Moog SmartMotor User Manual

Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 834 of 909
Camming - Fixed Cam with Input Variables
The following fixed-cam example uses variables for the values of various program inputs.
This method allows quick operational changes versus having the values "hard coded".
EIGN(W,0)
ZS
ADDR=1
ECHO
a=0 ' MFA
b=0 ' MFD
m=1 ' keep as 1 for ramp output to match cam input units.
p=8 ' points
ss=3000 ' Segment length
s=p-1 ' segments
sss=ss*s ' total cam input (base) length.
k=sss-(a+b) ' Choose slew length from what is left between the ramp up/down.
IF k<0 PRINT("Ramps too long",#13) END
ENDIF
GOSUB1 ' Write cam table
GOSUB2 ' Run cam operation
END
C1 ' Write cam table one time
IF q==123 RETURN ENDIF
CTE(1) ' Erase cam table in EEPROM
CTA(p,ss) ' Make sure the number of CTW commands = p.
CTW(0) 'CP=0 {cam pointer or cam index pointer}
CTW(100) 'CP=1
CTW(500) 'CP=2
CTW(2000) 'CP=3
CTW(2000) 'CP=4
CTW(5000) 'CP=5
CTW(1000) 'CP=6
CTW(0) 'CP=7
PRINT("Cam written",#13)
q=123
RETURN
C2
O=0
MFMUL=1
MFDIV=1
MCMUL=1
MCDIV=1
MCE(1) ' Enable cam mode
SRC(2)
MFSLEW(k,1)' Get result in ramp output units to match the cam input units
MFSDC(-1,0)
MFA(a,m) ' m=1 for ramp output to match cam input units.
Camming - Fixed Cam with Input Variables

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English