Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 293 of 909
ENDIF
ENDIF
' This section look at faults.
IF Bh==1 ' Look for overtemperature fault
PRINT("Over temperature",#13)
ENDIF
IF Be==1 ' Look for position error fault
PRINT("Excessive Position Error",#13)
ENDIF
IF(B(0,3)==1) ' Look for bus voltage fault
PRINT("Bus voltage Fault",#13)
ENDIF
IF Bv==1 ' Look for velocity limit fault
PRINT("Velocity limit fault",#13)
ENDIF
IF(B(0,9)==1) ' Look for dE/dt fault
PRINT("DE/DT Fault",#13)
ENDIF
IF Br==1 ' Look for historical positive hardware limit fault
PRINT("Historical Positive H/W limit",#13)
ENDIF
IF Bl==1 ' Look for historical negative hardware limit fault
PRINT("Historical Negative H/W limit",#13)
ENDIF
IF (B(1,10)==1)&(B(1,11)==1) ' Software limits enabled with
' mode to cause faults
IF Brs==1 ' Look for historical positive software limit fault
PRINT("Historical Positive S/W limit",#13)
ENDIF
IF Bls==1 ' Look for historical negative software limit fault
PRINT("Historical Negative S/W limit",#13)
ENDIF
ENDIF
IF B(2,8)==1 ' Look for Watchdog fault on supported motors
' NOTE: Not all firmware supports this notification
PRINT("Watchdog",#13)
ENDIF
IF B(2,9)==1 ' Look for ADB(Animatics Data Block) fault
' If ADB is corrupt, motion is prevented
PRINT("ADB checksum Fault",#13)
Part 2: Commands: B(word,bit)

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English