Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 534 of 909
MDB
Enable TOB Feature (Commutation Mode)
APPLICATION: Motion control
DESCRIPTION: Enable the Trajectory Overshoot Braking (TOB) option
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: Trapezoidal (6-step) commutation mode active: MDT or MDE
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: By default, this mode is not enabled
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MDB:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDB command enables the Trajectory Overshoot Braking (TOB) option.
This command should be used to enable TOB after using the MDT or MDE commands. Note the
following:
l
This option reverts to off when one of these commutation mode commands are used.
l
This option is off by default. Status Word 6, Bit 9 indicates if this mode is active.
NOTE: MDE, MDS and MDC require angle match before they will take effect. This
means the SmartMotor's factory calibration is valid and the index mark of the
internal encoder has been seen after startup. The default commutation mode for
D-style motors is MDT (see MDT on page 546); the default commutation mode for
M-style motors is MDC (see MDC on page 536).
Part 2: Commands: MDB

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English