Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 710 of 909
SLM(mode)
Software Limit Mode
APPLICATION: Motion control
DESCRIPTION: Gets or sets the soft limit mode
EXECUTION: Immediate
CONDITIONAL TO: Software limits enabled (SLE)
LIMITATIONS: N/A
READ/REPORT: RSLM
WRITE: Read/write
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: N/A
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 or 1
DEFAULT VALUE: 1
FIRMWARE VERSION: 5.x and later
COMBITRONIC: SLM(0):3
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLM command gets (reads) or sets the soft limit mode as follows:
l
SLM
Get soft limit mode (e.g., a=SLM)
l
SLM(...)
Set soft limit mode
When setting the soft limit, it can be made to trigger a flag only (not cause a fault) or to
trigger the flag and cause a fault as follows:
l
SLM (0)
Make a soft limit trigger the flag only; will not cause a fault
l
SLM (1)
Make a soft limit trigger the flag and cause a fault (default mode)
As an alternative to hardware limits connected to the limit inputs of the SmartMotor™,
software limits are "virtual" limit switches that offer distinct advantages. For example, in the
event the actual position of the motor strays beyond the desired region of operation, software
limits can interrupt motion with a fault. Further, the limit fault is directionally sensitive, so it
will cause a fault if motion is commanded beyond a limit that has been reached. For more
details, see Limits and Fault Handling on page 204.
Part 2: Commands: SLM(mode)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English