Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 583 of 909
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Absolute mode (initiated with a PT command) will always target the most recent value
of PT. If the PT value is the same as before, that is acceptable and can be useful for
changing the speed while keeping the target the same. If the application has newer
information about the desired target, the PT value can be different than previous values
in order to correct the target position.
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Relative mode (initiated with a PRT command) will always calculate a new ending
position by adding PRT to the current position. This is important to understand because a
G command issued while in motion will not remember the previous relative target. In
indexing applications like rotary tables, this could lead to an offset from the original
indexed locations. Therefore, this mode must be used carefully.
Assuming there are no faults, an MP command immediately followed by a G command turns
on the servo. The servo-off flag (Bo) is set to 0; the trajectory flag (Bt) is set to 1. The motion
is restricted by the current value of EL. The motion is also subject to the currently defined
activity of the limit switches. RMODE responds with a P.
EXAMPLE:
MV 'Velocity mode
ADT=1000 'Set accel/decel
VT=50000 'Set velocity
G 'Start motion
WAIT=6000 'Wait 6000 samples
MP 'Position mode
ADT=50 'Set accel/decel
VT=40000 'Set velocity
PT=1000 'Set position
G 'Start (change) motion
WAIT=200 'Wait 200 samples
VT=45000 'Change velocity
PT=0 'Update position
G 'Start motion
EXAMPLE: (Routine homes motor against a hard stop)
MDS 'Using Sine mode commutation
KP=3200 'Increase stiffness from default
KD=10200 'Increase damping from default
F 'Activate new tuning parameters
AMPS=100 'Lower current limit to 10%
VT=-10000 'Set maximum velocity
ADT=100 'Set maximum accel/decel
MV 'Set Velocity mode
G 'Start motion
WHILE EA>-100 'Loop while position error is small
LOOP 'Loop back to WHILE
O=-100 'While pressed, declare home offset
S 'Abruptly stop trajectory
MP 'Switch to Position mode
VT=20000 'Set higher maximum velocity
PT=0 'Set target position to be home
G 'Start motion
TWAIT 'Wait for motion to complete
AMPS=1023 'Restore current limit to maximum
END 'End program
Part 2: Commands: MP

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English