MOOG ANIMATICS Class 6 SmartMotor, Installation & Start?Up Manual, Page: 47 / 58

Setting and Reporting Torque
NOTE: If you do not have the correct tab selected, the commands you enter
will not go to the motors and there will be no response.
2. Enter the following commands in the Terminal window:
You should immediately see the motor shaft moving in the positive direction (clockwise,
when looking at the end of the motor shaft). If the motor does not respond to the com-
mands, see Troubleshooting on page 54 for troubleshooting tips.
NOTE: Macros (shortcut keys) can be used to simplify entry of frequently-
used commands. For details, see Macros in the SmartMotor™ Developer's
Guide .
3. After you have observed the motor shaft turning, enter the X command to decelerate
the motor to a stop.
Setting and Reporting Torque
The following commands are related to the previous motion procedure. For more details on
these commands, see the
SmartMotor™ Command Reference Guide .
MT (Mode Torque)
MT sets the mode of operation to torque mode. In this mode, the SmartMotor shaft applies a
torque independent of position. For more details, see Torque Mode in the
SmartMotor™
Developer's Guide .
T=formula (Set Target Torque)
T can be set to any value from -32767 to +32767, which represents -99.99% to +99.99% PWM
(pulse-width modulation) commanded.
RTRQ (Report Actual Torque)
Enter RTRQ at the Terminal window to report the commanded torque from the trajectory gen-
erator.
Note that RTRQ typically reports a value that's one less than the T value. In the previous
example, T=3000, but RTRQ reports 2999. This is due to zero being counted as the least
amount of torque commanded. TRQ is
always % PWM commanded to the motor at any time
and in any mode of operation. It can be used to transfer across modes without a ripple or
bump in force applied to the load.
TS (Set Torque Slope)
The TS command defines how fast the processor applies a change in torque. For an example
of the TS command, see the Chart View Example in the
SmartMotor™ Developer's Guide .
Moog Animatics Class 6 SmartMotor™ Installation & Startup Guide, Rev. 03 - PRELIMINARY
Page 47 of 58