Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 172 of 909
=PMA Reads actual motor position in modulo count. This counter is affected
by the O= and OSH= commands.
ENC0 Uses internal encoder for commanded motion, actual position
reporting and modulo position reporting.
ENC1 Uses external encoder for commanded motion, actual position
reporting and modulo position reporting. Be sure that the correct
encoder type is selected with the MF0 (for quadrature) command, or
the MS0 (step and direction) command.
Dual Trajectories
NOTE: In addition to this information, refer to Motion Command Quick Reference
on page 856 for details on the primary motion commands and the differences
between Actual, Target and Commanded, etc.
It is possible to create two trajectories that run concurrently. The following figure shows a
flow diagram for a dual trajectory generator.
MP(1) Position Mode
MV(1) Velocity Mode
RPC(1) Reports
Commanded Position
Trajectory Generator 1
Trajectory Generator 2
Input Sources
SRC(1) External Enc.
SRC(2) Internal Clock
PID
Trajectory
Summing
∑
Motor
Shaft
MFR(2)
MC(2) CAM Mode
RPC(2) Reports
Commanded Positon
RPA Reports Motor Position
Dual Trajectory
Generator
ECS(value)
+
Gearing is not summed with camming;
if cam length is 0, there is no motion!
Trapezoidal Move
Profile
Dual Trajectory Generator Flow Diagram
There are restrictions on which combinations of moves are possible. In the following table, a
combined move consists of a selection from column 1 and a selection from column 2.
NOTE: Torque mode cannot be combined with any other mode; selecting Torque
mode replaces any other mode currently running.
Trajectory 1 - PC(1) Trajectory 2 - PC(2)
Position - MP(1)
Velocity - MV(1)
CANopen Interpolation
Follow - MFR(2)
Cam - MC(2)
Torque mode overrides all other modes
Part 1: Programming: Dual Trajectories

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English