Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 215 of 909
Cam Status Bits
The Class 5 SmartMotor supports cams running in Spline and/or Linear Interpolated Position
modes.
Each individual cam segment can be interpolated in one of these two modes. While the cam is
being executed, the Cam Segment Mode bits can be interrogated to determine which mode is
presently being used for that segment. The Cam User Bits can also be turned on and off, which
is defined when each segment is written into cam memory through the CTW() command.
Cam User Bits offer a periodic signal based on the phase of a cam, and they can be
programmed to come on and off within any given section of the cam. They function much like
a standard Programmable Limit Switch (PLS). In a standard Class 5 SmartMotor, these bits
reside in Status Word 8.
The following example exercises each Cam User Bit during the programmed cam profile.
EIGN(W,0)
ZS
CTA(7,0,0) 'Add table into RAM al[0]-al[8]
CTW(0,0,1) 'Add 1st point, Cam User Bit 0 ON
CTW(1000,4000,1) 'Add 2nd point, Cam User Bit 0 ON
CTW(3000,8000,2) 'Add 3rd point, Cam User Bit 1 ON
CTW(4000,12000,132) 'Add 4th, Spline Mode, Cam Bit 2 ON
CTW(1000,16000,136) 'Add 5th, Spline Mode, Cam Bit 3 ON
CTW(-2000,20000,16) 'Add 6th point. Cam Bit 4 ON
CTW(0,24000,32) 'Add 7th point. Cam Bit 5 ON
MC 'Select Cam Mode
SRC(2) 'Use the virtual master encoder.
MCE(0) 'Force Linear interpolation.
MCW(0,0) 'Use table 0 in RAM from point 0.
MFMUL=1 'Simple 1:1 ratio from virtual enc.
MFDIV=1 'Simple 1:1 ratio from virtual enc.
MFA(0) MFD(0) 'Disable virtual enc. ramp-up/ramp-
'down sections.
MFSLEW(24000,1) 'Table is 6 segments *4000 encoder
'counts each. Specify the second
'argument as a 1 to force this
'number as the output total of the
'virtual master encoder into the cam.
MFSDC(-1,0) 'Disable virtual master (Gearing)
'repeat.
G 'Begin move.
END 'Obligatory END
Part 1: Programming: Cam Status Bits
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