Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 296 of 909
The Ba bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,4) command
l
ZS command
l
Za command
When the Ba flag is repeatedly set, it indicates an underlying problem:
l
If the Ba flag is frequently set, it typically indicates that the motor is undersized in the
peak range.
l
If the Ba bit is set during every machine cycle, the acceleration value may be too high.
Therefore, try lowering the acceleration value. If the flag is still set for every cycle,
then the motor may be under sized for the application.
For details on motor sizing, see the Moog Animatics Product Catalog.
EXAMPLE: (Subcomponent of system check routine)
IF Ba 'If Peak overcurrent is detected
PRINT("OVERCURRENT") 'Inform host
Za 'Clear overcurrent state latch
ENDIF
EXAMPLE: (Subroutine finds and prints errors)
C10 'Subroutine label
IF Be 'Check for position error
PRINT("Position Error", #13)
ENDIF
IF Bh 'Check for overtemp error
PRINT("Overtemp Error",#13)
ENDIF
IF Ba 'Check for overcurrent error
PRINT("Overcurrent Error",#13)
ENDIF
RETURN 'Return to subroutine call
RELATED COMMANDS:
R
B(word,bit) Status Byte (see page 291)
R
W(word) Report Specified Status Word (see page 793)
Z(word,bit) Reset Specified Status Bit (see page 808)
Z Total CPU Reset (see page 806)
Za Reset Overcurrent Flag (see page 810)
ZS Global Reset System State Flag (see page 818)
Part 2: Commands: Ba
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