Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 259 of 909
ADTS=formula
Acceleration/Deceleration Target, Synchronized
APPLICATION: Motion control
DESCRIPTION: Sets the synchronized (path) acceleration/deceleration target
EXECUTION: Must be set before issuing PTS or PRTS; will not be effective
after that point
CONDITIONAL TO: PIDn
LIMITATIONS: Must not be negative; 0 is not valid; effective value is rounded
up to next even number
READ/REPORT: None
WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: (encoder counts / (sample²) ) * 65536 in 2D or 3D space
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 10 to 500
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x series only; not available in version 5.32.x.x
COMBITRONIC: N/A
DETAILED DESCRIPTION:
NOTE: This command requires a Combitronic-supported motor. Although this
command does not support Combitronic syntax, it does use Combitronic
communication to pass information between other motors.
The ADTS value determines the synchronized (path) acceleration/deceleration that will be
used by subsequent position or velocity moves to calculate the required trajectory. Changing
ADTS during a move will not alter the current trajectory unless a new G command is issued.
Acceleration is pre-scaled by 65536 and may range from 2 to 2147483647. A value of 0 is not
valid. Due to internal calculations, odd values for this command are rounded up to an even
value.
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: (Configures and starts a synchronized move)
ADTS=100 'Set target synchronized accel/decel
VTS=100000 'Set target synchronized velocity
x=1000 y=2000 z=500 a=100 b=200
PTS(x;1,y;2,z;3) 'Set next positions, axes 1, 2 & 3
PTSS(a;4) 'Set supplemental position, axes 4
PTSS(b;5) 'Set supplemental position, axes 5
GS 'Go, starts the synchronized move
Part 2: Commands: ADTS=formula
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