Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 386 of 909
DELM(arg)
Derivative Error Limit Mode
APPLICATION: Motion control
DESCRIPTION: Derivative error limit mode
EXECUTION: Immediate
CONDITIONAL TO: Servo active (MP, MV, etc., but not MT mode)
LIMITATIONS: N/A
READ/REPORT: N/A
WRITE: Write only
LANGUAGE ACCESS: Assignment
UNITS: N/A
RANGE OF VALUES: 0, 1
TYPICAL VALUES: 0, 1
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The DELM command allows the dE/dt fault limit to be reconfigured. By default, DELM is set to
the value 0. This means that the absolute value of DEA is compared to DEL when determining
if the dE/dt limit has been exceeded. This means that a disturbance to the motor in either
direction can potentially lead to a fault if the disturbance is large enough.
This behavior can be changed by setting DELM(1). When that value is issued, the DEL limit is
only reactive to disturbances that block the commanded direction of motion (i.e., something
that attempts to cause the motor to run slower). Disturbances that attempt to cause the motor
to run faster are ignored.
EXAMPLE:
EIGN(W,0) 'Make all onboard I/O inputs
ZS 'Clear
IF IN(6)==0 'Check Input 6
DELM(1) 'Set derivative error limit mode to 1
ELSE DELM(0) 'Otherwise, set to 0
ENDIF
END
RELATED COMMANDS:
R
DEA Derivative Error, Actual (see page 380)
R
DEL=formula Derivative Error Limit (see page 384)
Part 2: Commands: DELM(arg)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English