Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 594 of 909
controls that do not track position but only track velocity error. The PID uses this ideal
calculated position (PC) and compares it to the actual position (PA). This allows any
accumulated speed errors to be corrected on average with a high degree of accuracy.
Therefore, any loading that slowed the motor will be "caught up". The PID will apply torque to
the motor to follow this profile with minimal actual error (EA). Position error is due to basic
physics of friction, inertia, gravity or any other force on the motor.
A velocity-error based system can be emulated by commanding the motor to ignore position
error limits.
WARNING: This method is not appropriate where a position-error limit fault
is required for safety protection.
Refer to EL=formula on page 419 and the KI=formula on page 501. By disabling these two
features and possibly reducing KP, it is possible to have a "softer" velocity controller that will
not attempt to strictly adhere to a position error of 0.
Assuming there are no faults, an MV command followed by a G command immediately turns
on the servo. The servo-off flag (Bo) is set to 0; the trajectory flag (Bt) is set to 1. The motion
is restricted by the current value of EL. The motion is also subject to the currently defined
activity of the limit switches. RMODE responds with a V.
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
EL=formula Error Limit (see page 419)
G Start Motion (GO) (see page 456)
MP Mode Position (see page 582)
R
VT=formula Velocity Target (see page 788)
Part 2: Commands: MV

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English