Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 340 of 909
Bt
Bit, Trajectory In Progress
APPLICATION: System
DESCRIPTION: Trajectory in progress state flag
EXECUTION: Updated each PID sample
CONDITIONAL TO: Trajectory in progress
LIMITATIONS: None
READ/REPORT: RBt
RB(0,2)
WRITE: Read only
LANGUAGE ACCESS: Formulas and conditional testing
UNITS: Binary flag
RANGE OF VALUES: 0 or 1
TYPICAL VALUES: 0 = No trajectory in progress
1 = Trajectory in progress
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: N/A
DETAILED DESCRIPTION:
The flag Bt is set to 1 when the motor performs a calculated trajectory path from one point to
another. After the trajectory generator has requested the final target position, the Bt flag is
reset to zero. At this point, the PID positioning control takes over the motion — this means the
motor shaft may still be moving due to mechanical settling.
Mode Torque (MT) will set the Bt bit to 1 only when the torque slope (TS) is active. When the
torque reaches a constant value, the Bt will be 0.
Mode Velocity (MV) will maintain the Bt bit to 1 regardless of commanded velocity or
acceleration, even they are set to zero.
Mode Follow (MFR) and Mode Step (MSR) will maintain the Bt bit to 1 even if there is no
change to incoming counts.
If a relative or absolute move is commanded in Mode Position (MP), and there is no (zero)
commanded acceleration or velocity, the Bt bit will be set to 1 and the motor shaft will not
move. In other words, if ADT=0 and VT=0, then the motor shaft will not move, but the Bt bit
will show a trajectory in progress.
Part 2: Commands: Bt
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