Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 574 of 909
l
Exp2
Values are: 0 to repeat the gearing profile in the same direction; 1 to repeat the gearing
profile in the opposite direction; 2 for the improved traverse mode that uses absolute
position targets. A setting of 0 is typical for feeding labels in label applications, and a
setting of 1 or 2 is typical for traverse-and-takeup spool winding applications.
In MFR, MSR or MC mode, MFSDC is useful for creating a delay and restarting automatically
after the MFSLEW distance. The master encoder input will continue forward while the motor's
output motion remains stationary. After the specified number of encoder input counts, the
motor will continue motion again.
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
RELATED COMMANDS:
MFA(distance[,m/s]) Mode Follow Ascend (see page 550)
MFD(distance[,m/s]) Mode Follow Descend (see page 555)
R
MFDIV=formula Mode Follow Divisor (see page 558)
R
MFMUL=formula Mode Follow Multiplier (see page 568)
MFR Mode Follow Ratio (see page 570)
MFSLEW(distance[,m/s]) Mode Follow Slew (see page 575)
MSR Mode Step Ratio (see page 587)
Part 2: Commands: MFSDC(distance,mode)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English