Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 287 of 909
Input as value
in af[0]
Equation
Radians/(Sec
2
) ATS=((af[0]*RES)/(PI*2*((SAMP*1.0)*SAMP)))*65536
Encoder Counts/(Sec
2
) ATS=(af[0]/((SAMP*1.0)*SAMP))*65536
Rev/(Sec
2
) ATS=((af[0]*RES)/((SAMP*1.0)*SAMP))*65536
RPM/Sec ATS=((af[0]*RES)/(60.0*((SAMP*1.0)*SAMP)))*65536
RPM/Min ATS=((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: (Shows use of ATS, DTS and VTS)
EIGN(W,0) 'Set all I/O as general inputs.
ZS 'Clear errors.
ATS=100 'Set synchronized acceleration target.
DTS=500 'Set synchronized deceleration target.
VTS=100000000 'Set synchronized target velocity.
PTS(500;1,1000;2,10000;3) 'Set synchronized target position
'on motor 1, 2 and 3.
GS 'Initiate synchronized move.
TSWAIT 'Wait until synchronized move ends.
END 'Required END.
RELATED COMMANDS:
ADTS=formula Acceleration/Deceleration Target, Synchronized (see page 259)
DTS=formula Deceleration Target, Synchronized (see page 392)
PID# Proportional-Integral-Differential Filter Rate (see page 623)
PRTS(...) Position, Relative Target, Synchronized (see page 654)
PRTSS(...) Position, Relative Target, Synchronized, Supplemental (see page 656)
PTS(...) Position Target, Synchronized (see page 660)
R
PTSD Position Target, Synchronized Distance (see page 663)
PTSS(...) Position Target, Synchronized Supplemental (see page 664)
R
PTST Position Target, Synchronized Time (see page 666)
VTS=formula Velocity Target, Synchronized Move (see page 791)
Part 2: Commands: ATS=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English