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Moog Animatics SmartMotor™ Developer's Guide, Rev. L
Page 204 of 909
Limits and Fault Handling
There are commands available for interacting with the following types of limits:
l
Position error limits
l
Velocity limits
l
Hardware limits
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Software limits
These are described in the following sections. Additionally, this section describes the FSA
(fault stop action) command.
For more details, see Part 2: SmartMotor Command Reference on page 238.
Position Error Limits
The following commands are used to set and read position error limits:
EL=formula
Set position error limit.
=EL
Read back position error limit.
=EA
Read position error (Commanded Actual Positions).
dE/dt Limits
The following commands are used to set and read dE/dt limits:
=DEA
Read back the actual rate of change of the PID position error. This
value is averaged over four consecutive PID cycles. It is in units of
position error per PID cycle *65,536.
DEL=formula Set position error rate limit. This is useful for detecting obstructions
to the motor’s path and faulting the motor sooner than the position
error limit alone would. This is in the same units as the =DEA
command.
=DEL
Read back the error rate limit.
Velocity Limits
The following commands are used to set and read velocity limits:
VL=formula
Set the velocity fault limit in revolutions per minute. When the motor
exceeds this speed (traveling clockwise or counter clockwise), then
the motor will fault.
=VL
Read back the current setting of the limit in revolutions per minute.
Hardware Limits
The following commands are used to enable the positive and negative hardware limits
(external stimulus to limit motion; causes a motion fault if exceeded):
Part 1: Programming: Limits and Fault Handling
