Moog SmartMotor User Manual

Part 3: Examples
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 826 of 909
'===========================================================================
'Class 5 Home To Hard Stop Example
EIGN(2) EIGN(3) ZS 'Bypass Overtravel Limits
'===========================================================================
'Set up parameters
rr=-1 'Home Direction
vv=100000 'Home Speed
aa=1000 'Home Accel
ee=100 'Home Error Limit
tt=1500 'Home Torque Limit
hh=4000 'Home Offset
SILENT 'Remove or issue TALK to enable PRINT commands
GOSUB5 'RUN HOME ROUTINE
END
'===========================================================================
'Home routine (Home to Hard Stop)
C5
PRINT("HOME MOTOR",#13)
VT=vv*rr 'Set Home Velocity
ADT=aa 'Set Home Accel/Decel
MV 'Set to Velocity mode
ZS 'Clear any prior Errors
T=tt*rr 'Preset Torque Values
G 'Begin move towards Hard Stop
MT
WHILE ABS(EA)<ee LOOP 'Loop, While Position Error within limit
PRINT("HIT HARD STOP",#13)
G 'Begin move
WAIT=50 'Wait 50 milliseconds
O=hh*rr 'Set Origin to home offset
PRINT("MOVING TO ZERO",#13)
MP PT=0 G TWAIT 'Set Motor to Zero
RETURN
'===========================================================================
Home Against a Hard Stop (Two Motors)
Because the SmartMotor has the capability of lowering its own power level and reading its
position error, it can be programmed to gently feel for the end of travel. This provides a
means to develop a consistent home position subsequent to each power-up.
Machine reliability requires the elimination of potential failure sources. Eliminating a home
switch and its associated cable leverages SmartMotor benefits and improves machine
reliability.
Similar to the previous examples, the following program lowers the current limit, moves
against a limit, looks for resistance, and then declares and moves to a home position just two
encoder revolutions from the hard stop. However, this example sets the home position for two
parallel-axis motors with just one program — motor 1 is the master; motor 2 is the slave.
NOTE: The optional CAN bus and cables are required for SmartMotors linked in
parallel.
Part 3: Examples: Home Against a Hard Stop (Two Motors)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English