Moog SmartMotor User Manual

Part 2: Commands
Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 317 of 909
Bms
Bit, Left Software Limit, Real-Time
APPLICATION: System
DESCRIPTION: Left (negative) software limit state flag
EXECUTION: Real time, sampled each PID update
CONDITIONAL TO: SLD, SLM, SLE, SLN, motor actual position (RPA)
LIMITATIONS: None
READ/REPORT: RBms
RB(1,15)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 = Software left/negative limit switch not active, or pin not
assigned as a limit switch
1 = Software left/negative limit switch active
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
Bms indicates if the left/negative software limit is currently active. The software limits are an
indication that the motor's actual position has exceeded the set range. When Bms is set to 1,
the historical left limit flag (Bls) is set to 1.
The left/negative software limit position can be set through the SLN command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
EXAMPLE:
IF Bms
PRINT("SOFTWARE LEFT LIMIT PRESENTLY ACTIVE")
ELSEIF Bls
PRINT("SOFTWARE LEFT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARE LEFT LIMIT NEVER REACHED")
ENDIF
Part 2: Commands: Bms

Moog SmartMotor Specifications

General

Brand	Moog
Model	SmartMotor
Category	Servo Drives
Language	English