Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 403 of 909
ECS(counts)
Encoder Count Shift
APPLICATION: Motion control
DESCRIPTION: External encoder counter shift
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: None
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: Encoder counts
RANGE OF VALUES: Input
counts: -2147483648 to 2147483647
TYPICAL VALUES: -100 to +100
DEFAULT VALUE: N/A
FIRMWARE VERSION: 5.x and later
COMBITRONIC: ECS(100):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The ECS(value) command immediately shifts the external encoder counter by the specified
value. In Follow mode or Cam mode this is interpreted as incoming master counts, so motion
may result. In other words, ECS adds the specified value to the incoming master counts as if
they actually had an instantaneous change in value.
NOTE: When issued, ECS is dynamic and immediate! It is not buffered. No G
command is required.
For example, if the external encoder count is 4000 and ECS(1234) is issued, the count would
immediately shift to 5234. It is instantaneously shifted by 1234 counts, as seen by the
trajectory generator.
ECS accounts for changes in material width on traverse and take up winding applications to
allow for full placement of material onto spools. These applications require the means to
dynamically detect material width as close as possible to where it is being wound onto the
master spool.
This command works on top of any gear or Cam mode. It should be used with care because it
can cause abrupt changes to position.
Part 2: Commands: ECS(counts)
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