Moog SmartMotor User Manual

Part 1: Programming
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 210 of 909
General Motor Directly-Addressed Status Bits
Bo Motor off
Bt
Trajectory in progress
Bw Position wraparound occurred
Bv Velocity limit reached
Ba Over current state occurred
Bh
Excessive temperature
Be Excessive position error
NOTE: In cases where the motor has gone beyond the EL(error limit) but the
trajectory generator is still active with the previously calculated trajectory, the
ZScommand may not clear the Be bit. If you are unable to reset Be with the ZS
command, issue an OFF command before issuing the ZScommand, which clears
the current commanded trajectory and allows the reset to complete.
Motor Hardware Limits Directly-Addressed Status Bits
Bm Real time negative hardware limit, left limit
Bp
Real time positive hardware limit, right limit
Bl
Historical negative hardware limit, left limit
Br Historical positive hardware limit, right limit
Motor Software Limits Directly-Addressed Status Bits
Bms Real time negative hardware limit, left limit
Bps Real time positive hardware limit, right limit
Bls Historical negative software limit, CCW limit
Brs
Historical positive software limit, CW limit
Motor Index/Capture Directly-Addressed Status Bits
Bi(0)
Rising index/capture available on the internal motor encoder
Bi(1) Rising index/capture report available on the external encoder
Bj(0)
Falling index/capture value available on the internal motor encoder
Bj(1) Falling index/capture value available on the external encoder
Bx(0)
Hardware index/capture input level on the internal motor encoder
Bx(1)
Hardware index/capture input level on the external encoder
For more details, see Part 2: SmartMotor Command Reference on page 238.
Part 1: Programming: System and Motor Status Bits

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English