Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 828 of 909
AMPS:0=1023 'Set AMPS back to default
MP:0 'Set to Position mode
PT:0=0 'Set Target to Zero
G:0 'tell both to go to zero
WHILE B(0,2):2==1 LOOP 'Wait for X SLAVE move to complete
TWAIT 'Wait for master to get there
RETURN
Home to Index Using Different Modes
Each SmartMotor has an encoder with an index marker at one angle. This marker is useful for
establishing a repeatable start-up (home) position.
The following example uses two different modes to home the motor:
l
The first method (C1) does this by slowly moving the motor shaft past the index marker
and decelerating to a stop, and then moving it back to align with the index marker.
l
The second method (C2) does this by abruptly stopping and holding at the index marker.
EIGN(W,0,12) 'Assign Travel Limits as General Use Inputs
ZS 'Clear Any Status Bits
END
'==============================================================
C1 'Home to index, Relative Position Mode
'Note: This method will go past and move back to index
MP 'Set to Position mode
Ai(0) 'Arm Index Capture Register
ADT=3000 'Set Accel/Decel
VT=200000 'Set Velocity
PRT=RES+100 'Set Relative Distance to just past one rev
G TWAIT 'Go, wait until move is complete
PT=I(0) 'Set Target Position to index location
G TWAIT 'Go, wait until move is complete
O=0 'Set Position to Zero
RETURN
'==============================================================
C2 'Home to index, Velocity Mode to find it
'Note: This method does an abrupt stop and holds at index.
MV 'Set to Velocity mode
Ai(0) 'Arm Index Capture Register
ADT=3000 'Set Accel/Decel
VT=200000 'Set Velocity
G 'Go
WHILE Bi(0)==0 LOOP 'Wait to see index
X
PT=I(0) 'Set Target Position to index location
MP 'Switch to Position mode to hold at index mark
G TWAIT 'Go, wait until move is complete
O=0 'Set Position to Zero
RETURN
'==============================================================
Part 3: Examples: Home to Index Using Different Modes
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