Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 628 of 909
PML=formula
Modulo Position Limit
APPLICATION: Motion control
DESCRIPTION: Get/set the modulo position limit
EXECUTION: Immediate
CONDITIONAL TO: N/A
LIMITATIONS: PML minimum and maximum values are speed dependent (see
details)
READ/REPORT: RPML
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: 0 - 2147483647
PML minimum and maximum values are speed dependent (see
details)
TYPICAL VALUES: 0 - 1000000
PML minimum and maximum values are speed dependent (see
details)
DEFAULT VALUE: 1000
FIRMWARE VERSION: 5.x and later
COMBITRONIC: PML:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The PMLcommand is used to get (read) or set the modulo limit. The modulo counter (PMA)
can have a range of values where the lowest value is 0 and the highest value is PML-1. For
more details, see PMA on page 626.
NOTE: PML resets PMA to 0.
The PML value must be greater than the motor speed in terms of encoder counts per PID
sample. However, the PML value must be smaller than 2147483647 encoder counts per
sample — this prevents overflow.
Part 2: Commands: PML=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English