Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 286 of 909
ATS=formula
Acceleration Target, Synchronized
APPLICATION: Motion control
DESCRIPTION: Sets the synchronized (path) target acceleration (does not
change deceleration)
EXECUTION: Immediate
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
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 0 to 5000
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.
Setting the synchronized (path) ATS value determines the acceleration that will be used by
subsequent position or velocity moves to calculate the required trajectory. Changing ATS
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.
Equations for Real-World Units:
Encoder resolution and sample rate can vary. Therefore, the following general equations can
be used to convert the real-world units of acceleration to a value for ATS, where af[0] is
already set with the real-world unit value. These equations force floating-point calculations to
avoid overflow and maintain resolution. They can be placed in a user program, or they can be
precalculated if the values of SAMP and RES are known (SAMP and RES can be reported from
the terminal using the RSAMP and RRES commands, respectively). SAMP can change if the PID
command is used. The value of REScan differ between motor models.
Part 2: Commands: ATS=formula
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