Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 778 of 909
VL=formula
Velocity Limit
APPLICATION: Motion control
DESCRIPTION: Gets (reads) or sets the velocity limit
EXECUTION: Next PIDsample
CONDITIONAL TO: N/A
LIMITATIONS: N/A
REPORT VALUE: RVL
WRITE: N/A
LANGUAGE ACCESS: N/A
UNITS: Revolutions per minute (RPM)
RANGE OF VALUES: 0 to 32767
If this range is exceeded, then VL is forced to the value 0
TYPICAL VALUES: 2000-10000
DEFAULT VALUE: Factory EEPROM setting (based on model)
FIRMWARE VERSION: 5.x and later
COMBITRONIC: VL:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The VL command gets (reads) or sets the velocity limit in revolutions per minute (RPM) as
follows:
l
=VL
Read the current setting of the limit in RPM.
l
VL=formula
Set the velocity fault limit in RPM.
NOTE: If the specified VLvalue exceeds 32767, this command will force the value
to 0.
When the motor exceeds this speed (traveling clockwise or counterclockwise), the motor will
fault and motion stops. The speed detection is sensitive on every PID cycle. Therefore, be
certain to set enough margin between typical speeds and the shutdown speed to avoid easily
tripping the fault.
This command helps provide a safety mechanism for high speeds and other situations that
could damage equipment. Of greatest concern are those from gravitational loads that could
back drive the motor.
EXAMPLE:
VL=3500 'Set Velocity Limit to 3500 RPM
Part 2: Commands: VL=formula

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English