Moog SmartMotor SM34165MT-IP, Руководство Ethernet IP

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Torque Command
Moog Animatics Class 6 EtherNet/IP Guide, Rev. B
Page 57 of 160
A
cc
eler
ation
AT=100
Target Velocity
VT=32768
D
ec
eler
ation*
Begin
Motion
Target Position
Reached
Position=0 Position=8000
*NOTE: For the SmartMotor, there is an override that automatically sets
DT equal to AT if the motor power is turned on and only AT is set.
Motion Profile For I/O Assembly Examples
For more details, see THE CIP NETWORKS LIBRARY, Volume 1: Common Industrial Protocol
(CIP™) , which is available on the ODVA.org website.
Torque Command
Attribute 3 of the Position Controller Object determines how the device operates. The
SmartMotor can output a Torque command to the integrated motor if the Position Controller
(0x25) Attribute 3 value is set for Torque mode using a setting of 2 for the attribute.
Refer to the SmartMotor™ Developer's Guide for further information on Torque mode.
Control Mode Change - Change Dynamic
With the SmartMotor, it is possible to change from one control mode to another during oper-
ation or while in a move profile in any other mode. In other words, while operating in Position
mode with Position Controller mode Attribute 3 set to the value 0 and using Implicit Message
Type 1, the programmer can change to Torque mode by setting Attribute 3 to the value 2 and
then executing a new "Start Profile" with Implicit Message Type 5.
This "Change Dynamic" feature can be fully executed using the Implicit Messages of the Pos-
ition Controller Device. This is facilitated using Message Type 0x1B during a profile once it has
started, and then starting another profile after changing the mode attribute.