Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 300 of 909
EXAMPLE: (test for position error)
TWAIT 'wait for trajectory in progress
'to complete
IF Be 'unsuccessful, position error?
PRINT("POSITION ERROR") 'inform host
ENDIF
EXAMPLE: (loop while Be is 0)
WHILE Be==0 LOOP 'Loop while Be is 0
'Then proceed when Be is 1
NOTE: An extended period of overcurrent condition may result in a position error
because this condition will cause a reduction in power to the motor and cause it to
fall behind, possibly enough to exceed EL (maximum allowable position error).
If position errors are continuously received, check for loss of drive power, increased load or
locked load.
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)
Ze Reset Position Error Flag (see page 811)
ZS Global Reset System State Flag (see page 818)
Part 2: Commands: Be
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