Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 432 of 909
EXAMPLE: (Routine homes motor against a hard stop)
MDS 'Using Sine mode commutation
KP=3200 'Increase stiffness from default
KD=10200 'Increase damping from default
F 'Activate new tuning parameters
AMPS=100 'Lower current limit to 10%
VT=-10000 'Set maximum velocity
ADT=100 'Set maximum accel/decel
MV 'Set Velocity mode
G 'Start motion
WHILE EA>-100 'Loop while position error is small
LOOP 'Loop back to WHILE
O=-100 'While pressed, declare home offset
S 'Abruptly stop trajectory
MP 'Switch to Position mode
VT=20000 'Set higher maximum velocity
PT=0 'Set target position to be home
G 'Start motion
TWAIT 'Wait for motion to complete
AMPS=1023 'Restore current limit to maximum
END 'End program
RELATED COMMANDS:
RCKS Report Checksum (see page 669)
RUN Run Program (see page 682)
RUN? Halt Program Execution Until RUN Received (see page 684)
Z Total CPU Reset (see page 806)
Part 2: Commands: END

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English