Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 542 of 909
MDHV
Mode Hybrid Velocity (Commutation Mode)
APPLICATION: Motion control
DESCRIPTION: Hybrid velocity commutation mode transition speed
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: MDH mode active
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: N/A
RANGE OF VALUES: 0 to 2147483647
TYPICAL VALUES: 100000 to 1000000
DEFAULT VALUE: 546133
FIRMWARE VERSION: 5.x.4.31 and later (NOTE:5.0.x, 5.16.x or 5.32.x series only)
COMBITRONIC: MDHV:3=500000
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDHVcommand is a setting in relation to the motor's hybrid velocity commutation mode,
MDH, for 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). The command is used as follows:
MDHV=
sets the motor actual speed (a positive, absolute value) at which the transition from MDS to
MDE commutation mode occurs. Refer to the following code example. For more details, see
MDH on page 540.
EXAMPLE: (shows MDHand MDHV)
MDHV=500000 'Set hybrid transition velocity
MDH 'Set hybrid mode
'Will remain in hybrid mode until commanded otherwise
MV 'Set velocity move
VT=600000 'Set velocity target
ADT=10 'Set accel/decel target
G 'Start motion
END
RELATED COMMANDS:
MDB Enable TOB Feature (Commutation Mode) (see page 534)
MDC Mode Current (Commutation Mode) (see page 536)
Part 2: Commands: MDHV

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English