100 'Home error limit
tt=1500 'Home torque limit
hh=4000 'Home offset
mm=90000 'Max stroke with room
'=========================================================
GOSUB5 'Home to hardstop
GOSUB40 'Write cam table one time
GOSUB41 'Run cam operation
END
C40 ' Write cam table one time
IF q==123 RETURN ENDIF
CTE(1)
CTA(15,8000)
CTW(0) 'CP=0 {cam pointer or cam index pointer}
CTW(500) 'CP=1
CTW(4000) 'CP=2
CTW(20000)
CTW(45000)
CTW(50000)
CTW(60000)
CTW(65000)
CTW(55000,0,1) 'Turn on Bit 0 Status Word 8
CTW(46000) 'Will turn off at this point
CTW(45000,0,2) 'Turn on Bit 1 Status Word 8
CTW(8000) 'Will turn off at this point
CTW(4000)
CTW(500)
CTW(0) 'CP=14
q=123
RETURN
'=========================================================
C41 ' Run cam operation
MP PT=0G TWAIT
SRC(2)
MCE(1) 'Spline
MCW(1,0)
MFA(0,1)
MFD(0,1)
MFMUL=1
MFDIV=1
MCMUL=1
MCDIV=1
MFSLEW(112000,1)
MFSDC(100,0) 'Set dwell for "c" counts, auto rev. after dwell
MC
G
RETURN
'========================================================
Part 1: Programming: Cam Example Program

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English