Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 769 of 909
and RES can be reported from the terminal using the RSAMP and RRES commands,
respectively). SAMP can change if the PID command is used. The value of REScan differ
between motor models.
Output Equation
Radians/Sec =VA*PI*2*((SAMP/65536.0)/RES)
Encoder Counts/Sec =VA*(SAMP/65536.0)
Rev/Sec =VA*((SAMP/65536.0)/RES)
RPM =VA*60.0*((SAMP/65536.0)/RES)
A useful Scale Factor Multiplier code example, which also illustrates the use of af[], SAMP and
RES, is shown in RES on page 670 and SAMP on page 690.
EXAMPLE: (monitor acceleration ramp)
O=0 'Set up a velocity move
EL=4000
ADT=10
v=1000000
VT=v
MV
G
WHILE VA<v 'Monitor velocity while
IF Be 'Accelerating
BREAK 'Exit if position error
ENDIF
GOSUB5 'Report trajectory velocity
LOOP
GOSUB5 'Final report
END
C5
PRINT("PRINTVC = ")
PRINT(VC,#13) 'Get/print commanded velocity
PRINT("RVC = ")
RVC 'Report commanded velocity
WAIT=4000
RETURN
Program output is:
RUN
PRINT VC = 565
RVC = 1395
PRINT VC = 322065
RVC = 323155
PRINT VC = 643845
RVC = 644915
PRINT VC = 965605
RVC = 966675
PRINT VC = 1000000
RVC = 1000000
Part 2: Commands: VA

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English