Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 205 of 909
EILP Enable positive limit switch on I/O port.
EILN Enable negative limit switch on I/O port.
Software Limits
Software limits offer distinct advantages over hardware limits connected to the limit inputs of
the SmartMotor. Software limits are "virtual" (non-hardware) limit switches that can interrupt
motion with a limit fault in the event the actual position of the motor strays beyond the
desired region of operation. The limit fault is directionally sensitive, so it will cause a fault if
motion is commanded further in the direction of a limit once that limit has been exceeded.
SLE Software limits enable.
SLD Software limits disable.
SLN=formula Sets left/negative limit.
SLP=formula Sets right/positive limit.
SLM(mode) Software limit mode. Determines if software limits result in a fault
or not. 0 no fault, 1 causes fault when soft limit history asserted.
Fault Handling
When a limit is exceeded, motion is interrupted with a fault. The FSA (fault stop action)
command is used in fault handling, as follows:
FSA(cause,action) Fault stop action.
where:
cause: the type of fault to set a mode on:
0 – All types of fault.
1 – Hardware travel limits.
2 – Reserved.
action: action to take:
0 – Default action (MTB).
1 – Servo off.
2 – X command.
Part 1: Programming: Software Limits

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English