Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 322 of 909
Bps
Bit, Right Software Limit, Real-Time
APPLICATION: System
DESCRIPTION: Right (positive) software limit state flag
EXECUTION: Real time, sampled each PID update
CONDITIONAL TO: SLD, SLM, SLE, SLP, motor actual position (RPA)
LIMITATIONS: None
READ/REPORT: RBps
RB(1,14)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary flag
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:
Bps indicates if the right/positive software limit is currently active. The software limits are an
indication that the motor's actual position has exceeded the set range. When Bps is set to 1,
the historical right limit flag (Brs) is set to one.
The right/positive software limit position can be set through the SLP command. The left and
right software-limit functionality can be enabled and disabled with the SLE and SLD
commands, respectively.
EXAMPLE:
IFBrs
PRINT("SOFTWARERIGHT LIMIT PRESENTLY ACTIVE")
ELSEIFBps
PRINT("SOFTWARERIGHT LIMIT PREVIOUSLY CONTACTED")
ELSE
PRINT("SOFTWARERIGHT LIMIT NEVER REACHED")
ENDIF
Part 2: Commands: Bps
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