Moog SmartMotor User Manual

Appendix
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 878 of 909
NOTE: There is no RES= command.
l
RRES reports encoder resolution to the SMIterminal window or other user interface.
This value is set at the factory and cannot be changed. For example:
RRES 'Report encoder resolution to the user's screen.
NOTE: The typical resolution is 4000 for SmartMotors with a NEMA 23 or smaller
frame size; it is 8000 for the larger SmartMotors. However, depending on purchase
options, this may not always be the case. Therefore, always issue the RRES
command to verify the resolution.
Native Velocity and Acceleration Units
The following table shows the units for native Velocity Target (VT)and native Acceleration
Target (AT).
Native Velocity Target units (VT) are: (Encoder Counts/sample) * 65536
Native Acceleration Target units (AT) are: (Encoder Counts/sample/sample ) * 65536
Velocity Calculations
If you know the desired revolutions per second (RPS) and want to set Velocity Target (VT),
use the following equation:
If you wish to calculate velocity in real world units from native units:
NOTE: The system value is Actual Velocity (VA). You can issue RVA to report actual
velocity of the system in real time, but it will return native units.
The previous equation may be used with either VT or VA.
Acceleration Calculations
If you know your desired Revolutions per second per second (RPSS) and want to set Accel
Target (AT):
NOTE: The same calculation works for acceleration or deceleration, so it may be
applied to AT, DT, and combined ADT parameters.
If you wish to calculate Acceleration in real world units from native units:
NOTE: At this time, there is no method for reporting actual real-time acceleration
in Class 5 SmartMotors.
The previous equation may be used with either AT or DT.
Appendix: Native Velocity and Acceleration Units

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English