Table of Contents
Advertisement
The following block diagram illustrates the relationship between the functional areas in the
SmartMotor.
VT=
AT=
DT=
PT=
PRT= ADT=
Trajectory 1
MP
MV
MD
Trajectory 2
MC
MFR MSR
Cam
function
1,2
External
INTERMEDIATE
Encoder
COUNTS
MFA
Trapezoidal
MFD
MFSLEW
Move Pro le
1
MFSDC
SOURCE
COUNTS
Internal
Clock:
1 tick per
PID cycle
NOTES:
1. MFMUL and MFDIV commands do not have an e ect on dwell time or distance. Dwell is strictly based on raw master encoder counts selected by the
SRC( ) command specifying internal virtual or external master count source.
2. When feeding a Cam table with a gearing pro le, changes to MFMUL and MFDIV will a ect the time it takes to move through a Cam table but will not
a ect dwell time, as speci ed in the previous note.
Moog Animatics Class 5 SmartMotor™ Installation and Startup Guide, Rev. I
SmartMotor Theory of Operation
G, X, OFF, S
KV
*
Vel
Accel
KA
*
P
e KP
*
RPC
+
I
KI edt
*
+
e
–
RPA
filter
D
KS
RCTR(0)
SmartMotor Theory of Operation Diagram
Page 24 of 76
MTB
KG
+
+ +
+
+
+
KL
MDS
de
MDC
MDE
KD
*
MDT
dt
PWM
Commutation
SRC(2)
SRC(1)
SRC(0)
Null
SRC(-1)
-1
*
SRC(-2)
-1
*
Control
on/o
Not supported on
D-style motors
KII KPI
Torque
command
Current
control
Current
sensors
Motor
Encoder
Hall sensor
Advertisement
Table of Contents
Need help?
Do you have a question about the SMARTMOTOR COMBITRONIC and is the answer not in the manual?