Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 525 of 909
ramps. Also, using the MFSLEW command, a predefined number of master counts can be
accepted before the Cam table halts.
The MCMUL and MCDIV commands allow the output (slave position) to be scaled without
rewriting the Cam table.
EXAMPLE: (Routine exercises each Cam User Bit during the programmed cam profile)
EIGN(W,0)
ZS
CTA(7,0,0) 'Add table into RAM al[0]-al[8].
CTW(0,0,1) 'Add 1st point, Cam User Bit 0 ON.
CTW(1000,4000,1) 'Add 2nd point, Cam User Bit 0 ON.
CTW(3000,8000,2) 'Add 3rd point, Cam User Bit 1 ON.
CTW(4000,12000,132) 'Add 4th, Spline Mode, Cam Bit 2 ON.
CTW(1000,16000,136) 'Add 5th, Spline Mode, Cam Bit 3 ON.
CTW(-2000,20000,16) 'Add 6th point, Cam Bit 4 ON.
CTW(0,24000,32) 'Add 7th point, Cam Bit 5 ON.
MC 'Select Cam Mode.
SRC(2) 'Use the virtual master encoder.
MCE(0) 'Force Linear interpolation.
MCW(0,0) 'Use table 0 in RAM from point 0.
MFMUL=1 'Simple 1:1 ratio from virtual enc.
MFDIV=1 'Simple 1:1 ratio from virtual enc.
MFA(0) MFD(0) 'Disable virtual enc. ramp-up/ramp-
'down sections.
MFSLEW(24000,1) 'Table is 6 segments * 4000 encoder
'counts each. Specify 1 for the second
'argument, which forces this number as
'the output total of the virtual master
'encoder into the cam.
MFSDC(-1,0) 'Disable virtual master (gearing) repeat.
G 'Begin move.
END 'Required END.
RELATED COMMANDS:
R
MCDIV=formula Mode Cam Divisor (see page 527)
MF0 Mode Follow, Zero External Counter (see page 548)
MFA(distance[,m/s]) Mode Follow Ascend (see page 550)
MFD(distance[,m/s]) Mode Follow Descend (see page 555)
R
MFDIV=formula Mode Follow Divisor (see page 558)
R
MFMUL=formula Mode Follow Multiplier (see page 568)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 573)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 575)
MS0 Mode Step, Zero External Counter (see page 585)
R
MCMUL=formula Mode Cam Multiplier (see page 530)
MCE(arg) Mode Cam Enable () (see page 528)
MCW(table,point) Mode Cam Where (Start Point) (see page 532)
ECS(counts) Encoder Count Shift (see page 403)
CTA(points,seglen[,location]) Cam Table Attribute (see page 370)
CTW(pos[,seglen][,user]) Cam Table Write Data Points (see page 377)
Part 2: Commands: MC

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English