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TOPIC: home against a hard stop

home against a hard stop 4 years 10 months ago #1308

  • kenobe2014
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Hi
I am trying to home my sm2315dt smart motor using the "homing against a hard stop" method.
when I run my program, the motor will just hit against the hard stop and stay there, it will not move to the position (700) which i specify in the program. can you please tell me where is my mistake.
My program is as follow;

SADDR3
KP=200
KD=1200
F
AMPS=100
v=-10000
A=100
MV
G
WHILE @PE>-100
LOOP
S
MP
V=20000
O=0
p=-700 ' i want to set the home position to be at 700
G
TWAIT
AMPS=1000
END

thank you very much
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Re: home against a hard stop 4 years 10 months ago #1309

  • csearcy
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You need to use capital letters for Position(P) and Velocity(V).
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Re: home against a hard stop 4 years 10 months ago #1312

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Hi
Thank you very much for your very helpful advises.
I wander if there is any debugging facilities such as break point, step over, step in available beside PRINT statement.
Any other debugging methods I can use?
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Re: home against a hard stop 4 years 10 months ago #1313

  • csearcy
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This depends on firmware revision. If your firmware is 5.0x you can trace a running program in the Motor View.
If your firmware revision is less than 5.0x.. you may have to use a work around... like setting a variable equal to a value.. ie(a=123) while the program is executing subroutines.. to know where you are in your code.
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Re: home against a hard stop 4 years 10 months ago #1314

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Hi
my firmware version is 440C , motor model : sm2315DT, I downloaded the class_5_0_4_7.hex
is my motor class 4 or class 5?
how do I upgrade my motor to class 5?
could you please tell me how to download the firmware ver 5 to the motor?
Thanks
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Re: home against a hard stop 4 years 10 months ago #1316

  • csearcy
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The version 440C motor you have cannot be upgraded, though they are still available. All firmware below 5.0 is fixed and cannot be modified in the field.
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