Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 712 of 909
SLN=formula
Software Limit, Negative
APPLICATION: Motion control
DESCRIPTION: Gets (reads) or sets the left/negative software limit
EXECUTION: Immediate
CONDITIONAL TO: Software limits enabled (SLE)
LIMITATIONS: N/A
READ/REPORT: RSLN
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: Encoder counts
RANGE OF VALUES: -2147483648 to 2147483647
NOTE: values at this extreme range may not trigger because
they are at the wrap point (see details)
TYPICAL VALUES: -1000000 to 0
DEFAULT VALUE: -2147483648 (effectively disabled)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: SLN:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLNcommand is used to get (read) or set the left/negative software limit as follows:
l
SLN
Get left/negative software limit
l
SLN=...
Set left/negative software limit
The range of allowed values is from -2147483648 to 2147483647. However, this extreme
range should not be used because the soft limits may not trigger at the wrap point due to the
mathematical sign change. Further, it is not recommended to operate absolute-position
applications near the wrap point. This limitation is partly related to speed (encoder counts per
PID sample).
Therefore, as a rough estimate, the range from -2147400000 to 2147400000 is more realistic.
NOTE: SLP should typically be set to a higher value than SLN.
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
Part 2: Commands: SLN=formula
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