Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 544 of 909
MDS
Mode Sine (Commutation Mode)
APPLICATION: Motion control
DESCRIPTION: Enable sine mode commutation, voltage 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 and later
COMBITRONIC: MDS:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDScommand enables the motor's sine commutation mode (voltage mode). This mode
offers smoother commutation when compared to trapezoidal modes. It accomplishes this by
shifting current more gradually from one coil to the next. Whereas, trapezoidal modes exhibit
higher torque due to the longer application of current to the windings, which overrides losses.
Refer to the following figure. It shows the differences between sine and 6-step trapezoidal
commutation modes, used by the SmartMotor, for one magnetic cycle. (Commutation ensures
firing of switches on the proper magnetic cycle.) The shaded leading areas indicate the
application of current sooner in trapezoidal commutation mode, which results in greater
torque.
Part 2: Commands: MDS
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