Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 430 of 909
ENCD(in_out)
Set Encoder Bus Port as Input or Output
APPLICATION: I/O control
DESCRIPTION: Set M-style motor Encoder Bus port as an input or output
EXECUTION: Immediate
CONDITIONAL TO: M-style SmartMotor
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 ENCD(0) where encoder is input
FIRMWARE VERSION: 5.97.x or 5.98.x series only
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The M-style SmartMotor™ is equipped with a bidirectional Encoder Bus port, which can be
configured as an input or an output for use as a slave or master, respectively, in an
"electronic line shaft" configuration.
NOTE: The D-style motor does not support this command and will return an error.
Using the Encoder Bus port along with Moog Animatics encoder bus cables and ENCD
commands, you can create a daisy-chained series of M-style motors. In this configuration:
l
One motor will have ENCD(1) issued — this will be the master
l
All other motors will have ENCD(0) (default) issued — these will be the slaves
EXAMPLE:
ENCD(1) 'Encoder bus port set as output (master)
ENCD(0) '(Default) Encoder bus port set as input (slave)
RELATED COMMANDS:
R
CTR(enc) Counter, Encoder, Step and Direction (see page 374)
MC Mode Cam (Electronic Camming) (see page 524)
MF0 Mode Follow, Zero External Counter (see page 548)
MFR Mode Follow Ratio (see page 570)
MS0 Mode Step, Zero External Counter (see page 585)
MSR Mode Step Ratio (see page 587)
Part 2: Commands: ENCD(in_out)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English