Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 550 of 909
MFA(distance[,m/s])
Mode Follow Ascend
APPLICATION: Motion control
DESCRIPTION: Follow mode, ascend ramp;
EXECUTION: Buffered until a G command is issued or a profiled move
restarts through MFSDC
CONDITIONAL TO: MFR, MSR or MC modes
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: Either encoder counts from encoder input, or internal encoder
counts (selectable)
RANGE OF VALUES: Input:
value: 0 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES: Input:
value: 0 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE: 0 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MFA(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFA command sets the ascend ramp to the specified sync ratio from a ratio of zero. It
uses the format:
MFA(exp1[,exp2])
where:
l
Exp1
Specifies counts — valid values are from 0 to 2147483647. Set to 0 (default) to disable.
l
Exp2
(Optional) Specifies the meaning of exp1. Values are: 0 specifies input units (master
units); 1 specifies distance-traveled units (slave units).
When operating in MFR or MSR mode, it is possible to create a motion profile where the ratio
of the incoming encoder signal to the motor output motion can be gradually ramped up. This
ramp starts when motion is commanded to start with a G command, and will end when the
Part 2: Commands: MFA(distance[,m/s])
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