Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 320 of 909
Bp
Bit, Right Hardware Limit, Real-Time
APPLICATION: System
DESCRIPTION: Right/positive hardware limit state
EXECUTION: Sampled each PID update
CONDITIONAL TO: EIGN(2), OUT(2)=, EILP
LIMITATIONS: None
READ/REPORT: RBp
RB(0,14)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary bit
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0= Right/positive limit switch not active, or pin not assigned as
a limit switch
1= Right/positive limit switch is active
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
Bp indicates if the right/positive pin is active. When Bp is set to 1, the historical right limit flag
(Br) is set to 1.
The right/positive software travel limit may be disabled by being assigned as a
general-purpose input using the EIGN(2) command or as an output using the OUT(2)=
command. To re-enable the right/positive software travel limit, issue the EILP command.
EXAMPLE:
IF Br
PRINT("RIGHT LIMIT PRESENTLY ACTIVE")
ELSEIF Bp
PRINT("RIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("RIGHT LIMIT NEVER REACHED")
ENDIF
Part 2: Commands: Bp
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