Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 540 of 909
MDH
Mode Hybrid (Commutation Mode)
APPLICATION: Motion control
DESCRIPTION: Enables hybrid commutation mode
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: Motor rotates past internal index to initialize commutation
angle
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: D-style motors default to MDT commutation mode;
M-style motors default to MDC commutation mode
FIRMWARE VERSION: 5.x.4.31 and later (NOTE:5.0.x, 5.16.x or 5.32.x series only)
COMBITRONIC: MDH:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDHcommand enables the motor's hybrid commutation mode. The purpose of this mode
is to overcome the lack of MDC mode support in Class 5 D-style motors running specific
firmware (i.e., firmware 5.x.4.31 and later in the 5.0.x, 5.16.x or 5.32.x series only). For
details on MDC mode, see MDC on page 536.
The operation of MDH mode will apply either MDS or MDE commutation mode based on an
operating speed specified by the MDHV command:
l
below that speed, MDS commutation is applied for smooth rotation
l
above that speed, MDE commutation is applied for high-speed efficiency
NOTE: At higher speeds, the motor tends to average out any of the low-speed
smoothness issues. At lower speeds, the loss of efficiency is minor.
To determine the selection of either MDS or MDE commutation, the motor's actual measured
speed as an absolute (positive) value is compared to the value set by the MDHV command
based on the criteria described above.
Part 2: Commands: MDH

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English