Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 546 of 909
MDT
Mode Trap (Commutation Mode)
APPLICATION: Motion control
DESCRIPTION: Enable trapezoidal (6-step) mode commutation using Hall
sensors
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: N/A
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 series only
COMBITRONIC: MDT:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MDTcommand enables the motor's trapezoidal commutation mode using Hall sensors
(the default mode for D-style motors). Despite the minor inaccuracies that are typical in the
mechanical placement of the sensors, this is the most simple and effective method, and it is
ready on boot up.
Use status word 6 to see the active commutation mode.
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).
EXAMPLE:
MDT 'Set trap mode
'Will remain in trap mode until commanded otherwise
MV 'Set velocity move
VT=1500000 'Set velocity target
ADT=100 'Set accel/decel target
G 'Start motion
END
Part 2: Commands: MDT

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English