Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 447 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:
R
KA=formula Constant, Acceleration Feed Forward (see page 495)
R
KD=formula Constant, Derivative Coefficient (see page 497)
R
KG=formula Constant, Gravitational Offset (see page 499)
R
KI=formula Constant, Integral Coefficient (see page 501)
R
KL=formula Constant, Integral Limit (see page 504)
R
KP=formula Constant, Proportional Coefficient (see page 506)
R
KS=formula Constant, Velocity Filter Option (for KD) (see page 509)
R
KV=formula Constant, Velocity Feed Forward (see page 511)
Part 2: Commands: F

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English