Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 575 of 909
MFSLEW(distance[,m/s])
Mode Follow Slew
APPLICATION: Motion control
DESCRIPTION: Follow mode slew at ratio for a fixed distance
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: -1 to 2147483647
[m/s]: 0 or 1
TYPICAL VALUES: Input:
value: -1 to 2147483647
[m/s]: 0 or 1
DEFAULT VALUE: -1 (no ramp, follow mode immediately at ratio)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MFSLEW(1000,1):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFSLEWcommand sets the follow mode slew at ratio for a fixed distance. It uses the
format:
MFSLEW(distance[,m/s])
where:
l
distance
Specifies counts — valid values from -1 to 2147483647. Set to -1 (default) to disable.
When disabled, Follow mode continuously runs at ratio. A distance of 0 is acceptable. It
produces a motion where only the MFA and MFD ramps form a triangular profile.
l
m/s
(Optional) Specifies the meaning of exp1. Values are: 0 for designating input units
(master units); 1 for designating distance traveled (slave units).
Part 2: Commands: MFSLEW(distance[,m/s])

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English