Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 257 of 909
ADT=formula
Acceleration/Deceleration Target
APPLICATION: Motion control
DESCRIPTION: Sets the buffered acceleration target (AT) /deceleration target
(DT) at the same time
EXECUTION: Buffered until a G command is issued or an X command is
issued
CONDITIONAL TO: MP, MV, G, X, PIDn (sample rate), encoder resolution
LIMITATIONS: Must not be negative; effective value is rounded down to next
even number
READ/REPORT: There is no direct report for ADT; use RAT and RDT
WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: (encoder counts / (sample²) ) * 65536
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 2 to 5000
DEFAULT VALUE: See: AT, DT
FIRMWARE VERSION: 5.x and later
COMBITRONIC: ADT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ADT command sets the AT and DT parameters of the motion profile. Those values are
individually accessible with the AT=, =AT, DT=, and =AT commands. ADT is provided as a
convenience when those values do not need to be different from each other. See the
respective commands for specific details about how they apply to a motion profile.
The ADT= command cannot be reported back directly, because it simply passes the value to
AT= and DT=.
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 670 and SAMP on page 690.
EXAMPLE: (Shows use of ADT, PT and VT)
MP 'Set mode position
ADT=5000 'Set target accel/decel
PT=20000 'Set absolute position
VT=10000 'Set velocity
G 'Start motion
END 'End program
Part 2: Commands: ADT=formula
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