Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 714 of 909
SLP=formula
Software Limit, Positive
APPLICATION: Motion control
DESCRIPTION: Gets (reads) or sets the right/positive software limit
EXECUTION: Immediate
CONDITIONAL TO: Software limits enabled (SLE)
LIMITATIONS: N/A
READ/REPORT: RSLP
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: 0 to 1000000
DEFAULT VALUE: 2147483647 (effectively disabled)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: SLP:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The SLPcommand is used to get (read) or set the right/positive software limit as follows:
l
SLP
Get right/positive software limit
l
SLP=...
Set right/positive software limit
The range of allowed values is -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. 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 -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: SLP=formula
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