Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 577 of 909
MINV(arg)
Mode Inverse (Commutation Inverse)
APPLICATION: Motion control
DESCRIPTION: Inverts (reverses, negates, turns around) the direction con-
vention of the motor
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: Do not apply while motor drive is enabled
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: N/A
UNITS: N/A
RANGE OF VALUES: Input: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: MINV(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MINV (Mode Inverse) command inverts the direction convention (orientation) of the
SmartMotor as follows:
l
MINV(0) restores the default direction convention
l
MINV(1) inverts the direction convention
When looking at the end of the motor shaft, the default direction convention of the
SmartMotor is clockwise shaft rotation = positive encoder counts, and counterclockwise shaft
rotation = negative encoder counts. Issuing the MINV(1) command inverts (flips) this
direction convention.
Part 2: Commands: MINV(arg)
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