Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 590 of 909
The ramp-up rate for the T value can be controlled with the TS command. For details, see
TS=formula on page 747.
CAUTION: Do not attempt to regulate speed with Torque mode. It is not
designed for that and will give poor results. Likewise, it is difficult to place a
speed limit on Torque mode. If the load decreases, it causes the motor shaft
speed to increase to a new equilibrium because power must remain constant.
EXAMPLE: (Increases torque, one unit every PID sample period, up to 8000 units)
MT 'Select torque mode
T=8000 'Final torque after the TS ramp that we want
TS=65536 'Increase the torque by 1 unit of T per PID sample
G 'Begin move
RELATED COMMANDS:
R
Bt Bit, Trajectory In Progress (see page 340)
R
T=formula Torque, Open-Loop Commanded (see page 730)
R
TS=formula Torque Slope (see page 747)
Part 2: Commands: MT
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