Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 458 of 909
EXAMPLE:
ADT=100'Set buffered accel/decel
VT=10000'Set buffered velocity
PT=1000 'Set buffered position
MP 'Set buffered Position Mode
G 'Load buffered move, start motion
To servo in place:
PT=PA'Set buffered position = actual position
G 'Set buffered Velocity
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:
ADT=formula Acceleration/Deceleration Target (see page 257)
R
AT=formula Acceleration Target (see page 280)
R
DT=formula Deceleration Target (see page 390)
EISM(6) E-Configure Input as Sync Master (see page 416)
R
EL=formula Error Limit (see page 419)
GS Start Synchronized Motion (GO Synchronized) (see page 467)
MC Mode Cam (Electronic Camming) (see page 524)
MFR Mode Follow Ratio (see page 570)
MP Mode Position (see page 582)
MV Mode Velocity (see page 593)
R
PRT=formula Position, Relative Target (see page 652)
R
PT=formula Position, (Absolute) Target (see page 658)
R
VT=formula Velocity Target (see page 788)
Part 2: Commands: G

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English