Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 548 of 909
MF0
Mode Follow, Zero External Counter
APPLICATION: Motion control
DESCRIPTION: Reset external encoder to zero, select quadrature mode input
EXECUTION: Immediate; remains in effect until otherwise commanded
CONDITIONAL TO: External encoder inputs available, connected to an encoder
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: N/A
TYPICAL VALUES: N/A
DEFAULT VALUE: This is not the motor default; it is best practice to issue MF0
before beginning a program that uses quadrature inputs
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MF0:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MF0 command zeroes the second encoder register (see CTR(enc) on page 374) without
changing the current motion mode of the SmartMotor™.
Following MF0, the A and B pins will be interpreted as a quadrature encoder signal. MS0 is the
opposite input mode.
l
On the D-style motor, these are inputs 0 and 1.
l
On the M-style motor, these encoder inputs are differential and are labeled separately
from general I/O signals.
If the Mode Follow with Ratio (MFR) or the Cam mode does not meet your requirements, you
can write your own loop and define a unique relationship between the incoming secondary
encoder signal and the motor’s position.
MF0 is also typically used to take input from a quadrature output selector switch, especially in
the context of a user interface. It is not necessary to use the inputs for motion.
Part 2: Commands: MF0
To Next Page
Loading...
