Moog SmartMotor

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 457 of 909
l
Initiate/change an Electronic Gear Ratio in Mode Follow with Ratio (MFR):
MF0 MFMUL=1 MFDIV=10 MFR G
l
Initiate/change an Electronic Gear Ratio in Mode Step with Ratio (MSR):
MF0 MFMUL=1 MFDIV=10 MSR G
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Initiate Cam Mode (MC):
MF0 MC G
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Initiate a phase offset move while in Electronic Gear Ratio in either Mode Follow or
Mode Step:
MF0 MFMUL=1 MFDIV=10 MFR GMP(1) WAIT=2000 PRT=2000 VT=100 G(1)
On power-up, the motor defaults to the off state with MP (Mode Position) buffered with no
velocity or acceleration values. As a result, if G is issued, the motor will immediately servo in
place.
If a G command is transmitted and no motion results, any of the following may be the cause:
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EL=0 or too small
l ADT=0 or 1
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VT=0 or so small that motion is not visible
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Target position equals current position
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PRT=0
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Bh=1 the motor is hotter than max permitted temperature TH
l
AMPS=0 or too small
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T=0 or too small
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Motor is in Torque mode
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Limit input switch(s) asserted
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External encoder signal not present or not changing (in Follow modes)
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Motor is part of a daisy chain that has not been properly configured
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Serial communications are good but target motor is not addressed
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Serial communications at incorrect baud rate
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Serial communications cable not attached or poorly connected
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Motor has no drive power
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Motor has a previous fault that needs to be cleared
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Motor has no connections to limit switch inputs on boot-up and, therefore, has a
travel-limit fault
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Drive enable is not asserted (M-style only)
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Bus voltage is too high or too low
Part 2: Commands: G