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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 730 of 909
T=formula
Torque, Open-Loop Commanded
APPLICATION:
Motion control
DESCRIPTION:
Torque value for Torque mode
EXECUTION:
Buffered until a G command is issued
CONDITIONAL TO:
Torque mode (MT)
LIMITATIONS:
N/A
REPORT VALUE:
RT
WRITE:
Read/write
LANGUAGE ACCESS:
Assignment, formulas and conditional testing
UNITS:
Fraction of available torque
RANGE OF VALUES:
-32767 to 32767
TYPICAL VALUES:
-10000 and 10000
DEFAULT VALUE:
0
FIRMWARE VERSION:
5.x and later
COMBITRONIC:
T:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The MT command enables Torque mode. In this mode, the motor is commanded to develop a
specific output effort, which is set by T=formula. Where the values are from -32767 to 32767,
T=-32767 results in full torque in the negative direction. The encoder still tracks position and
can still be read with the PA variable, but the PID loop is off and the motor does not servo or
run a trajectory.
In voltage commutation modes (MDT, MDE and MDS), MT sets the PWM signal to the drive at a
fixed percentage. For any given setting of T and no applied load, there will be a velocity at
which the Back EMF (BEMF) of the motor causes the acceleration to stop and the velocity to
hold nearly constant. Under the no load or static load conditions, the T command will control
velocity. As the load increases, the velocity decreases.
In current-control commutation, MDC, T= sets a request for current, which is proportional to
torque.
CAUTION:
There is no inherent speed-limiting behavior when using MDC
mode.
Any previous faults must be cleared before issuing the G command.
When setting larger values of T, the effect can be an abrupt current spike. This is a result of
the motor requiring more current as it moves from a standstill and accelerates to speed. To
reduce the impact, the TS= command can be used to gently apply the current.
Part 2: Commands: T=formula