Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 565 of 909
ramps at the lower end of the absolute traverse. This is an important difference because the
other ramps, MFA and MFD, are associated with increasing and decreasing ramps,
respectively. Whereas, MFL is associated with the lower physical position and orientation of
the ramp in the absolute traverse profile.
The MFL command can be set at any time, but the value is buffered and accepted when the
absolute traverse mode reaches a speed of 0. Typically, this is when starting, or when a
traverse point is reached and the motor has ramped down to a stop (using the previous ramp
rate).
NOTE: This can cause an asymmetry because the descent and ascent ramps at a
particular traverse point will not be the same.
Depending on the application, this could be a problem. The best way to avoid an asymmetry is
to set the ramp when heading away from the traverse point it affects. In other words, only set
MFL when the motor is traveling in a positive direction away from the low traverse point.
NOTE: MFA is not applied in the absolute traverse mode. MFD is only applied in the
absolute traverse mode if an X (decelerate to stop) command is issued.
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:
MFCTP(arg1,arg2) Mode Follow Control Traverse Point (see page 553)
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)
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: MFL(distance[,m/s])

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English