Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 299 of 909
Be
Bit, Following Error Limit
APPLICATION: System
DESCRIPTION: Position error declared
EXECUTION: Historical, latched by PID sample
CONDITIONAL TO: Position error exceeded EL value during trajectory move
LIMITATIONS: Torque modes have no position error
READ/REPORT: RBe
RB(0,6)
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 Be status bit indicates the detection of a position error. At each PID sample, the
magnitude of the measured position error is compared to the user-specified following error
(EL) value. If this value is exceeded, the servo will be immediately turned off.
The Be bit is reset by any of the following methods:
l
Power reset
l
Z command (total reset of software)
l
Z(0,6) command
l
ZS command
l
Ze command
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.
Part 2: Commands: Be

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English