Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 827 of 909
'Class 5 Home To Hard Stop Example
'Note: CAN BUS REQUIRED FOR MOTORS LINKED IN PARALLEL
ECHO 'ECHO on to allow auto addressing downstream
a=1 'set default variable for address 1
WAIT=2000 'wait for boot up time differences
PRINT(#128,"a=a+1",#13) 'each motor prints downstream a=a+1
WAIT=2000 'wait for response time variations
ADDR=a 'Set motor address
WAIT=2000
IF CADDR!=ADDR 'Verify Can Address
CADDR=ADDR 'Set if not same as motor address
Z:0 'reset all motors to make can address take effect
ENDIF
WAIT=2000
'Motor 1 will be running ALL code.
EIGN(2) EIGN(3) ZS 'Bypass Over Travel Limits
'Set up parameters
rr=-1 'Home Direction
ii=300 'Home current limit
vv=100000 'Home Speed
aa=1000 'Home Accel
ee=300 'Home Error Limit
tt=3000 'Home Torque Limit
hh=8000 'Home Offset
ll=8000 'Maximum Differential motion between motors
'(racking limit)
END
C7 'HOME TWO PARALLEL X AXIS MOTORs FROM MOTOR 1 ALONE
zzz=0 'Indicator for racking limit fault
O:0=0 'SET ORIGIN TO ZERO TO CHECK FOR RACKING
AMPS:0=ii 'limit AMPS
VT:0=vv*rr 'Set Home velocity
ADT:0=aa 'Set Home accel/decel
MV:0 'Velocity mode
G:0 'tell both to go
e=0 'Check for motor stopping
WHILE e!=3 'While both have not stopped, loop
qq=EA:2
IF ABS(qq)>ee MTB:2 e=e|1 ENDIF 'STOP slave
IF ABS(EA)>ee MTB e=e|2 ENDIF 'stop master
ddd=PA-PA:2
IF ABS(ddd)>ll 'If racking limit exceeded
MTB:0 'Stop all motion
zzz=-1 'Set racking limit variable
RETURN 'Return out of there
ENDIF 'Stop the other to prevent racking
LOOP
T:0=tt*rr 'Preset Torque Values
MT:0 'Switch to Torque mode (hold against stop)
WAIT=50 'Wait 50 milliseconds
o=hh*rr 'Calculate home position
O:0=o 'Set Origin to home offset
Part 3: Examples: Home Against a Hard Stop (Two Motors)
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