Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 472 of 909
EXAMPLE: (homing against a hard stop with Index reference)
NOTE: This method of referencing against a hard stop can eliminate an additional
switch and cable.
AMPS=100 'Current limit 10%
O=0 'Declare this home
MP 'Set Mode Position
ADT=100 'Set accel/decel
VT=100000 'Set Velocity
PT=-1000000 'Move negative
Ai(0)
G 'Start Motion
WHILE Bt 'Wait for motion fault
IF Bi(0) 'If rising-edge index pulse seen
a=I(0) 'Record rising-edge index position
ENDIF
LOOP 'Loop back to wait
O=-a 'Last Index is Home
PT=0 'Move to New Home
G 'Start Motion
AMPS=1023 'Restore power
RELATED COMMANDS:
Ai(arg) Arm Index Rising Edge (see page 264)
Aij(arg) Arm Index Rising Edge Then Falling Edge (see page 266)
Aj(arg) Arm Index Falling Edge (see page 268)
Aji(arg) Arm Index Falling Edge Then Rising Edge (see page 270)
R
Bi(enc) Bit, Index Capture, Rising (see page 304)
R
Bx(enc) Bit, Index Input, Real-Time (see page 346)
EIRE Enable Index Register, External-Input Capture (see page 412)
EIRI Enable Index Register, Internal-Input Capture (see page 414)
Part 2: Commands: I(enc)
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