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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 589 of 909
MT
Mode Torque
APPLICATION:
Motion control
DESCRIPTION:
Request torque mode
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:
MT:3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MT (Mode Torque) command enables Torque mode. In this mode, the motor is
commanded to develop a specific output effort, set by T=formula.
l
T=32767 results in 100% PWM in the positive direction
l
T=-32767 results in 100% PWM in the negative direction
While in this mode, the encoder still tracks position and can still be read with the PA variable.
However, the PID loop is off, and the motor is not servoing or running a trajectory.
For any given torque and no applied load, there will be a velocity at which the Back EMF
(BEMF) of the motor stops acceleration and holds an almost-constant velocity. Therefore,
under the no-load condition, the T command will control velocity. As the delivered torque
increases, the velocity decreases.
NOTE:
MT does not regulate torque in the D-style motor. Instead, it delivers a
fixed amount of voltage (PWM) to the motor coils.
Assuming there are no faults, an MT command followed by a G command immediately
activates the servo. The servo off flag (Bo) is set to 0; the trajectory flag (Bt) will indicate if a
TS ramp has been set. The motion is not restricted by the current EL value. For instance,
issuing EL=0 would have no effect on the current motion. The motion is subject to the
currently defined activity of the limit switches.
Part 2: Commands: MT
