Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 555 of 909
MFD(distance[,m/s])
Mode Follow Descend
APPLICATION: Motion control
DESCRIPTION: Follow mode, descend ramp; default is zero (off)
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: Encoder counts from encoder input or internal counter (select-
able)
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: MFD(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFD command specifies the descend ramp from the current ratio to a ratio of 0. It uses
the format:
MFD(exp1[,exp2])
where:
l
Exp1
Specifies counts — valid values 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 down.
This ramp starts when an X (decelerate to stop) is commanded, or a pre-programmed
Part 2: Commands: MFD(distance[,m/s])
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