Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 324 of 909
Br
Bit, Right Hardware Limit, Historical
APPLICATION: System
DESCRIPTION: Hardware right travel limit
EXECUTION: Historical, sampled each PID update until latched
CONDITIONAL TO: EIGN(2), OUT(2)=, EILP
LIMITATIONS: None
READ/REPORT: RBr
RB(0,12)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0= Right/positive limit has not been active
1= Right /positive limit has been active
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
Br is the historical right limit flag. If the right limit is found to be active during any servo
sample, Br is set to 1, and it remains at 1 until you reset it. In addition, depending on the
value of the F function, the motion will stop and the motor will either servo or turn the
amplifier OFF. The historical right/positive limit flag Br provides a latched limit value, in case
the limit was already reached or exceeded but is not currently active.
The real-time right/positive limit flag is Bp; it remains at 1 only while there is an active signal
level on user pin 2. When Bp is set to 1, Br is set to 1.
If the pin’s function is assigned as general-purpose I/O through the EIGN(2) command,
neither Bp nor Br will be affected by the pin state. Changing pin states will not elicit limit
behavior from the motor. It will be necessary to issue the EILP command to assign the pin’s
function to being a limit switch for the pin to again elicit limit behavior, including the setting of
Br.
Part 2: Commands: Br
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