Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 336 of 909
Brs
Bit, Right Software Limit, Historical
APPLICATION: System
DESCRIPTION: Software right travel limit
EXECUTION: Historical, sampled each PID update until latched
CONDITIONAL TO: SLD, SLM, SLE, SLP, motor actual position (RPA)
LIMITATIONS: None
READ/REPORT: RBrs
RB(1,12)
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:
Brs is the historical software right-limit flag. Brs provides a latched value in case the software
limit was already reached or exceeded but is not currently active.
The software limits are an indication that the motor's actual position has exceeded the set
range. If the software right limit is found to be active during any servo sample, Brs is set to 1
and remains 1 until you reset it. In addition, the motion will stop, and the motor will either
servo in place or turn off the amplifier, depending on the value of the SLM and/or FSA
function.
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.
The real-time software right/positive limit flag is Bps, which only remains set to 1 while the
motor is past the software limit. When Bps is set to 1, Brs is set to 1.
Part 2: Commands: Brs
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