Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 551 of 909
programmed ratio of MFMUL/MFDIV is reached. The rate of increase is controlled by the two
parameters to the MFA function. The first argument is a distance (in encoder counts), and the
second argument specifies if that distance is in terms of the encoder input or the motors
output motion.
In MC mode MFA still functions. However it does not directly affect the motor's output motion.
It is a front-end profile between the encoder input and the operation of the Cam table.
MFAallows for gradual increase of the rate at which cam points are followed.
EXAMPLE: (profile driven by an incoming encoder signal)
MFMUL=300
MFDIV=100
MFA(300,1) 'Slave moves 300 counts over ascend
MFD(600,1) 'Slave moves 600 counts over descend
MFSLEW(200,1) 'Slave maintains sync ratio for 200 counts
MFR
G
EXAMPLE: (Cam program example; uses virtual encoder)
CTE(1) 'Erase all EEPROM tables.
CTA(7,4000) 'Create 7-point table at each 4K encoder increment.
CTW(0) 'Add 1st point.
CTW(1000) 'Add 2nd point; go to point 1000 from start.
CTW(3000) 'Add 3rd point; go to point 3000 from start.
CTW(4000) 'Add 4th point; go to point 4000 from start.
CTW(1000) 'Add 5th point; go to point 1000 from start.
CTW(-2000) 'Add 6th point; go to point -2000 from start.
CTW(0) 'Add 7th point; return to starting point.
'Table has now been written to EEPROM.
SRC(2) 'Use the virtual encoder.
MCE(0) 'Force linear interpolation.
MCW(1,0) 'Use table 1 from point 0.
MFMUL=1 'Simple 1:1 ratio from virtual encoder.
MFDIV=1 'Simple 1:1 ratio from virtual encoder.
MFA(0) MFD(0) 'Disable virtual encoder ramp-up/
'ramp-down sections.
MFSLEW(24000,1) 'Table is 6 segments * 4000 encoder
'counts each.
'Specify the second argument as a 1 to
'force this number as the output total of
'the virtual encoder into the cam.
MFSDC(-1,0) 'Disable virtual encoder profile repeat.
MC 'Enter Cam mode.
G 'Begin move.
END
RELATED COMMANDS:
MFD(distance[,m/s]) Mode Follow Descend (see page 555)
R
MFDIV=formula Mode Follow Divisor (see page 558)
R
MFMUL=formula Mode Follow Multiplier (see page 568)
MFR Mode Follow Ratio (see page 570)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 573)
Part 2: Commands: MFA(distance[,m/s])

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English