Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 281 of 909
Input as value
in af[0]
Equation
Radians/(Sec
2
) AT=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec
2
) AT=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec
2
) AT=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec AT=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min AT=((af[0]*RES)/(3600.0*((SAMP*1.0)*SAMP)))*65536
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:
MP 'Set mode position
AT=5000 'Set target acceleration
PT=20000 'Set absolute position
VT=10000'Set velocity
G 'Start motion
EXAMPLE:
AT=100 'Set buffered acceleration
VT=750 'Set buffered velocity
MV 'Set buffered velocity mode
G 'Start motion
RELATED COMMANDS:
ADT=formula Acceleration/Deceleration Target (see page 257)
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 259)
ATS=formula Acceleration Target, Synchronized (see page 286)
R
DT=formula Deceleration Target (see page 390)
DTS=formula Deceleration Target, Synchronized (see page 392)
R
EL=formula Error Limit (see page 419)
G Start Motion (GO) (see page 456)
MP Mode Position (see page 582)
MV Mode Velocity (see page 593)
PID# Proportional-Integral-Differential Filter Rate (see page 623)
R
PT=formula Position, (Absolute) Target (see page 658)
R
RES Resolution (see page 670)
R
SAMP Sampling Rate (see page 690)
R
VT=formula Velocity Target (see page 788)
X Decelerate to Stop (see page 804)
Part 2: Commands: AT=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English