Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 530 of 909
MCMUL=formula
Mode Cam Multiplier
APPLICATION: Motion control
DESCRIPTION: Cam mode ratio multiplier
EXECUTION: Buffered at start of cam motion and at restarts due to MFSLEW
length
CONDITIONAL TO: Cam mode active
LIMITATIONS: N/A
READ/REPORT: RMCMUL
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: -32767 to 32767
TYPICAL VALUES: -32767 to 32767
DEFAULT VALUE: 1
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MCMUL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MCMUL command provides the Cam mode ratio multiplier. It is used in combination with
MCDIV to scale the output of the slave position in Cam mode. This allows a Cam table's
amplitude to be rescaled without rewriting the table.
Choose a ratio of MCMUL/MCDIV that provides sufficient resolution while allowing the desired
range. For example, to allow scaling from 10% to 1000% in 0.1% increments, choose
MCDIV=1000. For this case, a setting of MCMUL=1000 would provide a 100% (1:1) scaling of
the Cam table.
If the ratio of MCMUL/MCDIV produces a negative ratio, then the amplitude of the Cam table is
also negative.
Typically, the scaling should be configured before initiating cam motion with the G command.
However, under some circumstance, it is possible to change the scaling while moving.
To change scaling while moving, the changes to MCMUL are only accepted if a restart of the
cam motion occurs. A G command will force the restart of the cam motion. However, issuing a
G command during cam motion will cause a major disruption in speed and position. It will
move the starting slave position of the table to home, which is usually detrimental to machine
operations. Therefore, issuing a G command will only work if the cam is at the starting slave
position and remains there long enough to reliably issue that command. It may be difficult to
correctly time this in a program.
Part 2: Commands: MCMUL=formula
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