Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 777 of 909
Output Equation
Radians/Sec =VC*PI*2*((SAMP/65536.0)/RES)
Encoder Counts/Sec =VC*(SAMP/65536.0)
Rev/Sec =VC*((SAMP/65536.0)/RES)
RPM =VC*60.0*((SAMP/65536.0)/RES)
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("PRINTVC = ")
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
RELATED COMMANDS:
R
RES Resolution (see page 670)
R
SAMP Sampling Rate (see page 690)
VA Velocity Actual (see page 768)
R
VT=formula Velocity Target (see page 788)
Part 2: Commands: VC
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