Moog SmartMotor User Manual

Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 11 of 909
Introduction 209
Retrieving and Manipulating Status Words/Bits 209
System and Motor Status Bits 209
Reset Error Flags 211
System Status Examples 211
Timer Status Bits 212
Interrupt Status Bits 212
I/O Status 213
User Status Bits 213
Multiple Trajectory Support Status Bits 214
Cam Status Bits 215
Interpolation Status Bits 216
Motion Mode Status 216
RMODE, RMODE(arg) 216
I/OControl Details 217
I/O Port Hardware 218
I/O Connections Example (D-Style Motors) 219
I/O Voltage Spikes 219
Discrete Input and Output Commands 220
Discrete Input Commands 220
Discrete Output Commands 220
Output Condition and Fault Status Commands 221
Output Condition Commands 221
Output Fault Status Reports 221
General-Use Input Configuration 221
Multiple I/OFunctions Example 222
Analog Functions of I/O Ports 223
5 Volt Push-Pull I/O Analog Functions (D-Style Motors) 223
24 Volt I/O Analog Functions (D-Style AD1 Option Motors, M-Style Motors) 223
Special Functions of I/OPorts 224
Class 5 D-Style Motors: Special Functions of I/O Ports 225
I/O Ports 0 and 1 – External Encoder Function Commands 225
I/O Ports 2 and 3 – Travel Limit Inputs 225
I/O Ports 4 and 5 – Communications 225
I/O Port 6 – Go Command, Encoder Index Capture Input 226
Class 5 M-Style Motors: Special Functions of I/O Ports 227
COM Port Pins 4, 5, 6, and 8 – A-quad-B or Step-and-Direction Modes 227

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English