Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 385 of 909
will increase until that condition is met. By adding an additional derivative limit on following
error, the servo will fault within milliseconds of contact with an object.
EXAMPLE:
DEL=VT 'Set limit to commanded speed
If dE/dt equals commanded velocity, then the motor just hit a hard stop. Normally, the motor
would have to continue applying torque until the normal following error is exceeded.
However, if DEL (dE/dt limit) is set to target velocity (VT), then as soon as contact is made
with a hard stop, the controller will immediately fault without any wind up.
RELATED COMMANDS:
R
DEA Derivative Error, Actual (see page 380)
DELM(arg) Derivative Error Limit Mode (see page 386)
Part 2: Commands: DEL=formula
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