Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 771 of 909
VAC(arg)
Velocity Actual (filter) Control
APPLICATION: Motion control
DESCRIPTION: Sets the velocity filter
EXECUTION: Next PIDsample
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: None
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Scaled encoder counts/sample
RANGE OF VALUES: 0 to 65535
TYPICAL VALUES: 0 to 65535
DEFAULT VALUE: 65000
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The VAC(arg) command sets the velocity filter used by the VA command, where arg is the
value used to set the time constant of the filter. This command controls the filter used to
measure the speed reported from the VA command (RVA, x=VA). A value of VAC(0) turns off
this filtering so that VA reports raw data that may be highly quantized (e.g., 0, 65536,
131072). Many applications require finer resolution. Therefore, many samples are averaged
in a digital filter.
The maximum value of VAC is 65535. However, the default value of 65000 should work for
most applications. Note that higher values provide a smoother filter at the cost of a longer
settling time. Therefore, use the default value unless a specific problem with the VA reading
requires tuning it.
Refer to the following table for PID sample rate of 8000 Hz (set with the PID2 command).
Part 2: Commands: VAC(arg)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English