Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 556 of 909
distance was traveled as specified by MFSLEW. The ramp will end when the ratio reaches 0.
The rate of decrease is controlled by the two parameters to the MFD 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, MFD still functions. However, it does not directly affect the output motor motion.
It is a front-end profile between the encoder input and the operation of the Cam table. MFD
can be used to gradually decrease 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
Part 2: Commands: MFD(distance[,m/s])
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