Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 531 of 909
Instead, the master profile can be used to accurately time the restart of the cam motion. The
Follow mode commands are still active in Cam mode, and are used to feed the master into the
Cam table. The MFSLEW and MFSDC commands can be used to create a master profile that
repeats to correspond to the start of the Cam table.
The master profile can be programmed to restart by carefully selecting an MFSLEW(length,1)
command value to align with the length of the Cam table (i.e., the number of segments times
the segment length, or the sum of all variable-length segment lengths). Note that the MFSLEW
command specifies the length in "slave" units because the output (slave) of the follow
commands is fed into the cam. The MFSDC(0,0) command is also required if a repetitive cam
motion is desired. The input source (specified by the SRC command) can be any source. For
details, see SRC(enc_src) on page 720.
EXAMPLE: (Subroutine from Cam program)
C41
MP PT=0 G TWAIT
SRC(2)
MCE(1) 'Spline
MFA(0)
MFD(0)
MFMUL=1
MFDIV=1
MCMUL=1
MCDIV=1
MFSLEW(112000,1)
MFSDC(100,0) 'Set dwell for "c" counts, auto reverse after dwell
MC
G
RETURN
RELATED COMMANDS:
MC Mode Cam (Electronic Camming) (see page 524)
R
MCDIV=formula Mode Cam Divisor (see page 527)
R
MCMUL=formula Mode Cam Multiplier (see page 530)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 573)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 575)
SRC(enc_src) Source, Follow and/or Cam Encoder (see page 720)
Part 2: Commands: MCMUL=formula
To Next Page
Loading...
Need help?
General
