Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 659 of 909
EXAMPLE: (Shows use of ADT, PT and VT)
MP 'Set mode position
ADT=5000 'Set target accel/decel
PT=20000 'Set absolute position
VT=10000 'Set velocity
G 'Start motion
END 'End program
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
PA Position, Actual (see page 615)
R
PRT=formula Position, Relative Target (see page 652)
R
VT=formula Velocity Target (see page 788)
Part 2: Commands: PT=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English