Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 747 of 909
TS=formula
Torque Slope
APPLICATION: Motion control
DESCRIPTION: Gets (reads) or sets the torque slope
EXECUTION: Buffered until a G command is issued
CONDITIONAL TO: MT mode
LIMITATIONS: N/A
READ/REPORT: RTS
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: ((Units of T=) per sample)*65536
RANGE OF VALUES: -1 to 2147483647
TYPICAL VALUES: -1 (disable), orfrom 65536 to 1000000
DEFAULT VALUE: -1 (disabled)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: TS:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The TScommand is used to get (read) or set the torque slope as follows:
l
=TS
Get torque slope setting
l
TS=formula
Set torque slope
In Torque mode (MT), the TS= command allows new torque settings to be reached gradually
rather than instantly. Values may be from -1 to +2147483647. A value of -1 disables the slope
feature and causes new torque values to be reached immediately. A TS setting of 65536 will
increase the output torque by one unit per PID sample period.
EXAMPLE:
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
NOTE: In Torque mode, the new torque value does not take effect until a G
command is issued.
After executing the above code, in the SMI software Terminal window, use the PRINT
(TS)command to get the current torqueslope value:
Part 2: Commands: TS=formula
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