Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 295 of 909
Ba
Bit, Peak Overcurrent
APPLICATION: System
DESCRIPTION: Overcurrent detected state
EXECUTION: Historical, latched by PID sample
CONDITIONAL TO: Hardware Detection
LIMITATIONS: None
READ/REPORT: RBa
RB(0,4)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The SmartMotor™ firmware checks each PID Sample to see whether or not a peak
overcurrent condition exists. The setpoint is in hardware and depends on the model motor and
drive stage. If the setpoint is reached, the system flag Ba is to 1.
For a Class 5 D-style motor:
When an overcurrent condition is detected, the SmartMotor will turn off the amplifier for
several servo samples to reduce the peak load and then turn on the amplifier to complete the
commanded motion. During the off state, if the position error exceeds the allowable following
error (EL), the servo will indicate a following error (shown by the Be status bit).
For an M-style motor:
The M-style motor has more sophisticated current sensing and protection. Other mechanisms
in the firmware are used to try to prevent the peak current from occurring. This bit is an
indication that a more severe situation has occurred. If this bit is indicated on an M-style
motor, then the motor will shut down, similar to other faults. This fault must be cleared
(typically with a ZS command) to resume motion.
Part 2: Commands: Ba
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