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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 570 of 909
MFR
Mode Follow Ratio
APPLICATION:
Motion control
DESCRIPTION:
Request mode follow with ratio
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
N/A
LIMITATIONS:
N/A
READ/REPORT:
N/A
WRITE:
N/A
LANGUAGE ACCESS:
N/A
UNITS:
N/A
RANGE OF VALUES:
N/A
TYPICAL VALUES:
N/A
DEFAULT VALUE:
MP
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
MFR:3 or MFR(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MFR command is used to implement a fractional relationship between an incoming
secondary encoder signal and the SmartMotor™ internal shaft position, which is represented
by the primary internal encoder count. The fractional relationship is defined by the user-set
ratio of MFMUL to MFDIV. The motor will move in proportion to the incoming encoder signal.
The encoder input is configured as a quadrature input. If a step-and-direction operation is
desired, then select MSR instead of MFR. Both commands operate the same with the exception
of the input signal type.
Either the external encoder can be selected, or an internal time-base can be selected. For
details, see SRC(enc_src) on page 720.
The motion can be gradually started and stopped even if the encoder source is constantly
running. For instance, if a conveyor is constantly running, the motor can be ramped up to
speed and then ramped down from speed by command or programmed distance. This allows
for operations on moving products, such as labeling, stamping or transfers from one conveyor
to another. For more information, see MFA(distance[,m/s]) on page 550, MFD(distance
[,m/s]) on page 555, and MFSLEW(distance[,m/s]) on page 575.
There are automatic modes that allow for repeating start-stop cycles or for traversing
applications like winders and cut-to-length material. For more information, see MFSDC
(distance,mode) on page 573.
Part 2: Commands: MFR
