Moog SmartMotor User Manual

Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 10 of 909
GOTO(), GOSUB() Examples 190
SWITCH, CASE, BREAK, ENDS Examples 191
Interrupt Programming 192
ITR(), ITRE, ITRD, EITR(), DITR(), RETURNI 192
TMR(timer,time) 194
Variables and Math 195
Introduction 196
Variable Commands 196
EPTR=formula 196
VST(variable,number) 196
VLD(variable,number) 197
Math Expressions 197
Math Operations 197
Logical Operations 197
Integer Operations 197
Floating Point Functions 197
Math OperationDetails and Examples 198
Array Variables 198
Array Variable Examples 199
Error and Fault Handling Details 200
Motion and Motor Faults 201
Overview 201
Drive Stage Indications and Faults 201
Fault Bits 201
Error Handling 202
Example Fault-Handler Code 202
PAUSE 203
RESUME 203
Limits and Fault Handling 204
Position Error Limits 204
dE/dt Limits 204
Velocity Limits 204
Hardware Limits 204
Software Limits 205
Fault Handling 205
Monitoring the SmartMotor Status 206
System Status 208

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English