Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 576 of 909
When operating in MFR or MSR mode, it is possible to create a motion profile where the motor
follows the encoder only for a specified distance — even if the encoder continues on. MFSLEW
specifies this distance in terms of the incoming encoder or the motor's outgoing motion.
In MC mode, this has special importance. It is possible to set the length of MFSLEW equal to
the master length of the Cam table. For example, a cam of 10 points (9 segments) with a
segment length of 100 will have a total length of 900 counts. In this example, by setting
MFSLEW(900,1), exactly one pass through the Cam table can be selected. In combination with
the MFSDC(0,0) command, an automatic repeat is selected. This allows for certain
parameters like MCMUL/MCDIV, MFSLEW and MFMUL/MFDIV to be updated synchronously
with the end of the Cam table.
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
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)
MFSDC(distance,mode) Mode Follow, Stall-Dwell-Continue (see page 573)
MSR Mode Step Ratio (see page 587)
Part 2: Commands: MFSLEW(distance[,m/s])
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