Moog SmartMotor User Manual

Part 3: Examples
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 838 of 909
Chevron Traverse & Takeup
This program uses four parameters to create a "Chevron" type wrap. For more information on
this type of wrap, see Chevron Wrap Example on page 150.
It requires knowing:
l
it requires knowing spool width and spool counts/rev, and
l
that the cam must not get out of frame at each end.
Therefore, the traverse length must be an even multiple of the counts/rev. Otherwise, it will
not work correctly.
Note that you can add a dwell at either end to tweak the frame of reference for the return path
to prevent the material from falling into the grooves of the previous layer. That is the purpose
of this wrapping method.
'Traverse & Takeup Chevron Winding Pattern
' This sample program will perform a traverse & takeup operation to produce
' a "chevron" winding pattern. By winding in a chevron pattern, each layer
' crosses diagonally over the previous layer's position. The purpose of this
' pattern is to prevent the wound material from getting caught in the cracks
' of the previous layer.
EIGN(W,0)
ZS
'System parameters:
'!!! NOTE: w/c should evenly divide with no remainder!
c=8000 'Master (External) Encoder resolution (counts per 360 deg
' turn of spool).
w=10000 'Spool width distance in encoder counts of traversing slave motor.
'Chevron shape (pitch and amplitude)
n=1000 'Slave counts per full (360 deg) turn of master spool (pitch).
nn=1000 'Slave counts per half (180 deg) turn of master spool (amplitude).
'Prevent overshoot at high end of the spool.
IF nn>n
s=(w-(nn-n))/n*c 'calculating slew distance for MFSLEW
ELSE
s=(w/n)*c
ENDIF
cc=c/2 'Calculate 180 deg turn of master spool.
ITR(1,7,10,0,1)
EITR(1)
ITRE
PAUSE
END
C1
MCMUL=MCMUL*-1
RETURNI
Part 3: Examples: Chevron Traverse & Takeup

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English