Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 425 of 909
ENC0
Encoder Zero (Close Loop on Internal Encoder)
APPLICATION: Motion control
DESCRIPTION: Use internal encoder for the PID, actual position, actual velo-
city
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: Motor defaults to ENC0 (use internal encoder for PID, actual
position)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: ENC0:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SmartMotor™ can accept inputs from either the internal integrated encoder or an external
source. ENC0 causes the SmartMotor to read its position from the internal encoder; ENC1 uses
the secondary (external) encoder. When ENC0 is active, PA (position actual) will track the
internal encoder. For more details, see PA on page 615.
EXAMPLE:
ENC1 'Servo from external encoder
ENC0 'Restore default encoder behavior
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 374)
ENCD(in_out) Set Encoder Bus Port as Input or Output (see page 430)
ENC1 Encoder Zero (Close Loop on External Encoder) (see page 426)
MS0 Mode Step, Zero External Counter (see page 585)
MF0 Mode Follow, Zero External Counter (see page 548)
Part 2: Commands: ENC0

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English