Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 560 of 909
MFH(distance[,m/s])
Mode Follow, High Ascend/Descend Rate
APPLICATION: Motion control
DESCRIPTION: Sets the ramp at the high end of the traverse
EXECUTION: Buffered until a G command is issued or either traverse point
after reversal
CONDITIONAL TO: MFR or MSR mode; MFSDC(x,2) mode selected
LIMITATIONS: If the combined ramp slave distances of MFL and MFH exceed
the traverse distance, then the ramp rate(s) are increased as
required.
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:
MFH(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFHcommand sets the ramp at the high end of the traverse. It uses the format:
MFH(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 of exp2: 0 specifies input units
(master units); 1 specifies distance-traveled units (slave units).
MFH behaves similar to MFA and MFD, where a ramp is defined during the follow profile.
However, MFH has a slightly different application. It is only used in absolute traverse mode,
MFSDC(x,2). MFH defines the descent and ascent ramps at the high end of the absolute
Part 2: Commands: MFH(distance[,m/s])

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English