Moog SmartMotor - Page 45

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 45 of 909
Output Condition Commands 221
Output Fault Status Reports 221
General-Use Input Configuration 221
Multiple I/OFunctions Example 222
Analog Functions of I/O Ports 223
5 Volt Push-Pull I/O Analog Functions (D-Style Motors) 223
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors) 223
Special Functions of I/OPorts 224
Class 5 D-Style Motors: Special Functions of I/O Ports 225
I/O Ports 0 and 1 – External Encoder Function Commands 225
I/O Ports 2 and 3 – Travel Limit Inputs 225
I/O Ports 4 and 5 – Communications 225
I/O Port 6 – Go Command, Encoder Index Capture Input 226
Class 5 M-Style Motors: Special Functions of I/O Ports 227
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 227
I/O Ports 2 and 3 – Travel Limit Inputs 227
I/O Port 5 – Encoder Index Capture Input 227
I/O Port 6 – Go Command 228
Class 6 M-Style Motors: Special Functions of I/O Ports 229
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 229
I/O Ports 2 and 3 – Travel Limit Inputs 229
I/O Port 4 and 5 – Encoder Index Capture Input 229
I/O Port 6 – Go Command 230
I/O Brake Output Commands 230
I²C Expansion (D-Style Motors) 230
Tuning and PIDControl 231
Introduction 232
Understanding the PID Control 232
Tuning the PID Control 233
Using F 233
Setting KP 234
Setting KD 234
Setting KI and KL 234
Setting EL=formula 235
Part 1: Programming the SmartMotor