Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 554 of 909
l
Exp2
Value Description
0 (Default at power up) The RPC(2) frame of reference is frozen when the servo
is off (OFF, MTB, MT).
1 The RPC(2) frame of reference will be updated with shaft motion when the
servo is off (OFF, MTB, MT). This is a special setting to ensure backward
compatibility with existing applications that may use the RPC(2) frame of
reference.
EXAMPLE: (Single-trajectory traverse winding application)
' *** User does some type of homing before this. ***
SRC(2) '*** For demo master signal. ***
'Typical applications would use SRC(1) for encoder input.
MFCTP(0,1) 'Start traverse state in "normal" direction;
'activate update of RCP(2) when servo is off.
MFL(1000,1) 'Lower-end ramp.
MFH(1000,1) 'Higher-end ramp.
MFLTP=-1000 'Lower traverse point.
MFHTP=1000 'Higher traverse point.
MFMUL=1 'Ratio (default is 1).
MFDIV=1 'Ratio (default is 1).
MFSDC(4000,2) 'Dwell for 4000 counts, 2 is active traverse mode.
MFR 'Enable follow mode.
G 'Begin move.
RELATED COMMANDS:
R
MFDIV=formula Mode Follow Divisor (see page 558)
MFH(distance[,m/s]) Mode Follow, High Ascend/Descend Rate (see page 560)
R
MFHTP=formula Mode Follow, High Traverse Point (see page 562)
MFL(distance[,m/s]) Mode Follow, Low Ascend/Descend Rate (see page 564)
R
MFLTP=formula Mode Follow, Low Traverse Point (see page 566)
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)
MSR Mode Step Ratio (see page 587)
Part 2: Commands: MFCTP(arg1,arg2)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English